Merge remote-tracking branch 'origin/development' into mueller/master
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commit
1ff52e43a0
@ -24,6 +24,13 @@
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* 1. check logic when active-> checkChildrenStateOn
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* 2. transition logic to change the mode -> commandChildren
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*
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* Important:
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*
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* The implementation must call registerChild(object_id_t child)
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* for all commanded children during initialization.
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* The implementation must call the initialization function of the base class.
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* (This will call the function in SubsystemBase)
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*
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*/
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class AssemblyBase: public SubsystemBase {
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public:
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@ -41,9 +48,6 @@ public:
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virtual ~AssemblyBase();
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protected:
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// SHOULDDO: Change that OVERWRITE_HEALTH may be returned
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// (or return internalState directly?)
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/**
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* Command children to reach [mode,submode] combination
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* Can be done by setting #commandsOutstanding correctly,
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@ -68,6 +72,18 @@ protected:
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virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
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Submode_t wantedSubmode) = 0;
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/**
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* Check whether a combination of mode and submode is valid.
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*
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* Ground Controller like precise return values from HasModesIF.
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* So, please return any of them.
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*
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* @param mode The targeted mode
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* @param submode The targeted submmode
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* @return Any information why this combination is invalid from HasModesIF
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* like HasModesIF::INVALID_SUBMODE.
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* On success return HasReturnvaluesIF::RETURN_OK
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*/
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virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
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Submode_t submode) = 0;
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@ -5,8 +5,7 @@
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SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
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Mode_t initialMode, uint16_t commandQueueDepth) :
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SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
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childrenChangedMode(false),
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SystemObject(setObjectId), mode(initialMode),
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commandQueue(QueueFactory::instance()->createMessageQueue(
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commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
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healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
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@ -167,16 +166,16 @@ MessageQueueId_t SubsystemBase::getCommandQueue() const {
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}
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ReturnValue_t SubsystemBase::initialize() {
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MessageQueueId_t parentQueue = 0;
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MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
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ReturnValue_t result = SystemObject::initialize();
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if (result != RETURN_OK) {
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return result;
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}
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if (parentId != 0) {
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if (parentId != objects::NO_OBJECT) {
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SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
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if (parent == NULL) {
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if (parent == nullptr) {
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return RETURN_FAILED;
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}
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parentQueue = parent->getCommandQueue();
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@ -37,6 +37,17 @@ public:
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virtual MessageQueueId_t getCommandQueue() const override;
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/**
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* Function to register the child objects.
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* Performs a checks if the child does implement HasHealthIF and/or HasModesIF
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*
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* Also adds them to the internal childrenMap.
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*
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* @param objectId
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* @return RETURN_OK if successful
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* CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
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* COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
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*/
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ReturnValue_t registerChild(object_id_t objectId);
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virtual ReturnValue_t initialize() override;
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@ -56,9 +67,9 @@ protected:
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Mode_t mode;
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Submode_t submode;
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Submode_t submode = SUBMODE_NONE;
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bool childrenChangedMode;
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bool childrenChangedMode = false;
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/**
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* Always check this against <=0, so you are robust against too many replies
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