Merge pull request 'Enhanced Controller Base' (#276) from KSat/fsfw:mueller/enhanced-controller into development

Reviewed-on: fsfw/fsfw#276

CHANGELOG

@@ -15,6 +15,11 @@ a C file without issues
 - The same is possible for the event reporting service (PUS5)
 - PUS Health Service added, which allows to command and retrieve health via PUS packets
 
+
+### EnhancedControllerBase
+
+- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
+
 ### Local Pool
 
 - Interface of LocalPools has changed. LocalPool is not a template anymore. Instead the size and bucket number of the pools per page and the number of pages are passed to the ctor instead of two ctor arguments and a template parameter

controller/ExtendedControllerBase.cpp

@@ -0,0 +1,114 @@
+#include "ExtendedControllerBase.h"
+
+
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
+        object_id_t parentId, size_t commandQueueDepth):
+        ControllerBase(objectId, parentId, commandQueueDepth),
+        localPoolManager(this, commandQueue),
+        actionHelper(this, commandQueue) {
+}
+
+ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
+        MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+
+ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
+        LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+object_id_t ExtendedControllerBase::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
+    return &localPoolManager;
+}
+
+uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
+    return this->executingTask->getPeriodMs();
+}
+
+ReturnValue_t ExtendedControllerBase::handleCommandMessage(
+        CommandMessage *message) {
+    ReturnValue_t result = actionHelper.handleActionMessage(message);
+    if(result == HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return localPoolManager.handleHousekeepingMessage(message);
+}
+
+void ExtendedControllerBase::handleQueue() {
+    CommandMessage command;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    for (result = commandQueue->receiveMessage(&command);
+            result == RETURN_OK;
+            result = commandQueue->receiveMessage(&command)) {
+        result = actionHelper.handleActionMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = modeHelper.handleModeCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = healthHelper.handleHealthCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = localPoolManager.handleHousekeepingMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = handleCommandMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+        command.setToUnknownCommand();
+        commandQueue->reply(&command);
+    }
+}
+
+ReturnValue_t ExtendedControllerBase::initialize() {
+    ReturnValue_t result = ControllerBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = actionHelper.initialize(commandQueue);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    return localPoolManager.initialize(commandQueue);
+}
+
+ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
+    return localPoolManager.initializeAfterTaskCreation();
+}
+
+ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
+    handleQueue();
+    hkSwitcher.performOperation();
+    localPoolManager.performHkOperation();
+    performControlOperation();
+    return RETURN_OK;
+}
+
+MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
+    return commandQueue->getId();
+}
+
+LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
+    sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
+            << " implementation provided, returning nullptr!" << std::endl;
+    return nullptr;
+}

controller/ExtendedControllerBase.h

@@ -0,0 +1,72 @@
+#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
+#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
+
+#include "ControllerBase.h"
+
+#include "../action/HasActionsIF.h"
+#include "../datapoollocal/HasLocalDataPoolIF.h"
+#include "../action/ActionHelper.h"
+#include "../datapoollocal/LocalDataPoolManager.h"
+
+/**
+ * @brief   Extendes the basic ControllerBase with the common components
+ *          HasActionsIF for commandability and HasLocalDataPoolIF to keep
+ *          a pool of local data pool variables.
+ * @details
+ * Default implementations required for the interfaces will be empty and have
+ * to be implemented by child class.
+ */
+class ExtendedControllerBase: public ControllerBase,
+        public HasActionsIF,
+        public HasLocalDataPoolIF {
+public:
+    ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
+            size_t commandQueueDepth = 3);
+
+    /** SystemObjectIF overrides */
+    virtual ReturnValue_t initialize() override;
+
+    virtual MessageQueueId_t getCommandQueue() const override;
+
+    /** ExecutableObjectIF overrides */
+    virtual ReturnValue_t performOperation(uint8_t opCode) override;
+    virtual ReturnValue_t initializeAfterTaskCreation() override;
+
+protected:
+    LocalDataPoolManager localPoolManager;
+    ActionHelper actionHelper;
+
+    /**
+     * Implemented by child class. Handle all command messages which are
+     * not health, mode, action or housekeeping messages.
+     * @param message
+     * @return
+     */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper from ControllerBase, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    /** Handle the four messages mentioned above */
+    void handleQueue() override;
+
+    /** HasActionsIF overrides */
+    virtual ReturnValue_t executeAction(ActionId_t actionId,
+            MessageQueueId_t commandedBy, const uint8_t* data,
+            size_t size) override;
+
+    /** HasLocalDatapoolIF overrides */
+    virtual object_id_t getObjectId() const override;
+    virtual ReturnValue_t initializeLocalDataPool(
+            LocalDataPool& localDataPoolMap,
+            LocalDataPoolManager& poolManager) override;
+    virtual LocalDataPoolManager* getHkManagerHandle() override;
+    virtual uint32_t getPeriodicOperationFrequency() const override;
+    virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
+};
+
+
+
+#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */