From 795ff585f858f7ca4a155eaf7bf704964ad6f13d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 3 Dec 2020 13:14:30 +0100 Subject: [PATCH 1/2] controller base update --- controller/ControllerBase.cpp | 41 ++++++++++-------- controller/ControllerBase.h | 78 +++++++++++++++++++++-------------- 2 files changed, 71 insertions(+), 48 deletions(-) diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp index 69551731..45e678eb 100644 --- a/controller/ControllerBase.cpp +++ b/controller/ControllerBase.cpp @@ -1,16 +1,16 @@ -#include "../subsystem/SubsystemBase.h" #include "ControllerBase.h" + #include "../subsystem/SubsystemBase.h" #include "../ipc/QueueFactory.h" #include "../action/HasActionsIF.h" -ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId, +ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth) : - SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode( - SUBMODE_NONE), commandQueue(NULL), modeHelper( - this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) { - commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth); - + SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), + submode(SUBMODE_NONE), modeHelper(this), + healthHelper(this, setObjectId), hkSwitcher(this) { + commandQueue = QueueFactory::instance()->createMessageQueue( + commandQueueDepth); } ControllerBase::~ControllerBase() { @@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() { } MessageQueueId_t parentQueue = 0; - if (parentId != 0) { + if (parentId != objects::NO_OBJECT) { SubsystemBase *parent = objectManager->get(parentId); - if (parent == NULL) { + if (parent == nullptr) { return RETURN_FAILED; } parentQueue = parent->getCommandQueue(); @@ -56,26 +56,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { } void ControllerBase::handleQueue() { - CommandMessage message; - ReturnValue_t result; - for (result = commandQueue->receiveMessage(&message); result == RETURN_OK; - result = commandQueue->receiveMessage(&message)) { + CommandMessage command; + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + for (result = commandQueue->receiveMessage(&command); + result == RETURN_OK; + result = commandQueue->receiveMessage(&command)) { - result = modeHelper.handleModeCommand(&message); + result = modeHelper.handleModeCommand(&command); if (result == RETURN_OK) { continue; } - result = healthHelper.handleHealthCommand(&message); + result = healthHelper.handleHealthCommand(&command); if (result == RETURN_OK) { continue; } - result = handleCommandMessage(&message); + result = handleCommandMessage(&command); if (result == RETURN_OK) { continue; } - message.setToUnknownCommand(); - commandQueue->reply(&message); + command.setToUnknownCommand(); + commandQueue->reply(&command); } } @@ -135,3 +136,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){ void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) { } + +ReturnValue_t ControllerBase::initializeAfterTaskCreation() { + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h index f5182ceb..25d3ab1f 100644 --- a/controller/ControllerBase.h +++ b/controller/ControllerBase.h @@ -1,5 +1,5 @@ -#ifndef CONTROLLERBASE_H_ -#define CONTROLLERBASE_H_ +#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_ +#define FSFW_CONTROLLER_CONTROLLERBASE_H_ #include "../health/HasHealthIF.h" #include "../health/HealthHelper.h" @@ -7,73 +7,91 @@ #include "../modes/ModeHelper.h" #include "../objectmanager/SystemObject.h" #include "../tasks/ExecutableObjectIF.h" +#include "../tasks/PeriodicTaskIF.h" #include "../datapool/HkSwitchHelper.h" - +/** + * @brief Generic base class for controller classes + * @details + * Implements common interfaces for controllers, which generally have + * a mode and a health state. This avoids boilerplate code. + */ class ControllerBase: public HasModesIF, public HasHealthIF, public ExecutableObjectIF, public SystemObject, public HasReturnvaluesIF { public: - static const Mode_t MODE_NORMAL = 2; - ControllerBase(uint32_t setObjectId, uint32_t parentId, + ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3); virtual ~ControllerBase(); - ReturnValue_t initialize(); + /** SystemObject override */ + virtual ReturnValue_t initialize() override; - virtual MessageQueueId_t getCommandQueue() const; + virtual MessageQueueId_t getCommandQueue() const override; - virtual ReturnValue_t performOperation(uint8_t opCode); - - virtual ReturnValue_t setHealth(HealthState health); - - virtual HasHealthIF::HealthState getHealth(); - - /** - * Implementation of ExecutableObjectIF function - * - * Used to setup the reference of the task, that executes this component - * @param task_ Pointer to the taskIF of this task - */ - virtual void setTaskIF(PeriodicTaskIF* task_); + /** HasHealthIF overrides */ + virtual ReturnValue_t setHealth(HealthState health) override; + virtual HasHealthIF::HealthState getHealth() override; + /** ExecutableObjectIF overrides */ + virtual ReturnValue_t performOperation(uint8_t opCode) override; + virtual void setTaskIF(PeriodicTaskIF* task) override; + virtual ReturnValue_t initializeAfterTaskCreation() override; protected: - const uint32_t parentId; + + /** + * Implemented by child class. Handle command messages which are not + * mode or health messages. + * @param message + * @return + */ + virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0; + + /** + * Periodic helper, implemented by child class. + */ + virtual void performControlOperation() = 0; + + virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, + uint32_t *msToReachTheMode) = 0; + + const object_id_t parentId; Mode_t mode; Submode_t submode; - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; ModeHelper modeHelper; HealthHelper healthHelper; + // Is this still needed? HkSwitchHelper hkSwitcher; /** - * Pointer to the task which executes this component, is invalid before setTaskIF was called. + * Pointer to the task which executes this component, + * is invalid before setTaskIF was called. */ - PeriodicTaskIF* executingTask; + PeriodicTaskIF* executingTask = nullptr; - void handleQueue(); + /** Handle mode and health messages */ + virtual void handleQueue(); - virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0; - virtual void performControlOperation() = 0; - virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, - uint32_t *msToReachTheMode) = 0; + /** Mode helpers */ virtual void modeChanged(Mode_t mode, Submode_t submode); virtual void startTransition(Mode_t mode, Submode_t submode); virtual void getMode(Mode_t *mode, Submode_t *submode); virtual void setToExternalControl(); virtual void announceMode(bool recursive); + /** HK helpers */ virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); }; -#endif /* CONTROLLERBASE_H_ */ +#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */ From ac5446b2b145eee8a3a5183913989b66d20fcc63 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 8 Dec 2020 15:43:58 +0100 Subject: [PATCH 2/2] removed hk switcher helper member --- controller/ControllerBase.cpp | 7 +------ controller/ControllerBase.h | 3 --- 2 files changed, 1 insertion(+), 9 deletions(-) diff --git a/controller/ControllerBase.cpp b/controller/ControllerBase.cpp index 45e678eb..2a402468 100644 --- a/controller/ControllerBase.cpp +++ b/controller/ControllerBase.cpp @@ -8,7 +8,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth) : SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(SUBMODE_NONE), modeHelper(this), - healthHelper(this, setObjectId), hkSwitcher(this) { + healthHelper(this, setObjectId) { commandQueue = QueueFactory::instance()->createMessageQueue( commandQueueDepth); } @@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() { return result; } - result = hkSwitcher.initialize(); - if (result != RETURN_OK) { - return result; - } return RETURN_OK; } @@ -107,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) { ReturnValue_t ControllerBase::performOperation(uint8_t opCode) { handleQueue(); - hkSwitcher.performOperation(); performControlOperation(); return RETURN_OK; } diff --git a/controller/ControllerBase.h b/controller/ControllerBase.h index 25d3ab1f..6e83fe80 100644 --- a/controller/ControllerBase.h +++ b/controller/ControllerBase.h @@ -72,9 +72,6 @@ protected: HealthHelper healthHelper; - // Is this still needed? - HkSwitchHelper hkSwitcher; - /** * Pointer to the task which executes this component, * is invalid before setTaskIF was called.