added extended controller base

controller/ControllerBase.cpp

@@ -9,7 +9,8 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
 		submode(SUBMODE_NONE), modeHelper(this),
 		healthHelper(this, setObjectId), hkSwitcher(this) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+	commandQueue = QueueFactory::instance()->createMessageQueue(
+	        commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() {
@@ -56,8 +57,9 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 
 void ControllerBase::handleQueue() {
 	CommandMessage command;
-	ReturnValue_t result;
-	for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+	for (result = commandQueue->receiveMessage(&command);
+	        result == RETURN_OK;
 			result = commandQueue->receiveMessage(&command)) {
 
 		result = modeHelper.handleModeCommand(&command);

controller/ControllerBase.h

@@ -13,7 +13,8 @@
 /**
  * @brief   Generic base class for controller classes
  * @details
- * Implements common interfaces for controllers.
+ * Implements common interfaces for controllers, which generally have
+ * a mode and a health state. This avoids boilerplate code.
  */
 class ControllerBase: public HasModesIF,
 		public HasHealthIF,
@@ -27,24 +28,18 @@ public:
 			size_t commandQueueDepth = 3);
 	virtual ~ControllerBase();
 
+	/** SystemObject override */
 	virtual ReturnValue_t initialize() override;
 
 	virtual MessageQueueId_t getCommandQueue() const override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode) override;
-
+	/** HasHealthIF overrides */
 	virtual ReturnValue_t setHealth(HealthState health) override;
-
 	virtual HasHealthIF::HealthState getHealth() override;
 
-	/**
-	 * 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_) override;
-
+	/** ExecutableObjectIF overrides */
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
 	virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
@@ -57,6 +52,9 @@ protected:
 	 */
     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,
@@ -74,6 +72,7 @@ protected:
 
 	HealthHelper healthHelper;
 
+	// Is this still needed?
 	HkSwitchHelper hkSwitcher;
 
 	/**
@@ -82,13 +81,16 @@ protected:
 	 */
 	PeriodicTaskIF* executingTask = nullptr;
 
-	void handleQueue();
+	/** Handle mode and health messages */
+	virtual void handleQueue();
 
+	/** 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);
 };
 

controller/ExtendedControllerBase.cpp

@@ -0,0 +1,110 @@
+#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;
+}
+
+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 +1,70 @@
+#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;
+
+    /** 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_ */