Merge pull request 'New simpler DHB' (#161) from new-dhb into develop

Reviewed-on: eive/fsfw#161
Reviewed-by: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
This commit is contained in:
Ulrich Mohr 2023-11-16 11:02:44 +01:00
commit 41d67bff63
4 changed files with 360 additions and 5 deletions

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@ -72,18 +72,17 @@ void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
*submode_ = this->submode;
}
void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
void ControllerBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue();
performControlOperation();
return returnvalue::OK;
}
void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
ReturnValue_t ControllerBase::setHealth(HealthState health) {
switch (health) {
case HEALTHY:

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@ -7,4 +7,5 @@ target_sources(
DeviceHandlerFailureIsolation.cpp
DeviceHandlerMessage.cpp
DeviceTmReportingWrapper.cpp
FreshDeviceHandlerBase.cpp
HealthDevice.cpp)

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@ -0,0 +1,196 @@
#include "FreshDeviceHandlerBase.h"
#include "fsfw/devicehandlers/DeviceHandlerFailureIsolation.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/subsystem/helper.h"
FreshDeviceHandlerBase::FreshDeviceHandlerBase(DhbConfig config)
: SystemObject(config.objectId),
actionHelper(this, nullptr),
modeHelper(this),
healthHelper(this, getObjectId()),
paramHelper(this),
poolManager(this, nullptr),
defaultFdirParent(config.defaultFdirParent) {
auto mqArgs = MqArgs(config.objectId, static_cast<void*>(this));
messageQueue = QueueFactory::instance()->createMessageQueue(
config.msgQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
FreshDeviceHandlerBase::~FreshDeviceHandlerBase() {
QueueFactory::instance()->deleteMessageQueue(messageQueue);
if (not hasCustomFdir) {
delete fdirInstance;
}
}
[[nodiscard]] object_id_t FreshDeviceHandlerBase::getObjectId() const {
return SystemObject::getObjectId();
}
ReturnValue_t FreshDeviceHandlerBase::performOperation(uint8_t opCode) {
handleQueue();
performDeviceOperation(opCode);
poolManager.performHkOperation();
return returnvalue::OK;
}
void FreshDeviceHandlerBase::startTransition(Mode_t mode_, Submode_t submode_) {
triggerEvent(CHANGING_MODE, mode_, submode_);
// Complete mode transition immediately by default.
setMode(mode_, submode_);
}
void FreshDeviceHandlerBase::setMode(Mode_t newMode, Submode_t newSubmode) {
mode = newMode;
submode = newSubmode;
modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode);
announceMode(false);
}
void FreshDeviceHandlerBase::setMode(Mode_t newMode) { setMode(newMode, submode); }
void FreshDeviceHandlerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
*mode_ = this->mode;
*submode_ = this->submode;
}
void FreshDeviceHandlerBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
}
void FreshDeviceHandlerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
[[nodiscard]] MessageQueueId_t FreshDeviceHandlerBase::getCommandQueue() const {
return messageQueue->getId();
}
ReturnValue_t FreshDeviceHandlerBase::handleQueue() {
CommandMessage command;
ReturnValue_t result;
for (result = messageQueue->receiveMessage(&command); result == returnvalue::OK;
result = messageQueue->receiveMessage(&command)) {
result = actionHelper.handleActionMessage(&command);
if (result == returnvalue::OK) {
continue;
}
result = modeHelper.handleModeCommand(&command);
if (result == returnvalue::OK) {
continue;
}
result = healthHelper.handleHealthCommand(&command);
if (result == returnvalue::OK) {
continue;
}
result = paramHelper.handleParameterMessage(&command);
if (result == returnvalue::OK) {
continue;
}
result = poolManager.handleHousekeepingMessage(&command);
if (result == returnvalue::OK) {
continue;
}
result = handleCommandMessage(&command);
if (result == returnvalue::OK) {
continue;
}
command.setToUnknownCommand();
messageQueue->reply(&command);
}
return result;
}
HasHealthIF::HealthState FreshDeviceHandlerBase::getHealth() { return healthHelper.getHealth(); }
const HasHealthIF* FreshDeviceHandlerBase::getOptHealthIF() const { return this; }
const HasModesIF& FreshDeviceHandlerBase::getModeIF() const { return *this; }
ModeTreeChildIF& FreshDeviceHandlerBase::getModeTreeChildIF() { return *this; }
ReturnValue_t FreshDeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
}
// Executable Overrides.
void FreshDeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
// Pool Manager overrides.
LocalDataPoolManager* FreshDeviceHandlerBase::getHkManagerHandle() { return &poolManager; }
[[nodiscard]] uint32_t FreshDeviceHandlerBase::getPeriodicOperationFrequency() const {
return this->executingTask->getPeriodMs();
}
ReturnValue_t FreshDeviceHandlerBase::initializeAfterTaskCreation() {
return poolManager.initializeAfterTaskCreation();
}
ReturnValue_t FreshDeviceHandlerBase::setHealth(HasHealthIF::HealthState health) {
// Assembly should handle commanding to OFF.
healthHelper.setHealth(health);
return returnvalue::OK;
}
void FreshDeviceHandlerBase::triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
fdirInstance->triggerEvent(event, parameter1, parameter2);
}
void FreshDeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1,
uint32_t parameter2) const {
fdirInstance->triggerEvent(event, parameter1, parameter2);
}
void FreshDeviceHandlerBase::setToExternalControl() { setHealth(HealthState::EXTERNAL_CONTROL); }
// System Object overrides.
ReturnValue_t FreshDeviceHandlerBase::initialize() {
ReturnValue_t result = modeHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
result = healthHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
result = actionHelper.initialize(messageQueue);
if (result != returnvalue::OK) {
return result;
}
result = paramHelper.initialize();
if (result != returnvalue::OK) {
return result;
}
result = poolManager.initialize(messageQueue);
if (result != returnvalue::OK) {
return result;
}
if (fdirInstance == nullptr) {
hasCustomFdir = false;
fdirInstance = new DeviceHandlerFailureIsolation(getObjectId(), defaultFdirParent);
}
result = fdirInstance->initialize();
if (result != returnvalue::OK) {
return result;
}
return SystemObject::initialize();
}
ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues,
uint16_t startAtIndex) {
ReturnValue_t result =
fdirInstance->getParameter(domainId, uniqueId, parameterWrapper, newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
return INVALID_DOMAIN_ID;
}

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@ -0,0 +1,159 @@
#pragma once
#include "fsfw/action.h"
#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/fdir/FailureIsolationBase.h"
#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthHelper.h"
#include "fsfw/modes/HasModesIF.h"
#include "fsfw/objectmanager.h"
#include "fsfw/parameters/ParameterHelper.h"
#include "fsfw/parameters/ReceivesParameterMessagesIF.h"
#include "fsfw/retval.h"
#include "fsfw/subsystem/ModeTreeChildIF.h"
#include "fsfw/subsystem/ModeTreeConnectionIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
struct DhbConfig {
explicit DhbConfig(object_id_t objectId) : objectId(objectId) {}
object_id_t objectId;
FailureIsolationBase* fdirInstance = nullptr;
object_id_t defaultFdirParent = objects::NO_OBJECT;
uint32_t msgQueueDepth = 10;
};
class FreshDeviceHandlerBase : public SystemObject,
public DeviceHandlerIF,
public HasModesIF,
public HasHealthIF,
public ExecutableObjectIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public HasActionsIF,
public ReceivesParameterMessagesIF,
public HasLocalDataPoolIF {
public:
explicit FreshDeviceHandlerBase(DhbConfig config);
~FreshDeviceHandlerBase() override;
/**
* Periodic helper executed function, implemented by child class.
*/
virtual void performDeviceOperation(uint8_t opCode) = 0;
[[nodiscard]] object_id_t getObjectId() const override;
[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
HasHealthIF::HealthState getHealth() override;
// Mode Tree Overrides.
[[nodiscard]] const HasHealthIF* getOptHealthIF() const override;
[[nodiscard]] const HasModesIF& getModeIF() const override;
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
ModeTreeChildIF& getModeTreeChildIF() override;
[[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
protected:
// Pool Manager overrides.
LocalDataPoolManager* getHkManagerHandle() override;
ActionHelper actionHelper;
ModeHelper modeHelper;
HealthHelper healthHelper;
ParameterHelper paramHelper;
LocalDataPoolManager poolManager;
bool hasCustomFdir = false;
FailureIsolationBase* fdirInstance;
object_id_t defaultFdirParent;
/**
* Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask = nullptr;
Mode_t mode = HasModesIF::MODE_UNDEFINED;
Submode_t submode = 0;
MessageQueueIF* messageQueue;
virtual ReturnValue_t handleQueue();
// Mode Helpers.
virtual void modeChanged(Mode_t mode, Submode_t submode);
/**
* The default implementation sets the new mode immediately. If this is not applicable for
* certain modes, the user should provide a custom implementation, which performs rougly
* the same functionality of this function, when all the steps have been taken to reach the
* new mode.
*/
void startTransition(Mode_t mode, Submode_t submode) override;
virtual void setMode(Mode_t newMode, Submode_t newSubmode);
virtual void setMode(Mode_t newMode);
void getMode(Mode_t* mode, Submode_t* submode) override;
void setToExternalControl() override;
void announceMode(bool recursive) override;
// System Object overrides.
ReturnValue_t initialize() override;
/**
* 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;
// HK manager abstract functions.
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override = 0;
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override = 0;
// Health Overrides.
ReturnValue_t setHealth(HealthState health) override;
// Action override. Forward to user.
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override = 0;
// Executable overrides.
ReturnValue_t performOperation(uint8_t opCode) override;
ReturnValue_t initializeAfterTaskCreation() override;
/**
* This calls the FDIR instance event trigger function.
* @param event
* @param parameter1
* @param parameter2
*/
void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
/**
* This calls the FDIR instance event forward function.
* @param event
* @param parameter1
* @param parameter2
*/
void forwardEvent(Event event, uint32_t parameter1, uint32_t parameter2) const override;
/**
* This implementation handles the FDIR parameters. The user can override this to handle
* custom parameters.
* @param domainId
* @param uniqueId
* @param parameterWrapper
* @param newValues
* @param startAtIndex
* @return
*/
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) override;
private:
// Executable Overrides.
void setTaskIF(PeriodicTaskIF* task) override;
};