various tweaks and improvements
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@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() {
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void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
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doStartTransition(mode, submode);
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, mode, submode);
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} else {
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triggerEvent(CHANGING_MODE, mode, submode);
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}
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triggerModeHelperEvents(mode, submode);
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}
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void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
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@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() {
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}
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HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
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if (healthState == HasHealthIF::NEEDS_RECOVERY) {
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triggerEvent(TRYING_RECOVERY);
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triggerEvent(TRYING_RECOVERY, iter->first, 0);
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recoveryState = RECOVERY_STARTED;
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recoveringDevice = iter;
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// The user needs to take care of commanding the children off in commandChildren
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doStartTransition(targetMode, targetSubmode);
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} else {
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triggerEvent(CHILD_CHANGED_HEALTH);
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@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
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bool AssemblyBase::checkAndHandleRecovery() {
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switch (recoveryState) {
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case RECOVERY_STARTED:
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// The recovery was already start in #handleChildrenChangedHealth and we just need
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// to wait for an off time period.
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// TODO: make time period configurable
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recoveryState = RECOVERY_WAIT;
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recoveryOffTimer.resetTimer();
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return true;
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@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
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modeHelper.setForced(true);
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sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
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}
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void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, mode, submode);
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} else {
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triggerEvent(CHANGING_MODE, mode, submode);
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}
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}
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@ -47,9 +47,8 @@ class AssemblyBase : public SubsystemBase {
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protected:
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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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* or using executeTable()
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* Command children to reach [mode,submode] combination. Can be done by setting
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* #commandsOutstanding correctly, or using #executeTable.
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* @param mode
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* @param submode
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* @return
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@ -162,6 +161,12 @@ class AssemblyBase : public SubsystemBase {
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
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/**
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* Calls #doStartTransition and triggers an informative event as well that the mode will
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* change
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* @param mode
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* @param submode
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*/
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virtual void startTransition(Mode_t mode, Submode_t submode);
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/**
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@ -190,7 +195,7 @@ class AssemblyBase : public SubsystemBase {
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* Manages recovery of a device
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* @return true if recovery is still ongoing, false else.
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*/
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bool checkAndHandleRecovery();
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virtual bool checkAndHandleRecovery();
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/**
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* Helper method to overwrite health state of one of the children.
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@ -198,6 +203,8 @@ class AssemblyBase : public SubsystemBase {
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* @param objectId Must be a registered child.
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*/
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void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
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void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
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};
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#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
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@ -49,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
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printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
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HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
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}
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if (this->fdirInstance == nullptr) {
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this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
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}
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}
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void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
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@ -127,6 +124,17 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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if (result != RETURN_OK) {
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return result;
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}
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if (this->fdirInstance == nullptr) {
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this->fdirInstance = new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
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}
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if(this->parent != objects::NO_OBJECT) {
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HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
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HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
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if(modeIF != nullptr and healthIF != nullptr) {
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setParentQueue(modeIF->getCommandQueue());
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}
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}
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communicationInterface =
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ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
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@ -1494,3 +1502,9 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
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}
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return commandIter->second.sendReplyTo;
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}
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void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
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void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
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void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { this->powerSwitcher = switcher; }
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@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
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FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
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void setCustomFdir(FailureIsolationBase* fdir);
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void setParent(object_id_t parent);
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void setPowerSwitcher(PowerSwitchIF* switcher);
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void setHkDestination(object_id_t hkDestination);
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/**
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@ -824,6 +827,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
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/** Pointer to the used FDIR instance. If not provided by child,
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* default class is instantiated. */
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FailureIsolationBase *fdirInstance;
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object_id_t parent = objects::NO_OBJECT;
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//! To correctly delete the default instance.
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bool defaultFDIRUsed;
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@ -53,10 +53,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
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if (parentIF == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "FailureIsolationBase::intialize: Parent object"
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<< "invalid." << std::endl;
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#endif
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
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<< "invalid" << std::endl;
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sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
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#else
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sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
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sif::printError("Make sure it implements ConfirmsFailuresIF\n");
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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return RETURN_FAILED;
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