various tweaks and improvements

This commit is contained in:
Robin Müller 2022-03-17 19:19:02 +01:00
parent fec5f83f4f
commit 543daaa95a
No known key found for this signature in database
GPG Key ID: 71B58F8A3CDFA9AC
5 changed files with 51 additions and 17 deletions

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@ -26,11 +26,7 @@ void AssemblyBase::performChildOperation() {
void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
doStartTransition(mode, submode);
if (modeHelper.isForced()) {
triggerEvent(FORCING_MODE, mode, submode);
} else {
triggerEvent(CHANGING_MODE, mode, submode);
}
triggerModeHelperEvents(mode, submode);
}
void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
@ -77,9 +73,10 @@ bool AssemblyBase::handleChildrenChangedHealth() {
}
HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
if (healthState == HasHealthIF::NEEDS_RECOVERY) {
triggerEvent(TRYING_RECOVERY);
triggerEvent(TRYING_RECOVERY, iter->first, 0);
recoveryState = RECOVERY_STARTED;
recoveringDevice = iter;
// The user needs to take care of commanding the children off in commandChildren
doStartTransition(targetMode, targetSubmode);
} else {
triggerEvent(CHILD_CHANGED_HEALTH);
@ -228,6 +225,9 @@ ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
bool AssemblyBase::checkAndHandleRecovery() {
switch (recoveryState) {
case RECOVERY_STARTED:
// The recovery was already start in #handleChildrenChangedHealth and we just need
// to wait for an off time period.
// TODO: make time period configurable
recoveryState = RECOVERY_WAIT;
recoveryOffTimer.resetTimer();
return true;
@ -266,3 +266,11 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
modeHelper.setForced(true);
sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
}
void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
if (modeHelper.isForced()) {
triggerEvent(FORCING_MODE, mode, submode);
} else {
triggerEvent(CHANGING_MODE, mode, submode);
}
}

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@ -47,9 +47,8 @@ class AssemblyBase : public SubsystemBase {
protected:
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
* or using executeTable()
* Command children to reach [mode,submode] combination. Can be done by setting
* #commandsOutstanding correctly, or using #executeTable.
* @param mode
* @param submode
* @return
@ -162,6 +161,12 @@ class AssemblyBase : public SubsystemBase {
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
/**
* Calls #doStartTransition and triggers an informative event as well that the mode will
* change
* @param mode
* @param submode
*/
virtual void startTransition(Mode_t mode, Submode_t submode);
/**
@ -190,7 +195,7 @@ class AssemblyBase : public SubsystemBase {
* Manages recovery of a device
* @return true if recovery is still ongoing, false else.
*/
bool checkAndHandleRecovery();
virtual bool checkAndHandleRecovery();
/**
* Helper method to overwrite health state of one of the children.
@ -198,6 +203,8 @@ class AssemblyBase : public SubsystemBase {
* @param objectId Must be a registered child.
*/
void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
};
#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

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@ -49,9 +49,6 @@ DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t device
printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
}
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId, defaultFdirParentId);
}
}
void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
@ -127,6 +124,17 @@ ReturnValue_t DeviceHandlerBase::initialize() {
if (result != RETURN_OK) {
return result;
}
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(this->getObjectId(), defaultFdirParentId);
}
if(this->parent != objects::NO_OBJECT) {
HasModesIF* modeIF = ObjectManager::instance()->get<HasModesIF>(this->parent);
HasHealthIF* healthIF = ObjectManager::instance()->get<HasHealthIF>(this->parent);
if(modeIF != nullptr and healthIF != nullptr) {
setParentQueue(modeIF->getCommandQueue());
}
}
communicationInterface =
ObjectManager::instance()->get<DeviceCommunicationIF>(deviceCommunicationId);
@ -1494,3 +1502,9 @@ MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyI
}
return commandIter->second.sendReplyTo;
}
void DeviceHandlerBase::setCustomFdir(FailureIsolationBase* fdir) { this->fdirInstance = fdir; }
void DeviceHandlerBase::setParent(object_id_t parent) { this->parent = parent; }
void DeviceHandlerBase::setPowerSwitcher(PowerSwitchIF* switcher) { this->powerSwitcher = switcher; }

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@ -103,6 +103,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication, CookieIF *comCookie,
FailureIsolationBase *fdirInstance = nullptr, size_t cmdQueueSize = 20);
void setCustomFdir(FailureIsolationBase* fdir);
void setParent(object_id_t parent);
void setPowerSwitcher(PowerSwitchIF* switcher);
void setHkDestination(object_id_t hkDestination);
/**
@ -824,6 +827,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
/** Pointer to the used FDIR instance. If not provided by child,
* default class is instantiated. */
FailureIsolationBase *fdirInstance;
object_id_t parent = objects::NO_OBJECT;
//! To correctly delete the default instance.
bool defaultFDIRUsed;

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@ -53,10 +53,11 @@ ReturnValue_t FailureIsolationBase::initialize() {
if (parentIF == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "FailureIsolationBase::intialize: Parent object"
<< "invalid." << std::endl;
#endif
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Make sure it implements ConfirmsFailuresIF." << std::endl;
<< "invalid" << std::endl;
sif::error << "Make sure it implements ConfirmsFailuresIF" << std::endl;
#else
sif::printError("FailureIsolationBase::intialize: Parent object invalid\n");
sif::printError("Make sure it implements ConfirmsFailuresIF\n");
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
return RETURN_FAILED;