initialize after task crteation moved

controller/ControllerBase.cpp

@@ -4,13 +4,12 @@
 #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(
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
-				SUBMODE_NONE), commandQueue(NULL), modeHelper(
+		submode(SUBMODE_NONE), modeHelper(this),
-				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
+		healthHelper(this, setObjectId), hkSwitcher(this) {
 	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
-
 }
 
 ControllerBase::~ControllerBase() {
@@ -24,7 +23,7 @@ ReturnValue_t ControllerBase::initialize() {
 	}
 
 	MessageQueueId_t parentQueue = 0;
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
 		if (parent == NULL) {
 			return RETURN_FAILED;
@@ -135,3 +134,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
 
 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
+
+ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
+    return HasReturnvaluesIF::RETURN_OK;
+}

controller/ControllerBase.h

@@ -1,5 +1,5 @@
-#ifndef CONTROLLERBASE_H_
+#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
-#define CONTROLLERBASE_H_
+#define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -9,29 +9,32 @@
 #include "../tasks/ExecutableObjectIF.h"
 #include "../datapool/HkSwitchHelper.h"
 
-
+/**
+ * @brief  Generic base class for controller classes
+ * @details
+ * Implements common interfaces for controllers.
+ */
 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();
+	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 performOperation(uint8_t opCode) override;
 
-	virtual ReturnValue_t setHealth(HealthState health);
+	virtual ReturnValue_t setHealth(HealthState health) override;
 
-	virtual HasHealthIF::HealthState getHealth();
+	virtual HasHealthIF::HealthState getHealth() override;
 
 	/**
 	 * Implementation of ExecutableObjectIF function
@@ -39,17 +42,32 @@ public:
 	 * 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_);
+	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;
+
+    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;
 
@@ -58,16 +76,13 @@ protected:
 	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();
 
-	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;
 	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);
@@ -76,4 +91,4 @@ protected:
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };
 
-#endif /* CONTROLLERBASE_H_ */
+#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

osal/FreeRTOS/PeriodicTask.cpp

@@ -64,6 +64,11 @@ ReturnValue_t PeriodicTask::sleepFor(uint32_t ms) {
 void PeriodicTask::taskFunctionality() {
 	TickType_t xLastWakeTime;
 	const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
+
+	for (auto const& object: objectList) {
+	    object->initializeAfterTaskCreation();
+	}
+
 	/* The xLastWakeTime variable needs to be initialized with the current tick
 	 count. Note that this is the only time the variable is written to
 	 explicitly. After this assignment, xLastWakeTime is updated automatically
@@ -93,7 +98,7 @@ ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	objectList.push_back(newObject);
 	newObject->setTaskIF(this);
 
-	return newObject->initializeAfterTaskCreation();
+	return HasReturnvaluesIF::RETURN_OK;
 }
 
 uint32_t PeriodicTask::getPeriodMs() const {