subsystem folder update

subsystem/Subsystem.cpp

@@ -12,13 +12,10 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
 		uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) :
 		SubsystemBase(setObjectId, parent, 0), isInTransition(false),
 		childrenChangedHealth(false), currentTargetTable(),
-		targetMode(0), targetSubmode(SUBMODE_NONE), initialMode(0),
+		targetSubmode(SUBMODE_NONE), currentSequenceIterator(),
-		currentSequenceIterator(), modeTables(maxNumberOfTables),
+		modeTables(maxNumberOfTables), modeSequences(maxNumberOfSequences) {}
-		modeSequences(maxNumberOfSequences) {}
 
-Subsystem::~Subsystem() {
+Subsystem::~Subsystem() {}
-	//Auto-generated destructor stub
-}
 
 ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
 		Mode_t fallbackSequence) {
@@ -344,7 +341,8 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
 
 	ReturnValue_t result;
 
-	//Before initialize() is called, tables must not be checked as the children are not added yet.
+	//Before initialize() is called, tables must not be checked as the
+	//children are not added yet.
 	//Sequences added before are checked by initialize()
 	if (!preInit) {
 		result = checkSequence(
@@ -390,8 +388,8 @@ ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
 
 	ReturnValue_t result;
 
-	//Before initialize() is called, tables must not be checked as the children are not added yet.
+	//Before initialize() is called, tables must not be checked as the children
-	//Tables added before are checked by initialize()
+	//are not added yet. Tables added before are checked by initialize()
 	if (!preInit) {
 		result = checkTable(
 				HybridIterator<ModeListEntry>(table->front(), table->back()));
@@ -582,12 +580,14 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode,
 	triggerEvent(MODE_TRANSITION_FAILED, failureCode, parameter);
 	if (mode == targetMode) {
 		//already tried going back to the current mode
-		//go into fallback mode, also set current mode to fallback mode, so we come here at the next fail
+		//go into fallback mode, also set current mode to fallback mode,
+	    //so we come here at the next fail
 		modeHelper.setForced(true);
 		ReturnValue_t result;
 		if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) {
 			triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode));
-			isInTransition = false; //keep still and allow arbitrary mode commands to recover
+			//keep still and allow arbitrary mode commands to recover
+			isInTransition = false;
 			return;
 		}
 		mode = getFallbackSequence(mode);
@@ -651,8 +651,10 @@ void Subsystem::cantKeepMode() {
 
 	modeHelper.setForced(true);
 
-	//already set the mode, so that we do not try to go back in our old mode when the transition fails
+	//already set the mode, so that we do not try to go back in our old mode
+	//when the transition fails
 	mode = getFallbackSequence(mode);
-	//SHOULDDO: We should store submodes for fallback sequence as well, otherwise we should get rid of submodes completely.
+	//SHOULDDO: We should store submodes for fallback sequence as well,
+	//otherwise we should get rid of submodes completely.
 	startTransition(mode, SUBMODE_NONE);
 }

subsystem/Subsystem.h

@@ -1,13 +1,14 @@
-#ifndef SUBSYSTEM_H_
+#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_
-#define SUBSYSTEM_H_
+#define FSFW_SUBSYSTEM_SUBSYSTEM_H_
+
+#include "SubsystemBase.h"
+#include "modes/ModeDefinitions.h"
 
 #include "../container/FixedArrayList.h"
 #include "../container/FixedMap.h"
 #include "../container/HybridIterator.h"
 #include "../container/SinglyLinkedList.h"
 #include "../serialize/SerialArrayListAdapter.h"
-#include "../subsystem/modes/ModeDefinitions.h"
-#include "../subsystem/SubsystemBase.h"
 
 class Subsystem: public SubsystemBase, public HasModeSequenceIF {
 public:
@@ -44,11 +45,11 @@ public:
 
 	void setInitialMode(Mode_t mode);
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() override;
 
-	virtual ReturnValue_t checkObjectConnections();
+	virtual ReturnValue_t checkObjectConnections() override;
 
-	virtual MessageQueueId_t getSequenceCommandQueue() const;
+	virtual MessageQueueId_t getSequenceCommandQueue() const override;
 
 	/**
 	 *
@@ -96,11 +97,11 @@ protected:
 
 	HybridIterator<ModeListEntry> currentTargetTable;
 
-	Mode_t targetMode;
+	Mode_t targetMode = 0;
 
 	Submode_t targetSubmode;
 
-	Mode_t initialMode;
+	Mode_t initialMode = 0;
 
 	HybridIterator<ModeListEntry> currentSequenceIterator;
 
@@ -153,7 +154,8 @@ protected:
 
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 
-	void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);
+	void sendSerializablesAsCommandMessage(Command_t command,
+	        SerializeIF **elements, uint8_t count);
 
 	void transitionFailed(ReturnValue_t failureCode, uint32_t parameter);
 
@@ -161,4 +163,4 @@ protected:
 
 };
 
-#endif /* SUBSYSTEM_H_ */
+#endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */

subsystem/SubsystemBase.cpp

@@ -6,10 +6,10 @@
 SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
 		Mode_t initialMode, uint16_t commandQueueDepth) :
 		SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
-		childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL),
+		childrenChangedMode(false),
+		commandQueue(QueueFactory::instance()->createMessageQueue(
+		        commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
 		healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
-			MessageQueueMessage::MAX_MESSAGE_SIZE);
 }
 
 SubsystemBase::~SubsystemBase() {
@@ -21,7 +21,8 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	ChildInfo info;
 
 	HasModesIF *child = objectManager->get<HasModesIF>(objectId);
-	//This is a rather ugly hack to have the changedHealth info for all children available. (needed for FOGs).
+	// This is a rather ugly hack to have the changedHealth info for all
+	// children available.
 	HasHealthIF* healthChild = objectManager->get<HasHealthIF>(objectId);
 	if (child == nullptr) {
 		if (healthChild == nullptr) {
@@ -38,14 +39,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
 	info.submode = SUBMODE_NONE;
 	info.healthChanged = false;
 
-	std::pair<std::map<object_id_t, ChildInfo>::iterator, bool> returnValue =
+	auto resultPair = childrenMap.emplace(objectId, info);
-			childrenMap.insert(
+	if (not resultPair.second) {
-					std::pair<object_id_t, ChildInfo>(objectId, info));
-	if (!(returnValue.second)) {
 		return COULD_NOT_INSERT_CHILD;
-	} else {
-		return RETURN_OK;
 	}
+	return RETURN_OK;
 }
 
 ReturnValue_t SubsystemBase::checkStateAgainstTable(

subsystem/SubsystemBase.h

@@ -1,5 +1,7 @@
-#ifndef SUBSYSTEMBASE_H_
+#ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
-#define SUBSYSTEMBASE_H_
+#define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
+
+#include "modes/HasModeSequenceIF.h"
 
 #include "../container/HybridIterator.h"
 #include "../health/HasHealthIF.h"
@@ -7,7 +9,6 @@
 #include "../modes/HasModesIF.h"
 #include "../objectmanager/SystemObject.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "../subsystem/modes/HasModeSequenceIF.h"
 #include "../tasks/ExecutableObjectIF.h"
 #include "../ipc/MessageQueueIF.h"
 #include <map>
@@ -34,17 +35,17 @@ public:
 			Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
 	virtual ~SubsystemBase();
 
-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;
 
 	ReturnValue_t registerChild(object_id_t objectId);
 
-	virtual ReturnValue_t initialize();
+	virtual ReturnValue_t initialize() 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;
 
 protected:
 	struct ChildInfo {
@@ -62,9 +63,9 @@ protected:
 	/**
 	 * Always check this against <=0, so you are robust against too many replies
 	 */
-	int32_t commandsOutstanding;
+	int32_t commandsOutstanding = 0;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	HealthHelper healthHelper;
 
@@ -126,4 +127,4 @@ protected:
 	virtual void modeChanged();
 };
 
-#endif /* SUBSYSTEMBASE_H_ */
+#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */

subsystem/modes/HasModeSequenceIF.h

@@ -1,9 +1,9 @@
 #ifndef HASMODESEQUENCEIF_H_
 #define HASMODESEQUENCEIF_H_
 
-#include "../../subsystem/modes/ModeDefinitions.h"
+#include "ModeDefinitions.h"
-#include "../../subsystem/modes/ModeSequenceMessage.h"
+#include "ModeSequenceMessage.h"
-#include "../../subsystem/modes/ModeStoreIF.h"
+#include "ModeStoreIF.h"
 
 
 class HasModeSequenceIF {

subsystem/modes/ModeDefinitions.h

@@ -1,22 +1,19 @@
-#ifndef MODEDEFINITIONS_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
-#define MODEDEFINITIONS_H_
+#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
 
 #include "../../modes/HasModesIF.h"
 #include "../../objectmanager/SystemObjectIF.h"
 #include "../../serialize/SerializeIF.h"
 #include "../../serialize/SerialLinkedListAdapter.h"
+
 class ModeListEntry: public SerializeIF, public LinkedElement<ModeListEntry> {
 public:
-	ModeListEntry() :
+	ModeListEntry(): LinkedElement<ModeListEntry>(this) {}
-			LinkedElement<ModeListEntry>(this), value1(0), value2(0), value3(0), value4(
-					0) {
 
-	}
+	uint32_t value1 = 0;
-
+	uint32_t value2 = 0;
-	uint32_t value1;
+	uint8_t value3 = 0;
-	uint32_t value2;
+	uint8_t value4 = 0;
-	uint8_t value3;
-	uint8_t value4;
 
 	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
 			size_t maxSize, Endianness streamEndianness) const {
@@ -149,4 +146,4 @@ public:
 	}
 };
 
-#endif //MODEDEFINITIONS_H_
+#endif /* FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ */

subsystem/modes/ModeSequenceMessage.cpp

@@ -1,8 +1,7 @@
-#include "../../objectmanager/ObjectManagerIF.h"
+#include "ModeSequenceMessage.h"
-#include "../../objectmanager/ObjectManagerIF.h"
+
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "../../subsystem/modes/ModeSequenceMessage.h"
 
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence, store_address_t storeAddress) {
@@ -11,25 +10,12 @@ void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 	message->setParameter2(sequence);
 }
 
-//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
-//		Command_t command, ModeTableId_t table, store_address_t storeAddress) {
-//	message->setCommand(command);
-//	message->setParameter(storeAddress.raw);
-//	message->setParameter2(table);
-//}
-
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, Mode_t sequence) {
 	message->setCommand(command);
 	message->setParameter2(sequence);
 }
 
-//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
-//		Command_t command, ModeTableId_t table) {
-//	message->setCommand(command);
-//	message->setParameter2(table);
-//}
-
 void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message,
 		Command_t command, store_address_t storeAddress) {
 	message->setCommand(command);
@@ -63,9 +49,10 @@ void ModeSequenceMessage::clear(CommandMessage *message) {
 	case SEQUENCE_LIST:
 	case TABLE_LIST:
 	case TABLE:
-	case SEQUENCE:{
+	case SEQUENCE: {
-		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+		StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
-		if (ipcStore != NULL){
+		        objects::IPC_STORE);
+		if (ipcStore != nullptr){
 			ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message));
 		}
 	}

subsystem/modes/ModeSequenceMessage.h

@@ -1,9 +1,10 @@
-#ifndef MODESEQUENCEMESSAGE_H_
+#ifndef FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_
-#define MODESEQUENCEMESSAGE_H_
+#define FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_
 
+#include "ModeDefinitions.h"
 #include "../../ipc/CommandMessage.h"
 #include "../../storagemanager/StorageManagerIF.h"
-#include "../../subsystem/modes/ModeDefinitions.h"
+
 
 class ModeSequenceMessage {
 public:
@@ -45,4 +46,4 @@ private:
 	ModeSequenceMessage();
 };
 
-#endif /* MODESEQUENCEMESSAGE_H_ */
+#endif /* FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ */

subsystem/modes/ModeStore.cpp

@@ -1,5 +1,7 @@
 #include "../../subsystem/modes/ModeStore.h"
 
+// todo: I think some parts are deprecated. If this is used,  the define
+// USE_MODESTORE could be part of the new FSFWConfig.h file.
 #ifdef USE_MODESTORE
 
 ModeStore::ModeStore(object_id_t objectId, uint32_t slots) :