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subsystem folder update

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This commit is contained in:
Robin Müller 2020-10-10 17:41:51 +02:00
parent 3aa666633e
commit 837a18135e
9 changed files with 73 additions and 83 deletions
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28
subsystem/Subsystem.cpp
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@ -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),
currentSequenceIterator(), modeTables(maxNumberOfTables),
modeSequences(maxNumberOfSequences) {}
targetSubmode(SUBMODE_NONE), currentSequenceIterator(),
modeTables(maxNumberOfTables), modeSequences(maxNumberOfSequences) {}
Subsystem::~Subsystem() {
//Auto-generated destructor stub
}
Subsystem::~Subsystem() {}
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.
//Tables added before are checked by initialize()
//Before initialize() is called, tables must not be checked as the children
//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);
}

24
subsystem/Subsystem.h
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@ -1,13 +1,14 @@
#ifndef SUBSYSTEM_H_
#define SUBSYSTEM_H_
#ifndef FSFW_SUBSYSTEM_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_ */

18
subsystem/SubsystemBase.cpp
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@ -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 =
childrenMap.insert(
std::pair<object_id_t, ChildInfo>(objectId, info));
if (!(returnValue.second)) {
auto resultPair = childrenMap.emplace(objectId, info);
if (not resultPair.second) {
return COULD_NOT_INSERT_CHILD;
} else {
return RETURN_OK;
}
return RETURN_OK;
}
ReturnValue_t SubsystemBase::checkStateAgainstTable(

23
subsystem/SubsystemBase.h
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@ -1,5 +1,7 @@
#ifndef SUBSYSTEMBASE_H_
#define SUBSYSTEMBASE_H_
#ifndef FSFW_SUBSYSTEM_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_ */

6
subsystem/modes/HasModeSequenceIF.h
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@ -1,9 +1,9 @@
#ifndef HASMODESEQUENCEIF_H_
#define HASMODESEQUENCEIF_H_
#include "../../subsystem/modes/ModeDefinitions.h"
#include "../../subsystem/modes/ModeSequenceMessage.h"
#include "../../subsystem/modes/ModeStoreIF.h"
#include "ModeDefinitions.h"
#include "ModeSequenceMessage.h"
#include "ModeStoreIF.h"
class HasModeSequenceIF {

21
subsystem/modes/ModeDefinitions.h
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@ -1,22 +1,19 @@
#ifndef MODEDEFINITIONS_H_
#define MODEDEFINITIONS_H_
#ifndef FSFW_SUBSYSTEM_MODES_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() :
LinkedElement<ModeListEntry>(this), value1(0), value2(0), value3(0), value4(
0) {
ModeListEntry(): LinkedElement<ModeListEntry>(this) {}
}
uint32_t value1;
uint32_t value2;
uint8_t value3;
uint8_t value4;
uint32_t value1 = 0;
uint32_t value2 = 0;
uint8_t value3 = 0;
uint8_t value4 = 0;
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_ */

23
subsystem/modes/ModeSequenceMessage.cpp
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@ -1,8 +1,7 @@
#include "../../objectmanager/ObjectManagerIF.h"
#include "../../objectmanager/ObjectManagerIF.h"
#include "ModeSequenceMessage.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);
@ -64,8 +50,9 @@ void ModeSequenceMessage::clear(CommandMessage *message) {
case TABLE_LIST:
case TABLE:
case SEQUENCE: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore != NULL){
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != nullptr){
ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message));
}
}

9
subsystem/modes/ModeSequenceMessage.h
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@ -1,9 +1,10 @@
#ifndef MODESEQUENCEMESSAGE_H_
#define MODESEQUENCEMESSAGE_H_
#ifndef FSFW_SUBSYSTEM_MODES_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_ */

2
subsystem/modes/ModeStore.cpp
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@ -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) :