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Merge remote-tracking branch 'upstream/mueller/master' into mueller/master

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This commit is contained in:
Robin Müller
2021-04-24 22:48:43 +02:00
parent 56d43f5b49 1ff52e43a0
commit cac9a0eecd
45 changed files with 1646 additions and 930 deletions
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22
devicehandlers/AssemblyBase.h
View File

@ -24,6 +24,13 @@
* 1. check logic when active-> checkChildrenStateOn
* 2. transition logic to change the mode -> commandChildren
*
* Important:
*
* The implementation must call registerChild(object_id_t child)
* for all commanded children during initialization.
* The implementation must call the initialization function of the base class.
* (This will call the function in SubsystemBase)
*
*/
class AssemblyBase: public SubsystemBase {
public:
@ -41,9 +48,6 @@ public:
virtual ~AssemblyBase();
protected:
// SHOULDDO: Change that OVERWRITE_HEALTH may be returned
// (or return internalState directly?)
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
@ -68,6 +72,18 @@ protected:
virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) = 0;
/**
* Check whether a combination of mode and submode is valid.
*
* Ground Controller like precise return values from HasModesIF.
* So, please return any of them.
*
* @param mode The targeted mode
* @param submode The targeted submmode
* @return Any information why this combination is invalid from HasModesIF
* like HasModesIF::INVALID_SUBMODE.
* On success return HasReturnvaluesIF::RETURN_OK
*/
virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
Submode_t submode) = 0;

4
devicehandlers/HealthDevice.cpp
View File

@ -16,9 +16,9 @@ ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
healthHelper.handleHealthCommand(&command);
result = healthHelper.handleHealthCommand(&command);
}
return HasReturnvaluesIF::RETURN_OK;
return result;
}
ReturnValue_t HealthDevice::initialize() {