KSat/fsfw
18
6
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests 1 Releases Wiki Activity

Change the SubsystemBase to allow commanding of objects in executeTable which are not in the childrenMap. This enebales us to wiretap mode messages and operate the power switch of a shared power line without breaking the mode tree

Browse Source
This commit is contained in:
spahr@ksat-stuttgart.de 2025-03-29 23:30:04 +01:00
parent 0681b1895b
commit cd94fad8e5
2 changed files with 23 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
src/fsfw/subsystem/SubsystemBase.cpp
View File

@ -64,6 +64,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
for (; tableIter.value != nullptr; ++tableIter) { for (; tableIter.value != nullptr; ++tableIter) {
object_id_t object = tableIter.value->getObject(); object_id_t object = tableIter.value->getObject();
// As default, the objectId in the commandTable is the same as the one in the childrenMap.
// The user has to specify otherwise if required.
object = commandObjectIdToChildrenMapObjectId(object);
if ((iter = childrenMap.find(object)) == childrenMap.end()) { if ((iter = childrenMap.find(object)) == childrenMap.end()) {
// illegal table entry, should only happen due to misconfigured mode table // illegal table entry, should only happen due to misconfigured mode table
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -119,7 +124,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
continue; // don't send redundant mode commands (produces event spam), but still command if continue; // don't send redundant mode commands (produces event spam), but still command if
// mode is forced to reach lower levels // mode is forced to reach lower levels
} }
ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
// Get the messageQueueId if the receiver specified by the commandTable.
// This the same MessageQueueId as stored in the childrenMap if the commanded object is part of the childrenMap.
MessageQueueId_t commandedReceiver = ObjectManager::instance()->get<HasHealthIF>(tableIter->getObject())->getCommandQueue();
ReturnValue_t result = commandQueue->sendMessage(commandedReceiver, &command);
if (result == returnvalue::OK) { if (result == returnvalue::OK) {
++commandsOutstanding; ++commandsOutstanding;
} }
@ -353,3 +362,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
} }
return returnvalue::OK; return returnvalue::OK;
} }
object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
return commandId;
}

9
src/fsfw/subsystem/SubsystemBase.h
View File

@ -153,6 +153,15 @@ class SubsystemBase : public SystemObject,
virtual void announceMode(bool recursive) override; virtual void announceMode(bool recursive) override;
virtual void modeChanged(); virtual void modeChanged();
/**
* @brief This converts the objectId of the object we want to send a mode command to into the
* objectId of the corresponding object in the childrenMap for the current mode command.
* As default implementation, this is the same objectId, and this functions returns it's input value
*
* It is up to the user to specify otherwise.
*/
virtual object_id_t commandObjectIdToChildrenMapObjectId(object_id_t commandId);
}; };
#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */ #endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */