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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

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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
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15
src/fsfw/subsystem/SubsystemBase.cpp
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@ -64,6 +64,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
for (; tableIter.value != nullptr; ++tableIter) {
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()) {
// illegal table entry, should only happen due to misconfigured mode table
#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
// 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) {
++commandsOutstanding;
}
@ -353,3 +362,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
}
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 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_ */