Merge branch 'main' into spahr/SharedPowerLines

Reviewed-on: #55
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

misc/archive/MgmRM3100Handler.h

@@ -18,13 +18,13 @@ class MgmRM3100Handler : public DeviceHandlerBase {
   static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
 
   //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
-  static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
+  static constexpr Event tmrcSet = event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO>();
 
   //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
   //! P1: Second two bytes new Cycle Count Y
   //! P2: New cycle count Z
   static constexpr Event cycleCountersSet =
-      event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
+      event::makeEvent<SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO>();
 
   MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
                    uint32_t transitionDelay);

src/fsfw/cfdp/handler/defs.h

@@ -19,13 +19,13 @@ struct FsfwParams {
 };
 
 namespace events {
-static constexpr Event PDU_SEND_ERROR = event::makeEvent(SSID, 1, severity::LOW);
-static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
-static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
+static constexpr Event PDU_SEND_ERROR = event::makeEvent<SSID, 1, severity::LOW>();
+static constexpr Event SERIALIZATION_ERROR = event::makeEvent<SSID, 2, severity::LOW>();
+static constexpr Event FILESTORE_ERROR = event::makeEvent<SSID, 3, severity::LOW>();
 //! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
-static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
+static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent<SSID, 4, severity::LOW>();
 //! [EXPORT] : [COMMENT] CFDP request handling failed. P2: Returncode.
-static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent(SSID, 5, severity::LOW);
+static constexpr Event HANDLING_CFDP_REQUEST_FAILED = event::makeEvent<SSID, 5, severity::LOW>();
 }  // namespace events
 
 static constexpr ReturnValue_t SOURCE_TRANSACTION_PENDING = returnvalue::makeCode(CID, 0);

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -190,4 +190,6 @@ ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uni
   return INVALID_DOMAIN_ID;
 }
 
-datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
+datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
+
+ModeHelper& FreshDeviceHandlerBase::getModeHelper() { return this->modeHelper; }

src/fsfw/devicehandlers/FreshDeviceHandlerBase.h

@@ -97,6 +97,11 @@ class FreshDeviceHandlerBase : public SystemObject,
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
   ModeTreeChildIF& getModeTreeChildIF() override;
 
+  /**
+   * @brief Return an interface to the ModeHelper.
+   */
+  ModeHelper& getModeHelper();
+
  protected:
   ActionHelper actionHelper;
   ModeHelper modeHelper;

src/fsfw/events/Event.h

@@ -5,30 +5,31 @@
 
 #include "fwSubsystemIdRanges.h"
 
+using EventId_t = uint16_t;
 using EventSeverity_t = uint8_t;
-using GroupId_t = uint16_t;
-using UniqueEventId_t = uint16_t;
+using UniqueEventId_t = uint8_t;
 
 namespace severity {
-enum Severity : EventSeverity_t { INFO = 0, LOW = 1, MEDIUM = 2, HIGH = 3 };
+enum Severity : EventSeverity_t { INFO = 1, LOW = 2, MEDIUM = 3, HIGH = 4 };
 
 }  // namespace severity
 
-#define MAKE_EVENT(id, severity) (((severity) << 30) | (SUBSYSTEM_ID << 16) | id)
-
 typedef uint32_t Event;
 
 namespace event {
 
-constexpr UniqueEventId_t getEventId(Event event) { return (event & 0xFFFF); }
+constexpr EventId_t getEventId(Event event) { return (event & 0xFFFF); }
 
-constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 30) & 0b11); }
+constexpr EventSeverity_t getSeverity(Event event) { return ((event >> 16) & 0xFF); }
 
-constexpr Event makeEvent(GroupId_t groupId, UniqueEventId_t uniqueEventId,
-                          EventSeverity_t eventSeverity) {
-  return (eventSeverity << 30) | (groupId << 16) | uniqueEventId;
+template<uint8_t subsystemId, UniqueEventId_t uniqueEventId, EventSeverity_t eventSeverity>
+constexpr Event makeEvent() {
+  static_assert(uniqueEventId < 100, "The unique event ID must be smaller than 100!");
+  return (eventSeverity << 16) + (subsystemId * 100) + uniqueEventId;
 }
 
 }  // namespace event
 
+#define MAKE_EVENT(id, severity) event::makeEvent<SUBSYSTEM_ID, id, severity>();
+
 #endif /* EVENTOBJECT_EVENT_H_ */

src/fsfw/housekeeping/Dataset.h

@@ -91,7 +91,7 @@ class Dataset : public SerializeIF {
 
   void setChildrenValidity(bool valid) {
     for (auto &serializable : serializables) {
-      serializable.get().setValid(true);
+      serializable.get().setValid(valid);
     }
   }
 

src/fsfw/modes/ModeHelper.cpp

@@ -35,8 +35,12 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
       commandedMode = mode;
       commandedSubmode = submode;
 
-      if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
-          (theOneWhoCommandedAMode != parentQueueId)) {
+      // if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
+      //     (theOneWhoCommandedAMode != parentQueueId))) {
+      //   owner->setToExternalControl();
+      // }
+
+      if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
         owner->setToExternalControl();
       }
 
@@ -106,3 +110,7 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
 bool ModeHelper::isForced() { return forced; }
 
 void ModeHelper::setForced(bool forced) { this->forced = forced; }
+
+void ModeHelper::setPowerSwitchQueueId(MessageQueueId_t queueId) {
+  powerswitchQueueId = queueId;
+}

src/fsfw/modes/ModeHelper.h

@@ -21,10 +21,15 @@ class ModeHelper {
 
   /**
    * @param parentQueue the Queue id of the parent object.
-   * Set to 0 if no parent present
+   * Set to MessageQueueIF::NO_QUEUE if no parent present
    */
   void setParentQueue(MessageQueueId_t parentQueueId);
 
+  /**
+   * Set to MessageQueue::NO_QUEUE if no powerswitch is commanding the obejct.
+   */
+  void setPowerSwitchQueueId(MessageQueueId_t queueId);
+
   ReturnValue_t initialize(MessageQueueId_t parentQueueId);
 
   ReturnValue_t initialize(void);
@@ -42,6 +47,7 @@ class ModeHelper {
  protected:
   HasModesIF *owner;
   MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
+  MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
 
   Countdown countdown;
 

src/fsfw/pus/Service11TelecommandScheduling.h

@@ -49,7 +49,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
 
   //! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
   //! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
-  static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
+  static constexpr Event TC_DELETION_FAILED = event::makeEvent<SUBSYSTEM_ID, 0, severity::MEDIUM>();
 
   // The types of PUS-11 subservices
   enum Subservice : uint8_t {

src/fsfw/pus/Service5EventReporting.cpp

@@ -44,7 +44,7 @@ ReturnValue_t Service5EventReporting::performService() {
 }
 
 ReturnValue_t Service5EventReporting::generateEventReport(EventMessage message) {
-  EventReport report(message.getEvent(), message.getReporter(), message.getParameter1(),
+  EventReport report(message.getEventId(), message.getReporter(), message.getParameter1(),
                      message.getParameter2());
   storeHelper.preparePacket(psbParams.serviceId, message.getSeverity(), tmHelper.sendCounter);
   storeHelper.setSourceDataSerializable(report);

src/fsfw/pus/servicepackets/Service5Packets.h

@@ -17,13 +17,17 @@
  */
 class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
  public:
-  EventReport(Event event_, object_id_t objectId_, uint32_t parameter1_, uint32_t parameter2_)
-      : event(event_), objectId(objectId_), parameter1(parameter1_), parameter2(parameter2_) {}
+  EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
+              uint32_t parameter2_)
+      : reportId(reportId_),
+        objectId(objectId_),
+        parameter1(parameter1_),
+        parameter2(parameter2_) {}
 
   ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize,
                           SerializeIF::Endianness streamEndianness) const override {
     ReturnValue_t result =
-        SerializeAdapter::serialize(&event, buffer, size, maxSize, streamEndianness);
+        SerializeAdapter::serialize(&reportId, buffer, size, maxSize, streamEndianness);
     if (result != returnvalue::OK) {
       return result;
     }
@@ -44,7 +48,7 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
 
   size_t getSerializedSize() const override {
     uint32_t size = 0;
-    size += SerializeAdapter::getSerializedSize(&event);
+    size += SerializeAdapter::getSerializedSize(&reportId);
     size += SerializeAdapter::getSerializedSize(&objectId);
     size += SerializeAdapter::getSerializedSize(&parameter1);
     size += SerializeAdapter::getSerializedSize(&parameter2);
@@ -57,7 +61,7 @@ class EventReport : public SerializeIF {  //!< [EXPORT] : [SUBSERVICE] 1, 2, 3,
   }
 
  private:
-  Event event;
+  EventId_t reportId;
   object_id_t objectId;
   uint32_t parameter1;
   uint32_t parameter2;

src/fsfw/subsystem/SubsystemBase.cpp

@@ -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;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -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_ */

src/fsfw/tcdistribution/definitions.h

@@ -25,7 +25,7 @@ static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11)
 
 static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
 //! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
-static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
+static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent<SUBSYSTEM_ID, 0, severity::LOW>();
 
 };  // namespace tmtcdistrib
 #endif  // FSFW_TMTCPACKET_DEFINITIONS_H