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13 changed files with 62 additions and 62 deletions

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@ -35,7 +35,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changed
- send HK one-parameter-report back to sender instead of default hk queue
- Complete overhaul of HK subsystem. Replaced local data pool manager by periodic HK
helper. The shared pool and the periodic HK generation are now distinct concepts.
- The local HK manager was replaced by a periodic HK helper which has reduced responsibilities.

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@ -71,7 +71,7 @@ bool AssemblyBase::handleChildrenChangedHealth() {
if (iter == childrenMap.end()) {
return false;
}
HealthState healthState = healthHelper.healthTable->getHealth(convertToDeviceObjectId(iter->first));
HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
if (healthState == HasHealthIF::NEEDS_RECOVERY) {
triggerEvent(TRYING_RECOVERY, iter->first, 0);
recoveryState = RECOVERY_STARTED;
@ -92,15 +92,10 @@ void AssemblyBase::handleChildrenTransition() {
if (commandsOutstanding <= 0) {
switch (internalState) {
case STATE_NEED_SECOND_STEP:
{
internalState = STATE_SECOND_STEP;
ReturnValue_t result = commandChildren(targetMode, targetSubmode);
if(result == NEED_SECOND_STEP) {
internalState = STATE_NEED_SECOND_STEP;
}
commandChildren(targetMode, targetSubmode);
return;
}
case STATE_OVERWRITE_HEALTH: {
case STATE_OVERWRITE_HEALTH: {
internalState = STATE_SINGLE_STEP;
ReturnValue_t result = commandChildren(mode, submode);
if (result == NEED_SECOND_STEP) {
@ -175,7 +170,7 @@ ReturnValue_t AssemblyBase::checkChildrenStateOff() {
ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) {
ChildInfo childInfo = childrenMap.find(objectId)->second;
if (healthHelper.healthTable->isCommandable(convertToDeviceObjectId(objectId))) {
if (healthHelper.healthTable->isCommandable(objectId)) {
if (childInfo.submode != SUBMODE_NONE) {
return returnvalue::FAILED;
} else {
@ -232,7 +227,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
case RECOVERY_STARTED:
// The recovery was already start in #handleChildrenChangedHealth and we just need
// to wait for an off time period.
// The timeout can be defined by #setRecoveryWaitTimer
// TODO: make time period configurable
recoveryState = RECOVERY_WAIT;
recoveryOffTimer.resetTimer();
return true;
@ -240,14 +235,14 @@ bool AssemblyBase::checkAndHandleRecovery() {
if (recoveryOffTimer.isBusy()) {
return true;
}
triggerEvent(RECOVERY_WAITING, recoveringDevice->first);
triggerEvent(RECOVERY_STEP, 0);
sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY);
internalState = STATE_NONE;
recoveryState = RECOVERY_ONGOING;
// Don't check state!
return true;
case RECOVERY_ONGOING:
triggerEvent(RECOVERY_RESTARTING, recoveringDevice->first);
triggerEvent(RECOVERY_STEP, 1);
recoveryState = RECOVERY_ONGOING_2;
recoveringDevice->second.healthChanged = false;
// Device should be healthy again, so restart a transition.
@ -255,7 +250,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
doStartTransition(targetMode, targetSubmode);
return true;
case RECOVERY_ONGOING_2:
triggerEvent(RECOVERY_DONE, recoveringDevice->first);
triggerEvent(RECOVERY_DONE);
// Now we're through, but not sure if it was successful.
recoveryState = RECOVERY_IDLE;
return false;
@ -269,15 +264,7 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
internalState = STATE_OVERWRITE_HEALTH;
modeHelper.setForced(true);
if(childrenMap.find(objectId) != childrenMap.end()) {
sendHealthCommand(childrenMap.at(objectId).commandQueue, EXTERNAL_CONTROL);
} else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
<< std::endl;
#endif
}
sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
}
void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
@ -287,7 +274,3 @@ void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
triggerEvent(CHANGING_MODE, mode, submode);
}
}
void AssemblyBase::setRecoveryWaitTimer(uint32_t timeoutMS) {
recoveryOffTimer.setTimeout(timeoutMS);
}

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@ -206,8 +206,6 @@ class AssemblyBase : public SubsystemBase {
void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
void setRecoveryWaitTimer(uint32_t timeoutMS);
};
#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

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@ -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; }

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@ -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;

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@ -27,19 +27,13 @@ class HasHealthIF {
static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
//! Assembly overwrites health information of children to keep satellite alive.
static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
//! Someone starts a recovery of a component (typically power-cycle).
//! P1: Object Id of the recovering device.
//! Someone starts a recovery of a component (typically power-cycle). No parameters.
static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
//! Recovery is ongoing. Comes twice during recovery.
//! P1: 0 for the first, 1 for the second event. P2: 0
static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
//! Recovery was completed. Not necessarily successful. No parameters.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
//! Recovery is ongoing. The recovering device is currently OFF, waiting for restart.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_WAITING = MAKE_EVENT(13, severity::MEDIUM);
//! Recovery is ongoing. Restarting the recovering device.
//! P1: Object Id of the recovering device.
static const Event RECOVERY_RESTARTING = MAKE_EVENT(14, severity::MEDIUM);
virtual ~HasHealthIF() {}
virtual MessageQueueId_t getCommandQueue() const = 0;

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@ -9,6 +9,7 @@
#include "fsfw/housekeeping/HousekeepingSnapshot.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/timemanager/CCSDSTime.h"
using namespace hk;
@ -83,7 +84,6 @@ ReturnValue_t PeriodicHelper::performHkOperation() {
ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message) {
Command_t command = message->getCommand();
MessageQueueId_t sender = message->getSender();
dp::sid_t sid = HousekeepingMessage::getStructureId(message);
ReturnValue_t result = returnvalue::OK;
switch (command) {
@ -113,7 +113,7 @@ ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message)
}
case (HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT): {
return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message), sender);
return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message));
}
default:

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@ -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;
}

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@ -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;

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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
@ -78,9 +83,9 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
submodeToCommand = targetSubmode;
}
if (healthHelper.healthTable->hasHealth(convertToDeviceObjectId(object))) {
if (healthHelper.healthTable->hasHealth(object)) {
switch (healthHelper.healthTable->getHealth(convertToDeviceObjectId(object))) {
switch (healthHelper.healthTable->getHealth(object)) {
case NEEDS_RECOVERY:
case FAULTY:
case PERMANENT_FAULTY:
@ -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;
}
@ -354,6 +363,6 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
return returnvalue::OK;
}
object_id_t SubsystemBase::convertToDeviceObjectId(object_id_t id) {
return id;
}
object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
return commandId;
}

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@ -155,10 +155,13 @@ class SubsystemBase : public SystemObject,
virtual void modeChanged();
/**
* @brief Provides an adaptation point for the user to change an objectId into
* a different objectId.
*/
virtual object_id_t convertToDeviceObjectId(object_id_t id);
* @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_ */

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@ -114,11 +114,6 @@ void TmStoreMessage::setDownlinkContentTimeMessage(CommandMessage* cmd, store_ad
cmd->setParameter2(storeId.raw);
}
void TmStoreMessage::setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId) {
cmd->setCommand(STOP_DOWNLINK_STORE_CONTENT);
cmd->setParameter2(storeId.raw);
}
uint32_t TmStoreMessage::getAddressLow(CommandMessage* cmd) { return cmd->getParameter(); }
uint32_t TmStoreMessage::getAddressHigh(CommandMessage* cmd) { return cmd->getParameter2(); }

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@ -21,7 +21,6 @@ class TmStoreMessage {
static void setStoreCatalogueReportMessage(CommandMessage* cmd, object_id_t objectId,
store_address_t storeId);
static void setDownlinkContentTimeMessage(CommandMessage* cmd, store_address_t storeId);
static void setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId);
static void setIndexReportMessage(CommandMessage* cmd, store_address_t storeId);
static ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, uint32_t addressLow,
uint32_t addressHigh);
@ -55,7 +54,6 @@ class TmStoreMessage {
static const Command_t DOWNLINK_STORE_CONTENT_BLOCKS = MAKE_COMMAND_ID(12);
static const Command_t REPORT_INDEX_REQUEST = MAKE_COMMAND_ID(13);
static const Command_t INDEX_REPORT = MAKE_COMMAND_ID(14);
static const Command_t STOP_DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(15);
private:
TmStoreMessage();