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spahr/Shar
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b30e88640b | ||
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5818265a7d | ||
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cd94fad8e5 | ||
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0681b1895b | ||
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131456e19e |
@ -35,7 +35,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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## Changed
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- send HK one-parameter-report back to sender instead of default hk queue
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- Complete overhaul of HK subsystem. Replaced local data pool manager by periodic HK
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helper. The shared pool and the periodic HK generation are now distinct concepts.
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- 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() {
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if (iter == childrenMap.end()) {
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return false;
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}
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HealthState healthState = healthHelper.healthTable->getHealth(convertToDeviceObjectId(iter->first));
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HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
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if (healthState == HasHealthIF::NEEDS_RECOVERY) {
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triggerEvent(TRYING_RECOVERY, iter->first, 0);
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recoveryState = RECOVERY_STARTED;
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@ -92,15 +92,10 @@ void AssemblyBase::handleChildrenTransition() {
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if (commandsOutstanding <= 0) {
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switch (internalState) {
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case STATE_NEED_SECOND_STEP:
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{
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internalState = STATE_SECOND_STEP;
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ReturnValue_t result = commandChildren(targetMode, targetSubmode);
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if(result == NEED_SECOND_STEP) {
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internalState = STATE_NEED_SECOND_STEP;
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}
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commandChildren(targetMode, targetSubmode);
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return;
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}
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case STATE_OVERWRITE_HEALTH: {
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case STATE_OVERWRITE_HEALTH: {
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internalState = STATE_SINGLE_STEP;
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ReturnValue_t result = commandChildren(mode, submode);
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if (result == NEED_SECOND_STEP) {
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@ -175,7 +170,7 @@ ReturnValue_t AssemblyBase::checkChildrenStateOff() {
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ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) {
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ChildInfo childInfo = childrenMap.find(objectId)->second;
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if (healthHelper.healthTable->isCommandable(convertToDeviceObjectId(objectId))) {
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if (healthHelper.healthTable->isCommandable(objectId)) {
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if (childInfo.submode != SUBMODE_NONE) {
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return returnvalue::FAILED;
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} else {
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@ -232,7 +227,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
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case RECOVERY_STARTED:
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// The recovery was already start in #handleChildrenChangedHealth and we just need
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// to wait for an off time period.
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// The timeout can be defined by #setRecoveryWaitTimer
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// TODO: make time period configurable
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recoveryState = RECOVERY_WAIT;
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recoveryOffTimer.resetTimer();
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return true;
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@ -240,14 +235,14 @@ bool AssemblyBase::checkAndHandleRecovery() {
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if (recoveryOffTimer.isBusy()) {
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return true;
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}
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triggerEvent(RECOVERY_WAITING, recoveringDevice->first);
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triggerEvent(RECOVERY_STEP, 0);
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sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY);
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internalState = STATE_NONE;
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recoveryState = RECOVERY_ONGOING;
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// Don't check state!
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return true;
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case RECOVERY_ONGOING:
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triggerEvent(RECOVERY_RESTARTING, recoveringDevice->first);
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triggerEvent(RECOVERY_STEP, 1);
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recoveryState = RECOVERY_ONGOING_2;
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recoveringDevice->second.healthChanged = false;
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// Device should be healthy again, so restart a transition.
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@ -255,7 +250,7 @@ bool AssemblyBase::checkAndHandleRecovery() {
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doStartTransition(targetMode, targetSubmode);
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return true;
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case RECOVERY_ONGOING_2:
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triggerEvent(RECOVERY_DONE, recoveringDevice->first);
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triggerEvent(RECOVERY_DONE);
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// Now we're through, but not sure if it was successful.
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recoveryState = RECOVERY_IDLE;
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return false;
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@ -269,15 +264,7 @@ void AssemblyBase::overwriteDeviceHealth(object_id_t objectId, HasHealthIF::Heal
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triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
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internalState = STATE_OVERWRITE_HEALTH;
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modeHelper.setForced(true);
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if(childrenMap.find(objectId) != childrenMap.end()) {
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sendHealthCommand(childrenMap.at(objectId).commandQueue, EXTERNAL_CONTROL);
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} else {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << std::hex << SystemObject::getObjectId() << ": invalid mode table entry"
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<< std::endl;
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#endif
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}
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sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
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}
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void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
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@ -287,7 +274,3 @@ void AssemblyBase::triggerModeHelperEvents(Mode_t mode, Submode_t submode) {
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triggerEvent(CHANGING_MODE, mode, submode);
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}
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}
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void AssemblyBase::setRecoveryWaitTimer(uint32_t timeoutMS) {
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recoveryOffTimer.setTimeout(timeoutMS);
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}
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@ -206,8 +206,6 @@ class AssemblyBase : public SubsystemBase {
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void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
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void triggerModeHelperEvents(Mode_t mode, Submode_t submode);
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void setRecoveryWaitTimer(uint32_t timeoutMS);
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};
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#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
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@ -190,4 +190,6 @@ ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uni
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return INVALID_DOMAIN_ID;
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}
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datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
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datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
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ModeHelper& FreshDeviceHandlerBase::getModeHelper() { return this->modeHelper; }
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@ -97,6 +97,11 @@ class FreshDeviceHandlerBase : public SystemObject,
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ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
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ModeTreeChildIF& getModeTreeChildIF() override;
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/**
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* @brief Return an interface to the ModeHelper.
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*/
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ModeHelper& getModeHelper();
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protected:
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ActionHelper actionHelper;
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ModeHelper modeHelper;
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@ -27,19 +27,13 @@ class HasHealthIF {
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static const Event CHILD_PROBLEMS = MAKE_EVENT(8, severity::LOW);
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//! Assembly overwrites health information of children to keep satellite alive.
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static const Event OVERWRITING_HEALTH = MAKE_EVENT(9, severity::LOW);
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//! Someone starts a recovery of a component (typically power-cycle).
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//! P1: Object Id of the recovering device.
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//! Someone starts a recovery of a component (typically power-cycle). No parameters.
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static const Event TRYING_RECOVERY = MAKE_EVENT(10, severity::MEDIUM);
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//! Recovery is ongoing. Comes twice during recovery.
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//! P1: 0 for the first, 1 for the second event. P2: 0
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static const Event RECOVERY_STEP = MAKE_EVENT(11, severity::MEDIUM);
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//! Recovery was completed. Not necessarily successful. No parameters.
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//! P1: Object Id of the recovering device.
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static const Event RECOVERY_DONE = MAKE_EVENT(12, severity::MEDIUM);
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//! Recovery is ongoing. The recovering device is currently OFF, waiting for restart.
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//! P1: Object Id of the recovering device.
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static const Event RECOVERY_WAITING = MAKE_EVENT(13, severity::MEDIUM);
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//! Recovery is ongoing. Restarting the recovering device.
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//! P1: Object Id of the recovering device.
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static const Event RECOVERY_RESTARTING = MAKE_EVENT(14, severity::MEDIUM);
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virtual ~HasHealthIF() {}
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virtual MessageQueueId_t getCommandQueue() const = 0;
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@ -9,6 +9,7 @@
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#include "fsfw/housekeeping/HousekeepingSnapshot.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/timemanager/CCSDSTime.h"
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using namespace hk;
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@ -83,7 +84,6 @@ ReturnValue_t PeriodicHelper::performHkOperation() {
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ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message) {
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Command_t command = message->getCommand();
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MessageQueueId_t sender = message->getSender();
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dp::sid_t sid = HousekeepingMessage::getStructureId(message);
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ReturnValue_t result = returnvalue::OK;
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switch (command) {
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@ -113,7 +113,7 @@ ReturnValue_t PeriodicHelper::handleHousekeepingMessage(CommandMessage* message)
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}
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case (HousekeepingMessage::GENERATE_ONE_PARAMETER_REPORT): {
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return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message), sender);
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return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message));
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}
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default:
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@ -35,8 +35,12 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
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commandedMode = mode;
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commandedSubmode = submode;
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if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
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(theOneWhoCommandedAMode != parentQueueId)) {
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// if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
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// (theOneWhoCommandedAMode != parentQueueId))) {
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// owner->setToExternalControl();
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// }
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if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
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owner->setToExternalControl();
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}
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@ -106,3 +110,7 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
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bool ModeHelper::isForced() { return forced; }
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void ModeHelper::setForced(bool forced) { this->forced = forced; }
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void ModeHelper::setPowerSwitchQueueId(MessageQueueId_t queueId) {
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powerswitchQueueId = queueId;
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}
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@ -21,10 +21,15 @@ class ModeHelper {
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/**
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* @param parentQueue the Queue id of the parent object.
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* Set to 0 if no parent present
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* Set to MessageQueueIF::NO_QUEUE if no parent present
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*/
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void setParentQueue(MessageQueueId_t parentQueueId);
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/**
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* Set to MessageQueue::NO_QUEUE if no powerswitch is commanding the obejct.
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*/
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void setPowerSwitchQueueId(MessageQueueId_t queueId);
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ReturnValue_t initialize(MessageQueueId_t parentQueueId);
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ReturnValue_t initialize(void);
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@ -42,6 +47,7 @@ class ModeHelper {
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protected:
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HasModesIF *owner;
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MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
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MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
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Countdown countdown;
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@ -64,6 +64,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
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for (; tableIter.value != nullptr; ++tableIter) {
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object_id_t object = tableIter.value->getObject();
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// As default, the objectId in the commandTable is the same as the one in the childrenMap.
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// The user has to specify otherwise if required.
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object = commandObjectIdToChildrenMapObjectId(object);
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if ((iter = childrenMap.find(object)) == childrenMap.end()) {
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// illegal table entry, should only happen due to misconfigured mode table
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -78,9 +83,9 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
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submodeToCommand = targetSubmode;
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}
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if (healthHelper.healthTable->hasHealth(convertToDeviceObjectId(object))) {
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if (healthHelper.healthTable->hasHealth(object)) {
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switch (healthHelper.healthTable->getHealth(convertToDeviceObjectId(object))) {
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switch (healthHelper.healthTable->getHealth(object)) {
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case NEEDS_RECOVERY:
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case FAULTY:
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case PERMANENT_FAULTY:
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@ -119,7 +124,11 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
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continue; // don't send redundant mode commands (produces event spam), but still command if
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// mode is forced to reach lower levels
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}
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ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
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// Get the messageQueueId if the receiver specified by the commandTable.
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// This the same MessageQueueId as stored in the childrenMap if the commanded object is part of the childrenMap.
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MessageQueueId_t commandedReceiver = ObjectManager::instance()->get<HasHealthIF>(tableIter->getObject())->getCommandQueue();
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ReturnValue_t result = commandQueue->sendMessage(commandedReceiver, &command);
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if (result == returnvalue::OK) {
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++commandsOutstanding;
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}
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@ -354,6 +363,6 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
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return returnvalue::OK;
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}
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object_id_t SubsystemBase::convertToDeviceObjectId(object_id_t id) {
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return id;
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}
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object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
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return commandId;
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}
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@ -155,10 +155,13 @@ class SubsystemBase : public SystemObject,
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virtual void modeChanged();
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/**
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* @brief Provides an adaptation point for the user to change an objectId into
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* a different objectId.
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*/
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virtual object_id_t convertToDeviceObjectId(object_id_t id);
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* @brief This converts the objectId of the object we want to send a mode command to into the
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* objectId of the corresponding object in the childrenMap for the current mode command.
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* As default implementation, this is the same objectId, and this functions returns it's input value
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*
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* It is up to the user to specify otherwise.
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*/
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virtual object_id_t commandObjectIdToChildrenMapObjectId(object_id_t commandId);
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};
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#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */
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@ -114,11 +114,6 @@ void TmStoreMessage::setDownlinkContentTimeMessage(CommandMessage* cmd, store_ad
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cmd->setParameter2(storeId.raw);
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}
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void TmStoreMessage::setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId) {
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cmd->setCommand(STOP_DOWNLINK_STORE_CONTENT);
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cmd->setParameter2(storeId.raw);
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}
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uint32_t TmStoreMessage::getAddressLow(CommandMessage* cmd) { return cmd->getParameter(); }
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uint32_t TmStoreMessage::getAddressHigh(CommandMessage* cmd) { return cmd->getParameter2(); }
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@ -21,7 +21,6 @@ class TmStoreMessage {
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static void setStoreCatalogueReportMessage(CommandMessage* cmd, object_id_t objectId,
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store_address_t storeId);
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static void setDownlinkContentTimeMessage(CommandMessage* cmd, store_address_t storeId);
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static void setStopDownlinkContentMessage(CommandMessage* cmd, store_address_t storeId);
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static void setIndexReportMessage(CommandMessage* cmd, store_address_t storeId);
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static ReturnValue_t setDeleteBlocksMessage(CommandMessage* cmd, uint32_t addressLow,
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uint32_t addressHigh);
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@ -55,7 +54,6 @@ class TmStoreMessage {
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static const Command_t DOWNLINK_STORE_CONTENT_BLOCKS = MAKE_COMMAND_ID(12);
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static const Command_t REPORT_INDEX_REQUEST = MAKE_COMMAND_ID(13);
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static const Command_t INDEX_REPORT = MAKE_COMMAND_ID(14);
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static const Command_t STOP_DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(15);
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private:
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TmStoreMessage();
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