Merge remote-tracking branch 'origin/main' into hinkel/comments

Reviewed-on: #57
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -35,6 +35,7 @@ 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.

src/fsfw/devicehandlers/AssemblyBase.cpp

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

src/fsfw/devicehandlers/AssemblyBase.h

@@ -206,6 +206,8 @@ 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_ */

src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp

@@ -145,20 +145,20 @@ void FreshDeviceHandlerBase::setToExternalControl() { setHealth(HealthState::EXT
 
 // System Object overrides.
 ReturnValue_t FreshDeviceHandlerBase::initialize() {
-  ReturnValue_t result = modeHelper.initialize();
+  ReturnValue_t result = modeHelper.initialize(); // ModeHelper.initialize() is an empty function, always returns OK
   if (result != returnvalue::OK) {
     return result;
   }
   result = healthHelper.initialize();
-  if (result != returnvalue::OK) {
+  if (result != returnvalue::OK) { // check if all objects were successfully registered with HEALTHY flag stored in table (otherwise default HEALTHY = HEALTHY)
     return result;
   }
   result = actionHelper.initialize(messageQueue);
-  if (result != returnvalue::OK) {
+  if (result != returnvalue::OK) { // check if actionHelper got messageQueue assigned to use for its work successfully
     return result;
   }
-  result = paramHelper.initialize();
-  if (result != returnvalue::OK) {
+  result = paramHelper.initialize(); 
+  if (result != returnvalue::OK) {  
     return result;
   }
 
@@ -190,6 +190,4 @@ ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uni
   return INVALID_DOMAIN_ID;
 }
 
-datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }
-
-ModeHelper& FreshDeviceHandlerBase::getModeHelper() { return this->modeHelper; }
+datapool::SharedPool* FreshDeviceHandlerBase::getOptionalSharedPool() { return nullptr; }

src/fsfw/devicehandlers/FreshDeviceHandlerBase.h

@@ -97,11 +97,6 @@ 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/health/HasHealthIF.h

@@ -27,13 +27,19 @@ 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). No parameters.
+  //! Someone starts a recovery of a component (typically power-cycle).
+  //! P1: Object Id of the recovering device.
   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;

src/fsfw/housekeeping/PeriodicHkHelper.cpp

@@ -9,7 +9,6 @@
 #include "fsfw/housekeeping/HousekeepingSnapshot.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-#include "fsfw/timemanager/CCSDSTime.h"
 
 using namespace hk;
 
@@ -84,6 +83,7 @@ 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));
+      return generateHousekeepingPacket(HousekeepingMessage::getStructureId(message), sender);
     }
 
     default:

src/fsfw/modes/ModeHelper.cpp

@@ -35,12 +35,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
       commandedMode = mode;
       commandedSubmode = submode;
 
-      // if (((parentQueueId != MessageQueueIF::NO_QUEUE) &&
-      //     (theOneWhoCommandedAMode != parentQueueId))) {
-      //   owner->setToExternalControl();
-      // }
-
-      if(theOneWhoCommandedAMode != parentQueueId and theOneWhoCommandedAMode != powerswitchQueueId) {
+      if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
+          (theOneWhoCommandedAMode != parentQueueId)) {
         owner->setToExternalControl();
       }
 
@@ -110,7 +106,3 @@ 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

@@ -21,15 +21,10 @@ class ModeHelper {
 
   /**
    * @param parentQueue the Queue id of the parent object.
-   * Set to MessageQueueIF::NO_QUEUE if no parent present
+   * Set to 0 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);
@@ -47,7 +42,6 @@ class ModeHelper {
  protected:
   HasModesIF *owner;
   MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
-  MessageQueueId_t powerswitchQueueId = MessageQueueIF::NO_QUEUE;
 
   Countdown countdown;
 

src/fsfw/objectmanager/frameworkObjects.h

@@ -29,7 +29,7 @@ enum framework_objects : object_id_t {
   //	MODE_STORE = 0x53010100,
   EVENT_MANAGER = 0x53030000,
   INTERNAL_ERROR_REPORTER = 0x53040000,
-  IPC_STORE = 0x534f0300,
+  IPC_STORE = 0x534f0300, // Inter-process communication
   // IDs for PUS Packet Communication
   TC_STORE = 0x534f0100,
   TM_STORE = 0x534f0200,

src/fsfw/parameters/ParameterHelper.cpp

@@ -117,7 +117,7 @@ ReturnValue_t ParameterHelper::sendParameter(MessageQueueId_t to, uint32_t id,
 ReturnValue_t ParameterHelper::initialize() {
   ownerQueueId = owner->getCommandQueue();
 
-  storage = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+  storage = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE); // get storage pointer for inter-process communication
   if (storage == nullptr) {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }

src/fsfw/subsystem/SubsystemBase.cpp

@@ -64,11 +64,6 @@ 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
@@ -83,9 +78,9 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
       submodeToCommand = targetSubmode;
     }
 
-    if (healthHelper.healthTable->hasHealth(object)) {
+    if (healthHelper.healthTable->hasHealth(convertToDeviceObjectId(object))) {
 
-      switch (healthHelper.healthTable->getHealth(object)) {
+      switch (healthHelper.healthTable->getHealth(convertToDeviceObjectId(object))) {
         case NEEDS_RECOVERY:
         case FAULTY:
         case PERMANENT_FAULTY:
@@ -124,11 +119,7 @@ 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
     }
-    
-    // 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);
+    ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
     if (result == returnvalue::OK) {
       ++commandsOutstanding;
     }
@@ -363,6 +354,6 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQue
   return returnvalue::OK;
 }
 
-object_id_t SubsystemBase::commandObjectIdToChildrenMapObjectId(object_id_t commandId) {
-  return commandId;
-}
+object_id_t SubsystemBase::convertToDeviceObjectId(object_id_t id) {
+  return id;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -155,13 +155,10 @@ class SubsystemBase : public SystemObject,
   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);
+   * @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);
 };
 
 #endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */

src/fsfw/tmstorage/TmStoreMessage.cpp

@@ -114,6 +114,11 @@ 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(); }
 

src/fsfw/tmstorage/TmStoreMessage.h

@@ -21,6 +21,7 @@ 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);
@@ -54,6 +55,7 @@ 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();