From 90175e5c9d21857b51391f072524c4b7c1e39ee1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 2 Mar 2023 11:27:19 +0100
Subject: [PATCH] add health handling

---
 bsp_q7s/memory/LocalParameterHandler.h      |  3 ++-
 mission/devices/SusHandler.h                |  1 +
 mission/system/objects/SyrlinksAssembly.cpp | 18 ++++++++++++++++++
 mission/system/objects/SyrlinksAssembly.h   |  2 ++
 4 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/bsp_q7s/memory/LocalParameterHandler.h b/bsp_q7s/memory/LocalParameterHandler.h
index 82c5df31..ed0bb2bd 100644
--- a/bsp_q7s/memory/LocalParameterHandler.h
+++ b/bsp_q7s/memory/LocalParameterHandler.h
@@ -19,7 +19,8 @@ class LocalParameterHandler : public NVMParameterBase {
    * @brief	Constructor
    *
    * @param sdRelativeName	Absolute name of json file relative to mount
-   * 												directory of SD card. E.g. conf/example.json
+   * 												directory of SD card.
+   * E.g. conf/example.json
    * @param sdcMan	Pointer to SD card manager
    */
   LocalParameterHandler(std::string sdRelativeName, SdCardMountedIF* sdcMan);
diff --git a/mission/devices/SusHandler.h b/mission/devices/SusHandler.h
index 9f4b35ba..6eb781db 100644
--- a/mission/devices/SusHandler.h
+++ b/mission/devices/SusHandler.h
@@ -3,6 +3,7 @@
 
 #include <eive/eventSubsystemIds.h>
 #include <eive/resultClassIds.h>
+
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "mission/devices/devicedefinitions/acsPolling.h"
diff --git a/mission/system/objects/SyrlinksAssembly.cpp b/mission/system/objects/SyrlinksAssembly.cpp
index b25fcbc4..209097d9 100644
--- a/mission/system/objects/SyrlinksAssembly.cpp
+++ b/mission/system/objects/SyrlinksAssembly.cpp
@@ -10,6 +10,12 @@ ReturnValue_t SyrlinksAssembly::commandChildren(Mode_t mode, Submode_t submode)
   commandTable[0].setMode(mode);
   commandTable[0].setSubmode(submode);
   HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  if (recoveryState == RECOVERY_IDLE) {
+    ReturnValue_t result = checkAndHandleHealthState(mode, submode);
+    if (result == NEED_TO_CHANGE_HEALTH) {
+      return OK;
+    }
+  }
   executeTable(iter);
   return returnvalue::OK;
 }
@@ -27,3 +33,15 @@ ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t su
   }
   return returnvalue::FAILED;
 }
+
+ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,
+                                                          Submode_t deviceSubmode) {
+  HealthState health = healthHelper.healthTable->getHealth(objects::SYRLINKS_HANDLER);
+  if (health == FAULTY or health == PERMANENT_FAULTY) {
+    overwriteDeviceHealth(objects::SYRLINKS_HANDLER, health);
+    return NEED_TO_CHANGE_HEALTH;
+  } else if (health == EXTERNAL_CONTROL) {
+    modeHelper.setForced(true);
+  }
+  return OK;
+}
diff --git a/mission/system/objects/SyrlinksAssembly.h b/mission/system/objects/SyrlinksAssembly.h
index a44a3502..6d7744ad 100644
--- a/mission/system/objects/SyrlinksAssembly.h
+++ b/mission/system/objects/SyrlinksAssembly.h
@@ -12,6 +12,8 @@ class SyrlinksAssembly : public AssemblyBase {
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+
+  ReturnValue_t checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode);
 };
 
 #endif /* MISSION_SYSTEM_OBJECTS_SYRLINKSASSEMBLY_H_ */