bsp_q7s/core/ObjectFactory.cpp

@@ -623,7 +623,7 @@ void ObjectFactory::createHeaterComponents(PowerSwitchIF* pwrSwitcher, HealthTab
   heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
   new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, pwrSwitcher,
-                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V, healthTable);
+                    pcdu::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
 }
 
 void ObjectFactory::createSolarArrayDeploymentComponents() {

mission/devices/HeaterHandler.cpp

@@ -12,20 +12,17 @@
 
 HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
                              CookieIF* gpioCookie_, PowerSwitchIF* mainLineSwitcher_,
-                             power::Switch_t mainLineSwitch_, HealthTableIF* healthTable_)
+                             power::Switch_t mainLineSwitch_)
     : SystemObject(setObjectId_),
       gpioDriverId(gpioDriverId_),
       gpioCookie(gpioCookie_),
       mainLineSwitcher(mainLineSwitcher_),
       mainLineSwitch(mainLineSwitch_),
-      healthTable(healthTable_),
+      healthHelper(this, getObjectId()),
       actionHelper(this, nullptr) {
   if (mainLineSwitcher == nullptr) {
     throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid PowerSwitchIF");
   }
-  if (healthTable == nullptr) {
-    throw std::invalid_argument("HeaterHandler::HeaterHandler: Invalid HealthTableIF");
-  }
   auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
   commandQueue = QueueFactory::instance()->createMessageQueue(
       cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
@@ -65,9 +62,7 @@ ReturnValue_t HeaterHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
-  if (healthTable != nullptr) {
+  healthHelper.initialize(commandQueue->getId());
-    healthTable->registerObject(getObjectId());
-  }
 
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
   if (IPCStore == nullptr) {
@@ -103,16 +98,24 @@ void HeaterHandler::setInitialSwitchStates() {
 }
 
 void HeaterHandler::readCommandQueue() {
+  ReturnValue_t result = RETURN_OK;
   CommandMessage command;
-  ReturnValue_t result = commandQueue->receiveMessage(&command);
+  do {
-  if (result != RETURN_OK) {
+    result = commandQueue->receiveMessage(&command);
-    return;
+    if (result == MessageQueueIF::EMPTY) {
+      break;
+    } else if (result != RETURN_OK) {
+      sif::warning << "HeaterHandler::readCommandQueue: Message reception error" << std::endl;
     }
-
     result = actionHelper.handleActionMessage(&command);
     if (result == RETURN_OK) {
-    return;
+      continue;
     }
+    result = healthHelper.handleHealthCommand(&command);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  } while (result == RETURN_OK);
 }
 
 ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
@@ -353,16 +356,8 @@ ReturnValue_t HeaterHandler::getFuseState(uint8_t fuseNr) const { return 0; }
 uint32_t HeaterHandler::getSwitchDelayMs(void) const { return 2000; }
 
 ReturnValue_t HeaterHandler::setHealth(HealthState health) {
-  if (healthTable != nullptr) {
+  healthHelper.setHealth(health);
-    healthTable->setHealth(getObjectId(), health);
   return RETURN_OK;
 }
-  return RETURN_FAILED;
-}
 
-HasHealthIF::HealthState HeaterHandler::getHealth() {
+HasHealthIF::HealthState HeaterHandler::getHealth() { return healthHelper.getHealth(); }
-  if (healthTable != nullptr) {
-    return healthTable->getHealth(getObjectId());
-  }
-  return HasHealthIF::HealthState::HEALTHY;
-}

mission/devices/HeaterHandler.h

@@ -5,6 +5,7 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/health/HasHealthIF.h>
+#include <fsfw/health/HealthHelper.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/power/PowerSwitchIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -42,8 +43,7 @@ class HeaterHandler : public ExecutableObjectIF,
   static const DeviceCommandId_t SWITCH_HEATER = 0x0;
 
   HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF* gpioCookie,
-                PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch,
+                PowerSwitchIF* mainLineSwitcherObjectId, power::Switch_t mainLineSwitch);
-                HealthTableIF* healthTable);
 
   virtual ~HeaterHandler();
 
@@ -141,7 +141,7 @@ class HeaterHandler : public ExecutableObjectIF,
   /** Switch number of the heater power supply switch */
   power::Switch_t mainLineSwitch;
 
-  HealthTableIF* healthTable = nullptr;
+  HealthHelper healthHelper;
 
   ActionHelper actionHelper;