fsfw/src/fsfw/devicehandlers/ChildHandlerBase.cpp

#include "fsfw/devicehandlers/ChildHandlerBase.h"

#include "fsfw/subsystem/SubsystemBase.h"

ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
                                   CookieIF* cookie, object_id_t hkDestination,
                                   uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
                                   object_id_t parent, FailureIsolationBase* customFdir,
                                   size_t cmdQueueSize)
    : DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
                        (customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
      parentId(parent),
      childHandlerFdir(setObjectId) {
  this->setHkDestination(hkDestination);
  this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
}

ChildHandlerBase::~ChildHandlerBase() {}

ReturnValue_t ChildHandlerBase::initialize() {
  ReturnValue_t result = DeviceHandlerBase::initialize();
  if (result != returnvalue::OK) {
    return result;
  }

  MessageQueueId_t parentQueue = 0;

  if (parentId != objects::NO_OBJECT) {
    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
    if (parent == NULL) {
      return returnvalue::FAILED;
    }
    parentQueue = parent->getCommandQueue();

    parent->registerChild(getObjectId());
  }

  healthHelper.setParentQueue(parentQueue);

  modeHelper.setParentQueue(parentQueue);

  return returnvalue::OK;
}