From 18cc870c8ebc3ff0565b3b8f5ed85e9a54685358 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 9 Nov 2023 11:04:45 +0100
Subject: [PATCH] add FDIR handling

---
 .../devicehandlers/FreshDeviceHandlerBase.cpp | 39 ++++++++++++++++++-
 .../devicehandlers/FreshDeviceHandlerBase.h   | 36 ++++++++++++++++-
 2 files changed, 72 insertions(+), 3 deletions(-)

diff --git a/src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp b/src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp
index bc3cf1a6..8de20494 100644
--- a/src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/FreshDeviceHandlerBase.cpp
@@ -1,5 +1,6 @@
 #include "FreshDeviceHandlerBase.h"
 
+#include "fsfw/devicehandlers/DeviceHandlerFailureIsolation.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "fsfw/subsystem/helper.h"
 
@@ -8,13 +9,17 @@ FreshDeviceHandlerBase::FreshDeviceHandlerBase(DhbConfig config)
       actionHelper(this, nullptr),
       modeHelper(this),
       healthHelper(this, getObjectId()),
-      poolManager(this, nullptr) {
+      poolManager(this, nullptr),
+      defaultFdirParent(config.defaultFdirParent) {
   auto mqArgs = MqArgs(config.objectId, static_cast<void*>(this));
   messageQueue = QueueFactory::instance()->createMessageQueue(
       config.msgQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
 }
 FreshDeviceHandlerBase::~FreshDeviceHandlerBase() {
   QueueFactory::instance()->deleteMessageQueue(messageQueue);
+  if (not hasCustomFdir) {
+    delete fdirInstance;
+  }
 }
 
 [[nodiscard]] object_id_t FreshDeviceHandlerBase::getObjectId() const {
@@ -118,6 +123,17 @@ ReturnValue_t FreshDeviceHandlerBase::setHealth(HasHealthIF::HealthState health)
   return returnvalue::OK;
 }
 
+void FreshDeviceHandlerBase::triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
+  fdirInstance->triggerEvent(event, parameter1, parameter2);
+}
+
+void FreshDeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1,
+                                          uint32_t parameter2) const {
+  fdirInstance->triggerEvent(event, parameter1, parameter2);
+}
+
+void FreshDeviceHandlerBase::setToExternalControl() { setHealth(HealthState::EXTERNAL_CONTROL); }
+
 // System Object overrides.
 ReturnValue_t FreshDeviceHandlerBase::initialize() {
   ReturnValue_t result = modeHelper.initialize();
@@ -137,6 +153,25 @@ ReturnValue_t FreshDeviceHandlerBase::initialize() {
   if (result != returnvalue::OK) {
     return result;
   }
+  if (fdirInstance == nullptr) {
+    hasCustomFdir = false;
+    fdirInstance = new DeviceHandlerFailureIsolation(getObjectId(), defaultFdirParent);
+  }
+
+  result = fdirInstance->initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
   return SystemObject::initialize();
 }
-void FreshDeviceHandlerBase::setToExternalControl() { setHealth(HealthState::EXTERNAL_CONTROL); }
+ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId,
+                                                   ParameterWrapper* parameterWrapper,
+                                                   const ParameterWrapper* newValues,
+                                                   uint16_t startAtIndex) {
+  ReturnValue_t result =
+      fdirInstance->getParameter(domainId, uniqueId, parameterWrapper, newValues, startAtIndex);
+  if (result != INVALID_DOMAIN_ID) {
+    return result;
+  }
+  return INVALID_DOMAIN_ID;
+}
diff --git a/src/fsfw/devicehandlers/FreshDeviceHandlerBase.h b/src/fsfw/devicehandlers/FreshDeviceHandlerBase.h
index 24b23a79..c6002699 100644
--- a/src/fsfw/devicehandlers/FreshDeviceHandlerBase.h
+++ b/src/fsfw/devicehandlers/FreshDeviceHandlerBase.h
@@ -4,6 +4,7 @@
 #include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
 #include "fsfw/datapoollocal/LocalDataPoolManager.h"
 #include "fsfw/devicehandlers/DeviceHandlerIF.h"
+#include "fsfw/fdir/FailureIsolationBase.h"
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
 #include "fsfw/modes/HasModesIF.h"
@@ -16,8 +17,9 @@
 
 struct DhbConfig {
   explicit DhbConfig(object_id_t objectId) : objectId(objectId) {}
-
   object_id_t objectId;
+  FailureIsolationBase* fdirInstance = nullptr;
+  object_id_t defaultFdirParent = objects::NO_OBJECT;
   uint32_t msgQueueDepth = 10;
 };
 class FreshDeviceHandlerBase : public SystemObject,
@@ -28,6 +30,7 @@ class FreshDeviceHandlerBase : public SystemObject,
                                public ModeTreeChildIF,
                                public ModeTreeConnectionIF,
                                public HasActionsIF,
+                               public HasParametersIF,
                                public HasLocalDataPoolIF {
  public:
   explicit FreshDeviceHandlerBase(DhbConfig config);
@@ -68,6 +71,10 @@ class FreshDeviceHandlerBase : public SystemObject,
   HealthHelper healthHelper;
   LocalDataPoolManager poolManager;
 
+  bool hasCustomFdir = false;
+  FailureIsolationBase* fdirInstance;
+  object_id_t defaultFdirParent;
+
   /**
    * Pointer to the task which executes this component,
    * is invalid before setTaskIF was called.
@@ -107,6 +114,33 @@ class FreshDeviceHandlerBase : public SystemObject,
   ReturnValue_t performOperation(uint8_t opCode) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
+  /**
+   * This calls the FDIR instance event trigger function.
+   * @param event
+   * @param parameter1
+   * @param parameter2
+   */
+  void triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) override;
+  /**
+   * This calls the FDIR instance event forward function.
+   * @param event
+   * @param parameter1
+   * @param parameter2
+   */
+  void forwardEvent(Event event, uint32_t parameter1, uint32_t parameter2) const override;
+  /**
+   * This implementation handles the FDIR parameters. The user can override this to handle
+   * custom parameters.
+   * @param domainId
+   * @param uniqueId
+   * @param parameterWrapper
+   * @param newValues
+   * @param startAtIndex
+   * @return
+   */
+  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
+                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;
+
  private:
   // Executable Overrides.
   void setTaskIF(PeriodicTaskIF* task) override;