beatufil
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@ -8,7 +8,7 @@
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#include "HealthTableIF.h"
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class HealthTable : public HealthTableIF, public SystemObject {
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friend class CService201HealthCommanding;
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friend class CServiceHealthCommanding;
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public:
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explicit HealthTable(object_id_t objectid);
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@ -9,4 +9,4 @@ target_sources(
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Service17Test.cpp
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Service20ParameterManagement.cpp
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CService200ModeCommanding.cpp
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CService201HealthCommanding.cpp)
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CServiceHealthCommanding.cpp)
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@ -1,6 +1,5 @@
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#include "fsfw/pus/CService201HealthCommanding.h"
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#include <fsfw/events/EventManagerIF.h>
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#include <fsfw/pus/CServiceHealthCommanding.h>
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#include "fsfw/health/HasHealthIF.h"
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#include "fsfw/health/HealthMessage.h"
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@ -8,15 +7,13 @@
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#include "fsfw/pus/servicepackets/Service201Packets.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
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uint8_t serviceId, HealthTable &table,
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uint8_t numParallelCommands,
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uint16_t commandTimeoutSeconds)
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: CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
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commandTimeoutSeconds),
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healthTable(table) {}
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CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
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: CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
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args.numParallelCommands, args.commandTimeoutSeconds),
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healthTable(args.table),
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maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
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ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
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ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
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switch (subservice) {
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case (Subservice::COMMAND_SET_HEALTH):
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case (Subservice::COMMAND_ANNOUNCE_HEALTH):
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@ -30,24 +27,31 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice)
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}
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}
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ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData,
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size_t tcDataLen,
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MessageQueueId_t *id,
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object_id_t *objectId) {
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if (subservice == Subservice::COMMAND_SET_HEALTH and
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subservice == Subservice::COMMAND_ANNOUNCE_HEALTH) {
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if (tcDataLen < sizeof(object_id_t)) {
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return CommandingServiceBase::INVALID_TC;
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}
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SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
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ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData,
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size_t tcDataLen,
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MessageQueueId_t *id,
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object_id_t *objectId) {
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switch (subservice) {
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case (Subservice::COMMAND_SET_HEALTH):
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case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
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if (tcDataLen < sizeof(object_id_t)) {
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return CommandingServiceBase::INVALID_TC;
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}
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SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
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return checkInterfaceAndAcquireMessageQueue(id, objectId);
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return checkInterfaceAndAcquireMessageQueue(id, objectId);
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}
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case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
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return returnvalue::OK;
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}
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default: {
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return returnvalue::FAILED;
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}
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}
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return returnvalue::OK;
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}
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ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
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ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
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MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
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auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
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if (destination == nullptr) {
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@ -58,10 +62,9 @@ ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
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return returnvalue::OK;
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}
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ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
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uint8_t subservice, const uint8_t *tcData,
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size_t tcDataLen, uint32_t *state,
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object_id_t objectId) {
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ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
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const uint8_t *tcData, size_t tcDataLen,
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uint32_t *state, object_id_t objectId) {
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ReturnValue_t result = returnvalue::OK;
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switch (subservice) {
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case (Subservice::COMMAND_SET_HEALTH): {
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@ -80,6 +83,11 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
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}
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case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
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ReturnValue_t result = iterateHealthTable(true);
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if (result == returnvalue::OK) {
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reportAllHealth = true;
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return EXECUTION_COMPLETE;
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}
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return result;
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while (true) {
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ReturnValue_t result = iterateHealthTable(false);
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if (result != returnvalue::OK) {
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@ -97,10 +105,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
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return result;
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}
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ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
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Command_t previousCommand, uint32_t *state,
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CommandMessage *optionalNextCommand,
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object_id_t objectId, bool *isStep) {
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ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
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Command_t previousCommand, uint32_t *state,
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CommandMessage *optionalNextCommand,
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object_id_t objectId, bool *isStep) {
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Command_t replyId = reply->getCommand();
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if (replyId == HealthMessage::REPLY_HEALTH_SET) {
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return EXECUTION_COMPLETE;
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@ -110,8 +118,20 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
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return CommandingServiceBase::INVALID_REPLY;
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}
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void CServiceHealthCommanding::doPeriodicOperation() {
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if (reportAllHealth) {
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for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
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ReturnValue_t result = iterateHealthTable(true);
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if (result != returnvalue::OK) {
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reportAllHealth = false;
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break;
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}
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}
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}
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}
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// Not used for now, health state already reported by event
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[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
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[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply(
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const CommandMessage *reply) {
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auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
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auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
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@ -119,7 +139,7 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
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return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
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}
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ReturnValue_t CService201HealthCommanding::iterateHealthTable(bool reset) {
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ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
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std::pair<object_id_t, HasHealthIF::HealthState> pair;
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ReturnValue_t result = healthTable.iterate(&pair, reset);
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#include "fsfw/tmtcservices/CommandingServiceBase.h"
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struct HealthServiceCfg {
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HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
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uint16_t maxNumHealthInfoPerCycle)
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: objectId(objectId),
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apid(apid),
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table(healthTable),
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maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
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object_id_t objectId;
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uint16_t apid;
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HealthTable &table;
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uint16_t maxNumHealthInfoPerCycle;
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uint8_t service = 201;
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uint8_t numParallelCommands = 4;
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uint16_t commandTimeoutSeconds = 60;
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};
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/**
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* @brief Custom PUS service to set health of all objects
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* implementing hasHealthIF.
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@ -19,12 +35,10 @@
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* child class like this service
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*
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*/
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class CService201HealthCommanding : public CommandingServiceBase {
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class CServiceHealthCommanding : public CommandingServiceBase {
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public:
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CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
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HealthTable &table, uint8_t numParallelCommands = 4,
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uint16_t commandTimeoutSeconds = 60);
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~CService201HealthCommanding() override = default;
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CServiceHealthCommanding(HealthServiceCfg args);
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~CServiceHealthCommanding() override = default;
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protected:
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/* CSB abstract function implementations */
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@ -40,8 +54,12 @@ class CService201HealthCommanding : public CommandingServiceBase {
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CommandMessage *optionalNextCommand, object_id_t objectId,
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bool *isStep) override;
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void doPeriodicOperation() override;
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private:
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HealthTable &healthTable;
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uint16_t maxNumHealthInfoPerCycle = 0;
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bool reportAllHealth = false;
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ReturnValue_t iterateHealthTable(bool reset);
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static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
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const object_id_t *objectId);
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