Merge pull request 'New simpler DHB' (#161) from new-dhb into develop
Reviewed-on: #161 Reviewed-by: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
This commit is contained in:
commit
41d67bff63
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@ -72,18 +72,17 @@ void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
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*submode_ = this->submode;
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}
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void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
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void ControllerBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
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void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
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void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
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ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
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handleQueue();
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performControlOperation();
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return returnvalue::OK;
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}
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void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
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ReturnValue_t ControllerBase::setHealth(HealthState health) {
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switch (health) {
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case HEALTHY:
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@ -7,4 +7,5 @@ target_sources(
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DeviceHandlerFailureIsolation.cpp
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DeviceHandlerMessage.cpp
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DeviceTmReportingWrapper.cpp
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FreshDeviceHandlerBase.cpp
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HealthDevice.cpp)
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@ -0,0 +1,196 @@
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#include "FreshDeviceHandlerBase.h"
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#include "fsfw/devicehandlers/DeviceHandlerFailureIsolation.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/subsystem/helper.h"
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FreshDeviceHandlerBase::FreshDeviceHandlerBase(DhbConfig config)
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: SystemObject(config.objectId),
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actionHelper(this, nullptr),
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modeHelper(this),
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healthHelper(this, getObjectId()),
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paramHelper(this),
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poolManager(this, nullptr),
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defaultFdirParent(config.defaultFdirParent) {
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auto mqArgs = MqArgs(config.objectId, static_cast<void*>(this));
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messageQueue = QueueFactory::instance()->createMessageQueue(
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config.msgQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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FreshDeviceHandlerBase::~FreshDeviceHandlerBase() {
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QueueFactory::instance()->deleteMessageQueue(messageQueue);
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if (not hasCustomFdir) {
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delete fdirInstance;
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}
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}
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[[nodiscard]] object_id_t FreshDeviceHandlerBase::getObjectId() const {
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return SystemObject::getObjectId();
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}
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ReturnValue_t FreshDeviceHandlerBase::performOperation(uint8_t opCode) {
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handleQueue();
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performDeviceOperation(opCode);
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poolManager.performHkOperation();
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return returnvalue::OK;
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}
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void FreshDeviceHandlerBase::startTransition(Mode_t mode_, Submode_t submode_) {
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triggerEvent(CHANGING_MODE, mode_, submode_);
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// Complete mode transition immediately by default.
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setMode(mode_, submode_);
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}
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void FreshDeviceHandlerBase::setMode(Mode_t newMode, Submode_t newSubmode) {
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mode = newMode;
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submode = newSubmode;
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modeHelper.modeChanged(mode, submode);
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modeChanged(mode, submode);
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announceMode(false);
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}
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void FreshDeviceHandlerBase::setMode(Mode_t newMode) { setMode(newMode, submode); }
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void FreshDeviceHandlerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
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*mode_ = this->mode;
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*submode_ = this->submode;
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}
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void FreshDeviceHandlerBase::announceMode(bool recursive) {
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triggerEvent(MODE_INFO, mode, submode);
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}
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void FreshDeviceHandlerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
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[[nodiscard]] MessageQueueId_t FreshDeviceHandlerBase::getCommandQueue() const {
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return messageQueue->getId();
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}
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ReturnValue_t FreshDeviceHandlerBase::handleQueue() {
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CommandMessage command;
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ReturnValue_t result;
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for (result = messageQueue->receiveMessage(&command); result == returnvalue::OK;
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result = messageQueue->receiveMessage(&command)) {
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result = actionHelper.handleActionMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = modeHelper.handleModeCommand(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = healthHelper.handleHealthCommand(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = paramHelper.handleParameterMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = poolManager.handleHousekeepingMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = handleCommandMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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command.setToUnknownCommand();
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messageQueue->reply(&command);
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}
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return result;
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}
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HasHealthIF::HealthState FreshDeviceHandlerBase::getHealth() { return healthHelper.getHealth(); }
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const HasHealthIF* FreshDeviceHandlerBase::getOptHealthIF() const { return this; }
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const HasModesIF& FreshDeviceHandlerBase::getModeIF() const { return *this; }
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ModeTreeChildIF& FreshDeviceHandlerBase::getModeTreeChildIF() { return *this; }
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ReturnValue_t FreshDeviceHandlerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
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return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
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}
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// Executable Overrides.
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void FreshDeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
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// Pool Manager overrides.
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LocalDataPoolManager* FreshDeviceHandlerBase::getHkManagerHandle() { return &poolManager; }
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[[nodiscard]] uint32_t FreshDeviceHandlerBase::getPeriodicOperationFrequency() const {
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return this->executingTask->getPeriodMs();
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}
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ReturnValue_t FreshDeviceHandlerBase::initializeAfterTaskCreation() {
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return poolManager.initializeAfterTaskCreation();
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}
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ReturnValue_t FreshDeviceHandlerBase::setHealth(HasHealthIF::HealthState health) {
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// Assembly should handle commanding to OFF.
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healthHelper.setHealth(health);
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return returnvalue::OK;
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}
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void FreshDeviceHandlerBase::triggerEvent(Event event, uint32_t parameter1, uint32_t parameter2) {
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fdirInstance->triggerEvent(event, parameter1, parameter2);
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}
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void FreshDeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1,
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uint32_t parameter2) const {
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fdirInstance->triggerEvent(event, parameter1, parameter2);
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}
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void FreshDeviceHandlerBase::setToExternalControl() { setHealth(HealthState::EXTERNAL_CONTROL); }
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// System Object overrides.
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ReturnValue_t FreshDeviceHandlerBase::initialize() {
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ReturnValue_t result = modeHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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result = healthHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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result = actionHelper.initialize(messageQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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result = paramHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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result = poolManager.initialize(messageQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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if (fdirInstance == nullptr) {
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hasCustomFdir = false;
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fdirInstance = new DeviceHandlerFailureIsolation(getObjectId(), defaultFdirParent);
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}
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result = fdirInstance->initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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return SystemObject::initialize();
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}
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ReturnValue_t FreshDeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId,
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ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues,
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uint16_t startAtIndex) {
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ReturnValue_t result =
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fdirInstance->getParameter(domainId, uniqueId, parameterWrapper, newValues, startAtIndex);
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if (result != INVALID_DOMAIN_ID) {
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return result;
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}
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return INVALID_DOMAIN_ID;
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}
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@ -0,0 +1,159 @@
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#pragma once
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#include "fsfw/action.h"
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#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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#include "fsfw/devicehandlers/DeviceHandlerIF.h"
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#include "fsfw/fdir/FailureIsolationBase.h"
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#include "fsfw/health/HasHealthIF.h"
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#include "fsfw/health/HealthHelper.h"
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#include "fsfw/modes/HasModesIF.h"
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#include "fsfw/objectmanager.h"
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#include "fsfw/parameters/ParameterHelper.h"
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#include "fsfw/parameters/ReceivesParameterMessagesIF.h"
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#include "fsfw/retval.h"
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#include "fsfw/subsystem/ModeTreeChildIF.h"
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#include "fsfw/subsystem/ModeTreeConnectionIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/tasks/PeriodicTaskIF.h"
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struct DhbConfig {
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explicit DhbConfig(object_id_t objectId) : objectId(objectId) {}
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object_id_t objectId;
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FailureIsolationBase* fdirInstance = nullptr;
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object_id_t defaultFdirParent = objects::NO_OBJECT;
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uint32_t msgQueueDepth = 10;
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};
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class FreshDeviceHandlerBase : public SystemObject,
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public DeviceHandlerIF,
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public HasModesIF,
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public HasHealthIF,
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public ExecutableObjectIF,
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public ModeTreeChildIF,
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public ModeTreeConnectionIF,
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public HasActionsIF,
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public ReceivesParameterMessagesIF,
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public HasLocalDataPoolIF {
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public:
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explicit FreshDeviceHandlerBase(DhbConfig config);
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~FreshDeviceHandlerBase() override;
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/**
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* Periodic helper executed function, implemented by child class.
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*/
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virtual void performDeviceOperation(uint8_t opCode) = 0;
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[[nodiscard]] object_id_t getObjectId() const override;
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[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
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HasHealthIF::HealthState getHealth() override;
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// Mode Tree Overrides.
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[[nodiscard]] const HasHealthIF* getOptHealthIF() const override;
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[[nodiscard]] const HasModesIF& getModeIF() const override;
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ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
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ModeTreeChildIF& getModeTreeChildIF() override;
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[[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
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protected:
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// Pool Manager overrides.
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LocalDataPoolManager* getHkManagerHandle() override;
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ActionHelper actionHelper;
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ModeHelper modeHelper;
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HealthHelper healthHelper;
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ParameterHelper paramHelper;
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LocalDataPoolManager poolManager;
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bool hasCustomFdir = false;
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FailureIsolationBase* fdirInstance;
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object_id_t defaultFdirParent;
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/**
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* Pointer to the task which executes this component,
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* is invalid before setTaskIF was called.
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*/
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PeriodicTaskIF* executingTask = nullptr;
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Mode_t mode = HasModesIF::MODE_UNDEFINED;
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Submode_t submode = 0;
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MessageQueueIF* messageQueue;
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virtual ReturnValue_t handleQueue();
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// Mode Helpers.
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virtual void modeChanged(Mode_t mode, Submode_t submode);
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/**
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* The default implementation sets the new mode immediately. If this is not applicable for
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* certain modes, the user should provide a custom implementation, which performs rougly
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* the same functionality of this function, when all the steps have been taken to reach the
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* new mode.
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*/
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void startTransition(Mode_t mode, Submode_t submode) override;
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virtual void setMode(Mode_t newMode, Submode_t newSubmode);
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virtual void setMode(Mode_t newMode);
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void getMode(Mode_t* mode, Submode_t* submode) override;
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void setToExternalControl() override;
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void announceMode(bool recursive) override;
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// System Object overrides.
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ReturnValue_t initialize() override;
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/**
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* Implemented by child class. Handle all command messages which are
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* not health, mode, action or housekeeping messages.
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* @param message
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* @return
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*/
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virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
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// HK manager abstract functions.
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override = 0;
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// Mode abstract functions
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override = 0;
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// Health Overrides.
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ReturnValue_t setHealth(HealthState health) override;
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// Action override. Forward to user.
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override = 0;
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// Executable overrides.
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ReturnValue_t performOperation(uint8_t opCode) override;
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ReturnValue_t initializeAfterTaskCreation() override;
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/**
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* This calls the FDIR instance event trigger function.
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* @param event
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* @param parameter1
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* @param parameter2
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*/
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void triggerEvent(Event event, uint32_t parameter1 = 0, uint32_t parameter2 = 0) override;
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/**
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* This calls the FDIR instance event forward function.
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* @param event
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* @param parameter1
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* @param parameter2
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*/
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void forwardEvent(Event event, uint32_t parameter1, uint32_t parameter2) const override;
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/**
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* This implementation handles the FDIR parameters. The user can override this to handle
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* custom parameters.
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* @param domainId
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* @param uniqueId
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* @param parameterWrapper
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* @param newValues
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* @param startAtIndex
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* @return
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*/
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ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues, uint16_t startAtIndex) override;
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private:
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// Executable Overrides.
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void setTaskIF(PeriodicTaskIF* task) override;
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};
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