From 5289497ab5769fc61ba1816322c4f86377cfd36f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 6 Jun 2020 12:59:43 +0200
Subject: [PATCH] health helper optional, diagnostic output improved

---
 devicehandlers/DeviceHandlerBase.cpp          | 39 ++++++++++++++-----
 devicehandlers/DeviceHandlerBase.h            |  1 +
 .../DeviceHandlerFailureIsolation.cpp         |  2 +
 fdir/FailureIsolationBase.cpp                 |  4 +-
 objectmanager/ObjectManager.cpp               |  7 ++--
 5 files changed, 39 insertions(+), 14 deletions(-)

diff --git a/devicehandlers/DeviceHandlerBase.cpp b/devicehandlers/DeviceHandlerBase.cpp
index d738b3f9..c73cf618 100644
--- a/devicehandlers/DeviceHandlerBase.cpp
+++ b/devicehandlers/DeviceHandlerBase.cpp
@@ -139,10 +139,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		sif::error << "DeviceHandlerBase::initialize: Health Helper "
-				"initialization failure" << std::endl;
-		return result;
+	if (result == RETURN_OK) {
+		healthHelperActive = true;
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::initialize: Health Helper "
+				"initialization failure." << std::endl;
 	}
 
 	result = modeHelper.initialize();
@@ -215,9 +217,11 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	result = healthHelper.handleHealthCommand(&message);
-	if (result == RETURN_OK) {
-		return;
+	if(healthHelperActive) {
+		result = healthHelper.handleHealthCommand(&message);
+		if (result == RETURN_OK) {
+			return;
+		}
 	}
 
 	result = modeHelper.handleModeCommand(&message);
@@ -996,7 +1000,9 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 }
 
 void DeviceHandlerBase::setToExternalControl() {
-	healthHelper.setHealth(EXTERNAL_CONTROL);
+	if(healthHelperActive) {
+		healthHelper.setHealth(EXTERNAL_CONTROL);
+	}
 }
 
 void DeviceHandlerBase::announceMode(bool recursive) {
@@ -1016,11 +1022,24 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
 }
 
 HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
-	return healthHelper.getHealth();
+	if(healthHelperActive) {
+		return healthHelper.getHealth();
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+		return HasHealthIF::HEALTHY;
+	}
 }
 
 ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
-	healthHelper.setHealth(health);
+	if(healthHelperActive) {
+		healthHelper.setHealth(health);
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/devicehandlers/DeviceHandlerBase.h b/devicehandlers/DeviceHandlerBase.h
index 3a43fa74..b079e469 100644
--- a/devicehandlers/DeviceHandlerBase.h
+++ b/devicehandlers/DeviceHandlerBase.h
@@ -601,6 +601,7 @@ protected:
 
 	/** Health helper for HasHealthIF */
 	HealthHelper healthHelper;
+	bool healthHelperActive = false;
 	/** Mode helper for HasModesIF */
 	ModeHelper modeHelper;
 	/** Parameter helper for ReceivesParameterMessagesIF */
diff --git a/devicehandlers/DeviceHandlerFailureIsolation.cpp b/devicehandlers/DeviceHandlerFailureIsolation.cpp
index 9bc2cbe8..1df2afa0 100644
--- a/devicehandlers/DeviceHandlerFailureIsolation.cpp
+++ b/devicehandlers/DeviceHandlerFailureIsolation.cpp
@@ -163,6 +163,8 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
 ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 	ReturnValue_t result = FailureIsolationBase::initialize();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
+				" initialize FailureIsolationBase." << std::endl;
 		return result;
 	}
 	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(
diff --git a/fdir/FailureIsolationBase.cpp b/fdir/FailureIsolationBase.cpp
index c65640c2..46114467 100644
--- a/fdir/FailureIsolationBase.cpp
+++ b/fdir/FailureIsolationBase.cpp
@@ -19,7 +19,9 @@ FailureIsolationBase::~FailureIsolationBase() {
 ReturnValue_t FailureIsolationBase::initialize() {
 	EventManagerIF* manager = objectManager->get<EventManagerIF>(
 			objects::EVENT_MANAGER);
-	if (manager == NULL) {
+	if (manager == nullptr) {
+		sif::error << "FailureIsolationBase::initialize: Event Manager has not"
+				" been initialized!" << std::endl;
 		return RETURN_FAILED;
 	}
 	ReturnValue_t result = manager->registerListener(eventQueue->getId());
diff --git a/objectmanager/ObjectManager.cpp b/objectmanager/ObjectManager.cpp
index 2f47950f..fe7adb25 100644
--- a/objectmanager/ObjectManager.cpp
+++ b/objectmanager/ObjectManager.cpp
@@ -69,9 +69,10 @@ void ObjectManager::initialize() {
 		return_value = it.second->initialize();
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it.first;
-			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
-					std::setfill('0')<< var << " failed to initialize " <<
-					"with code 0x" << return_value << std::dec << std::endl;
+			sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
+					std::setw(8) << std::setfill('0')<< var << " failed to "
+					"initialize with code 0x" << return_value << std::dec <<
+					std::endl;
 			error_count++;
 		}
 	}