move HAL and tests folder

src/fsfw_tests/integration/assemblies/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE
+    TestAssembly.cpp
+)

src/fsfw_tests/integration/assemblies/TestAssembly.cpp

@@ -0,0 +1,180 @@
+#include "TestAssembly.h"
+
+#include <fsfw/objectmanager/ObjectManager.h>
+
+TestAssembly::TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
+                           object_id_t testDevice1)
+    : AssemblyBase(objectId, parentId),
+      deviceHandler0Id(testDevice0),
+      deviceHandler1Id(testDevice1) {
+  ModeListEntry newModeListEntry;
+  newModeListEntry.setObject(testDevice0);
+  newModeListEntry.setMode(MODE_OFF);
+  newModeListEntry.setSubmode(SUBMODE_NONE);
+
+  commandTable.insert(newModeListEntry);
+
+  newModeListEntry.setObject(testDevice1);
+  newModeListEntry.setMode(MODE_OFF);
+  newModeListEntry.setSubmode(SUBMODE_NONE);
+
+  commandTable.insert(newModeListEntry);
+}
+
+TestAssembly::~TestAssembly() {}
+
+ReturnValue_t TestAssembly::commandChildren(Mode_t mode, Submode_t submode) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+  sif::info << "TestAssembly: Received command to go to mode " << mode << " submode "
+            << (int)submode << std::endl;
+#else
+  sif::printInfo("TestAssembly: Received command to go to mode %d submode %d\n", mode, submode);
+#endif
+  ReturnValue_t result = RETURN_OK;
+  if (mode == MODE_OFF) {
+    commandTable[0].setMode(MODE_OFF);
+    commandTable[0].setSubmode(SUBMODE_NONE);
+    commandTable[1].setMode(MODE_OFF);
+    commandTable[1].setSubmode(SUBMODE_NONE);
+  } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
+    if (submode == submodes::SINGLE) {
+      commandTable[0].setMode(MODE_OFF);
+      commandTable[0].setSubmode(SUBMODE_NONE);
+      commandTable[1].setMode(MODE_OFF);
+      commandTable[1].setSubmode(SUBMODE_NONE);
+      // We try to prefer 0 here but we try to switch to 1 even if it might fail
+      if (isDeviceAvailable(deviceHandler0Id)) {
+        if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
+          commandTable[0].setMode(mode);
+          commandTable[0].setSubmode(SUBMODE_NONE);
+        } else {
+          commandTable[0].setMode(MODE_ON);
+          commandTable[0].setSubmode(SUBMODE_NONE);
+          result = NEED_SECOND_STEP;
+        }
+      } else {
+        if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
+          commandTable[1].setMode(mode);
+          commandTable[1].setSubmode(SUBMODE_NONE);
+        } else {
+          commandTable[1].setMode(MODE_ON);
+          commandTable[1].setSubmode(SUBMODE_NONE);
+          result = NEED_SECOND_STEP;
+        }
+      }
+    } else {
+      // Dual Mode Normal
+      if (childrenMap[deviceHandler0Id].mode == MODE_ON) {
+        commandTable[0].setMode(mode);
+        commandTable[0].setSubmode(SUBMODE_NONE);
+      } else {
+        commandTable[0].setMode(MODE_ON);
+        commandTable[0].setSubmode(SUBMODE_NONE);
+        result = NEED_SECOND_STEP;
+      }
+      if (childrenMap[deviceHandler1Id].mode == MODE_ON) {
+        commandTable[1].setMode(mode);
+        commandTable[1].setSubmode(SUBMODE_NONE);
+      } else {
+        commandTable[1].setMode(MODE_ON);
+        commandTable[1].setSubmode(SUBMODE_NONE);
+        result = NEED_SECOND_STEP;
+      }
+    }
+  } else {
+    // Mode ON
+    if (submode == submodes::SINGLE) {
+      commandTable[0].setMode(MODE_OFF);
+      commandTable[0].setSubmode(SUBMODE_NONE);
+      commandTable[1].setMode(MODE_OFF);
+      commandTable[1].setSubmode(SUBMODE_NONE);
+      // We try to prefer 0 here but we try to switch to 1 even if it might fail
+      if (isDeviceAvailable(deviceHandler0Id)) {
+        commandTable[0].setMode(MODE_ON);
+        commandTable[0].setSubmode(SUBMODE_NONE);
+      } else {
+        commandTable[1].setMode(MODE_ON);
+        commandTable[1].setSubmode(SUBMODE_NONE);
+      }
+    } else {
+      commandTable[0].setMode(MODE_ON);
+      commandTable[0].setSubmode(SUBMODE_NONE);
+      commandTable[1].setMode(MODE_ON);
+      commandTable[1].setSubmode(SUBMODE_NONE);
+    }
+  }
+
+  HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
+  executeTable(iter);
+  return result;
+}
+
+ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  switch (mode) {
+    case MODE_OFF:
+      if (submode == SUBMODE_NONE) {
+        return RETURN_OK;
+      } else {
+        return INVALID_SUBMODE;
+      }
+    case DeviceHandlerIF::MODE_NORMAL:
+    case MODE_ON:
+      if (submode < 3) {
+        return RETURN_OK;
+      } else {
+        return INVALID_SUBMODE;
+      }
+  }
+  return INVALID_MODE;
+}
+
+ReturnValue_t TestAssembly::initialize() {
+  ReturnValue_t result = AssemblyBase::initialize();
+  if (result != RETURN_OK) {
+    return result;
+  }
+  handler0 = ObjectManager::instance()->get<TestDevice>(deviceHandler0Id);
+  handler1 = ObjectManager::instance()->get<TestDevice>(deviceHandler1Id);
+  if ((handler0 == nullptr) or (handler1 == nullptr)) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+
+  handler0->setParentQueue(this->getCommandQueue());
+  handler1->setParentQueue(this->getCommandQueue());
+
+  result = registerChild(deviceHandler0Id);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  result = registerChild(deviceHandler1Id);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return result;
+}
+
+ReturnValue_t TestAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
+  if (submode == submodes::DUAL) {
+    for (const auto& info : childrenMap) {
+      if (info.second.mode != wantedMode or info.second.mode != wantedSubmode) {
+        return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
+      }
+    }
+    return RETURN_OK;
+  } else if (submode == submodes::SINGLE) {
+    for (const auto& info : childrenMap) {
+      if (info.second.mode == wantedMode and info.second.mode != wantedSubmode) {
+        return RETURN_OK;
+      }
+    }
+  }
+  return INVALID_SUBMODE;
+}
+
+bool TestAssembly::isDeviceAvailable(object_id_t object) {
+  if (healthHelper.healthTable->getHealth(object) == HasHealthIF::HEALTHY) {
+    return true;
+  } else {
+    return false;
+  }
+}

src/fsfw_tests/integration/assemblies/TestAssembly.h

@@ -0,0 +1,52 @@
+#ifndef MISSION_ASSEMBLIES_TESTASSEMBLY_H_
+#define MISSION_ASSEMBLIES_TESTASSEMBLY_H_
+
+#include <fsfw/devicehandlers/AssemblyBase.h>
+
+#include "../devices/TestDeviceHandler.h"
+
+class TestAssembly : public AssemblyBase {
+ public:
+  TestAssembly(object_id_t objectId, object_id_t parentId, object_id_t testDevice0,
+               object_id_t testDevice1);
+  virtual ~TestAssembly();
+  ReturnValue_t initialize() override;
+
+  enum submodes : Submode_t { SINGLE = 0, DUAL = 1 };
+
+ protected:
+  /**
+   * Command children to reach [mode,submode] combination
+   * Can be done by setting #commandsOutstanding correctly,
+   * or using executeTable()
+   * @param mode
+   * @param submode
+   * @return
+   *    - @c RETURN_OK if ok
+   *    - @c NEED_SECOND_STEP if children need to be commanded again
+   */
+  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
+  /**
+   * Check whether desired assembly mode was achieved by checking the modes
+   * or/and health states of child device handlers.
+   * The assembly template class will also call this function if a health
+   * or mode change of a child device handler was detected.
+   * @param wantedMode
+   * @param wantedSubmode
+   * @return
+   */
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+
+  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
+
+ private:
+  FixedArrayList<ModeListEntry, 2> commandTable;
+  object_id_t deviceHandler0Id = 0;
+  object_id_t deviceHandler1Id = 0;
+  TestDevice* handler0 = nullptr;
+  TestDevice* handler1 = nullptr;
+
+  bool isDeviceAvailable(object_id_t object);
+};
+
+#endif /* MISSION_ASSEMBLIES_TESTASSEMBLY_H_ */