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controller base update

This commit is contained in:
Robin Müller 2020-12-03 13:14:30 +01:00
parent f0f7388c0d
commit 795ff585f8
2 changed files with 71 additions and 48 deletions
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41
controller/ControllerBase.cpp
View File

@ -1,16 +1,16 @@
#include "../subsystem/SubsystemBase.h"
#include "ControllerBase.h"
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
#include "../action/HasActionsIF.h"
ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
SUBMODE_NONE), commandQueue(NULL), modeHelper(
this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
submode(SUBMODE_NONE), modeHelper(this),
healthHelper(this, setObjectId), hkSwitcher(this) {
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth);
}
ControllerBase::~ControllerBase() {
@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
}
MessageQueueId_t parentQueue = 0;
if (parentId != 0) {
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == NULL) {
if (parent == nullptr) {
return RETURN_FAILED;
}
parentQueue = parent->getCommandQueue();
@ -56,26 +56,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
}
void ControllerBase::handleQueue() {
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&message);
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&message);
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&message);
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
message.setToUnknownCommand();
commandQueue->reply(&message);
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
@ -135,3 +136,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
return HasReturnvaluesIF::RETURN_OK;
}

78
controller/ControllerBase.h
View File

@ -1,5 +1,5 @@
#ifndef CONTROLLERBASE_H_
#define CONTROLLERBASE_H_
#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
#define FSFW_CONTROLLER_CONTROLLERBASE_H_
#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
@ -7,73 +7,91 @@
#include "../modes/ModeHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../datapool/HkSwitchHelper.h"
/**
* @brief Generic base class for controller classes
* @details
* Implements common interfaces for controllers, which generally have
* a mode and a health state. This avoids boilerplate code.
*/
class ControllerBase: public HasModesIF,
public HasHealthIF,
public ExecutableObjectIF,
public SystemObject,
public HasReturnvaluesIF {
public:
static const Mode_t MODE_NORMAL = 2;
ControllerBase(uint32_t setObjectId, uint32_t parentId,
ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth = 3);
virtual ~ControllerBase();
ReturnValue_t initialize();
/** SystemObject override */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const;
virtual MessageQueueId_t getCommandQueue() const override;
virtual ReturnValue_t performOperation(uint8_t opCode);
virtual ReturnValue_t setHealth(HealthState health);
virtual HasHealthIF::HealthState getHealth();
/**
* Implementation of ExecutableObjectIF function
*
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_);
/** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF* task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
const uint32_t parentId;
/**
* Implemented by child class. Handle command messages which are not
* mode or health messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/**
* Periodic helper, implemented by child class.
*/
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
const object_id_t parentId;
Mode_t mode;
Submode_t submode;
MessageQueueIF* commandQueue;
MessageQueueIF* commandQueue = nullptr;
ModeHelper modeHelper;
HealthHelper healthHelper;
// Is this still needed?
HkSwitchHelper hkSwitcher;
/**
* Pointer to the task which executes this component, is invalid before setTaskIF was called.
* Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask;
PeriodicTaskIF* executingTask = nullptr;
void handleQueue();
/** Handle mode and health messages */
virtual void handleQueue();
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
/** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
/** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
};
#endif /* CONTROLLERBASE_H_ */
#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */