eive/fsfw
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new register function

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This commit is contained in:
Robin Müller 2023-04-03 18:54:35 +02:00
parent 1e3c89b672
commit 7a392dc33a
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GPG Key ID: 11D4952C8CCEF814
4 changed files with 22 additions and 18 deletions
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5
src/fsfw/devicehandlers/HealthDevice.cpp
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@ -29,11 +29,10 @@ ReturnValue_t HealthDevice::initialize() {
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
if (parentQueue != 0) { if (parentQueue != MessageQueueIF::NO_QUEUE) {
return healthHelper.initialize(parentQueue); return healthHelper.initialize(parentQueue);
} else {
return healthHelper.initialize();
} }
return healthHelper.initialize();
} }
MessageQueueId_t HealthDevice::getCommandQueue() const { return commandQueue->getId(); } MessageQueueId_t HealthDevice::getCommandQueue() const { return commandQueue->getId(); }

2
src/fsfw/devicehandlers/HealthDevice.h
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@ -29,7 +29,7 @@ class HealthDevice : public SystemObject, public ExecutableObjectIF, public HasH
protected: protected:
HealthState lastHealth; HealthState lastHealth;
MessageQueueId_t parentQueue; MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
MessageQueueIF* commandQueue; MessageQueueIF* commandQueue;
HealthHelper healthHelper; HealthHelper healthHelper;
}; };

31
src/fsfw/subsystem/SubsystemBase.cpp
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@ -315,20 +315,7 @@ object_id_t SubsystemBase::getObjectId() const { return SystemObject::getObjectI
void SubsystemBase::modeChanged() {} void SubsystemBase::modeChanged() {}
ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) { ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) {
ChildInfo info; return registerChild(child.getObjectId(), child.getModeIF().getCommandQueue());
const HasModesIF& modeChild = child.getModeIF();
// intentional to force an initial command during system startup
info.commandQueue = modeChild.getCommandQueue();
info.mode = HasModesIF::MODE_UNDEFINED;
info.submode = SUBMODE_NONE;
info.healthChanged = false;
auto resultPair = childrenMap.emplace(child.getObjectId(), info);
if (not resultPair.second) {
return COULD_NOT_INSERT_CHILD;
}
return returnvalue::OK;
} }
const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; } const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
@ -336,3 +323,19 @@ const HasHealthIF* SubsystemBase::getOptHealthIF() const { return this; }
const HasModesIF& SubsystemBase::getModeIF() const { return *this; } const HasModesIF& SubsystemBase::getModeIF() const { return *this; }
ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; } ModeTreeChildIF& SubsystemBase::getModeTreeChildIF() { return *this; }
ReturnValue_t SubsystemBase::registerChild(object_id_t childObjectId, MessageQueueId_t childQueue) {
ChildInfo info;
// intentional to force an initial command during system startup
info.commandQueue = childQueue;
info.mode = HasModesIF::MODE_UNDEFINED;
info.submode = SUBMODE_NONE;
info.healthChanged = false;
auto resultPair = childrenMap.emplace(childObjectId, info);
if (not resultPair.second) {
return COULD_NOT_INSERT_CHILD;
}
return returnvalue::OK;
}

2
src/fsfw/subsystem/SubsystemBase.h
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@ -61,6 +61,8 @@ class SubsystemBase : public SystemObject,
* COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap * COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
*/ */
ReturnValue_t registerChild(const ModeTreeChildIF &child) override; ReturnValue_t registerChild(const ModeTreeChildIF &child) override;
// TODO: Add this to HasModeTreeChildrenIF.
ReturnValue_t registerChild(object_id_t childObjectId, MessageQueueId_t childQueue);
ReturnValue_t initialize() override; ReturnValue_t initialize() override;