diff --git a/src/fsfw/controller/ControllerBase.cpp b/src/fsfw/controller/ControllerBase.cpp index 80c08590..e071b3ee 100644 --- a/src/fsfw/controller/ControllerBase.cpp +++ b/src/fsfw/controller/ControllerBase.cpp @@ -4,11 +4,10 @@ #include "fsfw/ipc/QueueFactory.h" #include "fsfw/objectmanager/ObjectManager.h" #include "fsfw/subsystem/SubsystemBase.h" +#include "fsfw/subsystem/helper.h" -ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, - size_t commandQueueDepth) +ControllerBase::ControllerBase(object_id_t setObjectId, size_t commandQueueDepth) : SystemObject(setObjectId), - parentId(parentId), mode(MODE_OFF), submode(SUBMODE_NONE), modeHelper(this), @@ -25,28 +24,6 @@ ReturnValue_t ControllerBase::initialize() { if (result != returnvalue::OK) { return result; } - - MessageQueueId_t parentQueue = 0; - if (parentId != objects::NO_OBJECT) { - auto* parent = ObjectManager::instance()->get(parentId); - if (parent == nullptr) { - return returnvalue::FAILED; - } - parentQueue = parent->getCommandQueue(); - - parent->registerChild(getObjectId()); - } - - result = healthHelper.initialize(parentQueue); - if (result != returnvalue::OK) { - return result; - } - - result = modeHelper.initialize(parentQueue); - if (result != returnvalue::OK) { - return result; - } - return returnvalue::OK; } @@ -120,3 +97,12 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; } void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {} ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; } + +const HasHealthIF* ControllerBase::getOptHealthIF() const { return this; } + +const HasModesIF& ControllerBase::getModeIF() const { return *this; } + +ReturnValue_t ControllerBase::connectModeTreeParent(HasModeTreeChildrenIF& parent, + const ModeTreeChildIF& child) { + return modetree::connectModeTreeParent(parent, child, healthHelper, modeHelper); +} diff --git a/src/fsfw/controller/ControllerBase.h b/src/fsfw/controller/ControllerBase.h index 56c28585..8f9a1497 100644 --- a/src/fsfw/controller/ControllerBase.h +++ b/src/fsfw/controller/ControllerBase.h @@ -6,6 +6,9 @@ #include "fsfw/modes/HasModesIF.h" #include "fsfw/modes/ModeHelper.h" #include "fsfw/objectmanager/SystemObject.h" +#include "fsfw/subsystem/HasModeTreeChildrenIF.h" +#include "fsfw/subsystem/ModeTreeChildIF.h" +#include "fsfw/subsystem/modes/ModeTreeConnectionIF.h" #include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw/tasks/PeriodicTaskIF.h" @@ -18,13 +21,18 @@ class ControllerBase : public HasModesIF, public HasHealthIF, public ExecutableObjectIF, + public ModeTreeChildIF, + public ModeTreeConnectionIF, public SystemObject { public: static const Mode_t MODE_NORMAL = 2; - ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3); + ControllerBase(object_id_t setObjectId, size_t commandQueueDepth = 3); ~ControllerBase() override; + ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent, + const ModeTreeChildIF &child) override; + /** SystemObject override */ ReturnValue_t initialize() override; @@ -38,6 +46,8 @@ class ControllerBase : public HasModesIF, ReturnValue_t performOperation(uint8_t opCode) override; void setTaskIF(PeriodicTaskIF *task) override; ReturnValue_t initializeAfterTaskCreation() override; + const HasHealthIF *getOptHealthIF() const override; + const HasModesIF &getModeIF() const override; protected: /** @@ -56,8 +66,6 @@ class ControllerBase : public HasModesIF, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode) override = 0; - const object_id_t parentId; - Mode_t mode; Submode_t submode; diff --git a/src/fsfw/controller/ExtendedControllerBase.cpp b/src/fsfw/controller/ExtendedControllerBase.cpp index 4d5c90c8..58db3563 100644 --- a/src/fsfw/controller/ExtendedControllerBase.cpp +++ b/src/fsfw/controller/ExtendedControllerBase.cpp @@ -1,8 +1,7 @@ #include "fsfw/controller/ExtendedControllerBase.h" -ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId, - size_t commandQueueDepth) - : ControllerBase(objectId, parentId, commandQueueDepth), +ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth) + : ControllerBase(objectId, commandQueueDepth), poolManager(this, commandQueue), actionHelper(this, commandQueue) {} diff --git a/src/fsfw/controller/ExtendedControllerBase.h b/src/fsfw/controller/ExtendedControllerBase.h index b5583a88..04a79528 100644 --- a/src/fsfw/controller/ExtendedControllerBase.h +++ b/src/fsfw/controller/ExtendedControllerBase.h @@ -17,7 +17,7 @@ class ExtendedControllerBase : public ControllerBase, public HasActionsIF, public HasLocalDataPoolIF { public: - ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3); + ExtendedControllerBase(object_id_t objectId, size_t commandQueueDepth = 3); ~ExtendedControllerBase() override; /* SystemObjectIF overrides */ diff --git a/src/fsfw/subsystem/CMakeLists.txt b/src/fsfw/subsystem/CMakeLists.txt index 164c90f7..95dce8a5 100644 --- a/src/fsfw/subsystem/CMakeLists.txt +++ b/src/fsfw/subsystem/CMakeLists.txt @@ -1,3 +1,4 @@ -target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp) +target_sources(${LIB_FSFW_NAME} PRIVATE Subsystem.cpp SubsystemBase.cpp + helper.cpp) add_subdirectory(modes) diff --git a/src/fsfw/subsystem/HasModeTreeChildrenIF.h b/src/fsfw/subsystem/HasModeTreeChildrenIF.h new file mode 100644 index 00000000..3458d008 --- /dev/null +++ b/src/fsfw/subsystem/HasModeTreeChildrenIF.h @@ -0,0 +1,13 @@ +#ifndef FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_ +#define FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_ + +#include "ModeTreeChildIF.h" + +class HasModeTreeChildrenIF { + public: + virtual ~HasModeTreeChildrenIF() = default; + virtual ReturnValue_t registerChild(const ModeTreeChildIF& child) = 0; + virtual MessageQueueId_t getCommandQueue() const = 0; +}; + +#endif // FSFW_SUBSYSTEM_HASMODETREECHILDRENIF_H_ diff --git a/src/fsfw/subsystem/ModeTreeChildIF.h b/src/fsfw/subsystem/ModeTreeChildIF.h new file mode 100644 index 00000000..6f8d8d86 --- /dev/null +++ b/src/fsfw/subsystem/ModeTreeChildIF.h @@ -0,0 +1,15 @@ +#ifndef FSFW_SUBSYSTEM_MODETREECHILDIF_H_ +#define FSFW_SUBSYSTEM_MODETREECHILDIF_H_ + +#include +#include + +class ModeTreeChildIF { + public: + virtual ~ModeTreeChildIF() = default; + virtual object_id_t getObjectId() const = 0; + virtual const HasHealthIF* getOptHealthIF() const = 0; + virtual const HasModesIF& getModeIF() const = 0; +}; + +#endif /* FSFW_SUBSYSTEM_MODETREECHILDIF_H_ */ diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp index a7d75fea..9f79011e 100644 --- a/src/fsfw/subsystem/SubsystemBase.cpp +++ b/src/fsfw/subsystem/SubsystemBase.cpp @@ -334,3 +334,20 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) { HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); } void SubsystemBase::modeChanged() {} + +ReturnValue_t SubsystemBase::registerChild(const ModeTreeChildIF& child) { + ChildInfo info; + + 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; +} diff --git a/src/fsfw/subsystem/SubsystemBase.h b/src/fsfw/subsystem/SubsystemBase.h index 69bdfd37..063bca85 100644 --- a/src/fsfw/subsystem/SubsystemBase.h +++ b/src/fsfw/subsystem/SubsystemBase.h @@ -3,14 +3,15 @@ #include -#include "../container/HybridIterator.h" -#include "../health/HasHealthIF.h" -#include "../health/HealthHelper.h" -#include "../ipc/MessageQueueIF.h" -#include "../modes/HasModesIF.h" -#include "../objectmanager/SystemObject.h" -#include "../returnvalues/returnvalue.h" -#include "../tasks/ExecutableObjectIF.h" +#include "fsfw/container/HybridIterator.h" +#include "fsfw/health/HasHealthIF.h" +#include "fsfw/health/HealthHelper.h" +#include "fsfw/ipc/MessageQueueIF.h" +#include "fsfw/modes/HasModesIF.h" +#include "fsfw/objectmanager/SystemObject.h" +#include "fsfw/returnvalues/returnvalue.h" +#include "fsfw/subsystem/HasModeTreeChildrenIF.h" +#include "fsfw/tasks/ExecutableObjectIF.h" #include "modes/HasModeSequenceIF.h" /** @@ -27,6 +28,7 @@ class SubsystemBase : public SystemObject, public HasModesIF, public HasHealthIF, + public HasModeTreeChildrenIF, public ExecutableObjectIF { public: static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE; @@ -129,6 +131,8 @@ class SubsystemBase : public SystemObject, virtual void performChildOperation() = 0; + ReturnValue_t registerChild(const ModeTreeChildIF &child) override; + virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode) override = 0; diff --git a/src/fsfw/subsystem/helper.cpp b/src/fsfw/subsystem/helper.cpp new file mode 100644 index 00000000..e65ef5a9 --- /dev/null +++ b/src/fsfw/subsystem/helper.cpp @@ -0,0 +1,13 @@ +#include "helper.h" + +ReturnValue_t modetree::connectModeTreeParent(HasModeTreeChildrenIF& parent, + const ModeTreeChildIF& child, + HealthHelper& healthHelper, ModeHelper& modeHelper) { + ReturnValue_t result = parent.registerChild(child); + if (result != returnvalue::OK) { + return result; + } + healthHelper.setParentQueue(parent.getCommandQueue()); + modeHelper.setParentQueue(parent.getCommandQueue()); + return returnvalue::OK; +} diff --git a/src/fsfw/subsystem/helper.h b/src/fsfw/subsystem/helper.h new file mode 100644 index 00000000..71a5563f --- /dev/null +++ b/src/fsfw/subsystem/helper.h @@ -0,0 +1,14 @@ +#ifndef FSFW_SUBSYSTEM_HELPER_H_ +#define FSFW_SUBSYSTEM_HELPER_H_ + +#include "HasModeTreeChildrenIF.h" +#include "fsfw/health/HealthHelper.h" + +namespace modetree { + +ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent, const ModeTreeChildIF& child, + HealthHelper& healthHelper, ModeHelper& modeHelper); + +} + +#endif /* FSFW_SRC_FSFW_SUBSYSTEM_HELPER_H_ */ diff --git a/src/fsfw/subsystem/modes/ModeTreeConnectionIF.h b/src/fsfw/subsystem/modes/ModeTreeConnectionIF.h new file mode 100644 index 00000000..8f25b2d4 --- /dev/null +++ b/src/fsfw/subsystem/modes/ModeTreeConnectionIF.h @@ -0,0 +1,13 @@ +#ifndef FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ +#define FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ + +#include "fsfw/subsystem/HasModeTreeChildrenIF.h" + +class ModeTreeConnectionIF { + public: + virtual ~ModeTreeConnectionIF() = default; + virtual ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent, + const ModeTreeChildIF &child) = 0; +}; + +#endif /* FSFW_SRC_FSFW_SUBSYSTEM_MODES_MODETREECONNECTIONIF_H_ */ diff --git a/src/fsfw_tests/integration/controller/TestController.cpp b/src/fsfw_tests/integration/controller/TestController.cpp index 2ee4d5fe..c489f336 100644 --- a/src/fsfw_tests/integration/controller/TestController.cpp +++ b/src/fsfw_tests/integration/controller/TestController.cpp @@ -4,8 +4,8 @@ #include #include -TestController::TestController(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth) - : ExtendedControllerBase(objectId, parentId, commandQueueDepth) {} +TestController::TestController(object_id_t objectId, size_t commandQueueDepth) + : ExtendedControllerBase(objectId, commandQueueDepth) {} TestController::~TestController() {} diff --git a/src/fsfw_tests/integration/controller/TestController.h b/src/fsfw_tests/integration/controller/TestController.h index 9898371f..9577bedf 100644 --- a/src/fsfw_tests/integration/controller/TestController.h +++ b/src/fsfw_tests/integration/controller/TestController.h @@ -7,7 +7,7 @@ class TestController : public ExtendedControllerBase { public: - TestController(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 10); + TestController(object_id_t objectId, size_t commandQueueDepth = 10); virtual ~TestController(); protected: