diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index ba1f463c..9712d7d4 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -12,13 +12,10 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) : SubsystemBase(setObjectId, parent, 0), isInTransition(false), childrenChangedHealth(false), currentTargetTable(), - targetMode(0), targetSubmode(SUBMODE_NONE), initialMode(0), - currentSequenceIterator(), modeTables(maxNumberOfTables), - modeSequences(maxNumberOfSequences) {} + targetSubmode(SUBMODE_NONE), currentSequenceIterator(), + modeTables(maxNumberOfTables), modeSequences(maxNumberOfSequences) {} -Subsystem::~Subsystem() { - //Auto-generated destructor stub -} +Subsystem::~Subsystem() {} ReturnValue_t Subsystem::checkSequence(HybridIterator iter, Mode_t fallbackSequence) { @@ -344,7 +341,8 @@ ReturnValue_t Subsystem::addSequence(ArrayList *sequence, ReturnValue_t result; - //Before initialize() is called, tables must not be checked as the children are not added yet. + //Before initialize() is called, tables must not be checked as the + //children are not added yet. //Sequences added before are checked by initialize() if (!preInit) { result = checkSequence( @@ -390,8 +388,8 @@ ReturnValue_t Subsystem::addTable(ArrayList *table, Mode_t id, ReturnValue_t result; - //Before initialize() is called, tables must not be checked as the children are not added yet. - //Tables added before are checked by initialize() + //Before initialize() is called, tables must not be checked as the children + //are not added yet. Tables added before are checked by initialize() if (!preInit) { result = checkTable( HybridIterator(table->front(), table->back())); @@ -582,12 +580,14 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode, triggerEvent(MODE_TRANSITION_FAILED, failureCode, parameter); if (mode == targetMode) { //already tried going back to the current mode - //go into fallback mode, also set current mode to fallback mode, so we come here at the next fail + //go into fallback mode, also set current mode to fallback mode, + //so we come here at the next fail modeHelper.setForced(true); ReturnValue_t result; if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) { triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode)); - isInTransition = false; //keep still and allow arbitrary mode commands to recover + //keep still and allow arbitrary mode commands to recover + isInTransition = false; return; } mode = getFallbackSequence(mode); @@ -651,8 +651,10 @@ void Subsystem::cantKeepMode() { modeHelper.setForced(true); - //already set the mode, so that we do not try to go back in our old mode when the transition fails + //already set the mode, so that we do not try to go back in our old mode + //when the transition fails mode = getFallbackSequence(mode); - //SHOULDDO: We should store submodes for fallback sequence as well, otherwise we should get rid of submodes completely. + //SHOULDDO: We should store submodes for fallback sequence as well, + //otherwise we should get rid of submodes completely. startTransition(mode, SUBMODE_NONE); } diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index 2b501574..9a3fcdfe 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -1,13 +1,14 @@ -#ifndef SUBSYSTEM_H_ -#define SUBSYSTEM_H_ +#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ +#define FSFW_SUBSYSTEM_SUBSYSTEM_H_ + +#include "SubsystemBase.h" +#include "modes/ModeDefinitions.h" #include "../container/FixedArrayList.h" #include "../container/FixedMap.h" #include "../container/HybridIterator.h" #include "../container/SinglyLinkedList.h" #include "../serialize/SerialArrayListAdapter.h" -#include "../subsystem/modes/ModeDefinitions.h" -#include "../subsystem/SubsystemBase.h" class Subsystem: public SubsystemBase, public HasModeSequenceIF { public: @@ -44,11 +45,11 @@ public: void setInitialMode(Mode_t mode); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; - virtual ReturnValue_t checkObjectConnections(); + virtual ReturnValue_t checkObjectConnections() override; - virtual MessageQueueId_t getSequenceCommandQueue() const; + virtual MessageQueueId_t getSequenceCommandQueue() const override; /** * @@ -96,11 +97,11 @@ protected: HybridIterator currentTargetTable; - Mode_t targetMode; + Mode_t targetMode = 0; Submode_t targetSubmode; - Mode_t initialMode; + Mode_t initialMode = 0; HybridIterator currentSequenceIterator; @@ -153,7 +154,8 @@ protected: virtual void startTransition(Mode_t mode, Submode_t submode); - void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count); + void sendSerializablesAsCommandMessage(Command_t command, + SerializeIF **elements, uint8_t count); void transitionFailed(ReturnValue_t failureCode, uint32_t parameter); @@ -161,4 +163,4 @@ protected: }; -#endif /* SUBSYSTEM_H_ */ +#endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */ diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index 17599808..f60c8847 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -6,10 +6,10 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode, uint16_t commandQueueDepth) : SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), - childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL), + childrenChangedMode(false), + commandQueue(QueueFactory::instance()->createMessageQueue( + commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)), healthHelper(this, setObjectId), modeHelper(this), parentId(parent) { - commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, - MessageQueueMessage::MAX_MESSAGE_SIZE); } SubsystemBase::~SubsystemBase() { @@ -21,7 +21,8 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { ChildInfo info; HasModesIF *child = objectManager->get(objectId); - //This is a rather ugly hack to have the changedHealth info for all children available. (needed for FOGs). + // This is a rather ugly hack to have the changedHealth info for all + // children available. HasHealthIF* healthChild = objectManager->get(objectId); if (child == nullptr) { if (healthChild == nullptr) { @@ -38,14 +39,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { info.submode = SUBMODE_NONE; info.healthChanged = false; - std::pair::iterator, bool> returnValue = - childrenMap.insert( - std::pair(objectId, info)); - if (!(returnValue.second)) { + auto resultPair = childrenMap.emplace(objectId, info); + if (not resultPair.second) { return COULD_NOT_INSERT_CHILD; - } else { - return RETURN_OK; } + return RETURN_OK; } ReturnValue_t SubsystemBase::checkStateAgainstTable( diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h index 2d949b56..b8e4f902 100644 --- a/subsystem/SubsystemBase.h +++ b/subsystem/SubsystemBase.h @@ -1,5 +1,7 @@ -#ifndef SUBSYSTEMBASE_H_ -#define SUBSYSTEMBASE_H_ +#ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ +#define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ + +#include "modes/HasModeSequenceIF.h" #include "../container/HybridIterator.h" #include "../health/HasHealthIF.h" @@ -7,7 +9,6 @@ #include "../modes/HasModesIF.h" #include "../objectmanager/SystemObject.h" #include "../returnvalues/HasReturnvaluesIF.h" -#include "../subsystem/modes/HasModeSequenceIF.h" #include "../tasks/ExecutableObjectIF.h" #include "../ipc/MessageQueueIF.h" #include @@ -34,17 +35,17 @@ public: Mode_t initialMode = 0, uint16_t commandQueueDepth = 8); virtual ~SubsystemBase(); - virtual MessageQueueId_t getCommandQueue() const; + virtual MessageQueueId_t getCommandQueue() const override; ReturnValue_t registerChild(object_id_t objectId); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; - virtual ReturnValue_t performOperation(uint8_t opCode); + virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual ReturnValue_t setHealth(HealthState health); + virtual ReturnValue_t setHealth(HealthState health) override; - virtual HasHealthIF::HealthState getHealth(); + virtual HasHealthIF::HealthState getHealth() override; protected: struct ChildInfo { @@ -62,9 +63,9 @@ protected: /** * Always check this against <=0, so you are robust against too many replies */ - int32_t commandsOutstanding; + int32_t commandsOutstanding = 0; - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; HealthHelper healthHelper; @@ -126,4 +127,4 @@ protected: virtual void modeChanged(); }; -#endif /* SUBSYSTEMBASE_H_ */ +#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */ diff --git a/subsystem/modes/HasModeSequenceIF.h b/subsystem/modes/HasModeSequenceIF.h index 06bde2aa..70b1667e 100644 --- a/subsystem/modes/HasModeSequenceIF.h +++ b/subsystem/modes/HasModeSequenceIF.h @@ -1,9 +1,9 @@ #ifndef HASMODESEQUENCEIF_H_ #define HASMODESEQUENCEIF_H_ -#include "../../subsystem/modes/ModeDefinitions.h" -#include "../../subsystem/modes/ModeSequenceMessage.h" -#include "../../subsystem/modes/ModeStoreIF.h" +#include "ModeDefinitions.h" +#include "ModeSequenceMessage.h" +#include "ModeStoreIF.h" class HasModeSequenceIF { diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h index a865ab0c..13a780ee 100644 --- a/subsystem/modes/ModeDefinitions.h +++ b/subsystem/modes/ModeDefinitions.h @@ -1,22 +1,19 @@ -#ifndef MODEDEFINITIONS_H_ -#define MODEDEFINITIONS_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ +#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ #include "../../modes/HasModesIF.h" #include "../../objectmanager/SystemObjectIF.h" #include "../../serialize/SerializeIF.h" #include "../../serialize/SerialLinkedListAdapter.h" + class ModeListEntry: public SerializeIF, public LinkedElement { public: - ModeListEntry() : - LinkedElement(this), value1(0), value2(0), value3(0), value4( - 0) { + ModeListEntry(): LinkedElement(this) {} - } - - uint32_t value1; - uint32_t value2; - uint8_t value3; - uint8_t value4; + uint32_t value1 = 0; + uint32_t value2 = 0; + uint8_t value3 = 0; + uint8_t value4 = 0; virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize, Endianness streamEndianness) const { @@ -149,4 +146,4 @@ public: } }; -#endif //MODEDEFINITIONS_H_ +#endif /* FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ */ diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp index e092380e..7733098e 100644 --- a/subsystem/modes/ModeSequenceMessage.cpp +++ b/subsystem/modes/ModeSequenceMessage.cpp @@ -1,8 +1,7 @@ -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../objectmanager/ObjectManagerIF.h" +#include "ModeSequenceMessage.h" + #include "../../objectmanager/ObjectManagerIF.h" #include "../../storagemanager/StorageManagerIF.h" -#include "../../subsystem/modes/ModeSequenceMessage.h" void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, Mode_t sequence, store_address_t storeAddress) { @@ -11,25 +10,12 @@ void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, message->setParameter2(sequence); } -//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, -// Command_t command, ModeTableId_t table, store_address_t storeAddress) { -// message->setCommand(command); -// message->setParameter(storeAddress.raw); -// message->setParameter2(table); -//} - void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, Mode_t sequence) { message->setCommand(command); message->setParameter2(sequence); } -//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, -// Command_t command, ModeTableId_t table) { -// message->setCommand(command); -// message->setParameter2(table); -//} - void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, store_address_t storeAddress) { message->setCommand(command); @@ -63,9 +49,10 @@ void ModeSequenceMessage::clear(CommandMessage *message) { case SEQUENCE_LIST: case TABLE_LIST: case TABLE: - case SEQUENCE:{ - StorageManagerIF *ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore != NULL){ + case SEQUENCE: { + StorageManagerIF *ipcStore = objectManager->get( + objects::IPC_STORE); + if (ipcStore != nullptr){ ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message)); } } diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h index 61ba30f3..9be4586e 100644 --- a/subsystem/modes/ModeSequenceMessage.h +++ b/subsystem/modes/ModeSequenceMessage.h @@ -1,9 +1,10 @@ -#ifndef MODESEQUENCEMESSAGE_H_ -#define MODESEQUENCEMESSAGE_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ +#define FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ +#include "ModeDefinitions.h" #include "../../ipc/CommandMessage.h" #include "../../storagemanager/StorageManagerIF.h" -#include "../../subsystem/modes/ModeDefinitions.h" + class ModeSequenceMessage { public: @@ -45,4 +46,4 @@ private: ModeSequenceMessage(); }; -#endif /* MODESEQUENCEMESSAGE_H_ */ +#endif /* FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ */ diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp index dce2931c..260e5ab2 100644 --- a/subsystem/modes/ModeStore.cpp +++ b/subsystem/modes/ModeStore.cpp @@ -1,5 +1,7 @@ #include "../../subsystem/modes/ModeStore.h" +// todo: I think some parts are deprecated. If this is used, the define +// USE_MODESTORE could be part of the new FSFWConfig.h file. #ifdef USE_MODESTORE ModeStore::ModeStore(object_id_t objectId, uint32_t slots) :