move semantics

CHANGELOG.md

@@ -8,19 +8,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-## Fixed
-
-- Use `modetree::connectModeTreeParent` in `PowerSwitcherComponent` to connect mode tree parent.
-- Pool Manager now enables the `spillToHigherPools` option in `LocalPool` parent.
-
-## Changed
-
-- Rename FW subsystem ID from `PCDU_2` to `POWER_SYSTEM_IF`.
-- Add new `SWITCH_UNKNOWN` returnvalue in `PowerSwitchIF`.
-- Simplify `PeriodicHousekeepingHelper`: No non-diagnostic handling.
-  Start removing the distinction between diagnostics and regular
-  HK packets.
-
 # [v6.0.0]
 
 ## Fixes

src/fsfw/datapoollocal/LocalDataPoolManager.cpp

@@ -70,7 +70,8 @@ ReturnValue_t LocalDataPoolManager::initialize(MessageQueueIF* queueToUse) {
   return returnvalue::OK;
 }
 
-ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation() {
+ReturnValue_t LocalDataPoolManager::initializeAfterTaskCreation(uint8_t nonDiagInvlFactor) {
+  setNonDiagnosticIntervalFactor(nonDiagInvlFactor);
   return initializeHousekeepingPoolEntriesOnce();
 }
 
@@ -660,6 +661,10 @@ ReturnValue_t LocalDataPoolManager::serializeHkPacketIntoStore(HousekeepingPacke
   return hkPacket.serialize(&dataPtr, serializedSize, maxSize, SerializeIF::Endianness::MACHINE);
 }
 
+void LocalDataPoolManager::setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor) {
+  this->nonDiagnosticIntervalFactor = nonDiagInvlFactor;
+}
+
 void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   sid_t sid = receiver.dataId.sid;
   LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
@@ -713,7 +718,7 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid, bool ena
 
   if ((LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and enable) or
       (not LocalPoolDataSetAttorney::getReportingEnabled(*dataSet) and not enable)) {
-    return returnvalue::OK;
+    return REPORTING_STATUS_UNCHANGED;
   }
 
   LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enable);

src/fsfw/datapoollocal/LocalDataPoolManager.h

@@ -102,7 +102,7 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
    * @param nonDiagInvlFactor
    * @return
    */
-  ReturnValue_t initializeAfterTaskCreation();
+  ReturnValue_t initializeAfterTaskCreation(uint8_t nonDiagInvlFactor = 5);
 
   /**
    * @brief   This should be called in the periodic handler of the owner.
@@ -152,6 +152,17 @@ class LocalDataPoolManager : public ProvidesDataPoolSubscriptionIF, public Acces
                                                   MessageQueueId_t targetQueueId,
                                                   bool generateSnapshot) override;
 
+  /**
+   * Non-Diagnostics packets usually have a lower minimum sampling frequency
+   * than diagnostic packets.
+   * A factor can be specified to determine the minimum sampling frequency
+   * for non-diagnostic packets. The minimum sampling frequency of the
+   * diagnostics packets,which is usually jusst the period of the
+   * performOperation calls, is multiplied with that factor.
+   * @param factor
+   */
+  void setNonDiagnosticIntervalFactor(uint8_t nonDiagInvlFactor);
+
   /**
    * @brief   The manager is also able to handle housekeeping messages.
    * @details

src/fsfw/datapoollocal/LocalPoolDataSetBase.cpp

@@ -250,8 +250,9 @@ void LocalPoolDataSetBase::setReportingEnabled(bool reportingEnabled) {
 bool LocalPoolDataSetBase::getReportingEnabled() const { return reportingEnabled; }
 
 void LocalPoolDataSetBase::initializePeriodicHelper(float collectionInterval,
-                                                    dur_millis_t minimumPeriodicInterval) {
-  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval);
+                                                    dur_millis_t minimumPeriodicInterval,
+                                                    uint8_t nonDiagIntervalFactor) {
+  periodicHelper->initialize(collectionInterval, minimumPeriodicInterval, nonDiagIntervalFactor);
 }
 
 void LocalPoolDataSetBase::setChanged(bool changed) { this->changed = changed; }

src/fsfw/datapoollocal/LocalPoolDataSetBase.h

@@ -191,7 +191,8 @@ class LocalPoolDataSetBase : public PoolDataSetBase, public MarkChangedIF {
    */
   bool reportingEnabled = false;
 
-  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval);
+  void initializePeriodicHelper(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+                                uint8_t nonDiagIntervalFactor = 5);
 
   /**
    * If the valid state of a dataset is always relevant to the whole

src/fsfw/datapoollocal/internal/LocalPoolDataSetAttorney.h

@@ -12,8 +12,10 @@ class LocalPoolDataSetAttorney {
   static bool isDiagnostics(LocalPoolDataSetBase& set) { return set.isDiagnostics(); }
 
   static void initializePeriodicHelper(LocalPoolDataSetBase& set, float collectionInterval,
-                                       uint32_t minimumPeriodicIntervalMs) {
-    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs);
+                                       uint32_t minimumPeriodicIntervalMs,
+                                       uint8_t nonDiagIntervalFactor = 5) {
+    set.initializePeriodicHelper(collectionInterval, minimumPeriodicIntervalMs,
+                                 nonDiagIntervalFactor);
   }
 
   static void setReportingEnabled(LocalPoolDataSetBase& set, bool enabled) {

src/fsfw/events/fwSubsystemIdRanges.h

@@ -10,7 +10,7 @@ enum : uint8_t {
   CDH = 28,
   TCS_1 = 59,
   PCDU_1 = 42,
-  POWER_SWITCH_IF = 43,
+  PCDU_2 = 43,
   HEATER = 50,
   T_SENSORS = 52,
   FDIR = 70,

src/fsfw/housekeeping/PeriodicHousekeepingHelper.cpp

@@ -8,8 +8,10 @@ PeriodicHousekeepingHelper::PeriodicHousekeepingHelper(LocalPoolDataSetBase* own
     : owner(owner) {}
 
 void PeriodicHousekeepingHelper::initialize(float collectionInterval,
-                                            dur_millis_t minimumPeriodicInterval) {
+                                            dur_millis_t minimumPeriodicInterval,
+                                            uint8_t nonDiagIntervalFactor) {
   this->minimumPeriodicInterval = minimumPeriodicInterval;
+  this->nonDiagIntervalFactor = nonDiagIntervalFactor;
   collectionIntervalTicks = intervalSecondsToIntervalTicks(collectionInterval);
   /* This will cause a checkOpNecessary call to be true immediately. I think it's okay
       if a HK packet is generated immediately instead of waiting one generation cycle. */
@@ -34,17 +36,42 @@ uint32_t PeriodicHousekeepingHelper::intervalSecondsToIntervalTicks(
   if (owner == nullptr) {
     return 0;
   }
+  bool isDiagnostics = owner->isDiagnostics();
 
   /* Avoid division by zero */
   if (minimumPeriodicInterval == 0) {
-    /* Perform operation each cycle */
-    return 1;
-
+    if (isDiagnostics) {
+      /* Perform operation each cycle */
+      return 1;
+    } else {
+      return nonDiagIntervalFactor;
+    }
   } else {
     dur_millis_t intervalInMs = collectionIntervalSeconds * 1000;
     uint32_t divisor = minimumPeriodicInterval;
+    if (not isDiagnostics) {
+      /* We need to multiply the divisor because non-diagnostics only
+      allow a multiple of the minimum periodic interval */
+      divisor *= nonDiagIntervalFactor;
+    }
     uint32_t ticks = std::ceil(static_cast<float>(intervalInMs) / divisor);
+    if (not isDiagnostics) {
+      /* Now we need to multiply the calculated ticks with the factor as as well
+      because the minimum tick count to generate a non-diagnostic is the factor itself.
 
+      Example calculation for non-diagnostic with
+      0.4 second interval and 0.2 second task interval.
+      Resultant tick count of 5 is equal to operation each second.
+
+      Examle calculation for non-diagnostic with  2.0 second interval and 0.2 second
+      task interval.
+      Resultant tick count of 10 is equal to operatin every 2 seconds.
+
+      Example calculation for diagnostic with 0.4 second interval and 0.3
+      second task interval. Resulting tick count of 2 is equal to operation
+      every 0.6 seconds. */
+      ticks *= nonDiagIntervalFactor;
+    }
     return ticks;
   }
 }

src/fsfw/housekeeping/PeriodicHousekeepingHelper.h

@@ -11,7 +11,8 @@ class PeriodicHousekeepingHelper {
  public:
   PeriodicHousekeepingHelper(LocalPoolDataSetBase* owner);
 
-  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval);
+  void initialize(float collectionInterval, dur_millis_t minimumPeriodicInterval,
+                  uint8_t nonDiagIntervalFactor);
 
   void changeCollectionInterval(float newInterval);
   float getCollectionIntervalInSeconds() const;
@@ -19,6 +20,7 @@ class PeriodicHousekeepingHelper {
 
  private:
   LocalPoolDataSetBase* owner = nullptr;
+  uint8_t nonDiagIntervalFactor = 0;
 
   uint32_t intervalSecondsToIntervalTicks(float collectionIntervalSeconds);
   float intervalTicksToSeconds(uint32_t collectionInterval) const;

src/fsfw/power/DummyPowerSwitcher.cpp

@@ -1,5 +1,7 @@
 #include "DummyPowerSwitcher.h"
 
+#include <utility>
+
 DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwitches,
                                        size_t numberOfFuses, bool registerGlobally,
                                        uint32_t switchDelayMs)
@@ -9,11 +11,11 @@ DummyPowerSwitcher::DummyPowerSwitcher(object_id_t objectId, size_t numberOfSwit
       switchDelayMs(switchDelayMs) {}
 
 void DummyPowerSwitcher::setInitialSwitcherList(std::vector<ReturnValue_t> switcherList) {
-  this->switcherList = switcherList;
+  this->switcherList = std::move(switcherList);
 }
 
 void DummyPowerSwitcher::setInitialFusesList(std::vector<ReturnValue_t> fuseList) {
-  this->fuseList = fuseList;
+  this->fuseList = std::move(fuseList);
 }
 
 ReturnValue_t DummyPowerSwitcher::sendSwitchCommand(power::Switch_t switchNr, ReturnValue_t onOff) {

src/fsfw/power/Fuse.h

@@ -32,7 +32,7 @@ class Fuse : public SystemObject,
     gp_id_t poolIdPower;
   };
 
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_1;
   //! PSS detected that current on a fuse is totally out of bounds.
   static const Event FUSE_CURRENT_HIGH = MAKE_EVENT(1, severity::LOW);
   //! PSS detected a fuse that went off.

src/fsfw/power/PowerSwitchIF.h

@@ -28,9 +28,7 @@ class PowerSwitchIF {
   static const ReturnValue_t SWITCH_TIMEOUT = MAKE_RETURN_CODE(2);
   static const ReturnValue_t FUSE_ON = MAKE_RETURN_CODE(3);
   static const ReturnValue_t FUSE_OFF = MAKE_RETURN_CODE(4);
-  static const ReturnValue_t SWITCH_UNKNOWN = MAKE_RETURN_CODE(5);
-
-  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::POWER_SWITCH_IF;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_2;
   //!< Someone detected that a switch went off which shouldn't. Severity:
   //!< Low, Parameter1: switchId1, Parameter2: switchId2
   static const Event SWITCH_WENT_OFF = MAKE_EVENT(0, severity::LOW);
@@ -52,7 +50,6 @@ class PowerSwitchIF {
    * @return
    *     - @c SWITCH_ON if the specified switch is on.
    *     - @c SWITCH_OFF if the specified switch is off.
-   *     - @c SWITCH_UNKNOWN if the state of the specified switch is unknown.
    *     - @c returnvalue::FAILED if an error occured
    */
   virtual ReturnValue_t getSwitchState(power::Switch_t switchNr) const = 0;

src/fsfw/power/PowerSwitcherComponent.cpp

@@ -2,7 +2,6 @@
 
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/power/PowerSwitchIF.h>
-#include <fsfw/subsystem/helper.h>
 
 PowerSwitcherComponent::PowerSwitcherComponent(object_id_t objectId, PowerSwitchIF* pwrSwitcher,
                                                power::Switch_t pwrSwitch)
@@ -29,9 +28,6 @@ ReturnValue_t PowerSwitcherComponent::performOperation(uint8_t opCode) {
       continue;
     }
   }
-  if (getHealth() == FAULTY) {
-    performFaultyOperation();
-  }
   if (switcher.active()) {
     switcher.doStateMachine();
     auto currState = switcher.getState();
@@ -115,11 +111,9 @@ const HasHealthIF* PowerSwitcherComponent::getOptHealthIF() const { return this;
 const HasModesIF& PowerSwitcherComponent::getModeIF() const { return *this; }
 
 ReturnValue_t PowerSwitcherComponent::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
-  return modetree::connectModeTreeParent(parent, *this, &healthHelper, modeHelper);
+  return parent.registerChild(*this);
 }
 
 object_id_t PowerSwitcherComponent::getObjectId() const { return SystemObject::getObjectId(); }
 
 ModeTreeChildIF& PowerSwitcherComponent::getModeTreeChildIF() { return *this; }
-
-void PowerSwitcherComponent::performFaultyOperation() {}

src/fsfw/power/PowerSwitcherComponent.h

@@ -1,4 +1,5 @@
-#pragma once
+#ifndef _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
+#define _FSFW_POWER_POWERSWITCHERCOMPONENT_H_
 
 #include <fsfw/health/HasHealthIF.h>
 #include <fsfw/health/HealthHelper.h>
@@ -36,11 +37,9 @@ class PowerSwitcherComponent : public SystemObject,
   ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF &parent) override;
   ModeTreeChildIF &getModeTreeChildIF() override;
 
- protected:
-  PowerSwitcher switcher;
-
  private:
   MessageQueueIF *queue = nullptr;
+  PowerSwitcher switcher;
 
   Mode_t mode = MODE_OFF;
   Submode_t submode = 0;
@@ -50,23 +49,24 @@ class PowerSwitcherComponent : public SystemObject,
 
   void setMode(Mode_t newMode, Submode_t newSubmode);
 
-  ReturnValue_t performOperation(uint8_t opCode) override;
+  virtual ReturnValue_t performOperation(uint8_t opCode) override;
 
   ReturnValue_t initialize() override;
 
-  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
+  MessageQueueId_t getCommandQueue() const override;
   void getMode(Mode_t *mode, Submode_t *submode) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t *msToReachTheMode) override;
   void startTransition(Mode_t mode, Submode_t submode) override;
-  virtual void performFaultyOperation();
   void setToExternalControl() override;
   void announceMode(bool recursive) override;
 
   ReturnValue_t setHealth(HealthState health) override;
   HasHealthIF::HealthState getHealth() override;
 
-  [[nodiscard]] object_id_t getObjectId() const override;
-  [[nodiscard]] const HasHealthIF *getOptHealthIF() const override;
-  [[nodiscard]] const HasModesIF &getModeIF() const override;
+  object_id_t getObjectId() const override;
+  const HasHealthIF *getOptHealthIF() const override;
+  const HasModesIF &getModeIF() const override;
 };
+
+#endif /* _FSFW_POWER_POWERSWITCHERCOMPONENT_H_ */

src/fsfw/storagemanager/PoolManager.cpp

@@ -3,7 +3,7 @@
 #include "fsfw/FSFW.h"
 
 PoolManager::PoolManager(object_id_t setObjectId, const LocalPoolConfig& localPoolConfig)
-    : LocalPool(setObjectId, localPoolConfig, true, true) {
+    : LocalPool(setObjectId, localPoolConfig, true) {
   mutex = MutexFactory::instance()->createMutex();
 }
 

src/fsfw_hal/linux/i2c/I2cComIF.cpp

@@ -112,9 +112,8 @@ ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, s
     if (i2cCookie->errorCounter < 3) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
       sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
-                    "device from "
-                 << deviceFile << " with error code " << errno
-                 << ". Error description: " << strerror(errno) << std::endl;
+                    "device from " << deviceFile << " with error code "
+                 << errno << ". Error description: " << strerror(errno) << std::endl;
 #endif
     }
     return returnvalue::FAILED;