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Update for Assembly Base #38

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meierj merged 13 commits from mueller/master into eive/develop 2022-03-08 07:53:07 +01:00
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1 changed files with 20 additions and 1 deletions
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src/fsfw/devicehandlers/AssemblyBase.h
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@ -53,7 +53,7 @@ class AssemblyBase : public SubsystemBase {
* @param mode * @param mode
* @param submode * @param submode
* @return * @return
* - @c RETURN_OK if ok * - @c RETURN_OK if OK
* - @c NEED_SECOND_STEP if children need to be commanded again * - @c NEED_SECOND_STEP if children need to be commanded again
*/ */
virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0; virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
@ -145,12 +145,31 @@ class AssemblyBase : public SubsystemBase {
bool handleChildrenChangedHealth(); bool handleChildrenChangedHealth();
/**
* Core transition handler. The default implementation will only do something if
* #commandsOutstanding is smaller or equal to zero, which means that all mode commands
* from the #doPerformTransition call were executed successfully.
*
* Unless a second step was requested, the function will then use #checkChildrenState to
* determine whether the target mode was reached.
*
* There is some special handling for certain (internal) modes:
* - A second step is necessary. #commandChildren will be performed again
* - The device health was overwritten. #commandChildren will be called
* - A recovery is ongoing. #checkAndHandleRecovery will be called.
*/
virtual void handleChildrenTransition(); virtual void handleChildrenTransition();
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode); ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
virtual void startTransition(Mode_t mode, Submode_t submode); virtual void startTransition(Mode_t mode, Submode_t submode);
/**
* This function starts the transition by setting the internal #targetSubmode and #targetMode
* variables and then calling the #commandChildren function.
* @param mode
* @param submode
*/
virtual void doStartTransition(Mode_t mode, Submode_t submode); virtual void doStartTransition(Mode_t mode, Submode_t submode);
virtual bool isInTransition(); virtual bool isInTransition();