44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
#include "fsfw/devicehandlers/ChildHandlerBase.h"
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#include "fsfw/subsystem/SubsystemBase.h"
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ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
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CookieIF* cookie, object_id_t hkDestination,
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uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
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object_id_t parent, FailureIsolationBase* customFdir,
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size_t cmdQueueSize)
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: DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
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(customFdir == nullptr ? &childHandlerFdir : customFdir), cmdQueueSize),
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parentId(parent),
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childHandlerFdir(setObjectId) {
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this->setHkDestination(hkDestination);
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this->setThermalStateRequestPoolIds(thermalStatePoolId, thermalRequestPoolId);
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}
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ChildHandlerBase::~ChildHandlerBase() {}
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ReturnValue_t ChildHandlerBase::initialize() {
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ReturnValue_t result = DeviceHandlerBase::initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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MessageQueueId_t parentQueue = 0;
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if (parentId != objects::NO_OBJECT) {
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SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
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if (parent == NULL) {
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return returnvalue::FAILED;
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}
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parentQueue = parent->getCommandQueue();
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parent->registerChild(getObjectId());
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}
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healthHelper.setParentQueue(parentQueue);
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modeHelper.setParentQueue(parentQueue);
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return returnvalue::OK;
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}
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