110 lines
3.5 KiB
C++
110 lines
3.5 KiB
C++
#include "fsfw/health/HealthHelper.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
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: objectId(objectId), owner(owner) {}
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HealthHelper::~HealthHelper() {
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if (healthTable != nullptr) {
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healthTable->removeObject(objectId);
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}
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}
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ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
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switch (message->getCommand()) {
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case HealthMessage::HEALTH_SET:
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handleSetHealthCommand(message);
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return returnvalue::OK;
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case HealthMessage::HEALTH_ANNOUNCE: {
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eventSender->forwardEvent(HasHealthIF::HEALTH_INFO, getHealth(), getHealth());
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}
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return returnvalue::OK;
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default:
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return returnvalue::FAILED;
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}
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}
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HasHealthIF::HealthState HealthHelper::getHealth() { return healthTable->getHealth(objectId); }
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ReturnValue_t HealthHelper::initialize(MessageQueueId_t parentQueue) {
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setParentQueue(parentQueue);
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return initialize();
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}
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void HealthHelper::setParentQueue(MessageQueueId_t parentQueue) { this->parentQueue = parentQueue; }
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ReturnValue_t HealthHelper::initialize() {
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healthTable = ObjectManager::instance()->get<HealthTableIF>(objects::HEALTH_TABLE);
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eventSender = ObjectManager::instance()->get<EventReportingProxyIF>(objectId);
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if (healthTable == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "HealthHelper::initialize: Health table object needs"
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"to be created in factory."
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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if (eventSender == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "HealthHelper::initialize: Owner has to implement "
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"ReportingProxyIF."
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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ReturnValue_t result = healthTable->registerObject(objectId, HasHealthIF::HEALTHY);
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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void HealthHelper::setHealth(HasHealthIF::HealthState health) {
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HasHealthIF::HealthState oldHealth = getHealth();
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eventSender->forwardEvent(HasHealthIF::HEALTH_INFO, health, oldHealth);
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if (health != oldHealth) {
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healthTable->setHealth(objectId, health);
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informParent(health, oldHealth);
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}
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}
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void HealthHelper::informParent(HasHealthIF::HealthState health,
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HasHealthIF::HealthState oldHealth) {
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if (parentQueue == MessageQueueIF::NO_QUEUE) {
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return;
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}
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CommandMessage information;
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HealthMessage::setHealthMessage(&information, HealthMessage::HEALTH_INFO, health, oldHealth);
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if (MessageQueueSenderIF::sendMessage(parentQueue, &information, owner->getCommandQueue()) !=
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returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "HealthHelper::informParent: sending health reply failed." << std::endl;
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#endif
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}
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}
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void HealthHelper::handleSetHealthCommand(CommandMessage* command) {
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ReturnValue_t result = owner->setHealth(HealthMessage::getHealth(command));
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if (command->getSender() == MessageQueueIF::NO_QUEUE) {
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return;
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}
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CommandMessage reply;
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if (result == returnvalue::OK) {
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HealthMessage::setHealthMessage(&reply, HealthMessage::REPLY_HEALTH_SET);
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} else {
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reply.setReplyRejected(result, command->getCommand());
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}
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if (MessageQueueSenderIF::sendMessage(command->getSender(), &reply, owner->getCommandQueue()) !=
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returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::debug << "HealthHelper::handleHealthCommand: sending health "
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"reply failed."
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<< std::endl;
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#endif
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}
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}
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