form improvements DHB
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@ -1,10 +1,30 @@
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#ifndef ASSEMBLYBASE_H_
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#define ASSEMBLYBASE_H_
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#ifndef FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
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#define FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
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#include "../container/FixedArrayList.h"
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#include "DeviceHandlerBase.h"
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#include "../container/FixedArrayList.h"
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#include "../subsystem/SubsystemBase.h"
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/**
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* @brief Base class to implement reconfiguration and failure handling for
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* redundant devices by monitoring their modes health states.
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* @details
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* Documentation: Dissertation Baetz p.156, 157.
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*
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* This class reduces the complexity of controller components which would
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* otherwise be needed for the handling of redundant devices.
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*
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* The template class monitors mode and health state of its children
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* and checks availability of devices on every detected change.
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* AssemblyBase does not implement any redundancy logic by itself, but provides
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* adaptation points for implementations to do so. Since most monitoring
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* activities rely on mode and health state only and are therefore
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* generic, it is sufficient for subclasses to provide:
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*
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* 1. check logic when active-> checkChildrenStateOn
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* 2. transition logic to change the mode -> commandChildren
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*
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*/
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class AssemblyBase: public SubsystemBase {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
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@ -16,10 +36,41 @@ public:
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static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
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MAKE_RETURN_CODE(0xa1);
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AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
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AssemblyBase(object_id_t objectId, object_id_t parentId,
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uint16_t commandQueueDepth = 8);
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virtual ~AssemblyBase();
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protected:
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// SHOULDDO: Change that OVERWRITE_HEALTH may be returned
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// (or return internalState directly?)
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/**
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* Command children to reach [mode,submode] combination
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* Can be done by setting #commandsOutstanding correctly,
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* or using executeTable()
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* @param mode
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* @param submode
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* @return
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* - @c RETURN_OK if ok
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* - @c NEED_SECOND_STEP if children need to be commanded again
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*/
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virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
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/**
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* Check whether desired assembly mode was achieved by checking the modes
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* or/and health states of child device handlers.
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* The assembly template class will also call this function if a health
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* or mode change of a child device handler was detected.
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* @param wantedMode
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* @param wantedSubmode
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* @return
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*/
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virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
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Submode_t wantedSubmode) = 0;
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virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
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Submode_t submode) = 0;
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enum InternalState {
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STATE_NONE,
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STATE_OVERWRITE_HEALTH,
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@ -36,6 +87,7 @@ protected:
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RECOVERY_WAIT
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} recoveryState; //!< Indicates if one of the children requested a recovery.
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ChildrenMap::iterator recoveringDevice;
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/**
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* the mode the current transition is trying to achieve.
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* Can be different from the modehelper.commandedMode!
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@ -61,8 +113,8 @@ protected:
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bool handleChildrenChanged();
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/**
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* This method is called if the children changed its mode in a way that the current
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* mode can't be kept.
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* This method is called if the children changed its mode in a way that
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* the current mode can't be kept.
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* Default behavior is to go to MODE_OFF.
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* @param result The failure code which was returned by checkChildrenState.
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*/
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@ -75,9 +127,6 @@ protected:
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode);
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virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
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Submode_t submode) = 0;
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virtual void startTransition(Mode_t mode, Submode_t submode);
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virtual void doStartTransition(Mode_t mode, Submode_t submode);
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@ -90,24 +139,6 @@ protected:
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void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
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//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
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/**
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* command children to reach mode,submode
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*
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* set #commandsOutstanding correctly, or use executeTable()
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*
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* @param mode
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* @param submode
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* @return
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* - @c RETURN_OK if ok
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* - @c NEED_SECOND_STEP if children need to be commanded again
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*/
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virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
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//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
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virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
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Submode_t wantedSubmode) = 0;
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virtual ReturnValue_t checkChildrenStateOff();
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ReturnValue_t checkChildrenState();
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@ -125,8 +156,9 @@ protected:
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* Also sets state to STATE_OVERWRITE_HEATH.
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* @param objectId Must be a registered child.
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*/
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void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
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void overwriteDeviceHealth(object_id_t objectId,
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HasHealthIF::HealthState oldHealth);
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};
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#endif /* ASSEMBLYBASE_H_ */
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#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */
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