health helper optional, diagnostic output improved

devicehandlers/DeviceHandlerBase.cpp

@@ -139,10 +139,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
 	}
 
 	result = healthHelper.initialize();
-	if (result != RETURN_OK) {
-		sif::error << "DeviceHandlerBase::initialize: Health Helper "
-				"initialization failure" << std::endl;
-		return result;
+	if (result == RETURN_OK) {
+		healthHelperActive = true;
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::initialize: Health Helper "
+				"initialization failure." << std::endl;
 	}
 
 	result = modeHelper.initialize();
@@ -215,9 +217,11 @@ void DeviceHandlerBase::readCommandQueue() {
 		return;
 	}
 
-	result = healthHelper.handleHealthCommand(&message);
-	if (result == RETURN_OK) {
-		return;
+	if(healthHelperActive) {
+		result = healthHelper.handleHealthCommand(&message);
+		if (result == RETURN_OK) {
+			return;
+		}
 	}
 
 	result = modeHelper.handleModeCommand(&message);
@@ -996,7 +1000,9 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
 }
 
 void DeviceHandlerBase::setToExternalControl() {
-	healthHelper.setHealth(EXTERNAL_CONTROL);
+	if(healthHelperActive) {
+		healthHelper.setHealth(EXTERNAL_CONTROL);
+	}
 }
 
 void DeviceHandlerBase::announceMode(bool recursive) {
@@ -1016,11 +1022,24 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
 }
 
 HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
-	return healthHelper.getHealth();
+	if(healthHelperActive) {
+		return healthHelper.getHealth();
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+		return HasHealthIF::HEALTHY;
+	}
 }
 
 ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
-	healthHelper.setHealth(health);
+	if(healthHelperActive) {
+		healthHelper.setHealth(health);
+	}
+	else {
+		sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
+				<< std::endl;
+	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 

devicehandlers/DeviceHandlerBase.h

@@ -601,6 +601,7 @@ protected:
 
 	/** Health helper for HasHealthIF */
 	HealthHelper healthHelper;
+	bool healthHelperActive = false;
 	/** Mode helper for HasModesIF */
 	ModeHelper modeHelper;
 	/** Parameter helper for ReceivesParameterMessagesIF */

devicehandlers/DeviceHandlerFailureIsolation.cpp

@@ -163,6 +163,8 @@ void DeviceHandlerFailureIsolation::clearFaultCounters() {
 ReturnValue_t DeviceHandlerFailureIsolation::initialize() {
 	ReturnValue_t result = FailureIsolationBase::initialize();
 	if (result != HasReturnvaluesIF::RETURN_OK) {
+		sif::error << "DeviceHandlerFailureIsolation::initialize: Could not"
+				" initialize FailureIsolationBase." << std::endl;
 		return result;
 	}
 	ConfirmsFailuresIF* power = objectManager->get<ConfirmsFailuresIF>(

fdir/FailureIsolationBase.cpp

@@ -19,7 +19,9 @@ FailureIsolationBase::~FailureIsolationBase() {
 ReturnValue_t FailureIsolationBase::initialize() {
 	EventManagerIF* manager = objectManager->get<EventManagerIF>(
 			objects::EVENT_MANAGER);
-	if (manager == NULL) {
+	if (manager == nullptr) {
+		sif::error << "FailureIsolationBase::initialize: Event Manager has not"
+				" been initialized!" << std::endl;
 		return RETURN_FAILED;
 	}
 	ReturnValue_t result = manager->registerListener(eventQueue->getId());

objectmanager/ObjectManager.cpp

@@ -69,9 +69,10 @@ void ObjectManager::initialize() {
 		return_value = it.second->initialize();
 		if ( return_value != RETURN_OK ) {
 			object_id_t var = it.first;
-			sif::error << "Object 0x" << std::hex <<  std::setw(8) <<
-					std::setfill('0')<< var << " failed to initialize " <<
-					"with code 0x" << return_value << std::dec << std::endl;
+			sif::error << "ObjectManager::initialize: Object 0x" << std::hex <<
+					std::setw(8) << std::setfill('0')<< var << " failed to "
+					"initialize with code 0x" << return_value << std::dec <<
+					std::endl;
 			error_count++;
 		}
 	}