Merge branch 'development' into mueller/thermal-update

controller/ControllerBase.cpp

@@ -1,16 +1,16 @@
-#include "../subsystem/SubsystemBase.h"
 #include "ControllerBase.h"
+
 #include "../subsystem/SubsystemBase.h"
 #include "../ipc/QueueFactory.h"
 #include "../action/HasActionsIF.h"
 
-ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
+ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
 		size_t commandQueueDepth) :
-		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
-				SUBMODE_NONE), commandQueue(NULL), modeHelper(
+		submode(SUBMODE_NONE), modeHelper(this),
-				this), healthHelper(this, setObjectId),hkSwitcher(this),executingTask(NULL) {
+		healthHelper(this, setObjectId) {
-	commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
+	commandQueue = QueueFactory::instance()->createMessageQueue(
-
+	        commandQueueDepth);
 }
 
 ControllerBase::~ControllerBase() {
@@ -24,9 +24,9 @@ ReturnValue_t ControllerBase::initialize() {
 	}
 
 	MessageQueueId_t parentQueue = 0;
-	if (parentId != 0) {
+	if (parentId != objects::NO_OBJECT) {
 		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
-		if (parent == NULL) {
+		if (parent == nullptr) {
 			return RETURN_FAILED;
 		}
 		parentQueue = parent->getCommandQueue();
@@ -44,10 +44,6 @@ ReturnValue_t ControllerBase::initialize() {
 		return result;
 	}
 
-	result = hkSwitcher.initialize();
-	if (result != RETURN_OK) {
-		return result;
-	}
 	return RETURN_OK;
 }
 
@@ -56,26 +52,27 @@ MessageQueueId_t ControllerBase::getCommandQueue() const {
 }
 
 void ControllerBase::handleQueue() {
-	CommandMessage message;
+	CommandMessage command;
-	ReturnValue_t result;
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
+	for (result = commandQueue->receiveMessage(&command);
-			result = commandQueue->receiveMessage(&message)) {
+	        result == RETURN_OK;
+			result = commandQueue->receiveMessage(&command)) {
 
-		result = modeHelper.handleModeCommand(&message);
+		result = modeHelper.handleModeCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
 
-		result = healthHelper.handleHealthCommand(&message);
+		result = healthHelper.handleHealthCommand(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		result = handleCommandMessage(&message);
+		result = handleCommandMessage(&command);
 		if (result == RETURN_OK) {
 			continue;
 		}
-		message.setToUnknownCommand();
+		command.setToUnknownCommand();
-		commandQueue->reply(&message);
+		commandQueue->reply(&command);
 	}
 
 }
@@ -106,7 +103,6 @@ void ControllerBase::announceMode(bool recursive) {
 
 ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 	handleQueue();
-	hkSwitcher.performOperation();
 	performControlOperation();
 	return RETURN_OK;
 }
@@ -135,3 +131,7 @@ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
 
 void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
 }
+
+ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
+    return HasReturnvaluesIF::RETURN_OK;
+}

controller/ControllerBase.h

@@ -1,5 +1,5 @@
-#ifndef CONTROLLERBASE_H_
+#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
-#define CONTROLLERBASE_H_
+#define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
 #include "../health/HasHealthIF.h"
 #include "../health/HealthHelper.h"
@@ -7,73 +7,88 @@
 #include "../modes/ModeHelper.h"
 #include "../objectmanager/SystemObject.h"
 #include "../tasks/ExecutableObjectIF.h"
+#include "../tasks/PeriodicTaskIF.h"
 #include "../datapool/HkSwitchHelper.h"
 
-
+/**
+ * @brief   Generic base class for controller classes
+ * @details
+ * Implements common interfaces for controllers, which generally have
+ * a mode and a health state. This avoids boilerplate code.
+ */
 class ControllerBase: public HasModesIF,
 		public HasHealthIF,
 		public ExecutableObjectIF,
 		public SystemObject,
 		public HasReturnvaluesIF {
 public:
-
 	static const Mode_t MODE_NORMAL = 2;
 
-	ControllerBase(uint32_t setObjectId, uint32_t parentId,
+	ControllerBase(object_id_t setObjectId, object_id_t parentId,
 			size_t commandQueueDepth = 3);
 	virtual ~ControllerBase();
 
-	ReturnValue_t initialize();
+	/** SystemObject override */
+	virtual ReturnValue_t initialize() override;
 
-	virtual MessageQueueId_t getCommandQueue() const;
+	virtual MessageQueueId_t getCommandQueue() const override;
 
-	virtual ReturnValue_t performOperation(uint8_t opCode);
+	/** HasHealthIF overrides */
-
+	virtual ReturnValue_t setHealth(HealthState health) override;
-	virtual ReturnValue_t setHealth(HealthState health);
+	virtual HasHealthIF::HealthState getHealth() override;
-
-	virtual HasHealthIF::HealthState getHealth();
-
-	/**
-	 * Implementation of ExecutableObjectIF function
-	 *
-	 * Used to setup the reference of the task, that executes this component
-	 * @param task_ Pointer to the taskIF of this task
-	 */
-	virtual  void setTaskIF(PeriodicTaskIF* task_);
 
+	/** ExecutableObjectIF overrides */
+	virtual ReturnValue_t performOperation(uint8_t opCode) override;
+	virtual void setTaskIF(PeriodicTaskIF* task) override;
+	virtual ReturnValue_t initializeAfterTaskCreation() override;
 
 protected:
-	const uint32_t parentId;
+
+	/**
+	 * Implemented by child class. Handle command messages which are not
+	 * mode or health messages.
+	 * @param message
+	 * @return
+	 */
+    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+
+    /**
+     * Periodic helper, implemented by child class.
+     */
+    virtual void performControlOperation() = 0;
+
+    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+            uint32_t *msToReachTheMode) = 0;
+
+	const object_id_t parentId;
 
 	Mode_t mode;
 
 	Submode_t submode;
 
-	MessageQueueIF* commandQueue;
+	MessageQueueIF* commandQueue = nullptr;
 
 	ModeHelper modeHelper;
 
 	HealthHelper healthHelper;
 
-	HkSwitchHelper hkSwitcher;
-
 	/**
-	 * Pointer to the task which executes this component, is invalid before setTaskIF was called.
+	 * Pointer to the task which executes this component,
+	 * is invalid before setTaskIF was called.
 	 */
-	PeriodicTaskIF* executingTask;
+	PeriodicTaskIF* executingTask = nullptr;
 
-	void handleQueue();
+	/** Handle mode and health messages */
+	virtual void handleQueue();
 
-	virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
+	/** Mode helpers */
-	virtual void performControlOperation() = 0;
-	virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-			uint32_t *msToReachTheMode) = 0;
 	virtual void modeChanged(Mode_t mode, Submode_t submode);
 	virtual void startTransition(Mode_t mode, Submode_t submode);
 	virtual void getMode(Mode_t *mode, Submode_t *submode);
 	virtual void setToExternalControl();
 	virtual void announceMode(bool recursive);
+	/** HK helpers */
 	virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };
 
-#endif /* CONTROLLERBASE_H_ */
+#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */

datalinklayer/MapPacketExtraction.cpp

@@ -1,10 +1,3 @@
-/**
- * @file	MapPacketExtraction.cpp
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
 #include "MapPacketExtraction.h"
 #include "../ipc/QueueFactory.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
@@ -12,14 +5,14 @@
 #include "../tmtcpacket/SpacePacketBase.h"
 #include "../tmtcservices/AcceptsTelecommandsIF.h"
 #include "../tmtcservices/TmTcMessage.h"
-#include <string.h>
+#include <cstring>
 
 MapPacketExtraction::MapPacketExtraction(uint8_t setMapId,
 		object_id_t setPacketDestination) :
-		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId), packetLength(0), bufferPosition(
+		lastSegmentationFlag(NO_SEGMENTATION), mapId(setMapId),
-				packetBuffer), packetDestination(setPacketDestination), packetStore(
+		bufferPosition(packetBuffer), packetDestination(setPacketDestination),
-				NULL), tcQueueId(MessageQueueIF::NO_QUEUE) {
+		tcQueueId(MessageQueueIF::NO_QUEUE) {
-	memset(packetBuffer, 0, sizeof(packetBuffer));
+	std::memset(packetBuffer, 0, sizeof(packetBuffer));
 }
 
 ReturnValue_t MapPacketExtraction::extractPackets(TcTransferFrame* frame) {

datalinklayer/MapPacketExtraction.h

@@ -1,12 +1,5 @@
-/**
+#ifndef FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
- * @file	MapPacketExtraction.h
+#define FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_
- * @brief	This file defines the MapPacketExtraction class.
- * @date	26.03.2013
- * @author	baetz
- */
-
-#ifndef MAPPACKETEXTRACTION_H_
-#define MAPPACKETEXTRACTION_H_
 
 #include "MapPacketExtractionIF.h"
 #include "../objectmanager/ObjectManagerIF.h"
@@ -20,17 +13,19 @@ class StorageManagerIF;
  * The class implements the full MAP Packet Extraction functionality as described in the CCSDS
  * TC Space Data Link Protocol. It internally stores incomplete segmented packets until they are
  * fully received. All found packets are forwarded to a single distribution entity.
+ * @author B. Baetz
  */
 class MapPacketExtraction: public MapPacketExtractionIF {
 private:
 	static const uint32_t MAX_PACKET_SIZE = 4096;
 	uint8_t lastSegmentationFlag;	//!< The segmentation flag of the last received frame.
 	uint8_t mapId;	//!< MAP ID of this MAP Channel.
-	uint32_t packetLength;	//!< Complete length of the current Space Packet.
+	uint32_t packetLength = 0;	//!< Complete length of the current Space Packet.
 	uint8_t* bufferPosition;	//!< Position to write to in the internal Packet buffer.
 	uint8_t packetBuffer[MAX_PACKET_SIZE];	//!< The internal Space Packet Buffer.
 	object_id_t packetDestination;
-	StorageManagerIF* packetStore;	//!< Pointer to the store where full TC packets are stored.
+	//!< Pointer to the store where full TC packets are stored.
+	StorageManagerIF* packetStore = nullptr;
 	MessageQueueId_t tcQueueId;		//!< QueueId to send found packets to the distributor.
 	/**
 	 * Debug method to print the packet Buffer's content.
@@ -75,4 +70,4 @@ public:
 	uint8_t getMapId() const;
 };
 
-#endif /* MAPPACKETEXTRACTION_H_ */
+#endif /* FSFW_DATALINKLAYER_MAPPACKETEXTRACTION_H_ */