testArduino/fsfw/subsystem/Subsystem.cpp

#include "../health/HealthMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../serialize/SerialArrayListAdapter.h"
#include "../serialize/SerialFixedArrayListAdapter.h"
#include "../serialize/SerializeElement.h"
#include "../serialize/SerialLinkedListAdapter.h"
#include "Subsystem.h"
#include <string>

Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
		uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) :
		SubsystemBase(setObjectId, parent, 0), isInTransition(false), childrenChangedHealth(
				false), uptimeStartTable(0), currentTargetTable(), targetMode(
				0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables(
				maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore(
		NULL)
#ifdef USE_MODESTORE
,modeStore(NULL)
#endif
{

}

Subsystem::~Subsystem() {
	//Auto-generated destructor stub
}

ReturnValue_t Subsystem::checkSequence(HybridIterator<ModeListEntry> iter,
		Mode_t fallbackSequence) {

	//only check for existence, checking the fallback would lead to a (possibly infinite) recursion.
	//the fallback sequence will be checked when it is needed.
	if (!existsModeSequence(fallbackSequence)) {
		return FALLBACK_SEQUENCE_DOES_NOT_EXIST;
	}

	if (iter.value == NULL) {
		return NO_TARGET_TABLE;
	}

	for (; iter.value != NULL; ++iter) {
		if (!existsModeTable(iter->getTableId())) {
			return TABLE_DOES_NOT_EXIST;
		} else {
			ReturnValue_t result = checkTable(getTable(iter->getTableId()));
			if (result != RETURN_OK) {
				return result;
			}
		}
	}
	return RETURN_OK;
}

ReturnValue_t Subsystem::checkSequence(Mode_t sequence) {
	if (!existsModeSequence(sequence)) {
		return SEQUENCE_DOES_NOT_EXIST;
	}
	HybridIterator<ModeListEntry> iter = getSequence(sequence);
	return checkSequence(iter, getFallbackSequence(sequence));
}

bool Subsystem::existsModeSequence(Mode_t id) {
	return modeSequences.exists(id) == RETURN_OK;
}

bool Subsystem::existsModeTable(Mode_t id) {
	return modeTables.exists(id) == RETURN_OK;
}

HybridIterator<ModeListEntry> Subsystem::getCurrentTable() {
	return getTable(currentSequenceIterator->getTableId());
}

void Subsystem::performChildOperation() {
	if (isInTransition) {
		if (commandsOutstanding <= 0) { //all children of the current table were commanded and replied
			if (currentSequenceIterator.value == NULL) { //we're through with this sequence
				if (checkStateAgainstTable(currentTargetTable, targetSubmode)
						== RETURN_OK) {
					setMode(targetMode, targetSubmode);
					isInTransition = false;
					return;
				} else {
					transitionFailed(TARGET_TABLE_NOT_REACHED,
							getSequence(targetMode)->getTableId());
					return;
				}
			}
			if (currentSequenceIterator->checkSuccess()) {
				if (checkStateAgainstTable(getCurrentTable(), targetSubmode)
						!= RETURN_OK) {
					transitionFailed(TABLE_CHECK_FAILED,
							currentSequenceIterator->getTableId());
					return;
				}
			}
			if (currentSequenceIterator->getWaitSeconds() != 0) {
				if (uptimeStartTable == 0) {
					Clock::getUptime(&uptimeStartTable);
					return;
				} else {
					uint32_t uptimeNow;
					Clock::getUptime(&uptimeNow);
					if ((uptimeNow - uptimeStartTable)
							< (currentSequenceIterator->getWaitSeconds() * 1000)) {
						return;
					}
				}
			}
			uptimeStartTable = 0;
			//next Table, but only if there is one
			if ((++currentSequenceIterator).value != NULL) { //we're through with this sequence
				executeTable(getCurrentTable(), targetSubmode);
			}
		}
	} else {
		if (childrenChangedHealth) {
			triggerEvent(CHILD_CHANGED_HEALTH, 0, 0);
			childrenChangedHealth = false;
			startTransition(mode, submode);
		} else if (childrenChangedMode) {
			if (checkStateAgainstTable(currentTargetTable, submode)
					!= RETURN_OK) {
				triggerEvent(CANT_KEEP_MODE, mode, submode);
				cantKeepMode();
			}
		}
	}
}

HybridIterator<ModeListEntry> Subsystem::getSequence(Mode_t id) {
	SequenceInfo *sequenceInfo = modeSequences.findValue(id);
	if (sequenceInfo->entries.islinked) {
		return HybridIterator<ModeListEntry>(
				sequenceInfo->entries.firstLinkedElement);
	} else {
		return HybridIterator<ModeListEntry>(
				sequenceInfo->entries.array->front(),
				sequenceInfo->entries.array->back());
	}
}

HybridIterator<ModeListEntry> Subsystem::getTable(Mode_t id) {
	EntryPointer *entry = modeTables.findValue(id);
	if (entry->islinked) {
		return HybridIterator<ModeListEntry>(entry->firstLinkedElement);
	} else {
		return HybridIterator<ModeListEntry>(entry->array->front(),
				entry->array->back());
	}
}

ReturnValue_t Subsystem::handleCommandMessage(CommandMessage *message) {
	switch (message->getCommand()) {
	case HealthMessage::HEALTH_INFO: {
		HealthState health = HealthMessage::getHealth(message);
		if (health != EXTERNAL_CONTROL) {
			//Ignore external control, as it has an effect only if the mode changes,
			//which is communicated with an additional mode info event.
			childrenChangedHealth = true;
		}
	}
		break;
	case ModeSequenceMessage::ADD_SEQUENCE: {
		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> sequence;
		const uint8_t *pointer;
		size_t sizeRead;
		ReturnValue_t result = IPCStore->getData(
				ModeSequenceMessage::getStoreAddress(message), &pointer,
				&sizeRead);
		if (result == RETURN_OK) {
			Mode_t fallbackId;
			size_t size = sizeRead;
			result = SerializeAdapter::deSerialize(&fallbackId, &pointer, &size,
					SerializeIF::Endianness::BIG);
			if (result == RETURN_OK) {
				result = SerialArrayListAdapter<ModeListEntry>::deSerialize(
						&sequence, &pointer, &size,
						SerializeIF::Endianness::BIG);
				if (result == RETURN_OK) {
					result = addSequence(&sequence,
							ModeSequenceMessage::getSequenceId(message),
							fallbackId);
				}
			}
			IPCStore->deleteData(ModeSequenceMessage::getStoreAddress(message));
		}
		replyToCommand(result, 0);
	}
		break;
	case ModeSequenceMessage::ADD_TABLE: {
		FixedArrayList<ModeListEntry, MAX_LENGTH_OF_TABLE_OR_SEQUENCE> table;
		const uint8_t *pointer;
		size_t sizeRead;
		ReturnValue_t result = IPCStore->getData(
				ModeSequenceMessage::getStoreAddress(message), &pointer,
				&sizeRead);
		if (result == RETURN_OK) {
			size_t size = sizeRead;
			result = SerialArrayListAdapter<ModeListEntry>::deSerialize(&table,
					&pointer, &size, SerializeIF::Endianness::BIG);
			if (result == RETURN_OK) {
				result = addTable(&table,
						ModeSequenceMessage::getSequenceId(message));
			}
			IPCStore->deleteData(ModeSequenceMessage::getStoreAddress(message));
		}
		replyToCommand(result, 0);

	}
		break;
	case ModeSequenceMessage::DELETE_SEQUENCE:{
		if (isInTransition) {
			replyToCommand(IN_TRANSITION, 0);
			break;
		}
		ReturnValue_t result = deleteSequence(ModeSequenceMessage::getSequenceId(message));
		replyToCommand(result, 0);
	}
		break;
	case ModeSequenceMessage::DELETE_TABLE:{
		if (isInTransition) {
			replyToCommand(IN_TRANSITION, 0);
			break;
		}
		ReturnValue_t result = deleteTable(ModeSequenceMessage::getTableId(message));
		replyToCommand(result, 0);
	}
		break;
	case ModeSequenceMessage::LIST_SEQUENCES: {
		SerialFixedArrayListAdapter<Mode_t, MAX_NUMBER_OF_TABLES_OR_SEQUENCES> sequences;
		FixedMap<Mode_t, SequenceInfo>::Iterator iter;
		for (iter = modeSequences.begin(); iter != modeSequences.end();
				++iter) {
			sequences.insert(iter.value->first);
		}
		SerializeIF *pointer = &sequences;
		sendSerializablesAsCommandMessage(ModeSequenceMessage::SEQUENCE_LIST,
				&pointer, 1);
	}
		break;
	case ModeSequenceMessage::LIST_TABLES: {
		SerialFixedArrayListAdapter<Mode_t, MAX_NUMBER_OF_TABLES_OR_SEQUENCES> tables;
		FixedMap<Mode_t, EntryPointer>::Iterator iter;
		for (iter = modeTables.begin(); iter != modeTables.end(); ++iter) {
			tables.insert(iter.value->first);
		}
		SerializeIF *pointer = &tables;
		sendSerializablesAsCommandMessage(ModeSequenceMessage::TABLE_LIST,
				&pointer, 1);
	}
		break;
	case ModeSequenceMessage::READ_SEQUENCE: {
		ReturnValue_t result;
		Mode_t sequence = ModeSequenceMessage::getSequenceId(message);
		SequenceInfo *sequenceInfo = NULL;
		result = modeSequences.find(sequence, &sequenceInfo);
		if (result != RETURN_OK) {
			replyToCommand(result, 0);
		}

		SerializeIF *elements[3];
		SerializeElement<Mode_t> sequenceId(sequence);
		SerializeElement<Mode_t> fallbackSequenceId(
				getFallbackSequence(sequence));

		elements[0] = &sequenceId;
		elements[1] = &fallbackSequenceId;

		if (sequenceInfo->entries.islinked) {
			SerialLinkedListAdapter<ModeListEntry> list(
					sequenceInfo->entries.firstLinkedElement, true);
			elements[2] = &list;
			sendSerializablesAsCommandMessage(ModeSequenceMessage::SEQUENCE,
					elements, 3);
		} else {
			SerialArrayListAdapter<ModeListEntry> serializableArray(
					sequenceInfo->entries.array);

			elements[2] = &serializableArray;
			sendSerializablesAsCommandMessage(ModeSequenceMessage::SEQUENCE,
					elements, 3);
		}
	}
		break;
	case ModeSequenceMessage::READ_TABLE: {
		ReturnValue_t result;
		Mode_t table = ModeSequenceMessage::getSequenceId(message);
		EntryPointer *entry = NULL;
		result = modeTables.find(table, &entry);
		if (result != RETURN_OK) {
			replyToCommand(result, 0);
		}

		SerializeIF *elements[2];
		SerializeElement<Mode_t> tableId(table);

		elements[0] = &tableId;

		if (entry->islinked) {
			SerialLinkedListAdapter<ModeListEntry> list(
					entry->firstLinkedElement, true);
			elements[1] = &list;
			sendSerializablesAsCommandMessage(ModeSequenceMessage::TABLE,
					elements, 2);
		} else {
			SerialArrayListAdapter<ModeListEntry> serializableArray(
					entry->array);
			elements[1] = &serializableArray;
			sendSerializablesAsCommandMessage(ModeSequenceMessage::TABLE,
					elements, 2);
		}
	}
		break;
	case ModeSequenceMessage::READ_FREE_SEQUENCE_SLOTS: {
		uint32_t freeSlots = modeSequences.maxSize() - modeSequences.size();
		CommandMessage reply;
		ModeSequenceMessage::setModeSequenceMessage(&reply,
				ModeSequenceMessage::FREE_SEQUENCE_SLOTS, freeSlots);
		commandQueue->reply(&reply);
	}
		break;
	case ModeSequenceMessage::READ_FREE_TABLE_SLOTS: {
		uint32_t free = modeTables.maxSize() - modeTables.size();
		CommandMessage reply;
		ModeSequenceMessage::setModeSequenceMessage(&reply,
				ModeSequenceMessage::FREE_TABLE_SLOTS, free);
		commandQueue->reply(&reply);
	}
		break;
	default:
		return RETURN_FAILED;
	}
	return RETURN_OK;
}

void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
	if (status == RETURN_OK) {
		CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
		commandQueue->reply(&reply);
	} else {
		CommandMessage reply(CommandMessage::REPLY_REJECTED, status, 0);
		commandQueue->reply(&reply);
	}
}

ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry> *sequence,
		Mode_t id, Mode_t fallbackSequence, bool inStore, bool preInit) {

	ReturnValue_t result;

	//Before initialize() is called, tables must not be checked as the children are not added yet.
	//Sequences added before are checked by initialize()
	if (!preInit) {
		result = checkSequence(
				HybridIterator<ModeListEntry>(sequence->front(),
						sequence->back()), fallbackSequence);
		if (result != RETURN_OK) {
			return result;
		}
	}

	SequenceInfo info;

	info.fallbackSequence = fallbackSequence;

	info.entries.islinked = inStore;
	info.entries.array = sequence;

	result = modeSequences.insert(id, info);

	if (result != RETURN_OK) {
		return result;
	}

	if (inStore) {
#ifdef USE_MODESTORE
		result = modeStore->storeArray(sequence,
				&(modeSequences.find(id)->entries.firstLinkedElement));
		if (result != RETURN_OK) {
			modeSequences.erase(id);
		}
#else
		modeSequences.erase(id);
		return RETURN_FAILED;
#endif
	}

	return result;

}

ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
		bool inStore, bool preInit) {

	ReturnValue_t result;

	//Before initialize() is called, tables must not be checked as the children are not added yet.
	//Tables added before are checked by initialize()
	if (!preInit) {
		result = checkTable(
				HybridIterator<ModeListEntry>(table->front(), table->back()));
		if (result != HasReturnvaluesIF::RETURN_OK) {
			return result;
		}
	}

	EntryPointer pointer;

	pointer.islinked = inStore;
	pointer.array = table;

	result = modeTables.insert(id, pointer);

	if (result != RETURN_OK) {
		return result;
	}

	if (inStore) {
#ifdef USE_MODESTORE
		result = modeStore->storeArray(table,
				&(modeTables.find(id)->firstLinkedElement));
		if (result != RETURN_OK) {
			modeTables.erase(id);
		}
#else
		modeTables.erase(id);
		return RETURN_FAILED;
#endif
	}
	return result;
}

ReturnValue_t Subsystem::deleteSequence(Mode_t id) {

	if (isFallbackSequence(id)) {
		return IS_FALLBACK_SEQUENCE;
	}

	SequenceInfo *sequenceInfo;
	ReturnValue_t result;
	result = modeSequences.find(id, &sequenceInfo);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}
	if (!sequenceInfo->entries.islinked) {
		return ACCESS_DENIED;
	}

#ifdef USE_MODESTORE
	modeStore->deleteList(sequenceInfo->entries.firstLinkedElement);
#endif
	modeSequences.erase(id);
	return RETURN_OK;
}

ReturnValue_t Subsystem::deleteTable(Mode_t id) {

	if (isTableUsed(id)) {
		return TABLE_IN_USE;
	}

	EntryPointer *pointer;
	ReturnValue_t result;
	result = modeTables.find(id, &pointer);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}
	if (!pointer->islinked) {
		return ACCESS_DENIED;
	}

#ifdef USE_MODESTORE
	modeStore->deleteList(pointer->firstLinkedElement);
#endif
	modeSequences.erase(id);
	return RETURN_OK;
}

ReturnValue_t Subsystem::initialize() {
	ReturnValue_t result = SubsystemBase::initialize();

	if (result != RETURN_OK) {
		return result;
	}

	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
	if (IPCStore == NULL) {
		return RETURN_FAILED;
	}

#ifdef USE_MODESTORE
	modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);

	if (modeStore == NULL) {
		return RETURN_FAILED;
	}
#endif

	if ((modeSequences.maxSize() > MAX_NUMBER_OF_TABLES_OR_SEQUENCES)
			|| (modeTables.maxSize() > MAX_NUMBER_OF_TABLES_OR_SEQUENCES)) {
		return TABLE_OR_SEQUENCE_LENGTH_INVALID;
	}

	mode = initialMode;

	return RETURN_OK;
}

MessageQueueId_t Subsystem::getSequenceCommandQueue() const {
	return SubsystemBase::getCommandQueue();
}

ReturnValue_t Subsystem::checkModeCommand(Mode_t mode, Submode_t submode,
		uint32_t *msToReachTheMode) {
	//Need to accept all submodes to be able to inherit submodes
//	if (submode != SUBMODE_NONE) {
//		return INVALID_SUBMODE;
//	}

	if (isInTransition && (mode != getFallbackSequence(targetMode))) {
		return HasModesIF::IN_TRANSITION;
	} else {
		return checkSequence(mode);
	}
}

void Subsystem::startTransition(Mode_t sequence, Submode_t submode) {
	if (modeHelper.isForced()) {
		triggerEvent(FORCING_MODE, sequence, submode);
	} else {
		triggerEvent(CHANGING_MODE, sequence, submode);
	}
	targetMode = sequence;
	targetSubmode = submode;
	isInTransition = true;
	commandsOutstanding = 0;
	currentSequenceIterator = getSequence(sequence);

	currentTargetTable = getTable(currentSequenceIterator->getTableId());

	++currentSequenceIterator;

	if (currentSequenceIterator.value != NULL) {
		executeTable(getCurrentTable(), targetSubmode);
	}
}

Mode_t Subsystem::getFallbackSequence(Mode_t sequence) {
	for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
			iter != modeSequences.end(); ++iter) {
		if (iter.value->first == sequence) {
			return iter->second.fallbackSequence;
		}
	}
	return -1;
}

bool Subsystem::isFallbackSequence(Mode_t SequenceId) {
	for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
			iter != modeSequences.end(); iter++) {
		if (iter->second.fallbackSequence == SequenceId) {
			return true;
		}
	}
	return false;
}

bool Subsystem::isTableUsed(Mode_t tableId) {
	for (FixedMap<Mode_t, SequenceInfo>::Iterator sequence =
			modeSequences.begin(); sequence != modeSequences.end();
			sequence++) {
		HybridIterator<ModeListEntry> sequenceIterator = getSequence(
				sequence.value->first);
		while (sequenceIterator.value != NULL) {
			if (sequenceIterator->getTableId() == tableId) {
				return true;
			}
			++sequenceIterator;
		}
	}
	return false;
}

void Subsystem::transitionFailed(ReturnValue_t failureCode,
		uint32_t parameter) {
	triggerEvent(MODE_TRANSITION_FAILED, failureCode, parameter);
	if (mode == targetMode) {
		//already tried going back to the current mode
		//go into fallback mode, also set current mode to fallback mode, so we come here at the next fail
		modeHelper.setForced(true);
		ReturnValue_t result;
		if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) {
			triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode));
			isInTransition = false; //keep still and allow arbitrary mode commands to recover
			return;
		}
		mode = getFallbackSequence(mode);
		startTransition(mode, submode);
	} else {
		//try to go back to the current mode
		startTransition(mode, submode);
	}
}

void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
		SerializeIF **elements, uint8_t count) {
	ReturnValue_t result;
	size_t maxSize = 0;
	for (uint8_t i = 0; i < count; i++) {
		maxSize += elements[i]->getSerializedSize();
	}
	uint8_t *storeBuffer;
	store_address_t address;
	size_t size = 0;

	result = IPCStore->getFreeElement(&address, maxSize, &storeBuffer);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		replyToCommand(result, 0);
		return;
	}
	for (uint8_t i = 0; i < count; i++) {
		elements[i]->serialize(&storeBuffer, &size, maxSize,
				SerializeIF::Endianness::BIG);
	}
	CommandMessage reply;
	ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
	if (commandQueue->reply(&reply) != RETURN_OK) {
		IPCStore->deleteData(address);
	}
}

ReturnValue_t Subsystem::checkObjectConnections() {
	ReturnValue_t result = RETURN_OK;
	for (FixedMap<Mode_t, SequenceInfo>::Iterator iter = modeSequences.begin();
			iter != modeSequences.end(); iter++) {
		result = checkSequence(iter.value->first);
		if (result != RETURN_OK) {
			return result;
		}

	}
	return RETURN_OK;
}

void Subsystem::setInitialMode(Mode_t mode) {
	initialMode = mode;
}

void Subsystem::cantKeepMode() {
	ReturnValue_t result;
	if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) {
		triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode));
		return;
	}

	modeHelper.setForced(true);

	//already set the mode, so that we do not try to go back in our old mode when the transition fails
	mode = getFallbackSequence(mode);
	//SHOULDDO: We should store submodes for fallback sequence as well, otherwise we should get rid of submodes completely.
	startTransition(mode, SUBMODE_NONE);
}