2021-07-13 20:22:54 +02:00
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#include "fsfw/subsystem/SubsystemBase.h"
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2021-06-05 19:52:38 +02:00
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2021-07-13 20:22:54 +02:00
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#include "fsfw/ipc/QueueFactory.h"
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2022-02-02 10:29:30 +01:00
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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2018-07-12 16:29:32 +02:00
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2022-02-02 10:29:30 +01:00
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SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent, Mode_t initialMode,
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uint16_t commandQueueDepth)
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: SystemObject(setObjectId),
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mode(initialMode),
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healthHelper(this, setObjectId),
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modeHelper(this),
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2022-02-19 16:14:02 +01:00
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parentId(parent) {
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auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
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2022-02-22 10:17:56 +01:00
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commandQueue = QueueFactory::instance()->createMessageQueue(
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commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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SubsystemBase::~SubsystemBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
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2016-06-15 23:48:41 +02:00
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ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
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ChildInfo info;
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HasModesIF* child = ObjectManager::instance()->get<HasModesIF>(objectId);
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// This is a rather ugly hack to have the changedHealth info for all
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// children available.
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HasHealthIF* healthChild = ObjectManager::instance()->get<HasHealthIF>(objectId);
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if (child == nullptr) {
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if (healthChild == nullptr) {
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return CHILD_DOESNT_HAVE_MODES;
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} else {
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info.commandQueue = healthChild->getCommandQueue();
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info.mode = MODE_OFF;
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}
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} else {
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info.commandQueue = child->getCommandQueue();
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info.mode = -1; // intentional to force an initial command during system startup
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}
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info.submode = SUBMODE_NONE;
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info.healthChanged = false;
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auto resultPair = childrenMap.emplace(objectId, info);
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if (not resultPair.second) {
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return COULD_NOT_INSERT_CHILD;
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}
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return RETURN_OK;
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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ReturnValue_t SubsystemBase::checkStateAgainstTable(HybridIterator<ModeListEntry> tableIter,
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Submode_t targetSubmode) {
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std::map<object_id_t, ChildInfo>::iterator childIter;
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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for (; tableIter.value != NULL; ++tableIter) {
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object_id_t object = tableIter.value->getObject();
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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if ((childIter = childrenMap.find(object)) == childrenMap.end()) {
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return RETURN_FAILED;
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}
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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if (childIter->second.mode != tableIter.value->getMode()) {
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return RETURN_FAILED;
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}
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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Submode_t submodeToCheckAgainst = tableIter.value->getSubmode();
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if (tableIter.value->inheritSubmode()) {
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submodeToCheckAgainst = targetSubmode;
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}
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2018-07-12 16:29:32 +02:00
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2022-02-02 10:29:30 +01:00
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if (childIter->second.submode != submodeToCheckAgainst) {
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return RETURN_FAILED;
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}
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}
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return RETURN_OK;
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
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CommandMessage command;
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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std::map<object_id_t, ChildInfo>::iterator iter;
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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commandsOutstanding = 0;
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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for (; tableIter.value != nullptr; ++tableIter) {
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object_id_t object = tableIter.value->getObject();
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if ((iter = childrenMap.find(object)) == childrenMap.end()) {
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// illegal table entry, should only happen due to misconfigured mode table
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2021-01-03 14:16:52 +01:00
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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2022-02-02 10:29:30 +01:00
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sif::debug << std::hex << getObjectId() << ": invalid mode table entry" << std::endl;
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2021-01-03 13:58:18 +01:00
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#endif
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continue;
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}
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Submode_t submodeToCommand = tableIter.value->getSubmode();
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if (tableIter.value->inheritSubmode()) {
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submodeToCommand = targetSubmode;
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}
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if (healthHelper.healthTable->hasHealth(object)) {
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if (healthHelper.healthTable->isFaulty(object)) {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
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SUBMODE_NONE);
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} else {
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if (modeHelper.isForced()) {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
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tableIter.value->getMode(), submodeToCommand);
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} else {
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if (healthHelper.healthTable->isCommandable(object)) {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
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tableIter.value->getMode(), submodeToCommand);
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} else {
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continue;
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}
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}
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}
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} else {
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
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tableIter.value->getMode(), submodeToCommand);
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}
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if ((iter->second.mode == ModeMessage::getMode(&command)) &&
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(iter->second.submode == ModeMessage::getSubmode(&command)) && !modeHelper.isForced()) {
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continue; // don't send redundant mode commands (produces event spam), but still command if
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// mode is forced to reach lower levels
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}
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ReturnValue_t result = commandQueue->sendMessage(iter->second.commandQueue, &command);
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if (result == RETURN_OK) {
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++commandsOutstanding;
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}
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}
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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ReturnValue_t SubsystemBase::updateChildMode(MessageQueueId_t queue, Mode_t mode,
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Submode_t submode) {
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std::map<object_id_t, ChildInfo>::iterator iter;
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for (iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
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if (iter->second.commandQueue == queue) {
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iter->second.mode = mode;
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iter->second.submode = submode;
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return RETURN_OK;
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}
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}
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return CHILD_NOT_FOUND;
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth) {
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for (auto iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
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if (iter->second.commandQueue == queue) {
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iter->second.healthChanged = changedHealth;
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return RETURN_OK;
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}
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}
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return CHILD_NOT_FOUND;
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2016-06-15 23:48:41 +02:00
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}
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MessageQueueId_t SubsystemBase::getCommandQueue() const { return commandQueue->getId(); }
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ReturnValue_t SubsystemBase::initialize() {
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MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
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ReturnValue_t result = SystemObject::initialize();
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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if (result != RETURN_OK) {
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return result;
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}
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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if (parentId != objects::NO_OBJECT) {
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SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
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if (parent == nullptr) {
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return RETURN_FAILED;
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}
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parentQueue = parent->getCommandQueue();
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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parent->registerChild(getObjectId());
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}
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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result = healthHelper.initialize(parentQueue);
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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if (result != RETURN_OK) {
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return result;
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}
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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result = modeHelper.initialize(parentQueue);
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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if (result != RETURN_OK) {
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return result;
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}
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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return RETURN_OK;
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2016-06-15 23:48:41 +02:00
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}
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2018-07-12 16:29:32 +02:00
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ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
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2022-02-02 10:29:30 +01:00
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childrenChangedMode = false;
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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checkCommandQueue();
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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performChildOperation();
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2016-06-15 23:48:41 +02:00
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2022-02-02 10:29:30 +01:00
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return RETURN_OK;
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2016-06-15 23:48:41 +02:00
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}
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ReturnValue_t SubsystemBase::handleModeReply(CommandMessage* message) {
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2022-02-02 10:29:30 +01:00
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switch (message->getCommand()) {
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case ModeMessage::REPLY_MODE_INFO:
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updateChildMode(message->getSender(), ModeMessage::getMode(message),
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ModeMessage::getSubmode(message));
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childrenChangedMode = true;
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return RETURN_OK;
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case ModeMessage::REPLY_MODE_REPLY:
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case ModeMessage::REPLY_WRONG_MODE_REPLY:
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updateChildMode(message->getSender(), ModeMessage::getMode(message),
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ModeMessage::getSubmode(message));
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childrenChangedMode = true;
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commandsOutstanding--;
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return RETURN_OK;
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case ModeMessage::REPLY_CANT_REACH_MODE:
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commandsOutstanding--;
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{
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for (auto iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
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if (iter->second.commandQueue == message->getSender()) {
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triggerEvent(MODE_CMD_REJECTED, iter->first, message->getParameter());
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}
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}
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}
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return RETURN_OK;
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// case ModeMessage::CMD_MODE_COMMAND:
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// handleCommandedMode(message);
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// return RETURN_OK;
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// case ModeMessage::CMD_MODE_ANNOUNCE:
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// triggerEvent(MODE_INFO, mode, submode);
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// return RETURN_OK;
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// case ModeMessage::CMD_MODE_ANNOUNCE_RECURSIVELY:
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// triggerEvent(MODE_INFO, mode, submode);
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// commandAllChildren(message);
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// return RETURN_OK;
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default:
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return RETURN_FAILED;
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}
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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ReturnValue_t SubsystemBase::checkTable(HybridIterator<ModeListEntry> tableIter) {
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for (; tableIter.value != NULL; ++tableIter) {
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if (childrenMap.find(tableIter.value->getObject()) == childrenMap.end()) {
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return TABLE_CONTAINS_INVALID_OBJECT_ID;
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}
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}
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return RETURN_OK;
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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void SubsystemBase::replyToCommand(CommandMessage* message) { commandQueue->reply(message); }
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2016-06-15 23:48:41 +02:00
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void SubsystemBase::setMode(Mode_t newMode, Submode_t newSubmode) {
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2022-02-02 10:29:30 +01:00
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modeHelper.modeChanged(newMode, newSubmode);
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mode = newMode;
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submode = newSubmode;
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modeChanged();
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announceMode(false);
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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void SubsystemBase::setMode(Mode_t newMode) { setMode(newMode, submode); }
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2016-06-15 23:48:41 +02:00
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void SubsystemBase::commandAllChildren(CommandMessage* message) {
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2022-02-02 10:29:30 +01:00
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std::map<object_id_t, ChildInfo>::iterator iter;
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for (iter = childrenMap.begin(); iter != childrenMap.end(); ++iter) {
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commandQueue->sendMessage(iter->second.commandQueue, message);
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}
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2016-06-15 23:48:41 +02:00
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}
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void SubsystemBase::getMode(Mode_t* mode, Submode_t* submode) {
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2022-02-02 10:29:30 +01:00
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*mode = this->mode;
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*submode = this->submode;
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2016-06-15 23:48:41 +02:00
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}
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2022-02-02 10:29:30 +01:00
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void SubsystemBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
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2016-06-15 23:48:41 +02:00
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void SubsystemBase::announceMode(bool recursive) {
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2022-02-02 10:29:30 +01:00
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triggerEvent(MODE_INFO, mode, submode);
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if (recursive) {
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CommandMessage command;
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ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_ANNOUNCE_RECURSIVELY, 0, 0);
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commandAllChildren(&command);
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}
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2016-06-15 23:48:41 +02:00
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}
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void SubsystemBase::checkCommandQueue() {
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2022-02-02 10:29:30 +01:00
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ReturnValue_t result;
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CommandMessage command;
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for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
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result = commandQueue->receiveMessage(&command)) {
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result = healthHelper.handleHealthCommand(&command);
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if (result == RETURN_OK) {
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continue;
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}
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result = modeHelper.handleModeCommand(&command);
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if (result == RETURN_OK) {
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continue;
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}
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result = handleModeReply(&command);
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if (result == RETURN_OK) {
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continue;
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}
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result = handleCommandMessage(&command);
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if (result != RETURN_OK) {
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CommandMessage reply;
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|
|
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, command.getCommand());
|
|
|
|
replyToCommand(&reply);
|
|
|
|
}
|
|
|
|
}
|
2016-06-15 23:48:41 +02:00
|
|
|
}
|
|
|
|
|
|
|
|
ReturnValue_t SubsystemBase::setHealth(HealthState health) {
|
2022-02-02 10:29:30 +01:00
|
|
|
switch (health) {
|
|
|
|
case HEALTHY:
|
|
|
|
case EXTERNAL_CONTROL:
|
|
|
|
healthHelper.setHealth(health);
|
|
|
|
return RETURN_OK;
|
|
|
|
default:
|
|
|
|
return INVALID_HEALTH_STATE;
|
|
|
|
}
|
2016-06-15 23:48:41 +02:00
|
|
|
}
|
2018-07-12 16:29:32 +02:00
|
|
|
|
2022-02-02 10:29:30 +01:00
|
|
|
HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
|
2018-07-12 16:29:32 +02:00
|
|
|
|
2022-02-02 10:29:30 +01:00
|
|
|
void SubsystemBase::modeChanged() {}
|