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Merge remote-tracking branch 'origin/development' into mueller/master

This commit is contained in:
Robin Müller 2021-04-22 19:52:44 +02:00
parent 3f91803422 6a40b8244d
commit 1ff52e43a0
3 changed files with 36 additions and 10 deletions
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22
devicehandlers/AssemblyBase.h
View File

@ -24,6 +24,13 @@
* 1. check logic when active-> checkChildrenStateOn
* 2. transition logic to change the mode -> commandChildren
*
* Important:
*
* The implementation must call registerChild(object_id_t child)
* for all commanded children during initialization.
* The implementation must call the initialization function of the base class.
* (This will call the function in SubsystemBase)
*
*/
class AssemblyBase: public SubsystemBase {
public:
@ -41,9 +48,6 @@ public:
virtual ~AssemblyBase();
protected:
// SHOULDDO: Change that OVERWRITE_HEALTH may be returned
// (or return internalState directly?)
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
@ -68,6 +72,18 @@ protected:
virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) = 0;
/**
* Check whether a combination of mode and submode is valid.
*
* Ground Controller like precise return values from HasModesIF.
* So, please return any of them.
*
* @param mode The targeted mode
* @param submode The targeted submmode
* @return Any information why this combination is invalid from HasModesIF
* like HasModesIF::INVALID_SUBMODE.
* On success return HasReturnvaluesIF::RETURN_OK
*/
virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
Submode_t submode) = 0;

9
subsystem/SubsystemBase.cpp
View File

@ -5,8 +5,7 @@
SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
Mode_t initialMode, uint16_t commandQueueDepth) :
SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE),
childrenChangedMode(false),
SystemObject(setObjectId), mode(initialMode),
commandQueue(QueueFactory::instance()->createMessageQueue(
commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)),
healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
@ -167,16 +166,16 @@ MessageQueueId_t SubsystemBase::getCommandQueue() const {
}
ReturnValue_t SubsystemBase::initialize() {
MessageQueueId_t parentQueue = 0;
MessageQueueId_t parentQueue = MessageQueueIF::NO_QUEUE;
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
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();

15
subsystem/SubsystemBase.h
View File

@ -37,6 +37,17 @@ public:
virtual MessageQueueId_t getCommandQueue() const override;
/**
* Function to register the child objects.
* Performs a checks if the child does implement HasHealthIF and/or HasModesIF
*
* Also adds them to the internal childrenMap.
*
* @param objectId
* @return RETURN_OK if successful
* CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
* COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
*/
ReturnValue_t registerChild(object_id_t objectId);
virtual ReturnValue_t initialize() override;
@ -56,9 +67,9 @@ protected:
Mode_t mode;
Submode_t submode;
Submode_t submode = SUBMODE_NONE;
bool childrenChangedMode;
bool childrenChangedMode = false;
/**
* Always check this against <=0, so you are robust against too many replies