diff --git a/health/HasHealthIF.h b/health/HasHealthIF.h index ac4043008..d5321a6d6 100644 --- a/health/HasHealthIF.h +++ b/health/HasHealthIF.h @@ -1,5 +1,5 @@ -#ifndef HASHEALTHIF_H_ -#define HASHEALTHIF_H_ +#ifndef FSFW_HEALTH_HASHEALTHIF_H_ +#define FSFW_HEALTH_HASHEALTHIF_H_ #include "../events/Event.h" #include "../returnvalues/HasReturnvaluesIF.h" @@ -8,9 +8,13 @@ class HasHealthIF { public: - typedef enum { - HEALTHY = 1, FAULTY = 0, EXTERNAL_CONTROL = 2, NEEDS_RECOVERY = 3, PERMANENT_FAULTY = 4 - } HealthState; + enum HealthState: uint8_t { + HEALTHY = 1, + FAULTY = 0, + EXTERNAL_CONTROL = 2, + NEEDS_RECOVERY = 3, + PERMANENT_FAULTY = 4 + }; static const uint8_t INTERFACE_ID = CLASS_ID::HAS_HEALTH_IF; static const ReturnValue_t OBJECT_NOT_HEALTHY = MAKE_RETURN_CODE(1); @@ -47,4 +51,4 @@ public: virtual HasHealthIF::HealthState getHealth() = 0; }; -#endif /* HASHEALTHIF_H_ */ +#endif /* FSFW_HEALTH_HASHEALTHIF_H_ */ diff --git a/health/HealthHelper.h b/health/HealthHelper.h index d1f1945c2..813123b29 100644 --- a/health/HealthHelper.h +++ b/health/HealthHelper.h @@ -114,7 +114,8 @@ private: * @param health the health is passed as parameter so that the number of calls to the health table can be minimized * @param oldHealth information of the previous health state. */ - void informParent(HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth); + void informParent(HasHealthIF::HealthState health, + HasHealthIF::HealthState oldHealth); void handleSetHealthCommand(CommandMessage *message); }; diff --git a/health/HealthMessage.cpp b/health/HealthMessage.cpp index 39c53fb1c..1bb29526f 100644 --- a/health/HealthMessage.cpp +++ b/health/HealthMessage.cpp @@ -1,4 +1,4 @@ -#include "../health/HealthMessage.h" +#include "HealthMessage.h" void HealthMessage::setHealthMessage(CommandMessage* message, Command_t command, HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth) { diff --git a/health/HealthMessage.h b/health/HealthMessage.h index fa773d421..de4923abc 100644 --- a/health/HealthMessage.h +++ b/health/HealthMessage.h @@ -1,19 +1,22 @@ -#ifndef HEALTHMESSAGE_H_ -#define HEALTHMESSAGE_H_ +#ifndef FSFW_HEALTH_HEALTHMESSAGE_H_ +#define FSFW_HEALTH_HEALTHMESSAGE_H_ -#include "../health/HasHealthIF.h" +#include "HasHealthIF.h" #include "../ipc/CommandMessage.h" class HealthMessage { public: static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND; - static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED - static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3); //NO REPLY! + // REPLY_COMMAND_OK/REPLY_REJECTED + static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1); + // NO REPLY! + static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3); static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5); static const Command_t REPLY_HEALTH_SET = MAKE_COMMAND_ID(6); static void setHealthMessage(CommandMessage *message, Command_t command, - HasHealthIF::HealthState health, HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY); + HasHealthIF::HealthState health, + HasHealthIF::HealthState oldHealth = HasHealthIF::FAULTY); static void setHealthMessage(CommandMessage *message, Command_t command); @@ -27,4 +30,4 @@ private: HealthMessage(); }; -#endif /* HEALTHMESSAGE_H_ */ +#endif /* FSFW_HEALTH_HEALTHMESSAGE_H_ */ diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp index 1aa5a3ae6..6d6fe0172 100644 --- a/health/HealthTable.cpp +++ b/health/HealthTable.cpp @@ -1,6 +1,7 @@ -#include "../health/HealthTable.h" -#include "../serialize/SerializeAdapter.h" +#include "HealthTable.h" +#include "../ipc/MutexHelper.h" #include "../ipc/MutexFactory.h" +#include "../serialize/SerializeAdapter.h" HealthTable::HealthTable(object_id_t objectid) : SystemObject(objectid) { @@ -18,74 +19,64 @@ ReturnValue_t HealthTable::registerObject(object_id_t object, if (healthMap.count(object) != 0) { return HasReturnvaluesIF::RETURN_FAILED; } - healthMap.insert( - std::pair(object, - initilialState)); + healthMap.emplace(object, initilialState); return HasReturnvaluesIF::RETURN_OK; } void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) { - mutex->lockMutex(MutexIF::BLOCKING); + MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { iter->second = newState; } - mutex->unlockMutex(); } HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) { HasHealthIF::HealthState state = HasHealthIF::HEALTHY; - mutex->lockMutex(MutexIF::BLOCKING); + MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { state = iter->second; } - mutex->unlockMutex(); return state; } -uint32_t HealthTable::getPrintSize() { - mutex->lockMutex(MutexIF::BLOCKING); - uint32_t size = healthMap.size() * 5 + 2; - mutex->unlockMutex(); - return size; -} bool HealthTable::hasHealth(object_id_t object) { - bool exits = false; - mutex->lockMutex(MutexIF::BLOCKING); + MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); HealthMap::iterator iter = healthMap.find(object); if (iter != healthMap.end()) { - exits = true; + return true; } - mutex->unlockMutex(); - return exits; + return false; +} + +size_t HealthTable::getPrintSize() { + MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); + uint32_t size = healthMap.size() * sizeof(object_id_t) + + sizeof(HasHealthIF::HealthState) + sizeof(uint16_t); + return size; } void HealthTable::printAll(uint8_t* pointer, size_t maxSize) { - mutex->lockMutex(MutexIF::BLOCKING); + MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); size_t size = 0; uint16_t count = healthMap.size(); - ReturnValue_t result = SerializeAdapter::serialize(&count, + SerializeAdapter::serialize(&count, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); - HealthMap::iterator iter; - for (iter = healthMap.begin(); - iter != healthMap.end() && result == HasReturnvaluesIF::RETURN_OK; - ++iter) { - result = SerializeAdapter::serialize(&iter->first, + for (const auto& health: healthMap) { + SerializeAdapter::serialize(&health.first, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); - uint8_t health = iter->second; - result = SerializeAdapter::serialize(&health, &pointer, &size, + uint8_t healthValue = health.second; + SerializeAdapter::serialize(&healthValue, &pointer, &size, maxSize, SerializeIF::Endianness::BIG); } - mutex->unlockMutex(); } -ReturnValue_t HealthTable::iterate( - std::pair *value, bool reset) { +ReturnValue_t HealthTable::iterate(HealthEntry *value, bool reset) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - mutex->lockMutex(MutexIF::BLOCKING); + MutexHelper(mutex, MutexIF::TimeoutType::WAITING, 20); if (reset) { mapIterator = healthMap.begin(); } @@ -94,7 +85,5 @@ ReturnValue_t HealthTable::iterate( } *value = *mapIterator; mapIterator++; - mutex->unlockMutex(); - return result; } diff --git a/health/HealthTable.h b/health/HealthTable.h index 0f54a2641..c5ebb5d4c 100644 --- a/health/HealthTable.h +++ b/health/HealthTable.h @@ -1,27 +1,31 @@ -#ifndef FRAMEWORK_HEALTH_HEALTHTABLE_H_ -#define FRAMEWORK_HEALTH_HEALTHTABLE_H_ +#ifndef FSFW_HEALTH_HEALTHTABLE_H_ +#define FSFW_HEALTH_HEALTHTABLE_H_ -#include "../health/HealthTableIF.h" +#include "HealthTableIF.h" #include "../objectmanager/SystemObject.h" #include "../ipc/MutexIF.h" #include typedef std::map HealthMap; +using HealthEntry = std::pair; class HealthTable: public HealthTableIF, public SystemObject { public: HealthTable(object_id_t objectid); virtual ~HealthTable(); - virtual ReturnValue_t registerObject(object_id_t object, - HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY); + /** HealthTableIF overrides */ + virtual ReturnValue_t registerObject(object_id_t object, + HasHealthIF::HealthState initilialState = + HasHealthIF::HEALTHY) override; + virtual size_t getPrintSize() override; + virtual void printAll(uint8_t *pointer, size_t maxSize) override; - virtual bool hasHealth(object_id_t object); - virtual void setHealth(object_id_t object, HasHealthIF::HealthState newState); - virtual HasHealthIF::HealthState getHealth(object_id_t); - - virtual uint32_t getPrintSize(); - virtual void printAll(uint8_t *pointer, size_t maxSize); + /** ManagesHealthIF overrides */ + virtual bool hasHealth(object_id_t object) override; + virtual void setHealth(object_id_t object, + HasHealthIF::HealthState newState) override; + virtual HasHealthIF::HealthState getHealth(object_id_t) override; protected: MutexIF* mutex; @@ -29,7 +33,9 @@ protected: HealthMap::iterator mapIterator; - virtual ReturnValue_t iterate(std::pair *value, bool reset = false); + virtual ReturnValue_t iterate( + HealthEntry* value, + bool reset = false) override; }; -#endif /* HEALTHTABLE_H_ */ +#endif /* FSFW_HEALTH_HEALTHTABLE_H_ */ diff --git a/health/HealthTableIF.h b/health/HealthTableIF.h index f18f03155..d61e67616 100644 --- a/health/HealthTableIF.h +++ b/health/HealthTableIF.h @@ -1,28 +1,24 @@ -#ifndef FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ -#define FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ +#ifndef FSFW_HEALTH_HEALTHTABLEIF_H_ +#define FSFW_HEALTH_HEALTHTABLEIF_H_ -#include "../health/ManagesHealthIF.h" +#include "ManagesHealthIF.h" #include "../objectmanager/ObjectManagerIF.h" #include "../returnvalues/HasReturnvaluesIF.h" -#include - class HealthTableIF: public ManagesHealthIF { - // TODO: This is in the mission folder and not in the framework folder. - // delete it? - friend class HealthCommandingService; public: - virtual ~HealthTableIF() { - } + virtual ~HealthTableIF() {} virtual ReturnValue_t registerObject(object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0; - virtual uint32_t getPrintSize() = 0; + virtual size_t getPrintSize() = 0; virtual void printAll(uint8_t *pointer, size_t maxSize) = 0; protected: - virtual ReturnValue_t iterate(std::pair *value, bool reset = false) = 0; + virtual ReturnValue_t iterate( + std::pair *value, + bool reset = false) = 0; }; #endif /* FRAMEWORK_HEALTH_HEALTHTABLEIF_H_ */ diff --git a/health/ManagesHealthIF.h b/health/ManagesHealthIF.h index 8ca170125..2edfcecad 100644 --- a/health/ManagesHealthIF.h +++ b/health/ManagesHealthIF.h @@ -1,8 +1,9 @@ -#ifndef FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ -#define FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ +#ifndef FSFW_HEALTH_MANAGESHEALTHIF_H_ +#define FSFW_HEALTH_MANAGESHEALTHIF_H_ -#include "../health/HasHealthIF.h" +#include "HasHealthIF.h" #include "../objectmanager/ObjectManagerIF.h" + class ManagesHealthIF { public: virtual ~ManagesHealthIF() { @@ -49,4 +50,4 @@ public: } }; -#endif /* FRAMEWORK_HEALTH_MANAGESHEALTHIF_H_ */ +#endif /* FSFW_HEALTH_MANAGESHEALTHIF_H_ */