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Merge pull request 'Update for Assembly Base' (#38) from mueller/master into eive/develop 

Reviewed-on: eive/fsfw#38
This commit is contained in:
Jakob Meier 2022-03-08 07:53:04 +01:00
parent d6c1041133 a7cb2d4354
commit 5f23f709cc
9 changed files with 59 additions and 24 deletions
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2
src/fsfw/devicehandlers/AssemblyBase.cpp
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@ -196,7 +196,7 @@ ReturnValue_t AssemblyBase::checkModeCommand(Mode_t mode, Submode_t submode,
} }
if ((mode != MODE_ON) && (mode != DeviceHandlerIF::MODE_NORMAL)) { if ((mode != MODE_ON) && (mode != DeviceHandlerIF::MODE_NORMAL)) {
return INVALID_MODE; return INVALID_MODE_RETVAL;
} }
if (internalState != STATE_NONE) { if (internalState != STATE_NONE) {

34
src/fsfw/devicehandlers/AssemblyBase.h
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@ -53,7 +53,7 @@ class AssemblyBase : public SubsystemBase {
* @param mode * @param mode
* @param submode * @param submode
* @return * @return
* - @c RETURN_OK if ok * - @c RETURN_OK if OK
* - @c NEED_SECOND_STEP if children need to be commanded again * - @c NEED_SECOND_STEP if children need to be commanded again
*/ */
virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0; virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
@ -120,8 +120,19 @@ class AssemblyBase : public SubsystemBase {
virtual ReturnValue_t handleHealthReply(CommandMessage *message); virtual ReturnValue_t handleHealthReply(CommandMessage *message);
virtual void performChildOperation(); /**
* @brief Default periodic handler
* @details
* This is the default periodic handler which will be called by the SubsystemBase
* performOperation. It performs the child transitions or reacts to changed health/mode states
* of children objects
*/
virtual void performChildOperation() override;
/**
* This function handles changed mode or health states of children
* @return
*/
bool handleChildrenChanged(); bool handleChildrenChanged();
/** /**
@ -134,12 +145,31 @@ class AssemblyBase : public SubsystemBase {
bool handleChildrenChangedHealth(); bool handleChildrenChangedHealth();
/**
* Core transition handler. The default implementation will only do something if
* #commandsOutstanding is smaller or equal to zero, which means that all mode commands
* from the #doPerformTransition call were executed successfully.
*
* Unless a second step was requested, the function will then use #checkChildrenState to
* determine whether the target mode was reached.
*
* There is some special handling for certain (internal) modes:
* - A second step is necessary. #commandChildren will be performed again
* - The device health was overwritten. #commandChildren will be called
* - A recovery is ongoing. #checkAndHandleRecovery will be called.
*/
virtual void handleChildrenTransition(); virtual void handleChildrenTransition();
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode); ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode);
virtual void startTransition(Mode_t mode, Submode_t submode); virtual void startTransition(Mode_t mode, Submode_t submode);
/**
* This function starts the transition by setting the internal #targetSubmode and #targetMode
* variables and then calling the #commandChildren function.
* @param mode
* @param submode
*/
virtual void doStartTransition(Mode_t mode, Submode_t submode); virtual void doStartTransition(Mode_t mode, Submode_t submode);
virtual bool isInTransition(); virtual bool isInTransition();

2
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -403,7 +403,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
return INVALID_SUBMODE; return INVALID_SUBMODE;
} }
default: default:
return HasModesIF::INVALID_MODE; return HasModesIF::INVALID_MODE_RETVAL;
} }
} }

10
src/fsfw/modes/HasModesIF.h
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@ -13,7 +13,7 @@ class HasModesIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_MODES_IF; static const uint8_t INTERFACE_ID = CLASS_ID::HAS_MODES_IF;
static const ReturnValue_t INVALID_MODE = MAKE_RETURN_CODE(0x01); static const ReturnValue_t INVALID_MODE_RETVAL = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t TRANS_NOT_ALLOWED = MAKE_RETURN_CODE(0x02); static const ReturnValue_t TRANS_NOT_ALLOWED = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t IN_TRANSITION = MAKE_RETURN_CODE(0x03); static const ReturnValue_t IN_TRANSITION = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04); static const ReturnValue_t INVALID_SUBMODE = MAKE_RETURN_CODE(0x04);
@ -37,9 +37,13 @@ class HasModesIF {
//! The device is powered and ready to perform operations. In this mode, no commands are //! The device is powered and ready to perform operations. In this mode, no commands are
//! sent by the device handler itself, but direct commands van be commanded and will be //! sent by the device handler itself, but direct commands van be commanded and will be
//! interpreted //! interpreted
static const Mode_t MODE_ON = 1; static constexpr Mode_t MODE_ON = 1;
//! The device is powered off. The only command accepted in this mode is a mode change to on. //! The device is powered off. The only command accepted in this mode is a mode change to on.
static const Mode_t MODE_OFF = 0; static constexpr Mode_t MODE_OFF = 0;
static constexpr Mode_t INVALID_MODE = -1;
static constexpr Mode_t UNDEFINED_MODE = -2;
//! To avoid checks against magic number "0". //! To avoid checks against magic number "0".
static const Submode_t SUBMODE_NONE = 0; static const Submode_t SUBMODE_NONE = 0;

2
src/fsfw/parameters/HasParametersIF.h
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@ -66,7 +66,7 @@ class HasParametersIF {
* @param newValues * @param newValues
* @param startAtIndex Linear index, runs left to right, top to bottom for * @param startAtIndex Linear index, runs left to right, top to bottom for
* matrix indexes. * matrix indexes.
* @return * @return RETURN_OK if parameter is valid and a set function of the parameter wrapper was called.
*/ */
virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier, virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper, ParameterWrapper *parameterWrapper,

20
src/fsfw/parameters/ParameterWrapper.cpp
View File

@ -211,9 +211,13 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (data == nullptr) { if (data == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Called on read-only variable or "
"data pointer not set"
<< std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Called on read-only variable!\n"); sif::printWarning(
"ParameterWrapper::copyFrom: Called on read-only variable "
"or data pointer not set\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return READONLY; return READONLY;
@ -222,9 +226,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (from->readonlyData == nullptr) { if (from->readonlyData == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Source not set!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Source not set" << std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Source not set!\n"); sif::printWarning("ParameterWrapper::copyFrom: Source not set\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return SOURCE_NOT_SET; return SOURCE_NOT_SET;
@ -233,9 +237,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (type != from->type) { if (type != from->type) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Datatype missmatch" << std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch!\n"); sif::printWarning("ParameterWrapper::copyFrom: Datatype missmatch\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return DATATYPE_MISSMATCH; return DATATYPE_MISSMATCH;
@ -245,9 +249,9 @@ ReturnValue_t ParameterWrapper::copyFrom(const ParameterWrapper *from,
if (rows == 0 or columns == 0) { if (rows == 0 or columns == 0) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero!" << std::endl; sif::warning << "ParameterWrapper::copyFrom: Columns or rows zero" << std::endl;
#else #else
sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero!\n"); sif::printWarning("ParameterWrapper::copyFrom: Columns or rows zero\n");
#endif #endif
#endif /* FSFW_VERBOSE_LEVEL >= 1 */ #endif /* FSFW_VERBOSE_LEVEL >= 1 */
return COLUMN_OR_ROWS_ZERO; return COLUMN_OR_ROWS_ZERO;

3
src/fsfw/subsystem/SubsystemBase.cpp
View File

@ -33,8 +33,9 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
info.mode = MODE_OFF; info.mode = MODE_OFF;
} }
} else { } else {
// intentional to force an initial command during system startup
info.commandQueue = child->getCommandQueue(); info.commandQueue = child->getCommandQueue();
info.mode = -1; // intentional to force an initial command during system startup info.mode = HasModesIF::UNDEFINED_MODE;
} }
info.submode = SUBMODE_NONE; info.submode = SUBMODE_NONE;

2
tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp
View File

@ -125,7 +125,7 @@ ReturnValue_t TestAssembly::isModeCombinationValid(Mode_t mode, Submode_t submod
return INVALID_SUBMODE; return INVALID_SUBMODE;
} }
} }
return INVALID_MODE; return INVALID_MODE_RETVAL;
} }
ReturnValue_t TestAssembly::initialize() { ReturnValue_t TestAssembly::initialize() {

8
tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
View File

@ -208,7 +208,7 @@ ReturnValue_t TestDevice::buildNormalModeCommand(DeviceCommandId_t deviceCommand
const uint8_t* commandData, const uint8_t* commandData,
size_t commandDataLen) { size_t commandDataLen) {
if (fullInfoPrintout) { if (fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3 #if FSFW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl; sif::info << "TestDevice::buildTestCommand1: Building normal command" << std::endl;
#else #else
@ -351,7 +351,7 @@ ReturnValue_t TestDevice::scanForReply(const uint8_t* start, size_t len, DeviceC
switch (pendingCmd) { switch (pendingCmd) {
case (TEST_NORMAL_MODE_CMD): { case (TEST_NORMAL_MODE_CMD): {
if (fullInfoPrintout) { if (fullInfoPrintout) {
#if OBSW_VERBOSE_LEVEL >= 3 #if FSFW_VERBOSE_LEVEL >= 3
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID " sif::info << "TestDevice::scanForReply: Reply for normal commnand (ID "
<< TEST_NORMAL_MODE_CMD << ") received!" << std::endl; << TEST_NORMAL_MODE_CMD << ") received!" << std::endl;
@ -678,7 +678,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
int32_t newValue = 0; int32_t newValue = 0;
ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0); ReturnValue_t result = newValues->getElement<int32_t>(&newValue, 0, 0);
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx sif::info << "TestDevice" << deviceIdx
<< "::getParameter: Setting parameter 1 to " << "::getParameter: Setting parameter 1 to "
@ -688,7 +687,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n", sif::printInfo("TestDevice%d::getParameter: Setting parameter 1 to new value %lu\n",
deviceIdx, static_cast<unsigned long>(newValue)); deviceIdx, static_cast<unsigned long>(newValue));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
} }
} }
parameterWrapper->set(testParameter1); parameterWrapper->set(testParameter1);
@ -702,7 +700,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) { newValues->getElement<float>(newVector + 2, 0, 2) != RETURN_OK) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
#if OBSW_DEVICE_HANDLER_PRINTOUT == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TestDevice" << deviceIdx sif::info << "TestDevice" << deviceIdx
<< "::getParameter: Setting parameter 3 to " << "::getParameter: Setting parameter 3 to "
@ -715,7 +712,6 @@ ReturnValue_t TestDevice::getParameter(uint8_t domainId, uint8_t uniqueId,
"[%f, %f, %f]\n", "[%f, %f, %f]\n",
deviceIdx, newVector[0], newVector[1], newVector[2]); deviceIdx, newVector[0], newVector[1], newVector[2]);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* OBSW_DEVICE_HANDLER_PRINTOUT == 1 */
} }
parameterWrapper->setVector(vectorFloatParams2); parameterWrapper->setVector(vectorFloatParams2);
break; break;