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fsfw/fsfw
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This commit is contained in:
Robin Müller 2021-01-28 11:47:28 +01:00
parent 98f89302c4
commit 6127bb5ea4
3 changed files with 123 additions and 123 deletions
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4
controller/CMakeLists.txt
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@ -1,4 +1,4 @@
target_sources(${LIB_FSFW_NAME} target_sources(${LIB_FSFW_NAME}
PRIVATE PRIVATE
ControllerBase.cpp ControllerBase.cpp
) )

152
controller/ControllerBase.cpp
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@ -5,128 +5,128 @@
#include "../action/HasActionsIF.h" #include "../action/HasActionsIF.h"
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId, ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) : size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
submode(SUBMODE_NONE), modeHelper(this), submode(SUBMODE_NONE), modeHelper(this),
healthHelper(this, setObjectId) { healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue( commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth); commandQueueDepth);
} }
ControllerBase::~ControllerBase() { ControllerBase::~ControllerBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue); QueueFactory::instance()->deleteMessageQueue(commandQueue);
} }
ReturnValue_t ControllerBase::initialize() { ReturnValue_t ControllerBase::initialize() {
ReturnValue_t result = SystemObject::initialize(); ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
MessageQueueId_t parentQueue = 0; MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) { if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId); SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == nullptr) { if (parent == nullptr) {
return RETURN_FAILED; return RETURN_FAILED;
} }
parentQueue = parent->getCommandQueue(); parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId()); parent->registerChild(getObjectId());
} }
result = healthHelper.initialize(parentQueue); result = healthHelper.initialize(parentQueue);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
result = modeHelper.initialize(parentQueue); result = modeHelper.initialize(parentQueue);
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
return RETURN_OK; return RETURN_OK;
} }
MessageQueueId_t ControllerBase::getCommandQueue() const { MessageQueueId_t ControllerBase::getCommandQueue() const {
return commandQueue->getId(); return commandQueue->getId();
} }
void ControllerBase::handleQueue() { void ControllerBase::handleQueue() {
CommandMessage command; CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command); for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK; result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) { result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&command); result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) { if (result == RETURN_OK) {
continue; continue;
} }
result = healthHelper.handleHealthCommand(&command); result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) { if (result == RETURN_OK) {
continue; continue;
} }
result = handleCommandMessage(&command); result = handleCommandMessage(&command);
if (result == RETURN_OK) { if (result == RETURN_OK) {
continue; continue;
} }
command.setToUnknownCommand(); command.setToUnknownCommand();
commandQueue->reply(&command); commandQueue->reply(&command);
} }
} }
void ControllerBase::startTransition(Mode_t mode, Submode_t submode) { void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
changeHK(this->mode, this->submode, false); changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode); triggerEvent(CHANGING_MODE, mode, submode);
this->mode = mode; this->mode = mode;
this->submode = submode; this->submode = submode;
modeHelper.modeChanged(mode, submode); modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode); modeChanged(mode, submode);
announceMode(false); announceMode(false);
changeHK(this->mode, this->submode, true); changeHK(this->mode, this->submode, true);
} }
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) { void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode; *mode = this->mode;
*submode = this->submode; *submode = this->submode;
} }
void ControllerBase::setToExternalControl() { void ControllerBase::setToExternalControl() {
healthHelper.setHealth(EXTERNAL_CONTROL); healthHelper.setHealth(EXTERNAL_CONTROL);
} }
void ControllerBase::announceMode(bool recursive) { void ControllerBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode); triggerEvent(MODE_INFO, mode, submode);
} }
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) { ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue(); handleQueue();
performControlOperation(); performControlOperation();
return RETURN_OK; return RETURN_OK;
} }
void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) {
return; return;
} }
ReturnValue_t ControllerBase::setHealth(HealthState health) { ReturnValue_t ControllerBase::setHealth(HealthState health) {
switch (health) { switch (health) {
case HEALTHY: case HEALTHY:
case EXTERNAL_CONTROL: case EXTERNAL_CONTROL:
healthHelper.setHealth(health); healthHelper.setHealth(health);
return RETURN_OK; return RETURN_OK;
default: default:
return INVALID_HEALTH_STATE; return INVALID_HEALTH_STATE;
} }
} }
HasHealthIF::HealthState ControllerBase::getHealth() { HasHealthIF::HealthState ControllerBase::getHealth() {
return healthHelper.getHealth(); return healthHelper.getHealth();
} }
void ControllerBase::setTaskIF(PeriodicTaskIF* task_){ void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_; executingTask = task_;
} }
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) { void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {

90
controller/ControllerBase.h
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@ -17,39 +17,39 @@
* a mode and a health state. This avoids boilerplate code. * a mode and a health state. This avoids boilerplate code.
*/ */
class ControllerBase: public HasModesIF, class ControllerBase: public HasModesIF,
public HasHealthIF, public HasHealthIF,
public ExecutableObjectIF, public ExecutableObjectIF,
public SystemObject, public SystemObject,
public HasReturnvaluesIF { public HasReturnvaluesIF {
public: public:
static const Mode_t MODE_NORMAL = 2; static const Mode_t MODE_NORMAL = 2;
ControllerBase(object_id_t setObjectId, object_id_t parentId, ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth = 3); size_t commandQueueDepth = 3);
virtual ~ControllerBase(); virtual ~ControllerBase();
/** SystemObject override */ /** SystemObject override */
virtual ReturnValue_t initialize() override; virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override; virtual MessageQueueId_t getCommandQueue() const override;
/** HasHealthIF overrides */ /** HasHealthIF overrides */
virtual ReturnValue_t setHealth(HealthState health) override; virtual ReturnValue_t setHealth(HealthState health) override;
virtual HasHealthIF::HealthState getHealth() override; virtual HasHealthIF::HealthState getHealth() override;
/** ExecutableObjectIF overrides */ /** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override; virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual void setTaskIF(PeriodicTaskIF* task) override; virtual void setTaskIF(PeriodicTaskIF* task) override;
virtual ReturnValue_t initializeAfterTaskCreation() override; virtual ReturnValue_t initializeAfterTaskCreation() override;
protected: protected:
/** /**
* Implemented by child class. Handle command messages which are not * Implemented by child class. Handle command messages which are not
* mode or health messages. * mode or health messages.
* @param message * @param message
* @return * @return
*/ */
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0; virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/** /**
@ -60,35 +60,35 @@ protected:
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0; uint32_t *msToReachTheMode) = 0;
const object_id_t parentId; const object_id_t parentId;
Mode_t mode; Mode_t mode;
Submode_t submode; Submode_t submode;
MessageQueueIF* commandQueue = nullptr; MessageQueueIF* commandQueue = nullptr;
ModeHelper modeHelper; ModeHelper modeHelper;
HealthHelper healthHelper; HealthHelper healthHelper;
/** /**
* Pointer to the task which executes this component, * Pointer to the task which executes this component,
* is invalid before setTaskIF was called. * is invalid before setTaskIF was called.
*/ */
PeriodicTaskIF* executingTask = nullptr; PeriodicTaskIF* executingTask = nullptr;
/** Handle mode and health messages */ /** Handle mode and health messages */
virtual void handleQueue(); virtual void handleQueue();
/** Mode helpers */ /** Mode helpers */
virtual void modeChanged(Mode_t mode, Submode_t submode); virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode); virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode); virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl(); virtual void setToExternalControl();
virtual void announceMode(bool recursive); virtual void announceMode(bool recursive);
/** HK helpers */ /** HK helpers */
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable); virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
}; };
#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */ #endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */