From dd90980520709e554e8b743c9e214c1a84460a3f Mon Sep 17 00:00:00 2001 From: Philipp Date: Mon, 25 Apr 2022 14:19:03 +0200 Subject: [PATCH 1/5] push test --- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 3b9a21f7f..287699bf3 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -55,7 +55,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { if (regularGpio == nullptr) { return GPIO_INVALID_INSTANCE; } - configureGpioByChip(gpioConfig.first, *regularGpio); + result = configureGpioByChip(gpioConfig.first, *regularGpio); break; } case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): { @@ -83,6 +83,9 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { gpioCallback->initValue, gpioCallback->callbackArgs); } } + if (result != OK) { + return result; + } } return RETURN_OK; } From 70d3197212f6edb5bc95e61fb38a71dff0577467 Mon Sep 17 00:00:00 2001 From: Philipp Date: Mon, 25 Apr 2022 14:32:05 +0200 Subject: [PATCH 2/5] gpio init bug fix Return values from configureGpios were not checked --- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp | 11 ++++++----- hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h | 2 ++ 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp index 287699bf3..f46ad3865 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp @@ -44,6 +44,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) { } ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { + ReturnValue_t result = RETURN_OK; for (auto& gpioConfig : mapToAdd) { auto& gpioType = gpioConfig.second->gpioType; switch (gpioType) { @@ -63,7 +64,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { if (regularGpio == nullptr) { return GPIO_INVALID_INSTANCE; } - configureGpioByLabel(gpioConfig.first, *regularGpio); + result = configureGpioByLabel(gpioConfig.first, *regularGpio); break; } case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): { @@ -71,7 +72,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { if (regularGpio == nullptr) { return GPIO_INVALID_INSTANCE; } - configureGpioByLineName(gpioConfig.first, *regularGpio); + result = configureGpioByLineName(gpioConfig.first, *regularGpio); break; } case (gpio::GpioTypes::CALLBACK): { @@ -83,11 +84,11 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) { gpioCallback->initValue, gpioCallback->callbackArgs); } } - if (result != OK) { - return result; + if (result != RETURN_OK) { + return GPIO_INIT_FAILED; } } - return RETURN_OK; + return result; } ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId, diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h index 7d49e6e20..fcc9c7753 100644 --- a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h +++ b/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h @@ -29,6 +29,8 @@ class LinuxLibgpioIF : public GpioIF, public SystemObject { HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4); static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED = HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5); + static constexpr ReturnValue_t GPIO_INIT_FAILED = + HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 6); LinuxLibgpioIF(object_id_t objectId); virtual ~LinuxLibgpioIF(); From 5b7ca8c13c4a4a75a32af9b5beadbb310e43516c Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 27 Apr 2022 08:39:21 +0200 Subject: [PATCH 3/5] update CHANGELOG.md, apply afmt --- CHANGELOG.md | 3 ++ .../devicehandlers/MgmLIS3MDLHandler.cpp | 4 +-- hal/src/fsfw_hal/linux/uart/UartCookie.cpp | 4 +-- .../datapoollocal/LocalDataPoolManager.cpp | 10 +++---- src/fsfw/devicehandlers/DeviceHandlerBase.cpp | 13 ++++----- src/fsfw/ipc/MessageQueueBase.cpp | 28 ++++++------------- src/fsfw/ipc/MessageQueueBase.h | 19 ++++++------- src/fsfw/ipc/MessageQueueIF.h | 4 ++- src/fsfw/osal/freertos/MessageQueue.h | 1 + src/fsfw/osal/host/MessageQueue.h | 8 +++--- src/fsfw/osal/linux/MessageQueue.h | 3 +- src/fsfw/osal/rtems/MessageQueue.h | 5 ++-- src/fsfw/osal/rtems/PeriodicTask.h | 5 ++-- .../unit/mocks/MessageQueueMockBase.h | 4 +-- 14 files changed, 51 insertions(+), 60 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 5181a862e..3d28c5c6c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -54,6 +54,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/). - Small bugfix in STM32 HAL for SPI PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/599 +- HAL GPIO: Improved error checking in `LinuxLibgpioIF::configureGpios(...)`. If a GPIO + configuration fails, the function will exit prematurely with a dedicated error code + PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/602 # [v4.0.0] diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index 52b6dc07b..644b488dd 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -1,9 +1,9 @@ #include "MgmLIS3MDLHandler.h" -#include "fsfw/datapool/PoolReadGuard.h" - #include +#include "fsfw/datapool/PoolReadGuard.h" + MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie, uint32_t transitionDelay) : DeviceHandlerBase(objectId, deviceCommunication, comCookie), diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp index aa2dd2146..3fedc9d44 100644 --- a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp +++ b/hal/src/fsfw_hal/linux/uart/UartCookie.cpp @@ -24,9 +24,7 @@ void UartCookie::setParityEven() { parity = Parity::EVEN; } Parity UartCookie::getParity() const { return parity; } -void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { - bitsPerWord = bitsPerWord_; -} +void UartCookie::setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; } BitsPerWord UartCookie::getBitsPerWord() const { return bitsPerWord; } diff --git a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp index 6053bd438..781d8f71f 100644 --- a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp +++ b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp @@ -787,9 +787,9 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i // Serialize set packet into store. size_t size = 0; result = setPacket.serialize(&storePtr, &size, expectedSize, SerializeIF::Endianness::BIG); - if(result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeId); - return result; + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeId); + return result; } if (expectedSize != size) { printWarningOrError(sif::OutputTypes::OUT_WARNING, "generateSetStructurePacket", @@ -806,8 +806,8 @@ ReturnValue_t LocalDataPoolManager::generateSetStructurePacket(sid_t sid, bool i } result = hkQueue->reply(&reply); - if(result != HasReturnvaluesIF::RETURN_OK) { - ipcStore->deleteData(storeId); + if (result != HasReturnvaluesIF::RETURN_OK) { + ipcStore->deleteData(storeId); } return result; } diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index 0e2802ac1..dd9bd5d7d 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -458,16 +458,15 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) { DeviceCommandId_t replyId = NO_COMMAND_ID; DeviceCommandMap::iterator command = cookieInfo.pendingCommand; if (command->second.useAlternativeReplyId) { - replyId = command->second.alternativeReplyId; - } - else { - replyId = commandId; + replyId = command->second.alternativeReplyId; + } else { + replyId = commandId; } DeviceReplyIter iter = deviceReplyMap.find(replyId); if (iter != deviceReplyMap.end()) { - if (iter->second.delayCycles != 0) { - return iter->second.replyLen; - } + if (iter->second.delayCycles != 0) { + return iter->second.replyLen; + } } return 0; } diff --git a/src/fsfw/ipc/MessageQueueBase.cpp b/src/fsfw/ipc/MessageQueueBase.cpp index 1b0934ff3..c43670ed5 100644 --- a/src/fsfw/ipc/MessageQueueBase.cpp +++ b/src/fsfw/ipc/MessageQueueBase.cpp @@ -1,9 +1,9 @@ #include "MessageQueueBase.h" -MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, - MqArgs* args): id(id) { +MessageQueueBase::MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* args) + : id(id) { this->defaultDest = defaultDest; - if(args != nullptr) { + if (args != nullptr) { this->args = *args; } } @@ -23,35 +23,25 @@ ReturnValue_t MessageQueueBase::reply(MessageQueueMessageIF* message) { } ReturnValue_t MessageQueueBase::receiveMessage(MessageQueueMessageIF* message, - MessageQueueId_t* receivedFrom) { + MessageQueueId_t* receivedFrom) { ReturnValue_t status = this->receiveMessage(message); *receivedFrom = this->last; return status; } -MessageQueueId_t MessageQueueBase::getLastPartner() const { - return last; -} +MessageQueueId_t MessageQueueBase::getLastPartner() const { return last; } -MessageQueueId_t MessageQueueBase::getId() const { - return id; -} +MessageQueueId_t MessageQueueBase::getId() const { return id; } -MqArgs& MessageQueueBase::getMqArgs() { - return args; -} +MqArgs& MessageQueueBase::getMqArgs() { return args; } void MessageQueueBase::setDefaultDestination(MessageQueueId_t defaultDestination) { this->defaultDest = defaultDestination; } -MessageQueueId_t MessageQueueBase::getDefaultDestination() const { - return defaultDest; -} +MessageQueueId_t MessageQueueBase::getDefaultDestination() const { return defaultDest; } -bool MessageQueueBase::isDefaultDestinationSet() const { - return (defaultDest != NO_QUEUE); -} +bool MessageQueueBase::isDefaultDestinationSet() const { return (defaultDest != NO_QUEUE); } ReturnValue_t MessageQueueBase::sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message, bool ignoreFault) { diff --git a/src/fsfw/ipc/MessageQueueBase.h b/src/fsfw/ipc/MessageQueueBase.h index 8313f69ac..942b61217 100644 --- a/src/fsfw/ipc/MessageQueueBase.h +++ b/src/fsfw/ipc/MessageQueueBase.h @@ -1,11 +1,11 @@ #ifndef FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ #define FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ -#include #include +#include -class MessageQueueBase: public MessageQueueIF { -public: +class MessageQueueBase : public MessageQueueIF { + public: MessageQueueBase(MessageQueueId_t id, MessageQueueId_t defaultDest, MqArgs* mqArgs); virtual ~MessageQueueBase(); @@ -17,25 +17,24 @@ public: virtual MessageQueueId_t getDefaultDestination() const override; virtual bool isDefaultDestinationSet() const override; virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo, MessageQueueMessageIF* message, - bool ignoreFault) override; + bool ignoreFault) override; virtual ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override; virtual ReturnValue_t reply(MessageQueueMessageIF* message) override; virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message, - MessageQueueId_t* receivedFrom) override; - virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, - MessageQueueId_t sentFrom, bool ignoreFault = false) override; + MessageQueueId_t* receivedFrom) override; + virtual ReturnValue_t sendToDefaultFrom(MessageQueueMessageIF* message, MessageQueueId_t sentFrom, + bool ignoreFault = false) override; // OSAL specific, forward the abstract function virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0; virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, MessageQueueId_t sentFrom, bool ignoreFault = false) = 0; -protected: + + protected: MessageQueueId_t id = MessageQueueIF::NO_QUEUE; MessageQueueId_t last = MessageQueueIF::NO_QUEUE; MessageQueueId_t defaultDest = MessageQueueIF::NO_QUEUE; MqArgs args = {}; }; - - #endif /* FSFW_SRC_FSFW_IPC_MESSAGEQUEUEBASE_H_ */ diff --git a/src/fsfw/ipc/MessageQueueIF.h b/src/fsfw/ipc/MessageQueueIF.h index d7b6889b6..9532b2d61 100644 --- a/src/fsfw/ipc/MessageQueueIF.h +++ b/src/fsfw/ipc/MessageQueueIF.h @@ -2,6 +2,7 @@ #define FSFW_IPC_MESSAGEQUEUEIF_H_ #include + #include #include "../returnvalues/HasReturnvaluesIF.h" @@ -45,7 +46,8 @@ class MessageQueueIF { virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0; /** - * @brief This function reads available messages from the message queue and returns the sender. + * @brief This function reads available messages from the message queue and returns the + * sender. * @details * It works identically to the other receiveMessage call, but in addition * returns the sender's queue id. diff --git a/src/fsfw/osal/freertos/MessageQueue.h b/src/fsfw/osal/freertos/MessageQueue.h index 00dfea680..ee3479aaa 100644 --- a/src/fsfw/osal/freertos/MessageQueue.h +++ b/src/fsfw/osal/freertos/MessageQueue.h @@ -2,6 +2,7 @@ #define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ #include + #include "FreeRTOS.h" #include "TaskManagement.h" #include "fsfw/internalerror/InternalErrorReporterIF.h" diff --git a/src/fsfw/osal/host/MessageQueue.h b/src/fsfw/osal/host/MessageQueue.h index bb4f26a10..4020c6dcc 100644 --- a/src/fsfw/osal/host/MessageQueue.h +++ b/src/fsfw/osal/host/MessageQueue.h @@ -1,17 +1,17 @@ #ifndef FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ #define FRAMEWORK_OSAL_HOST_MESSAGEQUEUE_H_ -#include "fsfw/ipc/MessageQueueBase.h" +#include +#include + #include "fsfw/internalerror/InternalErrorReporterIF.h" +#include "fsfw/ipc/MessageQueueBase.h" #include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw/ipc/MutexIF.h" #include "fsfw/ipc/definitions.h" #include "fsfw/timemanager/Clock.h" -#include -#include - /** * @brief This class manages sending and receiving of * message queue messages. diff --git a/src/fsfw/osal/linux/MessageQueue.h b/src/fsfw/osal/linux/MessageQueue.h index 8614d101b..108ec797d 100644 --- a/src/fsfw/osal/linux/MessageQueue.h +++ b/src/fsfw/osal/linux/MessageQueue.h @@ -61,8 +61,7 @@ class MessageQueue : public MessageQueueBase { ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override; ReturnValue_t flush(uint32_t* count) override; ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, - MessageQueueId_t sentFrom, - bool ignoreFault = false) override; + MessageQueueId_t sentFrom, bool ignoreFault = false) override; protected: /** diff --git a/src/fsfw/osal/rtems/MessageQueue.h b/src/fsfw/osal/rtems/MessageQueue.h index 4648fdfa5..bb31a5087 100644 --- a/src/fsfw/osal/rtems/MessageQueue.h +++ b/src/fsfw/osal/rtems/MessageQueue.h @@ -2,6 +2,7 @@ #define FSFW_OSAL_RTEMS_MESSAGEQUEUE_H_ #include + #include "RtemsBasic.h" #include "fsfw/internalerror/InternalErrorReporterIF.h" #include "fsfw/ipc/MessageQueueIF.h" @@ -52,8 +53,8 @@ class MessageQueue : public MessageQueueBase { // Implement non-generic MessageQueueIF functions not handled by MessageQueueBase ReturnValue_t flush(uint32_t* count) override; ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo, MessageQueueMessageIF* message, - MessageQueueId_t sentFrom = NO_QUEUE, - bool ignoreFault = false) override; + MessageQueueId_t sentFrom = NO_QUEUE, + bool ignoreFault = false) override; private: /** diff --git a/src/fsfw/osal/rtems/PeriodicTask.h b/src/fsfw/osal/rtems/PeriodicTask.h index 24ce4af1e..9f47dfc61 100644 --- a/src/fsfw/osal/rtems/PeriodicTask.h +++ b/src/fsfw/osal/rtems/PeriodicTask.h @@ -59,14 +59,13 @@ class PeriodicTask : public RTEMSTaskBase, public PeriodicTaskIF { */ ReturnValue_t addComponent(object_id_t object) override; -/** + /** * Adds an object to the list of objects to be executed. * The objects are executed in the order added. * @param object pointer to the object to add. * @return RETURN_OK on success, RETURN_FAILED if the object could not be added. */ - ReturnValue_t addComponent(ExecutableObjectIF* object) override; - + ReturnValue_t addComponent(ExecutableObjectIF *object) override; uint32_t getPeriodMs() const override; diff --git a/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h b/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h index c3d08a86e..4236593ef 100644 --- a/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h +++ b/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h @@ -4,8 +4,8 @@ #include #include -#include "fsfw/ipc/MessageQueueBase.h" #include "fsfw/ipc/CommandMessage.h" +#include "fsfw/ipc/MessageQueueBase.h" #include "fsfw/ipc/MessageQueueIF.h" #include "fsfw/ipc/MessageQueueMessage.h" #include "fsfw_tests/unit/CatchDefinitions.h" @@ -13,7 +13,7 @@ class MessageQueueMockBase : public MessageQueueBase { public: MessageQueueMockBase() - : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {} + : MessageQueueBase(MessageQueueIF::NO_QUEUE, MessageQueueIF::NO_QUEUE, nullptr) {} uint8_t messageSentCounter = 0; bool messageSent = false; From 29b0a352fcc6ddde8c19fca695d5c067ef2d4e30 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 28 Apr 2022 14:26:00 +0200 Subject: [PATCH 4/5] added new functions to add sequences and tables --- src/fsfw/subsystem/Subsystem.cpp | 9 +++++++++ src/fsfw/subsystem/Subsystem.h | 24 ++++++++++++++++++++++++ 2 files changed, 33 insertions(+) diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp index a837bf83e..8930d0a11 100644 --- a/src/fsfw/subsystem/Subsystem.cpp +++ b/src/fsfw/subsystem/Subsystem.cpp @@ -299,6 +299,11 @@ void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) { } } +ReturnValue_t Subsystem::addSequence(SequenceEntry sequence) { + return addSequence(sequence.table, sequence.mode, sequence.fallbackMode, sequence.inStore, + sequence.preInit); +} + ReturnValue_t Subsystem::addSequence(ArrayList *sequence, Mode_t id, Mode_t fallbackSequence, bool inStore, bool preInit) { ReturnValue_t result; @@ -342,6 +347,10 @@ ReturnValue_t Subsystem::addSequence(ArrayList *sequence, Mode_t return result; } +ReturnValue_t Subsystem::addTable(TableEntry table) { + return addTable(table.table, table.mode, table.inStore, table.preInit); +} + ReturnValue_t Subsystem::addTable(ArrayList *table, Mode_t id, bool inStore, bool preInit) { ReturnValue_t result; diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index 2c78c8cd3..5b2777e8b 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -11,6 +11,28 @@ #include "SubsystemBase.h" #include "modes/ModeDefinitions.h" +struct TableSequenceBase { + public: + TableSequenceBase(Mode_t mode, ArrayList *table) : mode(mode), table(table){}; + Mode_t mode; + ArrayList *table; + bool inStore = false; + bool preInit = true; +}; + +struct TableEntry : public TableSequenceBase { + public: + TableEntry(Mode_t mode, ArrayList *table) : TableSequenceBase(mode, table){}; +}; + +struct SequenceEntry : public TableSequenceBase { + public: + SequenceEntry(Mode_t mode, ArrayList *table, Mode_t fallbackMode) + : TableSequenceBase(mode, table), fallbackMode(fallbackMode) {} + + Mode_t fallbackMode; +}; + /** * @brief TODO: documentation missing * @details @@ -45,9 +67,11 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { uint32_t maxNumberOfTables); virtual ~Subsystem(); + ReturnValue_t addSequence(SequenceEntry sequence); ReturnValue_t addSequence(ArrayList *sequence, Mode_t id, Mode_t fallbackSequence, bool inStore = true, bool preInit = true); + ReturnValue_t addTable(TableEntry table); ReturnValue_t addTable(ArrayList *table, Mode_t id, bool inStore = true, bool preInit = true); From 3225a8e350efbc3ff2e8d9dd9757de52be90d4fd Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 28 Apr 2022 16:48:14 +0200 Subject: [PATCH 5/5] added option to change initial submode --- src/fsfw/subsystem/Subsystem.cpp | 6 +++++- src/fsfw/subsystem/Subsystem.h | 3 ++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/fsfw/subsystem/Subsystem.cpp b/src/fsfw/subsystem/Subsystem.cpp index 1e860efc7..27e6ae8e0 100644 --- a/src/fsfw/subsystem/Subsystem.cpp +++ b/src/fsfw/subsystem/Subsystem.cpp @@ -467,6 +467,7 @@ ReturnValue_t Subsystem::initialize() { } mode = initialMode; + submode = initSubmode; return RETURN_OK; } @@ -604,7 +605,10 @@ ReturnValue_t Subsystem::checkObjectConnections() { return RETURN_OK; } -void Subsystem::setInitialMode(Mode_t mode) { initialMode = mode; } +void Subsystem::setInitialMode(Mode_t mode, Submode_t submode) { + this->initialMode = mode; + this->initSubmode = submode; +} void Subsystem::cantKeepMode() { ReturnValue_t result; diff --git a/src/fsfw/subsystem/Subsystem.h b/src/fsfw/subsystem/Subsystem.h index a3ee57445..1055def35 100644 --- a/src/fsfw/subsystem/Subsystem.h +++ b/src/fsfw/subsystem/Subsystem.h @@ -78,7 +78,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { ReturnValue_t addTable(ArrayList *table, Mode_t id, bool inStore = true, bool preInit = true); - void setInitialMode(Mode_t mode); + void setInitialMode(Mode_t mode, Submode_t submode = SUBMODE_NONE); virtual ReturnValue_t initialize() override; @@ -117,6 +117,7 @@ class Subsystem : public SubsystemBase, public HasModeSequenceIF { Submode_t targetSubmode; Mode_t initialMode = 0; + Submode_t initSubmode = SUBMODE_NONE; HybridIterator currentSequenceIterator;