From 7eeba71619c982fd8f7ca5449cdf3441b42a4ef1 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:34:54 +0100 Subject: [PATCH 01/13] subsystem update --- subsystem/Subsystem.cpp | 4 +++- subsystem/SubsystemBase.cpp | 10 +++++----- subsystem/modes/ModeDefinitions.h | 21 +++++++++------------ subsystem/modes/ModeSequenceMessage.cpp | 25 ++++++------------------- subsystem/modes/ModeSequenceMessage.h | 10 ++++++---- subsystem/modes/ModeStore.cpp | 4 +++- subsystem/modes/ModeStore.h | 6 ++++-- subsystem/modes/ModeStoreIF.h | 6 ++++-- 8 files changed, 40 insertions(+), 46 deletions(-) diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index 56d47da23..50fc4d05d 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -1,10 +1,12 @@ +#include "Subsystem.h" + #include "../health/HealthMessage.h" #include "../objectmanager/ObjectManagerIF.h" #include "../serialize/SerialArrayListAdapter.h" #include "../serialize/SerialFixedArrayListAdapter.h" #include "../serialize/SerializeElement.h" #include "../serialize/SerialLinkedListAdapter.h" -#include "Subsystem.h" + #include Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index 56ae10628..787d6be12 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -1,13 +1,13 @@ -#include "../serviceinterface/ServiceInterfaceStream.h" -#include "../serviceinterface/ServiceInterfaceStream.h" #include "SubsystemBase.h" + +#include "../serviceinterface/ServiceInterfaceStream.h" #include "../ipc/QueueFactory.h" 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), commandsOutstanding(0), commandQueue(NULL), healthHelper(this, - setObjectId), modeHelper(this), parentId(parent) { + SystemObject(setObjectId), mode(initialMode), submode(SUBMODE_NONE), + childrenChangedMode(false), commandsOutstanding(0), commandQueue(NULL), + healthHelper(this, setObjectId), modeHelper(this), parentId(parent) { commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE); } diff --git a/subsystem/modes/ModeDefinitions.h b/subsystem/modes/ModeDefinitions.h index a865ab0cf..13a780ee0 100644 --- a/subsystem/modes/ModeDefinitions.h +++ b/subsystem/modes/ModeDefinitions.h @@ -1,22 +1,19 @@ -#ifndef MODEDEFINITIONS_H_ -#define MODEDEFINITIONS_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ +#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ #include "../../modes/HasModesIF.h" #include "../../objectmanager/SystemObjectIF.h" #include "../../serialize/SerializeIF.h" #include "../../serialize/SerialLinkedListAdapter.h" + class ModeListEntry: public SerializeIF, public LinkedElement { public: - ModeListEntry() : - LinkedElement(this), value1(0), value2(0), value3(0), value4( - 0) { + ModeListEntry(): LinkedElement(this) {} - } - - uint32_t value1; - uint32_t value2; - uint8_t value3; - uint8_t value4; + uint32_t value1 = 0; + uint32_t value2 = 0; + uint8_t value3 = 0; + uint8_t value4 = 0; virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size, size_t maxSize, Endianness streamEndianness) const { @@ -149,4 +146,4 @@ public: } }; -#endif //MODEDEFINITIONS_H_ +#endif /* FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ */ diff --git a/subsystem/modes/ModeSequenceMessage.cpp b/subsystem/modes/ModeSequenceMessage.cpp index 33019f58f..7733098e3 100644 --- a/subsystem/modes/ModeSequenceMessage.cpp +++ b/subsystem/modes/ModeSequenceMessage.cpp @@ -1,8 +1,7 @@ -#include "../../objectmanager/ObjectManagerIF.h" -#include "../../objectmanager/ObjectManagerIF.h" +#include "ModeSequenceMessage.h" + #include "../../objectmanager/ObjectManagerIF.h" #include "../../storagemanager/StorageManagerIF.h" -#include "ModeSequenceMessage.h" void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, Mode_t sequence, store_address_t storeAddress) { @@ -11,25 +10,12 @@ void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, message->setParameter2(sequence); } -//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, -// Command_t command, ModeTableId_t table, store_address_t storeAddress) { -// message->setCommand(command); -// message->setParameter(storeAddress.raw); -// message->setParameter2(table); -//} - void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, Mode_t sequence) { message->setCommand(command); message->setParameter2(sequence); } -//void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, -// Command_t command, ModeTableId_t table) { -// message->setCommand(command); -// message->setParameter2(table); -//} - void ModeSequenceMessage::setModeSequenceMessage(CommandMessage* message, Command_t command, store_address_t storeAddress) { message->setCommand(command); @@ -63,9 +49,10 @@ void ModeSequenceMessage::clear(CommandMessage *message) { case SEQUENCE_LIST: case TABLE_LIST: case TABLE: - case SEQUENCE:{ - StorageManagerIF *ipcStore = objectManager->get(objects::IPC_STORE); - if (ipcStore != NULL){ + case SEQUENCE: { + StorageManagerIF *ipcStore = objectManager->get( + objects::IPC_STORE); + if (ipcStore != nullptr){ ipcStore->deleteData(ModeSequenceMessage::getStoreAddress(message)); } } diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h index bbf747f14..7852c9848 100644 --- a/subsystem/modes/ModeSequenceMessage.h +++ b/subsystem/modes/ModeSequenceMessage.h @@ -1,9 +1,11 @@ -#ifndef MODESEQUENCEMESSAGE_H_ -#define MODESEQUENCEMESSAGE_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ +#define FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ + +#include "ModeDefinitions.h" #include "../../ipc/CommandMessage.h" #include "../../storagemanager/StorageManagerIF.h" -#include "ModeDefinitions.h" + class ModeSequenceMessage { public: @@ -45,4 +47,4 @@ private: ModeSequenceMessage(); }; -#endif /* MODESEQUENCEMESSAGE_H_ */ +#endif /* FSFW_SUBSYSTEM_MODES_MODESEQUENCEMESSAGE_H_ */ diff --git a/subsystem/modes/ModeStore.cpp b/subsystem/modes/ModeStore.cpp index 217e177c8..e216a167a 100644 --- a/subsystem/modes/ModeStore.cpp +++ b/subsystem/modes/ModeStore.cpp @@ -1,6 +1,8 @@ #include "ModeStore.h" -#ifdef USE_MODESTORE +// todo: I think some parts are deprecated. If this is used, the define +// USE_MODESTORE could be part of the new FSFWConfig.h file. +#if FSFW_USE_MODESTORE == 1 ModeStore::ModeStore(object_id_t objectId, uint32_t slots) : SystemObject(objectId), store(slots), emptySlot(store.front()) { diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h index 0bf856a3e..c05086c7d 100644 --- a/subsystem/modes/ModeStore.h +++ b/subsystem/modes/ModeStore.h @@ -1,12 +1,14 @@ #ifndef MODESTORE_H_ #define MODESTORE_H_ -#ifdef USE_MODESTORE +#include + +#if FSFW_USE_MODESTORE == 1 #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../objectmanager/SystemObject.h" -#include "ModeStoreIF.h" +#include "../../subsystem/modes/ModeStoreIF.h" class ModeStore: public ModeStoreIF, public SystemObject { public: diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h index e5cac3b2e..9e76deefc 100644 --- a/subsystem/modes/ModeStoreIF.h +++ b/subsystem/modes/ModeStoreIF.h @@ -1,12 +1,14 @@ #ifndef MODESTOREIF_H_ #define MODESTOREIF_H_ -#ifdef USE_MODESTORE +#include + +#if FSFW_USE_MODESTORE == 1 #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../returnvalues/HasReturnvaluesIF.h" -#include "ModeDefinitions.h" +#include "../../subsystem/modes/ModeDefinitions.h" class ModeStoreIF { public: From 252bfa5c3935681ebd4717027eb67ce9dc5fcb0f Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:35:45 +0100 Subject: [PATCH 02/13] subsystem convergence --- subsystem/Subsystem.cpp | 39 ++++++++++------------ subsystem/Subsystem.h | 59 ++++++++++++++++++---------------- subsystem/SubsystemBase.cpp | 64 ++++++++++++++++++------------------- subsystem/SubsystemBase.h | 27 +++++++++------- 4 files changed, 96 insertions(+), 93 deletions(-) diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index 50fc4d05d..9712d7d42 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -1,5 +1,4 @@ #include "Subsystem.h" - #include "../health/HealthMessage.h" #include "../objectmanager/ObjectManagerIF.h" #include "../serialize/SerialArrayListAdapter.h" @@ -11,21 +10,12 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables) : - SubsystemBase(setObjectId, parent, 0), isInTransition(false), childrenChangedHealth( - false), uptimeStartTable(0), currentTargetTable(), targetMode( - 0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables( - maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore( - NULL) -#ifdef USE_MODESTORE -,modeStore(NULL) -#endif -{ + SubsystemBase(setObjectId, parent, 0), isInTransition(false), + childrenChangedHealth(false), currentTargetTable(), + targetSubmode(SUBMODE_NONE), currentSequenceIterator(), + modeTables(maxNumberOfTables), modeSequences(maxNumberOfSequences) {} -} - -Subsystem::~Subsystem() { - //Auto-generated destructor stub -} +Subsystem::~Subsystem() {} ReturnValue_t Subsystem::checkSequence(HybridIterator iter, Mode_t fallbackSequence) { @@ -351,7 +341,8 @@ ReturnValue_t Subsystem::addSequence(ArrayList *sequence, ReturnValue_t result; - //Before initialize() is called, tables must not be checked as the children are not added yet. + //Before initialize() is called, tables must not be checked as the + //children are not added yet. //Sequences added before are checked by initialize() if (!preInit) { result = checkSequence( @@ -397,8 +388,8 @@ ReturnValue_t Subsystem::addTable(ArrayList *table, Mode_t id, ReturnValue_t result; - //Before initialize() is called, tables must not be checked as the children are not added yet. - //Tables added before are checked by initialize() + //Before initialize() is called, tables must not be checked as the children + //are not added yet. Tables added before are checked by initialize() if (!preInit) { result = checkTable( HybridIterator(table->front(), table->back())); @@ -589,12 +580,14 @@ void Subsystem::transitionFailed(ReturnValue_t failureCode, triggerEvent(MODE_TRANSITION_FAILED, failureCode, parameter); if (mode == targetMode) { //already tried going back to the current mode - //go into fallback mode, also set current mode to fallback mode, so we come here at the next fail + //go into fallback mode, also set current mode to fallback mode, + //so we come here at the next fail modeHelper.setForced(true); ReturnValue_t result; if ((result = checkSequence(getFallbackSequence(mode))) != RETURN_OK) { triggerEvent(FALLBACK_FAILED, result, getFallbackSequence(mode)); - isInTransition = false; //keep still and allow arbitrary mode commands to recover + //keep still and allow arbitrary mode commands to recover + isInTransition = false; return; } mode = getFallbackSequence(mode); @@ -658,8 +651,10 @@ void Subsystem::cantKeepMode() { modeHelper.setForced(true); - //already set the mode, so that we do not try to go back in our old mode when the transition fails + //already set the mode, so that we do not try to go back in our old mode + //when the transition fails mode = getFallbackSequence(mode); - //SHOULDDO: We should store submodes for fallback sequence as well, otherwise we should get rid of submodes completely. + //SHOULDDO: We should store submodes for fallback sequence as well, + //otherwise we should get rid of submodes completely. startTransition(mode, SUBMODE_NONE); } diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index a40b8028d..09d7850ab 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -1,14 +1,19 @@ -#ifndef SUBSYSTEM_H_ -#define SUBSYSTEM_H_ +#ifndef FSFW_SUBSYSTEM_SUBSYSTEM_H_ +#define FSFW_SUBSYSTEM_SUBSYSTEM_H_ + +#include "SubsystemBase.h" +#include "modes/ModeDefinitions.h" #include "../container/FixedArrayList.h" #include "../container/FixedMap.h" #include "../container/HybridIterator.h" #include "../container/SinglyLinkedList.h" #include "../serialize/SerialArrayListAdapter.h" -#include "modes/ModeDefinitions.h" -#include "SubsystemBase.h" +/** + * @brief TODO: documentation missing + * @details + */ class Subsystem: public SubsystemBase, public HasModeSequenceIF { public: static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM; @@ -30,8 +35,13 @@ public: static const ReturnValue_t TARGET_TABLE_NOT_REACHED = MAKE_RETURN_CODE(0xA1); static const ReturnValue_t TABLE_CHECK_FAILED = MAKE_RETURN_CODE(0xA2); - - + /** + * TODO: Doc for constructor + * @param setObjectId + * @param parent + * @param maxNumberOfSequences + * @param maxNumberOfTables + */ Subsystem(object_id_t setObjectId, object_id_t parent, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables); virtual ~Subsystem(); @@ -44,31 +54,27 @@ public: void setInitialMode(Mode_t mode); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; - virtual ReturnValue_t checkObjectConnections(); + virtual ReturnValue_t checkObjectConnections() override; - virtual MessageQueueId_t getSequenceCommandQueue() const; + virtual MessageQueueId_t getSequenceCommandQueue() const override; /** - * - * - * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first - * + * @brief Checks whether a sequence, identified by a mode. * @param sequence * @return */ ReturnValue_t checkSequence(Mode_t sequence); /** - * - * - * IMPORTANT: Do not call on non existing sequence! Use existsSequence() first - * + * @brief Checks whether a sequence, identified by a mode list iterator + * and a fallback sequence. * @param iter * @return */ - ReturnValue_t checkSequence(HybridIterator iter, Mode_t fallbackSequence); + ReturnValue_t checkSequence(HybridIterator iter, + Mode_t fallbackSequence); protected: struct EntryPointer { @@ -92,15 +98,15 @@ protected: bool childrenChangedHealth; - uint32_t uptimeStartTable; + uint32_t uptimeStartTable = 0; HybridIterator currentTargetTable; - Mode_t targetMode; + Mode_t targetMode = 0; Submode_t targetSubmode; - Mode_t initialMode; + Mode_t initialMode = 0; HybridIterator currentSequenceIterator; @@ -108,10 +114,10 @@ protected: FixedMap modeSequences; - StorageManagerIF *IPCStore; + StorageManagerIF *IPCStore = nullptr; #ifdef USE_MODESTORE - ModeStoreIF *modeStore; + ModeStoreIF *modeStore = nullptr; #endif bool existsModeSequence(Mode_t id); @@ -124,8 +130,6 @@ protected: HybridIterator getCurrentTable(); -// void startSequence(Mode_t sequence); - /** * DO NOT USE ON NON EXISTING SEQUENCE * @@ -153,7 +157,8 @@ protected: virtual void startTransition(Mode_t mode, Submode_t submode); - void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count); + void sendSerializablesAsCommandMessage(Command_t command, + SerializeIF **elements, uint8_t count); void transitionFailed(ReturnValue_t failureCode, uint32_t parameter); @@ -161,4 +166,4 @@ protected: }; -#endif /* SUBSYSTEM_H_ */ +#endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */ diff --git a/subsystem/SubsystemBase.cpp b/subsystem/SubsystemBase.cpp index 787d6be12..f60c88478 100644 --- a/subsystem/SubsystemBase.cpp +++ b/subsystem/SubsystemBase.cpp @@ -1,15 +1,15 @@ -#include "SubsystemBase.h" - #include "../serviceinterface/ServiceInterfaceStream.h" +#include "../serviceinterface/ServiceInterfaceStream.h" +#include "../subsystem/SubsystemBase.h" #include "../ipc/QueueFactory.h" 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), commandsOutstanding(0), commandQueue(NULL), + childrenChangedMode(false), + commandQueue(QueueFactory::instance()->createMessageQueue( + commandQueueDepth, CommandMessage::MAX_MESSAGE_SIZE)), healthHelper(this, setObjectId), modeHelper(this), parentId(parent) { - commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth, - CommandMessage::MAX_MESSAGE_SIZE); } SubsystemBase::~SubsystemBase() { @@ -21,10 +21,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { ChildInfo info; HasModesIF *child = objectManager->get(objectId); - //This is a rather ugly hack to have the changedHealth info for all children available. (needed for FOGs). + // This is a rather ugly hack to have the changedHealth info for all + // children available. HasHealthIF* healthChild = objectManager->get(objectId); - if (child == NULL) { - if (healthChild == NULL) { + if (child == nullptr) { + if (healthChild == nullptr) { return CHILD_DOESNT_HAVE_MODES; } else { info.commandQueue = healthChild->getCommandQueue(); @@ -38,14 +39,11 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) { info.submode = SUBMODE_NONE; info.healthChanged = false; - std::pair::iterator, bool> returnValue = - childrenMap.insert( - std::pair(objectId, info)); - if (!(returnValue.second)) { + auto resultPair = childrenMap.emplace(objectId, info); + if (not resultPair.second) { return COULD_NOT_INSERT_CHILD; - } else { - return RETURN_OK; } + return RETURN_OK; } ReturnValue_t SubsystemBase::checkStateAgainstTable( @@ -76,15 +74,15 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable( return RETURN_OK; } -void SubsystemBase::executeTable(HybridIterator tableIter, Submode_t targetSubmode) { - - CommandMessage message; +void SubsystemBase::executeTable(HybridIterator tableIter, + Submode_t targetSubmode) { + CommandMessage command; std::map::iterator iter; commandsOutstanding = 0; - for (; tableIter.value != NULL; ++tableIter) { + for (; tableIter.value != nullptr; ++tableIter) { object_id_t object = tableIter.value->getObject(); if ((iter = childrenMap.find(object)) == childrenMap.end()) { //illegal table entry, should only happen due to misconfigured mode table @@ -100,17 +98,17 @@ void SubsystemBase::executeTable(HybridIterator tableIter, Submod if (healthHelper.healthTable->hasHealth(object)) { if (healthHelper.healthTable->isFaulty(object)) { - ModeMessage::setModeMessage(&message, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF, SUBMODE_NONE); } else { if (modeHelper.isForced()) { - ModeMessage::setModeMessage(&message, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED, tableIter.value->getMode(), submodeToCommand); } else { if (healthHelper.healthTable->isCommandable(object)) { - ModeMessage::setModeMessage(&message, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, tableIter.value->getMode(), submodeToCommand); } else { @@ -119,17 +117,17 @@ void SubsystemBase::executeTable(HybridIterator tableIter, Submod } } } else { - ModeMessage::setModeMessage(&message, ModeMessage::CMD_MODE_COMMAND, + ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, tableIter.value->getMode(), submodeToCommand); } - if ((iter->second.mode == ModeMessage::getMode(&message)) - && (iter->second.submode == ModeMessage::getSubmode(&message)) + if ((iter->second.mode == ModeMessage::getMode(&command)) + && (iter->second.submode == ModeMessage::getSubmode(&command)) && !modeHelper.isForced()) { continue; //don't send redundant mode commands (produces event spam), but still command if mode is forced to reach lower levels } ReturnValue_t result = commandQueue->sendMessage( - iter->second.commandQueue, &message); + iter->second.commandQueue, &command); if (result == RETURN_OK) { ++commandsOutstanding; } @@ -306,31 +304,31 @@ void SubsystemBase::announceMode(bool recursive) { void SubsystemBase::checkCommandQueue() { ReturnValue_t result; - CommandMessage message; + CommandMessage command; - for (result = commandQueue->receiveMessage(&message); result == RETURN_OK; - result = commandQueue->receiveMessage(&message)) { + for (result = commandQueue->receiveMessage(&command); result == RETURN_OK; + result = commandQueue->receiveMessage(&command)) { - result = healthHelper.handleHealthCommand(&message); + result = healthHelper.handleHealthCommand(&command); if (result == RETURN_OK) { continue; } - result = modeHelper.handleModeCommand(&message); + result = modeHelper.handleModeCommand(&command); if (result == RETURN_OK) { continue; } - result = handleModeReply(&message); + result = handleModeReply(&command); if (result == RETURN_OK) { continue; } - result = handleCommandMessage(&message); + result = handleCommandMessage(&command); if (result != RETURN_OK) { CommandMessage reply; reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, - message.getCommand()); + command.getCommand()); replyToCommand(&reply); } } diff --git a/subsystem/SubsystemBase.h b/subsystem/SubsystemBase.h index 61a7eaef1..b8e4f9029 100644 --- a/subsystem/SubsystemBase.h +++ b/subsystem/SubsystemBase.h @@ -1,5 +1,7 @@ -#ifndef SUBSYSTEMBASE_H_ -#define SUBSYSTEMBASE_H_ +#ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ +#define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ + +#include "modes/HasModeSequenceIF.h" #include "../container/HybridIterator.h" #include "../health/HasHealthIF.h" @@ -7,11 +9,14 @@ #include "../modes/HasModesIF.h" #include "../objectmanager/SystemObject.h" #include "../returnvalues/HasReturnvaluesIF.h" -#include "modes/HasModeSequenceIF.h" #include "../tasks/ExecutableObjectIF.h" #include "../ipc/MessageQueueIF.h" #include +/** + * @defgroup subsystems Subsystem Objects + * Contains all Subsystem and Assemblies + */ class SubsystemBase: public SystemObject, public HasModesIF, public HasHealthIF, @@ -30,17 +35,17 @@ public: Mode_t initialMode = 0, uint16_t commandQueueDepth = 8); virtual ~SubsystemBase(); - virtual MessageQueueId_t getCommandQueue() const; + virtual MessageQueueId_t getCommandQueue() const override; ReturnValue_t registerChild(object_id_t objectId); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; - virtual ReturnValue_t performOperation(uint8_t opCode); + virtual ReturnValue_t performOperation(uint8_t opCode) override; - virtual ReturnValue_t setHealth(HealthState health); + virtual ReturnValue_t setHealth(HealthState health) override; - virtual HasHealthIF::HealthState getHealth(); + virtual HasHealthIF::HealthState getHealth() override; protected: struct ChildInfo { @@ -58,9 +63,9 @@ protected: /** * Always check this against <=0, so you are robust against too many replies */ - int32_t commandsOutstanding; + int32_t commandsOutstanding = 0; - MessageQueueIF* commandQueue; + MessageQueueIF* commandQueue = nullptr; HealthHelper healthHelper; @@ -122,4 +127,4 @@ protected: virtual void modeChanged(); }; -#endif /* SUBSYSTEMBASE_H_ */ +#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */ From e97787cceb7380d78b64d157333672c2a56edde3 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:39:19 +0100 Subject: [PATCH 03/13] some more tweaks --- subsystem/Subsystem.cpp | 12 ++++++------ subsystem/Subsystem.h | 4 +++- 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/subsystem/Subsystem.cpp b/subsystem/Subsystem.cpp index 9712d7d42..4de6906c1 100644 --- a/subsystem/Subsystem.cpp +++ b/subsystem/Subsystem.cpp @@ -367,7 +367,7 @@ ReturnValue_t Subsystem::addSequence(ArrayList *sequence, } if (inStore) { -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 result = modeStore->storeArray(sequence, &(modeSequences.find(id)->entries.firstLinkedElement)); if (result != RETURN_OK) { @@ -410,7 +410,7 @@ ReturnValue_t Subsystem::addTable(ArrayList *table, Mode_t id, } if (inStore) { -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 result = modeStore->storeArray(table, &(modeTables.find(id)->firstLinkedElement)); if (result != RETURN_OK) { @@ -440,7 +440,7 @@ ReturnValue_t Subsystem::deleteSequence(Mode_t id) { return ACCESS_DENIED; } -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 modeStore->deleteList(sequenceInfo->entries.firstLinkedElement); #endif modeSequences.erase(id); @@ -463,7 +463,7 @@ ReturnValue_t Subsystem::deleteTable(Mode_t id) { return ACCESS_DENIED; } -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 modeStore->deleteList(pointer->firstLinkedElement); #endif modeSequences.erase(id); @@ -482,10 +482,10 @@ ReturnValue_t Subsystem::initialize() { return RETURN_FAILED; } -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 modeStore = objectManager->get(objects::MODE_STORE); - if (modeStore == NULL) { + if (modeStore == nullptr) { return RETURN_FAILED; } #endif diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index 09d7850ab..c3a72d542 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -10,6 +10,8 @@ #include "../container/SinglyLinkedList.h" #include "../serialize/SerialArrayListAdapter.h" +#include + /** * @brief TODO: documentation missing * @details @@ -116,7 +118,7 @@ protected: StorageManagerIF *IPCStore = nullptr; -#ifdef USE_MODESTORE +#if FSFW_USE_MODESTORE == 1 ModeStoreIF *modeStore = nullptr; #endif From 5eafd4f353a2dd48fe5f4546a2a17d2bd16ad3f7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:42:02 +0100 Subject: [PATCH 04/13] tiny format stuff --- subsystem/modes/ModeStoreIF.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/subsystem/modes/ModeStoreIF.h b/subsystem/modes/ModeStoreIF.h index 9e76deefc..9682501d6 100644 --- a/subsystem/modes/ModeStoreIF.h +++ b/subsystem/modes/ModeStoreIF.h @@ -5,10 +5,11 @@ #if FSFW_USE_MODESTORE == 1 +#include "ModeDefinitions.h" + #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../returnvalues/HasReturnvaluesIF.h" -#include "../../subsystem/modes/ModeDefinitions.h" class ModeStoreIF { public: From 9d5ac16398d1da81116b9ba0df0a3100bf85390d Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:43:08 +0100 Subject: [PATCH 05/13] some more improvements --- subsystem/modes/ModeStore.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/subsystem/modes/ModeStore.h b/subsystem/modes/ModeStore.h index c05086c7d..a5cb4059c 100644 --- a/subsystem/modes/ModeStore.h +++ b/subsystem/modes/ModeStore.h @@ -1,14 +1,15 @@ -#ifndef MODESTORE_H_ -#define MODESTORE_H_ +#ifndef FSFW_SUBSYSTEM_MODES_MODESTORE_H_ +#define FSFW_SUBSYSTEM_MODES_MODESTORE_H_ #include #if FSFW_USE_MODESTORE == 1 +#include "ModeStoreIF.h" + #include "../../container/ArrayList.h" #include "../../container/SinglyLinkedList.h" #include "../../objectmanager/SystemObject.h" -#include "../../subsystem/modes/ModeStoreIF.h" class ModeStore: public ModeStoreIF, public SystemObject { public: @@ -43,5 +44,5 @@ private: #endif -#endif /* MODESTORE_H_ */ +#endif /* FSFW_SUBSYSTEM_MODES_MODESTORE_H_ */ From d62e092be6c57ccfad63d61cc5dea3e785ddad98 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 11:49:30 +0100 Subject: [PATCH 06/13] task convergence --- tasks/FixedTimeslotTaskIF.h | 21 ++++++++++++++++++--- tasks/TaskFactory.h | 14 ++++++++------ 2 files changed, 26 insertions(+), 9 deletions(-) diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h index 421978f0d..a138db4e2 100644 --- a/tasks/FixedTimeslotTaskIF.h +++ b/tasks/FixedTimeslotTaskIF.h @@ -1,16 +1,31 @@ #ifndef FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ #define FRAMEWORK_TASKS_FIXEDTIMESLOTTASKIF_H_ -#include "../objectmanager/ObjectManagerIF.h" #include "PeriodicTaskIF.h" +#include "../objectmanager/ObjectManagerIF.h" /** - * Following the same principle as the base class IF. This is the interface for a Fixed timeslot task + * @brief Following the same principle as the base class IF. + * This is the interface for a Fixed timeslot task */ class FixedTimeslotTaskIF : public PeriodicTaskIF { public: virtual ~FixedTimeslotTaskIF() {} - virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, int8_t executionStep) = 0; + + /** + * Add an object with a slot time and the execution step to the task. + * The execution step shall be passed to the object. + * @param componentId + * @param slotTimeMs + * @param executionStep + * @return + */ + virtual ReturnValue_t addSlot(object_id_t componentId, uint32_t slotTimeMs, + int8_t executionStep) = 0; + /** + * Check whether the sequence is valid and perform all other required + * initialization steps which are needed after task creation + */ virtual ReturnValue_t checkSequence() const = 0; }; diff --git a/tasks/TaskFactory.h b/tasks/TaskFactory.h index cbf2272c3..85cdda900 100644 --- a/tasks/TaskFactory.h +++ b/tasks/TaskFactory.h @@ -1,10 +1,11 @@ -#ifndef FRAMEWORK_TASKS_TASKFACTORY_H_ -#define FRAMEWORK_TASKS_TASKFACTORY_H_ +#ifndef FSFW_TASKS_TASKFACTORY_H_ +#define FSFW_TASKS_TASKFACTORY_H_ -#include #include "FixedTimeslotTaskIF.h" #include "Typedef.h" +#include + /** * Singleton Class that produces Tasks. */ @@ -48,10 +49,11 @@ public: /** * Function to be called to delete a task - * @param task The pointer to the task that shall be deleted, NULL specifies current Task + * @param task The pointer to the task that shall be deleted, + * nullptr specifies current Task * @return Success of deletion */ - static ReturnValue_t deleteTask(PeriodicTaskIF* task = NULL); + static ReturnValue_t deleteTask(PeriodicTaskIF* task = nullptr); /** * Function to be called to delay current task @@ -69,4 +71,4 @@ private: }; -#endif /* FRAMEWORK_TASKS_TASKFACTORY_H_ */ +#endif /* FSFW_TASKS_TASKFACTORY_H_ */ From 57853ba566eb786b66eaaaf64954bbf2e1d694cb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 20:22:59 +0100 Subject: [PATCH 07/13] event update --- events/EventManager.cpp | 9 ++++----- events/EventManagerIF.h | 22 ++++++++++++++-------- 2 files changed, 18 insertions(+), 13 deletions(-) diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 3fbe3ee8f..182fb72be 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -1,7 +1,5 @@ #include "EventManager.h" -#include "EventMessage.h" #include - #include "../serviceinterface/ServiceInterfaceStream.h" #include "../ipc/QueueFactory.h" #include "../ipc/MutexFactory.h" @@ -11,6 +9,7 @@ // objects registering for certain events. // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. // So a good guess is 75 to a max of 100 pools required for each, which fits well. +// This should be configurable.. const LocalPool::LocalPoolConfig EventManager::poolConfig = { {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES, sizeof(EventMatchTree::Node)}, @@ -43,7 +42,7 @@ ReturnValue_t EventManager::performOperation(uint8_t opCode) { EventMessage message; result = eventReportQueue->receiveMessage(&message); if (result == HasReturnvaluesIF::RETURN_OK) { -#ifdef DEBUG +#if FSFW_OBJ_EVENT_TRANSLATION == 1 printEvent(&message); #endif notifyListeners(&message); @@ -119,8 +118,8 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, void EventManager::printEvent(EventMessage* message) { const char *string = 0; switch (message->getSeverity()) { - case severity::INFO: -#ifdef DEBUG_INFO_EVENT + case SEVERITY::INFO: +#if DEBUG_INFO_EVENT == 1 string = translateObject(message->getReporter()); sif::info << "EVENT: "; if (string != 0) { diff --git a/events/EventManagerIF.h b/events/EventManagerIF.h index f9ac420b3..253e6910c 100644 --- a/events/EventManagerIF.h +++ b/events/EventManagerIF.h @@ -1,10 +1,11 @@ #ifndef EVENTMANAGERIF_H_ #define EVENTMANAGERIF_H_ -#include "eventmatching/eventmatching.h" #include "EventMessage.h" +#include "eventmatching/eventmatching.h" #include "../objectmanager/ObjectManagerIF.h" #include "../ipc/MessageQueueSenderIF.h" +#include "../ipc/MessageQueueIF.h" class EventManagerIF { public: @@ -16,7 +17,8 @@ public: virtual MessageQueueId_t getEventReportQueue() = 0; - virtual ReturnValue_t registerListener(MessageQueueId_t listener, bool forwardAllButSelected = false) = 0; + virtual ReturnValue_t registerListener(MessageQueueId_t listener, + bool forwardAllButSelected = false) = 0; virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0; virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, @@ -31,18 +33,22 @@ public: bool reporterInverted = false) = 0; static void triggerEvent(object_id_t reportingObject, Event event, - uint32_t parameter1 = 0, uint32_t parameter2 = 0, MessageQueueId_t sentFrom = 0) { + uint32_t parameter1 = 0, uint32_t parameter2 = 0, + MessageQueueId_t sentFrom = 0) { EventMessage message(event, reportingObject, parameter1, parameter2); triggerEvent(&message, sentFrom); } - static void triggerEvent(EventMessage* message, MessageQueueId_t sentFrom = 0) { - static MessageQueueId_t eventmanagerQueue = 0; - if (eventmanagerQueue == 0) { + + static void triggerEvent(EventMessage* message, + MessageQueueId_t sentFrom = 0) { + static MessageQueueId_t eventmanagerQueue = MessageQueueIF::NO_QUEUE; + if (eventmanagerQueue == MessageQueueIF::NO_QUEUE) { EventManagerIF *eventmanager = objectManager->get( objects::EVENT_MANAGER); - if (eventmanager != NULL) { - eventmanagerQueue = eventmanager->getEventReportQueue(); + if (eventmanager == nullptr) { + return; } + eventmanagerQueue = eventmanager->getEventReportQueue(); } MessageQueueSenderIF::sendMessage(eventmanagerQueue, message, sentFrom); } From 0f6d878d86d3f01b9ee32b5d842e50b77873aba8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 20:48:41 +0100 Subject: [PATCH 08/13] update --- events/EventManager.cpp | 3 ++- events/EventManager.h | 12 +++++++----- 2 files changed, 9 insertions(+), 6 deletions(-) diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 182fb72be..332761419 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -1,4 +1,6 @@ #include "EventManager.h" +#include "EventMessage.h" + #include #include "../serviceinterface/ServiceInterfaceStream.h" #include "../ipc/QueueFactory.h" @@ -9,7 +11,6 @@ // objects registering for certain events. // Each listener requires 1 or 2 EventIdMatcher and 1 or 2 ReportRangeMatcher. // So a good guess is 75 to a max of 100 pools required for each, which fits well. -// This should be configurable.. const LocalPool::LocalPoolConfig EventManager::poolConfig = { {fsfwconfig::FSFW_EVENTMGMR_MATCHTREE_NODES, sizeof(EventMatchTree::Node)}, diff --git a/events/EventManager.h b/events/EventManager.h index fe35d9d3e..6678fc071 100644 --- a/events/EventManager.h +++ b/events/EventManager.h @@ -1,14 +1,16 @@ -#ifndef EVENTMANAGER_H_ -#define EVENTMANAGER_H_ +#ifndef FSFW_EVENT_EVENTMANAGER_H_ +#define FSFW_EVENT_EVENTMANAGER_H_ -#include "eventmatching/EventMatchTree.h" #include "EventManagerIF.h" +#include "eventmatching/EventMatchTree.h" + +#include + #include "../objectmanager/SystemObject.h" #include "../storagemanager/LocalPool.h" #include "../tasks/ExecutableObjectIF.h" #include "../ipc/MessageQueueIF.h" #include "../ipc/MutexIF.h" -#include #include @@ -68,4 +70,4 @@ protected: void unlockMutex(); }; -#endif /* EVENTMANAGER_H_ */ +#endif /* FSFW_EVENT_EVENTMANAGER_H_ */ From d96d3d6c46c1c8e060f6705c17f0f7489f415385 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 20:58:20 +0100 Subject: [PATCH 09/13] one define now --- defaultcfg/fsfwconfig/FSFWConfig.h | 2 -- events/EventManager.cpp | 2 +- events/EventManager.h | 4 ++-- unittest/testcfg/FSFWConfig.h | 4 +--- 4 files changed, 4 insertions(+), 8 deletions(-) diff --git a/defaultcfg/fsfwconfig/FSFWConfig.h b/defaultcfg/fsfwconfig/FSFWConfig.h index 1386bf66f..7e19235cd 100644 --- a/defaultcfg/fsfwconfig/FSFWConfig.h +++ b/defaultcfg/fsfwconfig/FSFWConfig.h @@ -27,13 +27,11 @@ #define FSFW_OBJ_EVENT_TRANSLATION 0 #if FSFW_OBJ_EVENT_TRANSLATION == 1 -#define FSFW_DEBUG_OUTPUT 1 //! Specify whether info events are printed too. #define FSFW_DEBUG_INFO 1 #include #include #else -#define FSFW_DEBUG_OUTPUT 0 #endif //! When using the newlib nano library, C99 support for stdio facilities diff --git a/events/EventManager.cpp b/events/EventManager.cpp index 332761419..ba31cc588 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -114,7 +114,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, return result; } -#if FSFW_DEBUG_OUTPUT == 1 +#if FSFW_OBJ_EVENT_TRANSLATION == 1 void EventManager::printEvent(EventMessage* message) { const char *string = 0; diff --git a/events/EventManager.h b/events/EventManager.h index 6678fc071..c6bd07be8 100644 --- a/events/EventManager.h +++ b/events/EventManager.h @@ -14,7 +14,7 @@ #include -#if FSFW_DEBUG_OUTPUT == 1 +#if FSFW_OBJ_EVENT_TRANSLATION == 1 // forward declaration, should be implemented by mission extern const char* translateObject(object_id_t object); extern const char* translateEvents(Event event); @@ -61,7 +61,7 @@ protected: void notifyListeners(EventMessage *message); -#if FSFW_DEBUG_OUTPUT == 1 +#if FSFW_OBJ_EVENT_TRANSLATION == 1 void printEvent(EventMessage *message); #endif diff --git a/unittest/testcfg/FSFWConfig.h b/unittest/testcfg/FSFWConfig.h index 4fb224c15..599345602 100644 --- a/unittest/testcfg/FSFWConfig.h +++ b/unittest/testcfg/FSFWConfig.h @@ -29,13 +29,11 @@ //! additional output which requires the translation files translateObjects //! and translateEvents (and their compiles source files) #if FSFW_OBJ_EVENT_TRANSLATION == 1 -#define FSFW_DEBUG_OUTPUT 1 //! Specify whether info events are printed too. -#define FSFW_DEBUG_INFO 1 +#define FSFW_DEBUG_INFO 1 #include #include #else -#define FSFW_DEBUG_OUTPUT 0 #endif //! When using the newlib nano library, C99 support for stdio facilities From a3ebad46e7335f0b4287f388359f02793062d44b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Mon, 14 Dec 2020 21:00:15 +0100 Subject: [PATCH 10/13] small fix --- events/EventManager.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/events/EventManager.cpp b/events/EventManager.cpp index ba31cc588..6cc97eb6c 100644 --- a/events/EventManager.cpp +++ b/events/EventManager.cpp @@ -119,7 +119,7 @@ ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, void EventManager::printEvent(EventMessage* message) { const char *string = 0; switch (message->getSeverity()) { - case SEVERITY::INFO: + case severity::INFO: #if DEBUG_INFO_EVENT == 1 string = translateObject(message->getReporter()); sif::info << "EVENT: "; From a57af5852d9ce76cd3340e147e82bceffce92303 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 15 Dec 2020 15:04:07 +0100 Subject: [PATCH 11/13] made check sequence --- subsystem/Subsystem.h | 30 +++++++++++++++--------------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index c3a72d542..a3f7de452 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -62,21 +62,6 @@ public: virtual MessageQueueId_t getSequenceCommandQueue() const override; - /** - * @brief Checks whether a sequence, identified by a mode. - * @param sequence - * @return - */ - ReturnValue_t checkSequence(Mode_t sequence); - - /** - * @brief Checks whether a sequence, identified by a mode list iterator - * and a fallback sequence. - * @param iter - * @return - */ - ReturnValue_t checkSequence(HybridIterator iter, - Mode_t fallbackSequence); protected: struct EntryPointer { @@ -166,6 +151,21 @@ protected: void cantKeepMode(); + /** + * @brief Checks whether a sequence, identified by a mode. + * @param sequence + * @return + */ + ReturnValue_t checkSequence(Mode_t sequence); + + /** + * @brief Checks whether a sequence, identified by a mode list iterator + * and a fallback sequence. + * @param iter + * @return + */ + ReturnValue_t checkSequence(HybridIterator iter, + Mode_t fallbackSequence); }; #endif /* FSFW_SUBSYSTEM_SUBSYSTEM_H_ */ From 4c152e9fd83f94916b36410a53d0c530b94c7d55 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 15 Dec 2020 15:07:41 +0100 Subject: [PATCH 12/13] subsystem doc upodate --- subsystem/Subsystem.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/subsystem/Subsystem.h b/subsystem/Subsystem.h index a3f7de452..69563643e 100644 --- a/subsystem/Subsystem.h +++ b/subsystem/Subsystem.h @@ -160,7 +160,8 @@ protected: /** * @brief Checks whether a sequence, identified by a mode list iterator - * and a fallback sequence. + * and a fallback sequence. Iterator needs to point to a valid + * sequence. * @param iter * @return */ From 103d8b8c6a1669c6dabf2d10b7b20505088fe58c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 15 Dec 2020 15:12:31 +0100 Subject: [PATCH 13/13] fixed timeslot task IF --- tasks/FixedTimeslotTaskIF.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tasks/FixedTimeslotTaskIF.h b/tasks/FixedTimeslotTaskIF.h index a138db4e2..2fc7e0922 100644 --- a/tasks/FixedTimeslotTaskIF.h +++ b/tasks/FixedTimeslotTaskIF.h @@ -14,7 +14,8 @@ public: /** * Add an object with a slot time and the execution step to the task. - * The execution step shall be passed to the object. + * The execution step will be passed to the object (e.g. as an operation + * code in #performOperation) * @param componentId * @param slotTimeMs * @param executionStep