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health helper optional, diagnostic output improved

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This commit is contained in:
Robin Müller
2020-06-06 12:59:43 +02:00
parent d35524ecbc
commit 5289497ab5
5 changed files with 39 additions and 14 deletions
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39
devicehandlers/DeviceHandlerBase.cpp
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@ -139,10 +139,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
result = healthHelper.initialize();
if (result != RETURN_OK) {
sif::error << "DeviceHandlerBase::initialize: Health Helper "
"initialization failure" << std::endl;
return result;
if (result == RETURN_OK) {
healthHelperActive = true;
}
else {
sif::warning << "DeviceHandlerBase::initialize: Health Helper "
"initialization failure." << std::endl;
}
result = modeHelper.initialize();
@ -215,9 +217,11 @@ void DeviceHandlerBase::readCommandQueue() {
return;
}
result = healthHelper.handleHealthCommand(&message);
if (result == RETURN_OK) {
return;
if(healthHelperActive) {
result = healthHelper.handleHealthCommand(&message);
if (result == RETURN_OK) {
return;
}
}
result = modeHelper.handleModeCommand(&message);
@ -996,7 +1000,9 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
}
void DeviceHandlerBase::setToExternalControl() {
healthHelper.setHealth(EXTERNAL_CONTROL);
if(healthHelperActive) {
healthHelper.setHealth(EXTERNAL_CONTROL);
}
}
void DeviceHandlerBase::announceMode(bool recursive) {
@ -1016,11 +1022,24 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
}
HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
return healthHelper.getHealth();
if(healthHelperActive) {
return healthHelper.getHealth();
}
else {
sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
<< std::endl;
return HasHealthIF::HEALTHY;
}
}
ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
healthHelper.setHealth(health);
if(healthHelperActive) {
healthHelper.setHealth(health);
}
else {
sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
<< std::endl;
}
return HasReturnvaluesIF::RETURN_OK;
}