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updating code from Flying Laptop

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This is the framework of Flying Laptop OBSW version A.13.0.
This commit is contained in:
Ulrich Mohr
2018-07-12 16:29:32 +02:00
parent 1d22a6c97e
commit 575f70ba03
395 changed files with 12807 additions and 8404 deletions
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38
controller/ControllerBase.cpp
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@ -1,15 +1,20 @@
#include <framework/subsystem/SubsystemBase.h>
#include <framework/controller/ControllerBase.h>
#include <framework/subsystem/SubsystemBase.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/action/HasActionsIF.h>
ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
SUBMODE_NONE), commandQueue(commandQueueDepth), modeHelper(
this), healthHelper(this, setObjectId) {
SUBMODE_NONE), commandQueue(NULL), modeHelper(
this), healthHelper(this, setObjectId),hkSwitcher(this) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
}
ControllerBase::~ControllerBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t ControllerBase::initialize() {
@ -38,18 +43,23 @@ ReturnValue_t ControllerBase::initialize() {
if (result != RETURN_OK) {
return result;
}
result = hkSwitcher.initialize();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
MessageQueueId_t ControllerBase::getCommandQueue() const {
return commandQueue.getId();
return commandQueue->getId();
}
void ControllerBase::handleQueue() {
CommandMessage message;
ReturnValue_t result;
for (result = commandQueue.receiveMessage(&message); result == RETURN_OK;
result = commandQueue.receiveMessage(&message)) {
for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
result = modeHelper.handleModeCommand(&message);
if (result == RETURN_OK) {
@ -64,21 +74,21 @@ void ControllerBase::handleQueue() {
if (result == RETURN_OK) {
continue;
}
message.clearCommandMessage();
CommandMessage reply(CommandMessage::REPLY_REJECTED,
CommandMessage::UNKNOW_COMMAND, 0);
commandQueue.reply(&reply);
message.setToUnknownCommand();
commandQueue->reply(&message);
}
}
void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode);
modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode);
this->mode = mode;
this->submode = submode;
modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode);
announceMode(false);
changeHK(this->mode, this->submode, true);
}
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
@ -94,8 +104,9 @@ void ControllerBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
}
ReturnValue_t ControllerBase::performOperation() {
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue();
hkSwitcher.performOperation();
performControlOperation();
return RETURN_OK;
}
@ -118,3 +129,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
HasHealthIF::HealthState ControllerBase::getHealth() {
return healthHelper.getHealth();
}
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}