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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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75
subsystem/Subsystem.cpp
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@ -1,10 +1,3 @@
/*
* Subsystem.cpp
*
* Created on: 12.07.2013
* Author: tod
*/
#include <framework/health/HealthMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/serialize/SerialArrayListAdapter.h>
@ -20,7 +13,11 @@ Subsystem::Subsystem(object_id_t setObjectId, object_id_t parent,
false), uptimeStartTable(0), currentTargetTable(), targetMode(
0), targetSubmode(SUBMODE_NONE), initialMode(0), currentSequenceIterator(), modeTables(
maxNumberOfTables), modeSequences(maxNumberOfSequences), IPCStore(
NULL), modeStore(NULL) {
NULL)
#ifdef USE_MODESTORE
,modeStore(NULL)
#endif
{
}
@ -78,7 +75,7 @@ void Subsystem::performChildOperation() {
if (isInTransition) {
if (commandsOutstanding <= 0) { //all children of the current table were commanded and replied
if (currentSequenceIterator.value == NULL) { //we're through with this sequence
if (checkStateAgainstTable(currentTargetTable) == RETURN_OK) {
if (checkStateAgainstTable(currentTargetTable, targetSubmode) == RETURN_OK) {
setMode(targetMode, targetSubmode);
isInTransition = false;
return;
@ -89,19 +86,19 @@ void Subsystem::performChildOperation() {
}
}
if (currentSequenceIterator->checkSuccess()) {
if (checkStateAgainstTable(getCurrentTable()) != RETURN_OK) {
if (checkStateAgainstTable(getCurrentTable(), targetSubmode) != RETURN_OK) {
transitionFailed(TABLE_CHECK_FAILED,
currentSequenceIterator->getTableId());
return;
}
}
if (currentSequenceIterator->getWaitSeconds() != 0) {
if (uptimeStartTable != 0) {
OSAL::getUptime(&uptimeStartTable);
if (uptimeStartTable == 0) {
Clock::getUptime(&uptimeStartTable);
return;
} else {
uint32_t uptimeNow;
OSAL::getUptime(&uptimeNow);
Clock::getUptime(&uptimeNow);
if ((uptimeNow - uptimeStartTable)
< (currentSequenceIterator->getWaitSeconds() * 1000)) {
return;
@ -111,7 +108,7 @@ void Subsystem::performChildOperation() {
uptimeStartTable = 0;
//next Table, but only if there is one
if ((++currentSequenceIterator).value != NULL) { //we're through with this sequence
executeTable(getCurrentTable());
executeTable(getCurrentTable(), targetSubmode);
}
}
} else {
@ -120,7 +117,7 @@ void Subsystem::performChildOperation() {
childrenChangedHealth = false;
startTransition(mode, submode);
} else if (childrenChangedMode) {
if (checkStateAgainstTable(currentTargetTable) != RETURN_OK) {
if (checkStateAgainstTable(currentTargetTable, submode) != RETURN_OK) {
triggerEvent(CANT_KEEP_MODE, mode, submode);
cantKeepMode();
}
@ -315,7 +312,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
CommandMessage reply;
ModeSequenceMessage::setModeSequenceMessage(&reply,
ModeSequenceMessage::FREE_SEQUENCE_SLOTS, freeSlots);
commandQueue.reply(&reply);
commandQueue->reply(&reply);
}
break;
case ModeSequenceMessage::READ_FREE_TABLE_SLOTS: {
@ -323,7 +320,7 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
CommandMessage reply;
ModeSequenceMessage::setModeSequenceMessage(&reply,
ModeSequenceMessage::FREE_TABLE_SLOTS, free);
commandQueue.reply(&reply);
commandQueue->reply(&reply);
}
break;
default:
@ -335,10 +332,10 @@ ReturnValue_t Subsystem::handleCommandMessage(CommandMessage* message) {
void Subsystem::replyToCommand(ReturnValue_t status, uint32_t parameter) {
if (status == RETURN_OK) {
CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
commandQueue.reply(&reply);
commandQueue->reply(&reply);
} else {
CommandMessage reply(CommandMessage::REPLY_REJECTED, status, 0);
commandQueue.reply(&reply);
commandQueue->reply(&reply);
}
}
@ -372,13 +369,20 @@ ReturnValue_t Subsystem::addSequence(ArrayList<ModeListEntry>* sequence,
}
if (inStore) {
#ifdef USE_MODESTORE
result = modeStore->storeArray(sequence,
&(modeSequences.find(id)->entries.firstLinkedElement));
if (result != RETURN_OK) {
modeSequences.erase(id);
}
#else
modeSequences.erase(id);
return RETURN_FAILED;
#endif
}
return result;
}
ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
@ -408,11 +412,16 @@ ReturnValue_t Subsystem::addTable(ArrayList<ModeListEntry> *table, Mode_t id,
}
if (inStore) {
#ifdef USE_MODESTORE
result = modeStore->storeArray(table,
&(modeTables.find(id)->firstLinkedElement));
if (result != RETURN_OK) {
modeTables.erase(id);
}
#else
modeTables.erase(id);
return RETURN_FAILED;
#endif
}
return result;
}
@ -433,7 +442,9 @@ ReturnValue_t Subsystem::deleteSequence(Mode_t id) {
return ACCESS_DENIED;
}
#ifdef USE_MODESTORE
modeStore->deleteList(sequenceInfo->entries.firstLinkedElement);
#endif
modeSequences.erase(id);
return RETURN_OK;
}
@ -453,7 +464,10 @@ ReturnValue_t Subsystem::deleteTable(Mode_t id) {
if (!pointer->islinked) {
return ACCESS_DENIED;
}
#ifdef USE_MODESTORE
modeStore->deleteList(pointer->firstLinkedElement);
#endif
modeSequences.erase(id);
return RETURN_OK;
}
@ -466,12 +480,18 @@ ReturnValue_t Subsystem::initialize() {
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);
if ((IPCStore == NULL) || (modeStore == NULL)) {
if (IPCStore == NULL) {
return RETURN_FAILED;
}
#ifdef USE_MODESTORE
modeStore = objectManager->get<ModeStoreIF>(objects::MODE_STORE);
if (modeStore == NULL) {
return RETURN_FAILED;
}
#endif
if ((modeSequences.maxSize() > MAX_NUMBER_OF_TABLES_OR_SEQUENCES)
|| (modeTables.maxSize() > MAX_NUMBER_OF_TABLES_OR_SEQUENCES)) {
return TABLE_OR_SEQUENCE_LENGTH_INVALID;
@ -488,9 +508,10 @@ MessageQueueId_t Subsystem::getSequenceCommandQueue() const {
ReturnValue_t Subsystem::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {
if (submode != SUBMODE_NONE) {
return INVALID_SUBMODE;
}
//Need to accept all submodes to be able to inherit submodes
// if (submode != SUBMODE_NONE) {
// return INVALID_SUBMODE;
// }
if (isInTransition && (mode != getFallbackSequence(targetMode))) {
return HasModesIF::IN_TRANSITION;
@ -516,7 +537,7 @@ void Subsystem::startTransition(Mode_t sequence, Submode_t submode) {
++currentSequenceIterator;
if (currentSequenceIterator.value != NULL) {
executeTable(getCurrentTable());
executeTable(getCurrentTable(), targetSubmode);
}
}
@ -598,7 +619,7 @@ void Subsystem::sendSerializablesAsCommandMessage(Command_t command,
}
CommandMessage reply;
ModeSequenceMessage::setModeSequenceMessage(&reply, command, address);
if (commandQueue.reply(&reply) != RETURN_OK) {
if (commandQueue->reply(&reply) != RETURN_OK) {
IPCStore->deleteData(address);
}
}