mohr/fsfw
1
0
Fork 0
forked from fsfw/fsfw
Code Pull Requests Activity

updating code from Flying Laptop

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

88
subsystem/SubsystemBase.cpp
View File

@ -1,8 +1,19 @@
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/subsystem/SubsystemBase.h>
#include <framework/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) {
QueueFactory::instance()->createMessageQueue(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE);
}
SubsystemBase::~SubsystemBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
@ -38,7 +49,7 @@ ReturnValue_t SubsystemBase::registerChild(object_id_t objectId) {
}
ReturnValue_t SubsystemBase::checkStateAgainstTable(
HybridIterator<ModeListEntry> tableIter) {
HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
std::map<object_id_t, ChildInfo>::iterator childIter;
@ -52,14 +63,20 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(
if (childIter->second.mode != tableIter.value->getMode()) {
return RETURN_FAILED;
}
if (childIter->second.submode != tableIter.value->getSubmode()) {
Submode_t submodeToCheckAgainst = tableIter.value->getSubmode();
if (tableIter.value->inheritSubmode()) {
submodeToCheckAgainst = targetSubmode;
}
if (childIter->second.submode != submodeToCheckAgainst) {
return RETURN_FAILED;
}
}
return RETURN_OK;
}
void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter) {
void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
CommandMessage message;
@ -70,11 +87,17 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter) {
for (; tableIter.value != NULL; ++tableIter) {
object_id_t object = tableIter.value->getObject();
if ((iter = childrenMap.find(object)) == childrenMap.end()) {
//illegal table entry
//TODO: software error
//illegal table entry, should only happen due to misconfigured mode table
debug << std::hex << getObjectId() << ": invalid mode table entry"
<< std::endl;
continue;
}
Submode_t submodeToCommand = tableIter.value->getSubmode();
if (tableIter.value->inheritSubmode()) {
submodeToCommand = targetSubmode;
}
if (healthHelper.healthTable->hasHealth(object)) {
if (healthHelper.healthTable->isFaulty(object)) {
ModeMessage::setModeMessage(&message,
@ -84,14 +107,12 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter) {
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&message,
ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(),
tableIter.value->getSubmode());
tableIter.value->getMode(), submodeToCommand);
} else {
if (healthHelper.healthTable->isCommandable(object)) {
ModeMessage::setModeMessage(&message,
ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(),
tableIter.value->getSubmode());
tableIter.value->getMode(), submodeToCommand);
} else {
continue;
}
@ -99,20 +120,19 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter) {
}
} else {
ModeMessage::setModeMessage(&message, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), tableIter.value->getSubmode());
tableIter.value->getMode(), submodeToCommand);
}
//TODO: This may causes trouble with more than two layers, sys commands subsys off, which is already off, but children are on (external).
// So, they stay on. Might only be an issue if mode is forced, so we do
if ((iter->second.mode == ModeMessage::getMode(&message))
&& (iter->second.submode == ModeMessage::getSubmode(&message)) && !modeHelper.isForced()) {
continue; //don't send redundant mode commands (produces event spam)
&& (iter->second.submode == ModeMessage::getSubmode(&message))
&& !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(
ReturnValue_t result = commandQueue->sendMessage(
iter->second.commandQueue, &message);
if (result != RETURN_OK) {
//TODO OBSW internal error
if (result == RETURN_OK) {
++commandsOutstanding;
}
++commandsOutstanding;
}
}
@ -132,7 +152,7 @@ ReturnValue_t SubsystemBase::updateChildMode(MessageQueueId_t queue,
}
ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue,
bool changedHealth) {
bool changedHealth) {
for (auto iter = childrenMap.begin(); iter != childrenMap.end(); iter++) {
if (iter->second.commandQueue == queue) {
iter->second.healthChanged = changedHealth;
@ -142,15 +162,8 @@ ReturnValue_t SubsystemBase::updateChildChangedHealth(MessageQueueId_t queue,
return CHILD_NOT_FOUND;
}
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(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE), healthHelper(this, setObjectId), modeHelper(this), parentId(parent) {
}
MessageQueueId_t SubsystemBase::getCommandQueue() const {
return commandQueue.getId();
return commandQueue->getId();
}
ReturnValue_t SubsystemBase::initialize() {
@ -186,7 +199,7 @@ ReturnValue_t SubsystemBase::initialize() {
return RETURN_OK;
}
ReturnValue_t SubsystemBase::performOperation() {
ReturnValue_t SubsystemBase::performOperation(uint8_t opCode) {
childrenChangedMode = false;
@ -217,7 +230,8 @@ ReturnValue_t SubsystemBase::handleModeReply(CommandMessage* message) {
for (auto iter = childrenMap.begin(); iter != childrenMap.end();
iter++) {
if (iter->second.commandQueue == message->getSender()) {
triggerEvent(MODE_CMD_REJECTED, iter->first, message->getParameter());
triggerEvent(MODE_CMD_REJECTED, iter->first,
message->getParameter());
}
}
}
@ -249,13 +263,14 @@ ReturnValue_t SubsystemBase::checkTable(
}
void SubsystemBase::replyToCommand(CommandMessage* message) {
commandQueue.reply(message);
commandQueue->reply(message);
}
void SubsystemBase::setMode(Mode_t newMode, Submode_t newSubmode) {
modeHelper.modeChanged(newMode, newSubmode);
mode = newMode;
submode = newSubmode;
modeChanged();
announceMode(false);
}
@ -266,7 +281,7 @@ void SubsystemBase::setMode(Mode_t newMode) {
void SubsystemBase::commandAllChildren(CommandMessage* message) {
std::map<object_id_t, ChildInfo>::iterator iter;
for (iter = childrenMap.begin(); iter != childrenMap.end(); ++iter) {
commandQueue.sendMessage(iter->second.commandQueue, message);
commandQueue->sendMessage(iter->second.commandQueue, message);
}
}
@ -293,8 +308,8 @@ void SubsystemBase::checkCommandQueue() {
ReturnValue_t result;
CommandMessage message;
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 = healthHelper.handleHealthCommand(&message);
if (result == RETURN_OK) {
@ -314,7 +329,8 @@ void SubsystemBase::checkCommandQueue() {
result = handleCommandMessage(&message);
if (result != RETURN_OK) {
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOW_COMMAND, message.getCommand());
reply.setReplyRejected(CommandMessage::UNKNOW_COMMAND,
message.getCommand());
replyToCommand(&reply);
}
}
@ -334,3 +350,7 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
HasHealthIF::HealthState SubsystemBase::getHealth() {
return healthHelper.getHealth();
}
void SubsystemBase::modeChanged() {
}