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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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29
subsystem/SubsystemBase.h
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@ -4,22 +4,21 @@
#include <framework/container/HybridIterator.h>
#include <framework/health/HasHealthIF.h>
#include <framework/health/HealthHelper.h>
#include <framework/ipc/MessageQueue.h>
#include <framework/modes/HasModesIF.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/subsystem/modes/HasModeSequenceIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/ipc/MessageQueueIF.h>
#include <map>
class SubsystemBase: public SystemObject,
public HasModesIF,
public HasHealthIF,
public HasReturnvaluesIF,
public ExecutableObjectIF {
public:
static const uint8_t INTERFACE_ID = SUBSYSTEM_BASE;
static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
static const ReturnValue_t CHILD_NOT_FOUND = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t CHILD_INFO_UPDATED = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t CHILD_DOESNT_HAVE_MODES = MAKE_RETURN_CODE(0x03);
@ -37,7 +36,7 @@ public:
virtual ReturnValue_t initialize();
virtual ReturnValue_t performOperation();
virtual ReturnValue_t performOperation(uint8_t opCode);
virtual ReturnValue_t setHealth(HealthState health);
@ -47,8 +46,7 @@ protected:
struct ChildInfo {
MessageQueueId_t commandQueue;
Mode_t mode;
Submode_t submode;
bool healthChanged;
Submode_t submode;bool healthChanged;
};
Mode_t mode;
@ -62,7 +60,7 @@ protected:
*/
int32_t commandsOutstanding;
MessageQueue commandQueue;
MessageQueueIF* commandQueue;
HealthHelper healthHelper;
@ -75,15 +73,24 @@ protected:
void checkCommandQueue();
/**
* We need to know the target Submode, as children are able to inherit the submode
*/
ReturnValue_t checkStateAgainstTable(
HybridIterator<ModeListEntry> tableIter);
HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode);
void executeTable(HybridIterator<ModeListEntry> tableIter);
/**
* We need to know the target Submode, as children are able to inherit the submode
* Still, we have a default for all child implementations which do not use submode inheritance
*/
void executeTable(HybridIterator<ModeListEntry> tableIter,
Submode_t targetSubmode = SUBMODE_NONE);
ReturnValue_t updateChildMode(MessageQueueId_t queue, Mode_t mode,
Submode_t submode);
ReturnValue_t updateChildChangedHealth(MessageQueueId_t queue, bool changedHealth = true);
ReturnValue_t updateChildChangedHealth(MessageQueueId_t queue,
bool changedHealth = true);
virtual ReturnValue_t handleModeReply(CommandMessage *message);
@ -111,6 +118,8 @@ protected:
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
virtual void modeChanged();
};
#endif /* SUBSYSTEMBASE_H_ */