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

MessageQueue refactoring complete

Browse Source
This commit is contained in:
Robin Müller
2020-06-09 02:18:39 +02:00
parent b1f91439c6
commit 8ff6506ad9
34 changed files with 293 additions and 191 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
subsystem/SubsystemBase.cpp
View File

@ -9,7 +9,7 @@ SubsystemBase::SubsystemBase(object_id_t setObjectId, object_id_t parent,
false), commandsOutstanding(0), commandQueue(NULL), healthHelper(this,
setObjectId), modeHelper(this), parentId(parent) {
commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth,
CommandMessage::MAX_MESSAGE_SIZE);
MessageQueueMessage::MAX_MESSAGE_SIZE);
}
SubsystemBase::~SubsystemBase() {
@ -77,8 +77,8 @@ ReturnValue_t SubsystemBase::checkStateAgainstTable(
}
void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode) {
CommandMessage message;
MessageQueueMessage message;
CommandMessage command(&message);
std::map<object_id_t, ChildInfo>::iterator iter;
@ -100,17 +100,17 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
if (healthHelper.healthTable->hasHealth(object)) {
if (healthHelper.healthTable->isFaulty(object)) {
ModeMessage::setModeMessage(&message,
ModeMessage::setModeMessage(&command,
ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
SUBMODE_NONE);
} else {
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&message,
ModeMessage::setModeMessage(&command,
ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
if (healthHelper.healthTable->isCommandable(object)) {
ModeMessage::setModeMessage(&message,
ModeMessage::setModeMessage(&command,
ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);
} else {
@ -119,12 +119,12 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
}
}
} else {
ModeMessage::setModeMessage(&message, ModeMessage::CMD_MODE_COMMAND,
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);
}
if ((iter->second.mode == ModeMessage::getMode(&message))
&& (iter->second.submode == ModeMessage::getSubmode(&message))
if ((iter->second.mode == ModeMessage::getMode(&command))
&& (iter->second.submode == ModeMessage::getSubmode(&command))
&& !modeHelper.isForced()) {
continue; //don't send redundant mode commands (produces event spam), but still command if mode is forced to reach lower levels
}
@ -297,7 +297,8 @@ void SubsystemBase::setToExternalControl() {
void SubsystemBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
if (recursive) {
CommandMessage command;
MessageQueueMessage message;
CommandMessage command(&message);
ModeMessage::setModeMessage(&command,
ModeMessage::CMD_MODE_ANNOUNCE_RECURSIVELY, 0, 0);
commandAllChildren(&command);
@ -306,31 +307,33 @@ void SubsystemBase::announceMode(bool recursive) {
void SubsystemBase::checkCommandQueue() {
ReturnValue_t result;
CommandMessage message;
MessageQueueMessage message;
CommandMessage command(&message);
for (result = commandQueue->receiveMessage(&message); result == RETURN_OK;
result = commandQueue->receiveMessage(&message)) {
for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = healthHelper.handleHealthCommand(&message);
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = modeHelper.handleModeCommand(&message);
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = handleModeReply(&message);
result = handleModeReply(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&message);
result = handleCommandMessage(&command);
if (result != RETURN_OK) {
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOW_COMMAND,
message.getCommand());
MessageQueueMessage message;
CommandMessage reply(&message);
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
command.getCommand());
replyToCommand(&reply);
}
}