Merge branch 'mueller/master' into mueller/DHB_separating_steps
This commit is contained in:
@ -1,25 +1,26 @@
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#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
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#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
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#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
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#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
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#include "DeviceHandlerIF.h"
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#include "DeviceCommunicationIF.h"
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#include "DeviceHandlerFailureIsolation.h"
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#include "../objectmanager/SystemObject.h"
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#include "../tasks/ExecutableObjectIF.h"
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#include "../devicehandlers/DeviceHandlerIF.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include "../action/HasActionsIF.h"
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#include "../datapool/PoolVariableIF.h"
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#include "../devicehandlers/DeviceCommunicationIF.h"
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#include "../modes/HasModesIF.h"
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#include "../power/PowerSwitchIF.h"
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#include "../ipc/MessageQueueIF.h"
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#include "../tasks/PeriodicTaskIF.h"
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#include "../action/ActionHelper.h"
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#include "../health/HealthHelper.h"
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#include "../parameters/ParameterHelper.h"
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#include "../datapool/HkSwitchHelper.h"
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#include "../datapoollocal/HasLocalDataPoolIF.h"
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#include "../datapoollocal/LocalDataPoolManager.h"
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#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
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#include <map>
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namespace Factory{
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@ -104,6 +105,18 @@ public:
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void setHkDestination(object_id_t hkDestination);
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void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
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uint32_t thermalRequestPoolId);
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/**
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* @brief Helper function to ease device handler development.
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* This will instruct the transition to MODE_ON immediately
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* (leading to doStartUp() being called for the transition to the ON mode),
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* so external mode commanding is not necessary anymore.
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*
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* This has to be called before the task is started!
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* (e.g. in the task factory). This is only a helper function for
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* development. Regular mode commanding should be performed by commanding
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* the AssemblyBase or Subsystem objects resposible for the device handler.
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*/
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void setStartUpImmediately();
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/**
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* @brief This function is the device handler base core component and is
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@ -149,6 +162,14 @@ public:
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* @return
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*/
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virtual ReturnValue_t initialize();
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/**
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* @brief Intialization steps performed after all tasks have been created.
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* This function will be called by the executing task.
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* @return
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*/
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virtual ReturnValue_t initializeAfterTaskCreation() override;
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/** Destructor. */
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virtual ~DeviceHandlerBase();
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@ -370,7 +391,8 @@ protected:
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* - @c RETURN_FAILED else.
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*/
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ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
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uint16_t maxDelayCycles, PoolDataSetIF* replyDataSet = nullptr,
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uint16_t maxDelayCycles,
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LocalPoolDataSetBase* replyDataSet = nullptr,
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size_t replyLen = 0, bool periodic = false,
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bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
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@ -385,7 +407,7 @@ protected:
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* - @c RETURN_FAILED else.
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*/
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ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
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uint16_t maxDelayCycles, PoolDataSetIF* dataSet = nullptr,
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uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
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size_t replyLen = 0, bool periodic = false);
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/**
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@ -415,7 +437,7 @@ protected:
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bool periodic = false);
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ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
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PoolDataSetIF* dataset);
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LocalPoolDataSetBase* dataset);
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/**
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* @brief Can be implemented by child handler to
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@ -645,7 +667,7 @@ protected:
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//! The dataset used to access housekeeping data related to the
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//! respective device reply. Will point to a dataset held by
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//! the child handler (if one is specified)
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PoolDataSetIF* dataSet = nullptr;
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LocalPoolDataSetBase* dataSet;
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//! The command that expects this reply.
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DeviceCommandMap::iterator command;
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};
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@ -946,14 +968,17 @@ protected:
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virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode);
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virtual void startTransition(Mode_t mode, Submode_t submode);
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virtual void setToExternalControl();
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virtual void announceMode(bool recursive);
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/* HasModesIF overrides */
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virtual void startTransition(Mode_t mode, Submode_t submode) override;
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virtual void setToExternalControl() override;
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virtual void announceMode(bool recursive) override;
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virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
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/**
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* Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" faster about executed events.
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* Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper"
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* faster about executed events.
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* This is a bit sneaky, but improves responsiveness of the device FDIR.
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* @param event The event to be thrown
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* @param parameter1 Optional parameter 1
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@ -1045,6 +1070,8 @@ private:
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*/
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uint32_t timeoutStart = 0;
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bool setStartupImmediately = false;
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/**
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* Delay for the current mode transition, used for time out
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*/
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@ -1163,7 +1190,6 @@ private:
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ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
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uint32_t *len);
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/**
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* @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
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*/
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@ -1174,28 +1200,14 @@ private:
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*/
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void callChildStatemachine();
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/**
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* Switches the channel of the cookie used for the communication
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*
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*
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* @param newChannel the object Id of the channel to switch to
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* @return
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* - @c RETURN_OK when cookie was changed
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* - @c RETURN_FAILED when cookies could not be changed,
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* e.g. because the newChannel is not enabled
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* - @c returnvalues of RMAPChannelIF::isActive()
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*/
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ReturnValue_t switchCookieChannel(object_id_t newChannelId);
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ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
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virtual ReturnValue_t initializeAfterTaskCreation() override;
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virtual DataSetIF* getDataSetHandle(sid_t sid) override;
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void parseReply(const uint8_t* receivedData,
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size_t receivedDataLen);
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virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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virtual dur_millis_t getPeriodicOperationFrequency() const override;
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void parseReply(const uint8_t* receivedData,
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size_t receivedDataLen);
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};
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#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
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#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
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