refactor module status and mode

RaccoonlabDev · Jun 4, 2024 · 853fd34 · 853fd34
1 parent b1a2339
commit 853fd34
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Showing 8 changed files with 39 additions and 38 deletions.
diff --git a/Src/common/module.cpp b/Src/common/module.cpp
@@ -6,22 +6,22 @@
 
 #include "module.hpp"
 
-BaseModule::BaseModule(float frequency) : period_ms(period_ms_from_frequency(frequency)) {
+Module::Module(float frequency) : period_ms(period_ms_from_frequency(frequency)) {
 }
 
-void BaseModule::init() {
-    mode = ModuleMode::OPEARTIONAL;
+void Module::init() {
+    mode = Mode::OPEARTIONAL;
 }
 
-ModuleStatus BaseModule::get_health() const {
+Module::Status Module::get_health() const {
     return health;
 }
 
-ModuleMode BaseModule::get_mode() const {
+Module::Mode Module::get_mode() const {
     return mode;
 }
 
-void BaseModule::process() {
+void Module::process() {
     uint32_t crnt_time_ms = HAL_GetTick();
     if (crnt_time_ms < next_spin_time_ms) {
         return;
@@ -32,6 +32,6 @@ void BaseModule::process() {
     spin_once();
 }
 
-uint32_t BaseModule::period_ms_from_frequency(float frequency) {
+uint32_t Module::period_ms_from_frequency(float frequency) {
     return (frequency > 0.001f) ? static_cast<uint32_t>(1000.0f / frequency) : 1000;
 }
diff --git a/Src/common/module.hpp b/Src/common/module.hpp
@@ -10,28 +10,29 @@
 #include <cstdint>
 #include "main.h"
 
-enum class ModuleStatus: uint8_t {
-    OK                  = 0,    // ok          nominal
-    MINOR_FAILURE       = 1,    // warning     advisory
-    MAJOR_FAILURE       = 2,    // error       caution
-    FATAL_MALFANCTION   = 3,    // critical    warning
-};
-
-enum class ModuleMode: uint8_t {
-    OPEARTIONAL         = 0,    // after successful initialization
-    INITIALIZATION      = 1,    // after startup
-    MAINTENANCE         = 2,    // calibration, self-test
-};
 
-class BaseModule {
+class Module {
 public:
-    explicit BaseModule(float frequency);
+    enum class Status: uint8_t {
+        OK                  = 0,    // ok          nominal
+        MINOR_FAILURE       = 1,    // warning     advisory
+        MAJOR_FAILURE       = 2,    // error       caution
+        FATAL_MALFANCTION   = 3,    // critical    warning
+    };
+
+    enum class Mode: uint8_t {
+        OPEARTIONAL         = 0,    // after successful initialization
+        INITIALIZATION      = 1,    // after startup
+        MAINTENANCE         = 2,    // calibration, self-test
+    };
+
+    explicit Module(float frequency);
 
     virtual void init();
 
-    ModuleStatus get_health() const;
+    Status get_health() const;
 
-    ModuleMode get_mode() const;
+    Mode get_mode() const;
 
     void process();
 
@@ -41,8 +42,8 @@ class BaseModule {
 
     static uint32_t period_ms_from_frequency(float frequency);
 
-    ModuleStatus health{ModuleStatus::OK};
-    ModuleMode mode{ModuleMode::INITIALIZATION};
+    Status health{Status::OK};
+    Mode mode{Mode::INITIALIZATION};
 
     uint32_t period_ms;
     uint32_t next_spin_time_ms{0};

diff --git a/Src/cyphal_application/application.cpp b/Src/cyphal_application/application.cpp
@@ -35,15 +35,15 @@ __attribute__((noreturn)) void application_entry_point() {
     FeedbackModule feedback;
     CircuitStatus crct;
 
-    std::array<BaseModule*, 3> modules = { &setpoint, &feedback, &crct };
+    std::array<Module*, 3> modules = { &setpoint, &feedback, &crct };
 
     for (auto module : modules) {
         module->init();
     }
 
     while (true) {
-        auto health = ModuleStatus::OK;
-        auto mode = ModuleMode::OPEARTIONAL;
+        auto health = Module::Status::OK;
+        auto mode = Module::Mode::OPEARTIONAL;
 
         cyphal.process();
         for (auto module : modules) {
@@ -58,10 +58,10 @@ __attribute__((noreturn)) void application_entry_point() {
             }
         }
 
-        auto led_color = (health == ModuleStatus::OK) ? LedColor::BLUE_COLOR : LedColor::RED_COLOR;
+        auto color = (health == Module::Status::OK) ? LedColor::BLUE_COLOR : LedColor::RED_COLOR;
         cyphal.setNodeHealth(uavcan_node_Health_1_0{static_cast<uint8_t>(health)});
         cyphal.setNodeMode(uavcan_node_Mode_1_0{static_cast<uint8_t>(mode)});
-        LedPeriphery::toggle(led_color);
+        LedPeriphery::toggle(color);
         WatchdogPeriphery::refresh();
     }
 }
diff --git a/Src/cyphal_application/modules/circuit_status/circuit_status.cpp b/Src/cyphal_application/modules/circuit_status/circuit_status.cpp
@@ -15,7 +15,7 @@
 
 
 void CircuitStatus::init() {
-    health = (CircuitPeriphery::init() < 0) ? ModuleStatus::FATAL_MALFANCTION : ModuleStatus::OK;
+    health = (CircuitPeriphery::init() < 0) ? Status::FATAL_MALFANCTION : Status::OK;
 }
 
 void CircuitStatus::update_params() {

diff --git a/Src/cyphal_application/modules/circuit_status/circuit_status.hpp b/Src/cyphal_application/modules/circuit_status/circuit_status.hpp
@@ -16,9 +16,9 @@
 extern "C" {
 #endif
 
-class CircuitStatus : public BaseModule {
+class CircuitStatus : public Module {
 public:
-    CircuitStatus() : BaseModule(2) {}
+    CircuitStatus() : Module(2) {}
     void init() override;
 
 protected:

diff --git a/Src/cyphal_application/modules/feedback/feedback.hpp b/Src/cyphal_application/modules/feedback/feedback.hpp
@@ -24,9 +24,9 @@ struct FeedbackPublisher: public cyphal::CyphalPublisher {
     reg_udral_service_actuator_common_Feedback_0_1 msg;
 };
 
-class FeedbackModule : public BaseModule {
+class FeedbackModule : public Module {
 public:
-    FeedbackModule() : BaseModule(1) {}
+    FeedbackModule() : Module(1) {}
 
 protected:
     void update_params() override;

diff --git a/Src/cyphal_application/modules/setpoint/setpoint.cpp b/Src/cyphal_application/modules/setpoint/setpoint.cpp
@@ -42,7 +42,7 @@ void SetpointModule::init() {
     PwmPeriphery::init(PwmPin::PWM_3);
     PwmPeriphery::init(PwmPin::PWM_4);
 
-    health = (sub.init() < 0) ? ModuleStatus::FATAL_MALFANCTION : ModuleStatus::OK;
+    health = (sub.init() < 0) ? Status::FATAL_MALFANCTION : Status::OK;
 }
 
 void SetpointModule::spin_once() {

diff --git a/Src/cyphal_application/modules/setpoint/setpoint.hpp b/Src/cyphal_application/modules/setpoint/setpoint.hpp
@@ -23,9 +23,9 @@ class SetpointSubscriber: public cyphal::CyphalSubscriber {
     void callback(const cyphal::CanardRxTransfer& transfer) override;
 };
 
-class SetpointModule : public BaseModule {
+class SetpointModule : public Module {
 public:
-    SetpointModule() : BaseModule(50) {}
+    SetpointModule() : Module(50) {}
     void init() override;
 
 protected: