fsfw/devicehandlers/DeviceHandlerIF.h

#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_

#include <fsfw/datapoollocal/localPoolDefinitions.h>
#include "DeviceHandlerMessage.h"

#include "../action/HasActionsIF.h"
#include "../events/Event.h"
#include "../modes/HasModesIF.h"
#include "../ipc/MessageQueueSenderIF.h"

/**
 * This is used to uniquely identify commands that are sent to a device
 * The values are defined in the device-specific implementations
 */
using DeviceCommandId_t = uint32_t;

/**
 * @brief 	This is the Interface used to communicate with a device handler.
 * @details Includes all expected return values, events and modes.
 *
 */
class DeviceHandlerIF {
public:
	static const DeviceCommandId_t RAW_COMMAND_ID = -1;
	static const DeviceCommandId_t NO_COMMAND_ID = -2;

	static constexpr uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
	static constexpr uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;

	using dh_heater_request_t = uint8_t;
	using dh_thermal_state_t = int8_t;

	/**
	 * @brief This is the mode the <strong>device handler</strong> is in.
	 *
	 * @details The mode of the device handler must not be confused with the mode the device is in.
	 * The mode of the device itself is transparent to the user but related to the mode of the handler.
	 * MODE_ON and MODE_OFF are included in hasModesIF.h
	 */

	// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
	// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
	//! The device is powered on and the device handler periodically sends
	//! commands. The commands to be sent are selected by the handler
	//! according to the submode.
	static const Mode_t MODE_NORMAL = 2;
	//! The device is powered on and ready to perform operations. In this mode,
	//! raw commands can be sent. The device handler will send all replies
	//! received from the command back to the commanding object.
	static const Mode_t MODE_RAW = 3;
	//! The device is shut down but the switch could not be turned off, so the
	//! device still is powered. In this mode, only a mode change to @c MODE_OFF
	//! can be commanded, which tries to switch off the device again.
	static const Mode_t MODE_ERROR_ON = 4;
	//! This is a transitional state which can not be commanded. The device
	//! handler performs all commands to get the device in a state ready to
	//! perform commands. When this is completed, the mode changes to @c MODE_ON.
	static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
	//! This is a transitional state which can not be commanded.
	//! The device handler performs all actions and commands to get the device
	//! shut down. When the device is off, the mode changes to @c MODE_OFF.
	//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
	//! transition if available.
	static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
	//! It is possible to set the mode to _MODE_TO_ON to use the to on
	//! transition if available.
	static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
	//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
	//! transition if available.
	static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
	//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
	//! transition if available.
	static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
	//! This is a transitional state which can not be commanded.
	//! The device is shut down and ready to be switched off.
	//! After the command to set the switch off has been sent,
	//! the mode changes to @c MODE_WAIT_OFF
	static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
	//! This is a transitional state which can not be commanded. The device
	//! will be switched on in this state. After the command to set the switch
	//! on has been sent, the mode changes to @c MODE_WAIT_ON.
	static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
	//! This is a transitional state which can not be commanded. The switch has
	//! been commanded off and the handler waits for it to be off.
	//! When the switch is off, the mode changes to @c MODE_OFF.
	static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
	//! This is a transitional state which can not be commanded. The switch
	//! has been commanded on and the handler waits for it to be on.
	//! When the switch is on, the mode changes to @c MODE_TO_ON.
	static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
	//! This is a transitional state which can not be commanded. The switch has
	//! been commanded off and is off now. This state is only to do an RMAP
	//! cycle once more where the doSendRead() function will set the mode to
	//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
	static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;

	static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
	static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, severity::LOW);
	static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, severity::LOW);
	static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, severity::LOW);
	static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
	static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
	static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, severity::LOW);
	static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, severity::LOW);
	static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, severity::LOW);
	static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, severity::LOW); //!< Indicates a SW bug in child class.
	static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, severity::LOW);
	static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, severity::HIGH);

	static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;

	// Standard codes used when building commands.
	static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
	static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
	static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
	static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
	static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);

	// Standard codes used in scanForReply
	static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
	static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
	static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
	static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);

	// Standard codes used in  interpretDeviceReply
	static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
	static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
	static const ReturnValue_t UNKNOWN_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
	static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected

	// Standard codes used in buildCommandFromCommand
	static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
	static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);

	/**
	 * Communication action that will be executed.
	 *
	 * This is used by the child class to tell the base class what to do.
	 */
	enum CommunicationAction: uint8_t {
		PERFORM_OPERATION,
		SEND_WRITE,//!< Send write
		GET_WRITE, //!< Get write
		SEND_READ, //!< Send read
		GET_READ,  //!< Get read
		NOTHING    //!< Do nothing.
	};

	static constexpr uint32_t DEFAULT_THERMAL_SET_ID = sid_t::INVALID_SET_ID - 1;

	static constexpr lp_id_t DEFAULT_THERMAL_STATE_POOL_ID =
			localpool::INVALID_LPID - 2;
	static constexpr lp_id_t DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID =
			localpool::INVALID_LPID - 1;


	/**
	 * Default Destructor
	 */
	virtual ~DeviceHandlerIF() {}

	/**
	 * This MessageQueue is used to command the device handler.
	 * @return the id of the MessageQueue
	 */
	virtual MessageQueueId_t getCommandQueue() const = 0;

};

#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */