fsfw/subsystem/Subsystem.h

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2020-08-18 13:09:15 +02:00
#ifndef SUBSYSTEM_H_
#define SUBSYSTEM_H_
#include "../container/FixedArrayList.h"
#include "../container/FixedMap.h"
#include "../container/HybridIterator.h"
#include "../container/SinglyLinkedList.h"
#include "../serialize/SerialArrayListAdapter.h"
#include "../subsystem/modes/ModeDefinitions.h"
#include "../subsystem/SubsystemBase.h"
class Subsystem: public SubsystemBase, public HasModeSequenceIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM;
static const ReturnValue_t SEQUENCE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t TABLE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t TABLE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t TABLE_OR_SEQUENCE_LENGTH_INVALID = MAKE_RETURN_CODE(0x04);
static const ReturnValue_t SEQUENCE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID =
MAKE_RETURN_CODE(0x06);
static const ReturnValue_t FALLBACK_SEQUENCE_DOES_NOT_EXIST =
MAKE_RETURN_CODE(0x07);
static const ReturnValue_t NO_TARGET_TABLE = MAKE_RETURN_CODE(0x08);
static const ReturnValue_t SEQUENCE_OR_TABLE_TOO_LONG = MAKE_RETURN_CODE(0x09);
static const ReturnValue_t IS_FALLBACK_SEQUENCE = MAKE_RETURN_CODE(0x0B);
static const ReturnValue_t ACCESS_DENIED = MAKE_RETURN_CODE(0x0C);
static const ReturnValue_t TABLE_IN_USE = MAKE_RETURN_CODE(0x0E);
static const ReturnValue_t TARGET_TABLE_NOT_REACHED = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t TABLE_CHECK_FAILED = MAKE_RETURN_CODE(0xA2);
Subsystem(object_id_t setObjectId, object_id_t parent,
uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
virtual ~Subsystem();
ReturnValue_t addSequence(ArrayList<ModeListEntry>* sequence, Mode_t id,
Mode_t fallbackSequence, bool inStore = true, bool preInit = true);
ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id,
bool inStore = true, bool preInit = true);
void setInitialMode(Mode_t mode);
virtual ReturnValue_t initialize();
virtual ReturnValue_t checkObjectConnections();
virtual MessageQueueId_t getSequenceCommandQueue() const;
/**
*
*
* IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
*
* @param sequence
* @return
*/
ReturnValue_t checkSequence(Mode_t sequence);
/**
*
*
* IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
*
* @param iter
* @return
*/
ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter, Mode_t fallbackSequence);
protected:
struct EntryPointer {
bool islinked;
union {
ModeListEntry *firstLinkedElement;
ArrayList<ModeListEntry> *array;
};
};
struct SequenceInfo {
Mode_t fallbackSequence;
EntryPointer entries;
};
static const uint8_t MAX_NUMBER_OF_TABLES_OR_SEQUENCES = 70;
static const uint8_t MAX_LENGTH_OF_TABLE_OR_SEQUENCE = 20;
bool isInTransition;
bool childrenChangedHealth;
uint32_t uptimeStartTable;
HybridIterator<ModeListEntry> currentTargetTable;
Mode_t targetMode;
Submode_t targetSubmode;
Mode_t initialMode;
HybridIterator<ModeListEntry> currentSequenceIterator;
FixedMap<Mode_t, EntryPointer> modeTables;
FixedMap<Mode_t, SequenceInfo> modeSequences;
StorageManagerIF *IPCStore;
#ifdef USE_MODESTORE
ModeStoreIF *modeStore;
#endif
bool existsModeSequence(Mode_t id);
HybridIterator<ModeListEntry> getSequence(Mode_t id);
bool existsModeTable(Mode_t id);
HybridIterator<ModeListEntry> getTable(Mode_t id);
HybridIterator<ModeListEntry> getCurrentTable();
// void startSequence(Mode_t sequence);
/**
* DO NOT USE ON NON EXISTING SEQUENCE
*
* @param a sequence
* @return the fallback sequence's Id
*/
Mode_t getFallbackSequence(Mode_t sequence);
void replyToCommand(ReturnValue_t status, uint32_t parameter);
ReturnValue_t deleteSequence(Mode_t id);
ReturnValue_t deleteTable(Mode_t id);
virtual void performChildOperation();
virtual ReturnValue_t handleCommandMessage(CommandMessage *message);
bool isFallbackSequence(Mode_t SequenceId);
bool isTableUsed(Mode_t tableId);
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
virtual void startTransition(Mode_t mode, Submode_t submode);
void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);
void transitionFailed(ReturnValue_t failureCode, uint32_t parameter);
void cantKeepMode();
};
#endif /* SUBSYSTEM_H_ */