fsfw/controller/ControllerBase.h

#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
#define FSFW_CONTROLLER_CONTROLLERBASE_H_

#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
#include "../modes/HasModesIF.h"
#include "../modes/ModeHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../datapool/HkSwitchHelper.h"

/**
 * @brief   Generic base class for controller classes
 * @details
 * Implements common interfaces for controllers, which generally have
 * a mode and a health state. This avoids boilerplate code.
 */
class ControllerBase: public HasModesIF,
        public HasHealthIF,
        public ExecutableObjectIF,
        public SystemObject,
        public HasReturnvaluesIF {
public:
    static const Mode_t MODE_NORMAL = 2;

    ControllerBase(object_id_t setObjectId, object_id_t parentId,
            size_t commandQueueDepth = 3);
    virtual ~ControllerBase();

    /** SystemObject override */
    virtual ReturnValue_t initialize() override;

    virtual MessageQueueId_t getCommandQueue() const override;

    /** HasHealthIF overrides */
    virtual ReturnValue_t setHealth(HealthState health) override;
    virtual HasHealthIF::HealthState getHealth() override;

    /** ExecutableObjectIF overrides */
    virtual ReturnValue_t performOperation(uint8_t opCode) override;
    virtual void setTaskIF(PeriodicTaskIF* task) override;
    virtual ReturnValue_t initializeAfterTaskCreation() override;

protected:

    /**
     * Implemented by child class. Handle command messages which are not
     * mode or health messages.
     * @param message
     * @return
     */
    virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;

    /**
     * Periodic helper, implemented by child class.
     */
    virtual void performControlOperation() = 0;

    virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
            uint32_t *msToReachTheMode) = 0;

    const object_id_t parentId;

    Mode_t mode;

    Submode_t submode;

    MessageQueueIF* commandQueue = nullptr;

    ModeHelper modeHelper;

    HealthHelper healthHelper;

    /**
     * Pointer to the task which executes this component,
     * is invalid before setTaskIF was called.
     */
    PeriodicTaskIF* executingTask = nullptr;

    /** Handle mode and health messages */
    virtual void handleQueue();

    /** Mode helpers */
    virtual void modeChanged(Mode_t mode, Submode_t submode);
    virtual void startTransition(Mode_t mode, Submode_t submode);
    virtual void getMode(Mode_t *mode, Submode_t *submode);
    virtual void setToExternalControl();
    virtual void announceMode(bool recursive);
    /** HK helpers */
    virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
};

#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */