95 lines
2.8 KiB
C++
95 lines
2.8 KiB
C++
#ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
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#define FSFW_CONTROLLER_CONTROLLERBASE_H_
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#include "../health/HasHealthIF.h"
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#include "../health/HealthHelper.h"
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#include "../modes/HasModesIF.h"
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#include "../modes/ModeHelper.h"
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#include "../objectmanager/SystemObject.h"
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#include "../tasks/ExecutableObjectIF.h"
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#include "../tasks/PeriodicTaskIF.h"
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#include "../datapool/HkSwitchHelper.h"
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/**
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* @brief Generic base class for controller classes
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* @details
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* Implements common interfaces for controllers, which generally have
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* a mode and a health state. This avoids boilerplate code.
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*/
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class ControllerBase: public HasModesIF,
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public HasHealthIF,
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public ExecutableObjectIF,
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public SystemObject,
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public HasReturnvaluesIF {
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public:
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static const Mode_t MODE_NORMAL = 2;
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ControllerBase(object_id_t setObjectId, object_id_t parentId,
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size_t commandQueueDepth = 3);
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virtual ~ControllerBase();
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/** SystemObject override */
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virtual ReturnValue_t initialize() override;
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virtual MessageQueueId_t getCommandQueue() const override;
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/** HasHealthIF overrides */
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virtual ReturnValue_t setHealth(HealthState health) override;
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virtual HasHealthIF::HealthState getHealth() override;
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/** ExecutableObjectIF overrides */
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virtual ReturnValue_t performOperation(uint8_t opCode) override;
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virtual void setTaskIF(PeriodicTaskIF* task) override;
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virtual ReturnValue_t initializeAfterTaskCreation() override;
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protected:
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/**
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* Implemented by child class. Handle command messages which are not
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* mode or health messages.
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* @param message
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* @return
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*/
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virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
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/**
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* Periodic helper, implemented by child class.
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*/
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virtual void performControlOperation() = 0;
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virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) = 0;
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const object_id_t parentId;
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Mode_t mode;
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Submode_t submode;
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MessageQueueIF* commandQueue = nullptr;
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ModeHelper modeHelper;
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HealthHelper healthHelper;
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/**
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* Pointer to the task which executes this component,
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* is invalid before setTaskIF was called.
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*/
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PeriodicTaskIF* executingTask = nullptr;
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/** Handle mode and health messages */
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virtual void handleQueue();
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/** Mode helpers */
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virtual void modeChanged(Mode_t mode, Submode_t submode);
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virtual void startTransition(Mode_t mode, Submode_t submode);
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virtual void getMode(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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/** HK helpers */
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virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
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};
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#endif /* FSFW_CONTROLLER_CONTROLLERBASE_H_ */
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