138 lines
3.3 KiB
C++
138 lines
3.3 KiB
C++
#include "ControllerBase.h"
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#include "../subsystem/SubsystemBase.h"
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#include "../ipc/QueueFactory.h"
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#include "../action/HasActionsIF.h"
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ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
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size_t commandQueueDepth) :
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SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
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submode(SUBMODE_NONE), modeHelper(this),
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healthHelper(this, setObjectId) {
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commandQueue = QueueFactory::instance()->createMessageQueue(
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commandQueueDepth);
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}
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ControllerBase::~ControllerBase() {
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QueueFactory::instance()->deleteMessageQueue(commandQueue);
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}
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ReturnValue_t ControllerBase::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != RETURN_OK) {
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return result;
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}
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MessageQueueId_t parentQueue = 0;
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if (parentId != objects::NO_OBJECT) {
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SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
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if (parent == nullptr) {
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return RETURN_FAILED;
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}
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parentQueue = parent->getCommandQueue();
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parent->registerChild(getObjectId());
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}
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result = healthHelper.initialize(parentQueue);
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if (result != RETURN_OK) {
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return result;
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}
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result = modeHelper.initialize(parentQueue);
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if (result != RETURN_OK) {
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return result;
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}
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return RETURN_OK;
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}
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MessageQueueId_t ControllerBase::getCommandQueue() const {
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return commandQueue->getId();
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}
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void ControllerBase::handleQueue() {
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CommandMessage command;
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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for (result = commandQueue->receiveMessage(&command);
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result == RETURN_OK;
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result = commandQueue->receiveMessage(&command)) {
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result = modeHelper.handleModeCommand(&command);
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if (result == RETURN_OK) {
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continue;
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}
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result = healthHelper.handleHealthCommand(&command);
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if (result == RETURN_OK) {
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continue;
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}
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result = handleCommandMessage(&command);
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if (result == RETURN_OK) {
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continue;
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}
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command.setToUnknownCommand();
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commandQueue->reply(&command);
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}
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}
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void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
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changeHK(this->mode, this->submode, false);
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triggerEvent(CHANGING_MODE, mode, submode);
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this->mode = mode;
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this->submode = submode;
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modeHelper.modeChanged(mode, submode);
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modeChanged(mode, submode);
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announceMode(false);
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changeHK(this->mode, this->submode, true);
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}
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void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
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*mode = this->mode;
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*submode = this->submode;
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}
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void ControllerBase::setToExternalControl() {
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healthHelper.setHealth(EXTERNAL_CONTROL);
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}
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void ControllerBase::announceMode(bool recursive) {
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triggerEvent(MODE_INFO, mode, submode);
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}
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ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
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handleQueue();
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performControlOperation();
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return RETURN_OK;
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}
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void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) {
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return;
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}
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ReturnValue_t ControllerBase::setHealth(HealthState health) {
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switch (health) {
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case HEALTHY:
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case EXTERNAL_CONTROL:
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healthHelper.setHealth(health);
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return RETURN_OK;
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default:
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return INVALID_HEALTH_STATE;
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}
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}
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HasHealthIF::HealthState ControllerBase::getHealth() {
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return healthHelper.getHealth();
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}
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void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
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executingTask = task_;
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}
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void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
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}
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ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
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return HasReturnvaluesIF::RETURN_OK;
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}
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