121 lines
3.6 KiB
C++
121 lines
3.6 KiB
C++
#include "ExtendedControllerBase.h"
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ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
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object_id_t parentId, size_t commandQueueDepth):
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ControllerBase(objectId, parentId, commandQueueDepth),
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poolManager(this, commandQueue),
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actionHelper(this, commandQueue) {
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}
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ExtendedControllerBase::~ExtendedControllerBase() {
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}
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ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
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/* Needs to be overriden and implemented by child class. */
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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/* Needs to be overriden and implemented by child class. */
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return HasReturnvaluesIF::RETURN_OK;
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}
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object_id_t ExtendedControllerBase::getObjectId() const {
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return SystemObject::getObjectId();
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}
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uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
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return this->executingTask->getPeriodMs();
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}
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ReturnValue_t ExtendedControllerBase::handleCommandMessage(
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CommandMessage *message) {
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ReturnValue_t result = actionHelper.handleActionMessage(message);
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if(result == HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return poolManager.handleHousekeepingMessage(message);
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}
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void ExtendedControllerBase::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 = actionHelper.handleActionMessage(&command);
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if (result == RETURN_OK) {
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continue;
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}
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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 = poolManager.handleHousekeepingMessage(&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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ReturnValue_t ExtendedControllerBase::initialize() {
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ReturnValue_t result = ControllerBase::initialize();
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = actionHelper.initialize(commandQueue);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return poolManager.initialize(commandQueue);
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}
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ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
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return poolManager.initializeAfterTaskCreation();
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}
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ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
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handleQueue();
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performControlOperation();
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/* We do this after performing control operation because variables will be set changed
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in this function. */
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poolManager.performHkOperation();
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return RETURN_OK;
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}
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MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
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return commandQueue->getId();
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}
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LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
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<< " implementation provided, returning nullptr!" << std::endl;
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#endif
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return nullptr;
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}
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LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
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return &poolManager;
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}
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