add modes

mission/tmtc/CcsdsIpCoreHandler.h

@@ -1,6 +1,8 @@
 #ifndef CCSDSHANDLER_H_
 #define CCSDSHANDLER_H_
 
+#include <fsfw/modes/HasModesIF.h>
+
 #include <cstdint>
 #include <unordered_map>
 
@@ -21,6 +23,8 @@
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "linux/ipcore/PtmeConfig.h"
 
+enum class Submode : uint8_t { UNSET = 0, DATARATE_LOW = 1, DATARATE_HIGH = 2 };
+
 /**
  * @brief   This class handles the data exchange with the CCSDS IP cores implemented in the
  *          programmable logic of the Q7S.
@@ -32,6 +36,7 @@
  */
 class CcsdsIpCoreHandler : public SystemObject,
                            public ExecutableObjectIF,
+                           public HasModesIF,
                            public AcceptsTelemetryIF,
                            public AcceptsTelecommandsIF,
                            public ReceivesParameterMessagesIF,
@@ -59,7 +64,14 @@ class CcsdsIpCoreHandler : public SystemObject,
 
   ReturnValue_t performOperation(uint8_t operationCode = 0) override;
   ReturnValue_t initialize();
-  MessageQueueId_t getCommandQueue() const;
+  MessageQueueId_t getCommandQueue() const override;
+
+  // ModesIF
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void announceMode(bool recursive) override;
 
   /**
    * @brief   Function to add a virtual channel
@@ -126,6 +138,9 @@ class CcsdsIpCoreHandler : public SystemObject,
   ParameterHelper parameterHelper;
 
   ActionHelper actionHelper;
+  Mode_t mode;
+  Submode_t submode = static_cast<Submode_t>(Submode::UNSET);
+  ModeHelper modeHelper;
 
   MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;