#include "AcsController.h"

AcsController::AcsController() {
}

AcsController::~AcsController() {
}

ReturnValue_t AcsController::initialize() {

    ControllerBase::initialize();
}

ReturnValue_t AcsController::handleCommandMessage(CommandMessage * message) {
    ReturnValue_t result = actionHelper.handleActionMessage(message);
    if (result == HasReturnvaluesIF::RETURN_OK) {
        return HasReturnvaluesIF::RETURN_OK;
    }
    return result;
}

void AcsController::performControlOperation() {
    if (mode != MODE_OFF) {
        monitoring.monitor(&acsParameters);
        switch (submode) {
        case SUBMODE_SAFE:
            performSafe(SAFE_CONTROLLER);
            break;
        case SUBMODE_IDLE:
            performPointing(IDLE_CONTROLLER);
            break;
        case SUBMODE_NADIR:
            performPointing(NADIR_CONTROLLER);
            break;
        case SUBMODE_TARGET:
            performPointing(TARGET_CONTROLLER);
            break;
        case SUBMODE_INERTIAL:
            performPointing(INERTIAL_CONTROLLER);
            break;
        case SUBMODE_ROTATION:
            performPointing(ROTATION_CONTROLLER);
            break;
        default:
            break;
        }
    }
}