added extended controller base

controller/ExtendedControllerBase.cpp

@@ -0,0 +1,114 @@
+#include "ExtendedControllerBase.h"
+
+
+ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
+        object_id_t parentId, size_t commandQueueDepth):
+        ControllerBase(objectId, parentId, commandQueueDepth),
+        localPoolManager(this, commandQueue),
+        actionHelper(this, commandQueue) {
+}
+
+ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
+        MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+
+ReturnValue_t ExtendedControllerBase::initializeLocalDataPool(
+        LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
+    // needs to be overriden and implemented by child class.
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+object_id_t ExtendedControllerBase::getObjectId() const {
+    return SystemObject::getObjectId();
+}
+
+LocalDataPoolManager* ExtendedControllerBase::getHkManagerHandle() {
+    return &localPoolManager;
+}
+
+uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
+    return this->executingTask->getPeriodMs();
+}
+
+ReturnValue_t ExtendedControllerBase::handleCommandMessage(
+        CommandMessage *message) {
+    ReturnValue_t result = actionHelper.handleActionMessage(message);
+    if(result == HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    return localPoolManager.handleHousekeepingMessage(message);
+}
+
+void ExtendedControllerBase::handleQueue() {
+    CommandMessage command;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    for (result = commandQueue->receiveMessage(&command);
+            result == RETURN_OK;
+            result = commandQueue->receiveMessage(&command)) {
+        result = actionHelper.handleActionMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = modeHelper.handleModeCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = healthHelper.handleHealthCommand(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = localPoolManager.handleHousekeepingMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+
+        result = handleCommandMessage(&command);
+        if (result == RETURN_OK) {
+            continue;
+        }
+        command.setToUnknownCommand();
+        commandQueue->reply(&command);
+    }
+}
+
+ReturnValue_t ExtendedControllerBase::initialize() {
+    ReturnValue_t result = ControllerBase::initialize();
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+    result = actionHelper.initialize(commandQueue);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        return result;
+    }
+
+    return localPoolManager.initialize(commandQueue);
+}
+
+ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
+    return localPoolManager.initializeAfterTaskCreation();
+}
+
+ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
+    handleQueue();
+    hkSwitcher.performOperation();
+    localPoolManager.performHkOperation();
+    performControlOperation();
+    return RETURN_OK;
+}
+
+MessageQueueId_t ExtendedControllerBase::getCommandQueue() const {
+    return commandQueue->getId();
+}
+
+LocalPoolDataSetBase* ExtendedControllerBase::getDataSetHandle(sid_t sid) {
+    sif::warning << "ExtendedControllerBase::getDataSetHandle: No child "
+            << " implementation provided, returning nullptr!" << std::endl;
+    return nullptr;
+}