109 lines
3.8 KiB
C++
109 lines
3.8 KiB
C++
#include "fsfw/modes/ModeHelper.h"
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#include "fsfw/ipc/MessageQueueSenderIF.h"
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#include "fsfw/modes/HasModesIF.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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ModeHelper::ModeHelper(HasModesIF* owner)
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: commandedMode(HasModesIF::MODE_OFF),
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commandedSubmode(HasModesIF::SUBMODE_NONE),
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owner(owner),
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forced(false) {}
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ModeHelper::~ModeHelper() {}
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ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
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CommandMessage reply;
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Mode_t mode;
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Submode_t submode;
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switch (command->getCommand()) {
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case ModeMessage::CMD_MODE_COMMAND_FORCED:
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forced = true;
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/* NO BREAK falls through*/
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case ModeMessage::CMD_MODE_COMMAND: {
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mode = ModeMessage::getMode(command);
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submode = ModeMessage::getSubmode(command);
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uint32_t timeout;
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ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
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if (result != returnvalue::OK) {
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ModeMessage::setCantReachMode(&reply, result);
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MessageQueueSenderIF::sendMessage(command->getSender(), &reply, owner->getCommandQueue());
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break;
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}
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// Free to start transition
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theOneWhoCommandedAMode = command->getSender();
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commandedMode = mode;
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commandedSubmode = submode;
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if ((parentQueueId != MessageQueueIF::NO_QUEUE) &&
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(theOneWhoCommandedAMode != parentQueueId)) {
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owner->setToExternalControl();
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}
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countdown.setTimeout(timeout);
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owner->startTransition(mode, submode);
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} break;
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case ModeMessage::CMD_MODE_READ: {
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owner->getMode(&mode, &submode);
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ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode, submode);
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MessageQueueSenderIF::sendMessage(command->getSender(), &reply, owner->getCommandQueue());
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} break;
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case ModeMessage::CMD_MODE_ANNOUNCE:
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owner->announceMode(false);
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break;
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case ModeMessage::CMD_MODE_ANNOUNCE_RECURSIVELY:
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owner->announceMode(true);
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break;
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default:
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
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setParentQueue(parentQueueId);
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return initialize();
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}
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void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
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forced = false;
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sendModeReplyMessage(ownerMode, ownerSubmode);
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sendModeInfoMessage(ownerMode, ownerSubmode);
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theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
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}
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void ModeHelper::sendModeReplyMessage(Mode_t ownerMode, Submode_t ownerSubmode) {
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CommandMessage reply;
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if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE) {
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if (ownerMode != commandedMode or ownerSubmode != commandedSubmode) {
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ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_WRONG_MODE_REPLY, ownerMode,
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ownerSubmode);
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} else {
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ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, ownerMode, ownerSubmode);
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}
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MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply, owner->getCommandQueue());
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}
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}
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void ModeHelper::sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode) {
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CommandMessage reply;
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if (theOneWhoCommandedAMode != parentQueueId and parentQueueId != MessageQueueIF::NO_QUEUE) {
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ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, ownerMode, ownerSubmode);
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MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
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}
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}
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void ModeHelper::startTimer(uint32_t timeoutMs) { countdown.setTimeout(timeoutMs); }
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void ModeHelper::setParentQueue(MessageQueueId_t parentQueueId) {
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this->parentQueueId = parentQueueId;
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}
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ReturnValue_t ModeHelper::initialize(void) { return returnvalue::OK; }
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bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
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bool ModeHelper::isForced() { return forced; }
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void ModeHelper::setForced(bool forced) { this->forced = forced; }
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