136 lines
3.7 KiB
C++
136 lines
3.7 KiB
C++
#include <framework/modes/HasModesIF.h>
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#include <framework/modes/ModeHelper.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.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), forced(false) {}
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ModeHelper::~ModeHelper() {
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}
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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 != HasReturnvaluesIF::RETURN_OK) {
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ModeMessage::cantReachMode(&reply, result);
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MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
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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 != MessageQueueMessageIF::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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}
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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,
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submode);
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MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
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owner->getCommandQueue());
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}
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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 HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_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 = MessageQueueMessageIF::NO_QUEUE;
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}
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void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
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Submode_t ownerSubmode) {
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CommandMessage reply;
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if (theOneWhoCommandedAMode != MessageQueueMessageIF::NO_QUEUE)
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{
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if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
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{
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ModeMessage::setModeMessage(&reply,
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ModeMessage::REPLY_WRONG_MODE_REPLY, ownerMode,
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ownerSubmode);
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}
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else
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{
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ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY,
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ownerMode, ownerSubmode);
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}
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MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
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owner->getCommandQueue());
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}
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}
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void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
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Submode_t ownerSubmode) {
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CommandMessage reply;
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if (theOneWhoCommandedAMode != parentQueueId
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and parentQueueId != MessageQueueMessageIF::NO_QUEUE)
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{
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ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
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ownerMode, ownerSubmode);
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MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
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owner->getCommandQueue());
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}
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}
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void ModeHelper::startTimer(uint32_t timeoutMs) {
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countdown.setTimeout(timeoutMs);
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}
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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) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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bool ModeHelper::isTimedOut() {
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return countdown.hasTimedOut();
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}
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bool ModeHelper::isForced() {
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return forced;
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}
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void ModeHelper::setForced(bool forced) {
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this->forced = forced;
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}
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