165 lines
4.4 KiB
C++
165 lines
4.4 KiB
C++
#ifndef SUBSYSTEM_H_
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#define SUBSYSTEM_H_
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#include "../container/FixedArrayList.h"
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#include "../container/FixedMap.h"
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#include "../container/HybridIterator.h"
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#include "../container/SinglyLinkedList.h"
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#include "../serialize/SerialArrayListAdapter.h"
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#include "modes/ModeDefinitions.h"
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#include "SubsystemBase.h"
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class Subsystem: public SubsystemBase, public HasModeSequenceIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM;
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static const ReturnValue_t SEQUENCE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x01);
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static const ReturnValue_t TABLE_ALREADY_EXISTS = MAKE_RETURN_CODE(0x02);
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static const ReturnValue_t TABLE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x03);
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static const ReturnValue_t TABLE_OR_SEQUENCE_LENGTH_INVALID = MAKE_RETURN_CODE(0x04);
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static const ReturnValue_t SEQUENCE_DOES_NOT_EXIST = MAKE_RETURN_CODE(0x05);
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static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID =
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MAKE_RETURN_CODE(0x06);
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static const ReturnValue_t FALLBACK_SEQUENCE_DOES_NOT_EXIST =
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MAKE_RETURN_CODE(0x07);
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static const ReturnValue_t NO_TARGET_TABLE = MAKE_RETURN_CODE(0x08);
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static const ReturnValue_t SEQUENCE_OR_TABLE_TOO_LONG = MAKE_RETURN_CODE(0x09);
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static const ReturnValue_t IS_FALLBACK_SEQUENCE = MAKE_RETURN_CODE(0x0B);
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static const ReturnValue_t ACCESS_DENIED = MAKE_RETURN_CODE(0x0C);
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static const ReturnValue_t TABLE_IN_USE = MAKE_RETURN_CODE(0x0E);
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static const ReturnValue_t TARGET_TABLE_NOT_REACHED = MAKE_RETURN_CODE(0xA1);
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static const ReturnValue_t TABLE_CHECK_FAILED = MAKE_RETURN_CODE(0xA2);
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Subsystem(object_id_t setObjectId, object_id_t parent,
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uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
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virtual ~Subsystem();
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ReturnValue_t addSequence(ArrayList<ModeListEntry>* sequence, Mode_t id,
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Mode_t fallbackSequence, bool inStore = true, bool preInit = true);
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ReturnValue_t addTable(ArrayList<ModeListEntry> *table, Mode_t id,
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bool inStore = true, bool preInit = true);
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void setInitialMode(Mode_t mode);
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virtual ReturnValue_t initialize();
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virtual ReturnValue_t checkObjectConnections();
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virtual MessageQueueId_t getSequenceCommandQueue() const;
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/**
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*
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*
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* IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
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*
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* @param sequence
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* @return
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*/
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ReturnValue_t checkSequence(Mode_t sequence);
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/**
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*
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*
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* IMPORTANT: Do not call on non existing sequence! Use existsSequence() first
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*
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* @param iter
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* @return
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*/
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ReturnValue_t checkSequence(HybridIterator<ModeListEntry> iter, Mode_t fallbackSequence);
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protected:
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struct EntryPointer {
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bool islinked;
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union {
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ModeListEntry *firstLinkedElement;
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ArrayList<ModeListEntry> *array;
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};
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};
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struct SequenceInfo {
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Mode_t fallbackSequence;
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EntryPointer entries;
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};
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static const uint8_t MAX_NUMBER_OF_TABLES_OR_SEQUENCES = 70;
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static const uint8_t MAX_LENGTH_OF_TABLE_OR_SEQUENCE = 20;
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bool isInTransition;
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bool childrenChangedHealth;
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uint32_t uptimeStartTable;
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HybridIterator<ModeListEntry> currentTargetTable;
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Mode_t targetMode;
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Submode_t targetSubmode;
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Mode_t initialMode;
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HybridIterator<ModeListEntry> currentSequenceIterator;
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FixedMap<Mode_t, EntryPointer> modeTables;
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FixedMap<Mode_t, SequenceInfo> modeSequences;
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StorageManagerIF *IPCStore;
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#ifdef USE_MODESTORE
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ModeStoreIF *modeStore;
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#endif
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bool existsModeSequence(Mode_t id);
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HybridIterator<ModeListEntry> getSequence(Mode_t id);
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bool existsModeTable(Mode_t id);
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HybridIterator<ModeListEntry> getTable(Mode_t id);
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HybridIterator<ModeListEntry> getCurrentTable();
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// void startSequence(Mode_t sequence);
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/**
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* DO NOT USE ON NON EXISTING SEQUENCE
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*
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* @param a sequence
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* @return the fallback sequence's Id
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*/
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Mode_t getFallbackSequence(Mode_t sequence);
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void replyToCommand(ReturnValue_t status, uint32_t parameter);
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ReturnValue_t deleteSequence(Mode_t id);
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ReturnValue_t deleteTable(Mode_t id);
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virtual void performChildOperation();
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virtual ReturnValue_t handleCommandMessage(CommandMessage *message);
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bool isFallbackSequence(Mode_t SequenceId);
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bool isTableUsed(Mode_t tableId);
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virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode);
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virtual void startTransition(Mode_t mode, Submode_t submode);
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void sendSerializablesAsCommandMessage(Command_t command, SerializeIF **elements, uint8_t count);
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void transitionFailed(ReturnValue_t failureCode, uint32_t parameter);
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void cantKeepMode();
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};
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#endif /* SUBSYSTEM_H_ */
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