128 lines
4.1 KiB
C++
128 lines
4.1 KiB
C++
#ifndef FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
|
|
#define FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_
|
|
|
|
#include "fsfw/modes/HasModesIF.h"
|
|
#include "fsfw/objectmanager/SystemObjectIF.h"
|
|
#include "fsfw/serialize/SerialLinkedListAdapter.h"
|
|
#include "fsfw/serialize/SerializeIF.h"
|
|
|
|
namespace mode {
|
|
enum SpecialSubmodeFlags : uint8_t { INHERIT = 1 << 0, ALLOWED_MASK = 1 << 1 };
|
|
}
|
|
|
|
class ModeListEntry : public SerialLinkedListAdapter<SerializeIF>,
|
|
public LinkedElement<ModeListEntry> {
|
|
public:
|
|
static constexpr uint8_t ALL_SUBMODES_ALLOWED_MASK = 0xff;
|
|
|
|
ModeListEntry() : SerialLinkedListAdapter(), LinkedElement<ModeListEntry>(this) { setLinks(); }
|
|
|
|
SerializeElement<uint32_t> value1 = 0;
|
|
SerializeElement<uint32_t> value2 = 0;
|
|
SerializeElement<uint8_t> value3 = 0;
|
|
SerializeElement<uint8_t> value4 = 0;
|
|
SerializeElement<uint8_t> value5 = 0;
|
|
|
|
ModeListEntry(const ModeListEntry& other)
|
|
: SerialLinkedListAdapter(), LinkedElement<ModeListEntry>(this) {
|
|
value1.entry = other.value1.entry;
|
|
value2.entry = other.value2.entry;
|
|
value3.entry = other.value3.entry;
|
|
value4.entry = other.value4.entry;
|
|
value5.entry = other.value5.entry;
|
|
setLinks();
|
|
}
|
|
|
|
ModeListEntry& operator=(const ModeListEntry& other) {
|
|
this->value1.entry = other.value1.entry;
|
|
this->value2.entry = other.value2.entry;
|
|
this->value3.entry = other.value3.entry;
|
|
this->value4.entry = other.value4.entry;
|
|
this->value5.entry = other.value5.entry;
|
|
return *this;
|
|
}
|
|
|
|
void setLinks() {
|
|
setStart(&value1);
|
|
value1.setNext(&value2);
|
|
value2.setNext(&value3);
|
|
value3.setNext(&value4);
|
|
value4.setNext(&value5);
|
|
}
|
|
|
|
// for Sequences
|
|
Mode_t getTableId() const { return value1.entry; }
|
|
|
|
void setTableId(Mode_t tableId) { this->value1.entry = tableId; }
|
|
|
|
uint8_t getWaitSeconds() const { return value2.entry; }
|
|
|
|
void setWaitSeconds(uint8_t waitSeconds) { this->value2.entry = waitSeconds; }
|
|
|
|
bool checkSuccess() const { return value3.entry == 1; }
|
|
|
|
void setCheckSuccess(bool checkSuccess) { this->value3.entry = checkSuccess; }
|
|
|
|
// for Tables
|
|
object_id_t getObject() const { return value1.entry; }
|
|
|
|
void setObject(object_id_t object) { this->value1.entry = object; }
|
|
|
|
Mode_t getMode() const { return value2.entry; }
|
|
|
|
void setMode(Mode_t mode) { this->value2.entry = mode; }
|
|
|
|
Submode_t getSubmode() const { return value3.entry; }
|
|
|
|
void setSubmode(Submode_t submode) { this->value3.entry = submode; }
|
|
|
|
bool inheritSubmode() const {
|
|
return (value4.entry & mode::SpecialSubmodeFlags::INHERIT) ==
|
|
mode::SpecialSubmodeFlags::INHERIT;
|
|
}
|
|
bool submodesAllowed(uint8_t* mask) const {
|
|
bool submodesAllowed = (value4.entry & mode::SpecialSubmodeFlags::ALLOWED_MASK) ==
|
|
mode::SpecialSubmodeFlags::ALLOWED_MASK;
|
|
if (submodesAllowed and mask != nullptr) {
|
|
*mask = value5.entry;
|
|
}
|
|
return submodesAllowed;
|
|
}
|
|
|
|
/**
|
|
* Enable the inheritance of submodes. This is relevant for both the execution
|
|
* of mode tables and for mode checking.
|
|
*/
|
|
void enableInheritSubmode() { value4.entry |= mode::SpecialSubmodeFlags::INHERIT; }
|
|
/**
|
|
* Disable the inheritance of submodes. This is relevant for both the execution
|
|
* of mode tables and for mode checking.
|
|
*/
|
|
void disableInheritSubmode() { value4.entry &= ~mode::SpecialSubmodeFlags::INHERIT; }
|
|
|
|
/**
|
|
* Specialization of @enableSubmodeAllowed which allows all submodes.
|
|
*/
|
|
void allowAllSubmodes() { enableSubmodeAllowed(ALL_SUBMODES_ALLOWED_MASK); }
|
|
|
|
/**
|
|
* Enable an allowed submode mask for mode checks. Any submode which contains bits
|
|
* outside of the mask will be declined.
|
|
*
|
|
* For example, for a mask of 0b11, only the modes 0b00, 0b01 and 0b11 will be accepted.
|
|
*/
|
|
void enableSubmodeAllowed(uint8_t mask) {
|
|
value4.entry |= mode::SpecialSubmodeFlags::ALLOWED_MASK;
|
|
value5.entry = mask;
|
|
}
|
|
/**
|
|
* Enforce the equality of submodes for mode checks. This is the default.
|
|
*/
|
|
void disableSubmodeAllowed() {
|
|
value4.entry &= ~mode::SpecialSubmodeFlags::ALLOWED_MASK;
|
|
value5.entry = 0;
|
|
}
|
|
};
|
|
|
|
#endif /* FSFW_SUBSYSTEM_MODES_MODEDEFINITIONS_H_ */
|