133 lines
3.9 KiB
C++
133 lines
3.9 KiB
C++
#ifndef ASSEMBLYBASE_H_
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#define ASSEMBLYBASE_H_
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#include <framework/container/FixedArrayList.h>
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#include <framework/devicehandlers/DeviceHandlerBase.h>
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#include <framework/subsystem/SubsystemBase.h>
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class AssemblyBase: public SubsystemBase {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
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static const ReturnValue_t NEED_SECOND_STEP = MAKE_RETURN_CODE(0x01);
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static const ReturnValue_t NEED_TO_RECONFIGURE = MAKE_RETURN_CODE(0x02);
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static const ReturnValue_t MODE_FALLBACK = MAKE_RETURN_CODE(0x03);
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static const ReturnValue_t CHILD_NOT_COMMANDABLE = MAKE_RETURN_CODE(0x04);
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static const ReturnValue_t NEED_TO_CHANGE_HEALTH = MAKE_RETURN_CODE(0x05);
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static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
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MAKE_RETURN_CODE(0xa1);
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AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
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virtual ~AssemblyBase();
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protected:
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enum InternalState {
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STATE_NONE,
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STATE_OVERWRITE_HEALTH,
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STATE_NEED_SECOND_STEP,
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STATE_SINGLE_STEP,
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STATE_SECOND_STEP,
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} internalState;
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enum RecoveryState {
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RECOVERY_IDLE,
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RECOVERY_STARTED,
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RECOVERY_ONGOING,
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RECOVERY_ONGOING_2,
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RECOVERY_WAIT
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} recoveryState; //!< Indicates if one of the children requested a recovery.
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ChildrenMap::iterator recoveringDevice;
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/**
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* the mode the current transition is trying to achieve.
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* Can be different from the modehelper.commandedMode!
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*/
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Mode_t targetMode;
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/**
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* the submode the current transition is trying to achieve.
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* Can be different from the modehelper.commandedSubmode!
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*/
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Submode_t targetSubmode;
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Countdown recoveryOffTimer;
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static const uint32_t POWER_OFF_TIME_MS = 1000;
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virtual ReturnValue_t handleCommandMessage(CommandMessage *message);
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virtual ReturnValue_t handleHealthReply(CommandMessage *message);
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virtual void performChildOperation();
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bool handleChildrenChanged();
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/**
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* This method is called if the children changed its mode in a way that the current
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* mode can't be kept.
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* Default behavior is to go to MODE_OFF.
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* @param result The failure code which was returned by checkChildrenState.
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*/
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virtual void handleChildrenLostMode(ReturnValue_t result);
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bool handleChildrenChangedHealth();
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virtual void handleChildrenTransition();
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode);
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virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
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Submode_t submode) = 0;
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virtual void startTransition(Mode_t mode, Submode_t submode);
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virtual void doStartTransition(Mode_t mode, Submode_t submode);
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virtual bool isInTransition();
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virtual void handleModeReached();
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virtual void handleModeTransitionFailed(ReturnValue_t result);
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void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
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//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
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/**
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* command children to reach mode,submode
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*
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* set #commandsOutstanding correctly, or use executeTable()
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*
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* @param mode
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* @param submode
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* @return
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* - @c RETURN_OK if ok
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* - @c NEED_SECOND_STEP if children need to be commanded again
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*/
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virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
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//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
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virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
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Submode_t wantedSubmode) = 0;
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virtual ReturnValue_t checkChildrenStateOff();
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ReturnValue_t checkChildrenState();
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virtual ReturnValue_t checkChildOff(uint32_t objectId);
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/**
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* Manages recovery of a device
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* @return true if recovery is still ongoing, false else.
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*/
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bool checkAndHandleRecovery();
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/**
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* Helper method to overwrite health state of one of the children.
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* Also sets state to STATE_OVERWRITE_HEATH.
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* @param objectId Must be a registered child.
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*/
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void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
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};
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#endif /* ASSEMBLYBASE_H_ */
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