fsfw/controller/ExtendedControllerBase.h

76 lines
2.5 KiB
C++

#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
#include "ControllerBase.h"
#include "../action/HasActionsIF.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../action/ActionHelper.h"
#include "../datapoollocal/LocalDataPoolManager.h"
/**
* @brief Extendes the basic ControllerBase with the common components
* HasActionsIF for commandability and HasLocalDataPoolIF to keep
* a pool of local data pool variables.
* @details
* Default implementations required for the interfaces will be empty and have
* to be implemented by child class.
*/
class ExtendedControllerBase: public ControllerBase,
public HasActionsIF,
public HasLocalDataPoolIF {
public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
size_t commandQueueDepth = 3);
/** SystemObjectIF overrides */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override;
/** ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
ProvidesDataPoolSubscriptionIF* getSubscriptionInterface() override;
AccessLocalPoolIF* getAccessorHandle() override;
protected:
LocalDataPoolManager localPoolManager;
ActionHelper actionHelper;
/**
* Implemented by child class. Handle all command messages which are
* not health, mode, action or housekeeping messages.
* @param message
* @return
*/
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
/**
* Periodic helper from ControllerBase, implemented by child class.
*/
virtual void performControlOperation() = 0;
/** Handle the four messages mentioned above */
void handleQueue() override;
/** HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
/** HasLocalDatapoolIF overrides */
virtual object_id_t getObjectId() const override;
virtual ReturnValue_t initializeLocalDataPool(
LocalDataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual uint32_t getPeriodicOperationFrequency() const override;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
};
#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */