127 lines
3.7 KiB
C++
127 lines
3.7 KiB
C++
#include "fsfw/controller/ControllerBase.h"
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#include "fsfw/action/HasActionsIF.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/subsystem/SubsystemBase.h"
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ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
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size_t commandQueueDepth)
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: SystemObject(setObjectId),
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parentId(parentId),
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mode(MODE_OFF),
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submode(SUBMODE_NONE),
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modeHelper(this),
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healthHelper(this, setObjectId) {
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auto mqArgs = MqArgs(setObjectId, static_cast<void*>(this));
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commandQueue = QueueFactory::instance()->createMessageQueue(
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commandQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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ControllerBase::~ControllerBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); }
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ReturnValue_t ControllerBase::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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MessageQueueId_t parentQueue = 0;
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if (parentId != objects::NO_OBJECT) {
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auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
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if (parent == nullptr) {
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return returnvalue::FAILED;
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}
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parentQueue = parent->getCommandQueue();
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parent->registerChild(getObjectId());
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}
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result = healthHelper.initialize(parentQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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result = modeHelper.initialize(parentQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->getId(); }
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void ControllerBase::handleQueue() {
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CommandMessage command;
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ReturnValue_t result;
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for (result = commandQueue->receiveMessage(&command); result == returnvalue::OK;
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result = commandQueue->receiveMessage(&command)) {
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result = modeHelper.handleModeCommand(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = healthHelper.handleHealthCommand(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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result = handleCommandMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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command.setToUnknownCommand();
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commandQueue->reply(&command);
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}
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}
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void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
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changeHK(this->mode, this->submode, false);
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triggerEvent(CHANGING_MODE, mode, submode);
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mode = mode_;
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submode = submode_;
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modeHelper.modeChanged(mode, submode);
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modeChanged(mode, submode);
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announceMode(false);
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changeHK(this->mode, this->submode, true);
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}
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void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
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*mode_ = this->mode;
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*submode_ = this->submode;
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}
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void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
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void ControllerBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
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ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
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handleQueue();
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performControlOperation();
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return returnvalue::OK;
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}
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void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
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const ModeHelper * ControllerBase::getModeHelper() const {
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return &modeHelper;
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}
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ReturnValue_t ControllerBase::setHealth(HealthState health) {
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switch (health) {
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case HEALTHY:
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case EXTERNAL_CONTROL:
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healthHelper.setHealth(health);
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return returnvalue::OK;
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default:
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return INVALID_HEALTH_STATE;
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}
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}
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HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
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void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
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void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
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ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return returnvalue::OK; }
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