96 lines
2.9 KiB
C++
96 lines
2.9 KiB
C++
#include "fsfw/controller/ExtendedControllerBase.h"
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ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
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size_t commandQueueDepth)
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: ControllerBase(objectId, parentId, commandQueueDepth),
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poolManager(this, commandQueue),
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actionHelper(this, commandQueue) {}
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ExtendedControllerBase::~ExtendedControllerBase() = default;
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ActionHelper *ExtendedControllerBase::getActionHelper() {
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return &actionHelper;
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}
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ReturnValue_t ExtendedControllerBase::executeAction(Action *action) {
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return action->handle();
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}
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object_id_t ExtendedControllerBase::getObjectId() const { return SystemObject::getObjectId(); }
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uint32_t ExtendedControllerBase::getPeriodicOperationFrequency() const {
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return this->executingTask->getPeriodMs();
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}
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ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *message) {
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ReturnValue_t result = actionHelper.handleActionMessage(message);
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if (result == returnvalue::OK) {
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return result;
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}
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return poolManager.handleHousekeepingMessage(message);
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}
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void ExtendedControllerBase::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 = actionHelper.handleActionMessage(&command);
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if (result == returnvalue::OK) {
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continue;
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}
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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 = poolManager.handleHousekeepingMessage(&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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ReturnValue_t ExtendedControllerBase::initialize() {
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ReturnValue_t result = ControllerBase::initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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result = actionHelper.initialize(commandQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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return poolManager.initialize(commandQueue);
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}
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ReturnValue_t ExtendedControllerBase::initializeAfterTaskCreation() {
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return poolManager.initializeAfterTaskCreation();
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}
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ReturnValue_t ExtendedControllerBase::performOperation(uint8_t opCode) {
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handleQueue();
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performControlOperation();
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/* We do this after performing control operation because variables will be set changed
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in this function. */
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poolManager.performHkOperation();
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return returnvalue::OK;
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}
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MessageQueueId_t ExtendedControllerBase::getCommandQueue() const { return commandQueue->getId(); }
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LocalDataPoolManager *ExtendedControllerBase::getHkManagerHandle() { return &poolManager; }
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