71 lines
2.5 KiB
C++
71 lines
2.5 KiB
C++
#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
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#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
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#include "ControllerBase.h"
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#include "fsfw/action.h"
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#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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/**
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* @brief Extends the basic ControllerBase with commonly used components
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* @details
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* HasActionsIF for commandability and HasLocalDataPoolIF to keep a pool of local data pool
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* variables. Default implementations required for the interfaces will be empty and have
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* to be implemented by child class.
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*/
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class ExtendedControllerBase : public ControllerBase,
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public HasActionsIF,
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public HasLocalDataPoolIF {
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public:
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ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
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~ExtendedControllerBase() override;
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/* SystemObjectIF overrides */
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ReturnValue_t initialize() override;
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[[nodiscard]] MessageQueueId_t getCommandQueue() const override;
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/* ExecutableObjectIF overrides */
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ReturnValue_t performOperation(uint8_t opCode) override;
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ReturnValue_t initializeAfterTaskCreation() override;
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/* HasActionsIF overrides */
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ActionHelper* getActionHelper() override;
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ReturnValue_t executeAction(Action* actionId) override;
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protected:
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LocalDataPoolManager poolManager;
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ActionHelper actionHelper;
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/**
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* Implemented by child class. Handle all command messages which are
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* not health, mode, action or housekeeping messages.
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* @param message
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* @return
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*/
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ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
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/**
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* Periodic helper from ControllerBase, implemented by child class.
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*/
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void performControlOperation() override = 0;
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/* Handle the four messages mentioned above */
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void handleQueue() override;
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/* HasLocalDatapoolIF overrides */
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LocalDataPoolManager* getHkManagerHandle() override;
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[[nodiscard]] object_id_t getObjectId() const override;
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[[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override = 0;
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
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// Mode abstract functions
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override = 0;
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};
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#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */
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