64 lines
1.4 KiB
C++
64 lines
1.4 KiB
C++
#ifndef FSFW_MODES_MODEHELPER_H_
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#define FSFW_MODES_MODEHELPER_H_
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#include <vector>
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#include "ModeMessage.h"
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#include "fsfw/ipc/MessageQueueIF.h"
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw/timemanager/Countdown.h"
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class HasModesIF;
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class ModeHelper {
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public:
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MessageQueueId_t theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
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Mode_t commandedMode;
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Submode_t commandedSubmode;
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ModeHelper(HasModesIF *owner);
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virtual ~ModeHelper();
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ReturnValue_t handleModeCommand(CommandMessage *message);
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/**
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* @param parentQueue the Queue id of the parent object.
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* Set to 0 if no parent present
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*/
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void setParentQueue(MessageQueueId_t parentQueueId);
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ReturnValue_t initialize(MessageQueueId_t parentQueueId);
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ReturnValue_t initialize(void);
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void modeChanged(Mode_t mode, Submode_t submode);
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void startTimer(uint32_t timeoutMs);
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bool isTimedOut();
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bool isForced();
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void setForced(bool forced);
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#ifdef FSFW_INTROSPECTION
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std::vector<std::pair<Mode_t, const char *>> getModes() const;
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std::vector<std::pair<Submode_t, const char *>> getSubmodes(Mode_t mode) const;
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#endif
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protected:
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HasModesIF *owner;
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MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
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Countdown countdown;
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bool forced;
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private:
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void sendModeReplyMessage(Mode_t ownerMode, Submode_t ownerSubmode);
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void sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode);
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};
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#endif /* FSFW_MODES_MODEHELPER_H_ */
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