2020-08-18 13:09:15 +02:00
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#ifndef CONTROLLERBASE_H_
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#define CONTROLLERBASE_H_
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#include "../health/HasHealthIF.h"
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#include "../health/HealthHelper.h"
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#include "../modes/HasModesIF.h"
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#include "../modes/ModeHelper.h"
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#include "../objectmanager/SystemObject.h"
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#include "../tasks/ExecutableObjectIF.h"
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#include "../datapool/HkSwitchHelper.h"
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class ControllerBase: public HasModesIF,
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public HasHealthIF,
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public ExecutableObjectIF,
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public SystemObject,
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public HasReturnvaluesIF {
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public:
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static const Mode_t MODE_NORMAL = 2;
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ControllerBase(uint32_t setObjectId, uint32_t parentId,
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size_t commandQueueDepth = 3);
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virtual ~ControllerBase();
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ReturnValue_t initialize();
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virtual MessageQueueId_t getCommandQueue() const;
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virtual ReturnValue_t performOperation(uint8_t opCode);
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virtual ReturnValue_t setHealth(HealthState health);
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virtual HasHealthIF::HealthState getHealth();
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/**
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* Implementation of ExecutableObjectIF function
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*
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* Used to setup the reference of the task, that executes this component
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* @param task_ Pointer to the taskIF of this task
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*/
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virtual void setTaskIF(PeriodicTaskIF* task_);
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protected:
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const uint32_t parentId;
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Mode_t mode;
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Submode_t submode;
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MessageQueueIF* commandQueue;
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ModeHelper modeHelper;
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HealthHelper healthHelper;
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HkSwitchHelper hkSwitcher;
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/**
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* Pointer to the task which executes this component, is invalid before setTaskIF was called.
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*/
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PeriodicTaskIF* executingTask;
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void handleQueue();
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virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
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virtual void performControlOperation() = 0;
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virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) = 0;
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virtual void modeChanged(Mode_t mode, Submode_t submode);
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virtual void startTransition(Mode_t mode, Submode_t submode);
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virtual void getMode(Mode_t *mode, Submode_t *submode);
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virtual void setToExternalControl();
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virtual void announceMode(bool recursive);
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virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
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};
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#endif /* CONTROLLERBASE_H_ */
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