fsfw/modes/ModeHelper.cpp
Ulrich Mohr 575f70ba03 updating code from Flying Laptop
This is the framework of Flying Laptop OBSW version A.13.0.
2018-07-12 16:29:32 +02:00

120 lines
3.4 KiB
C++

#include <framework/modes/HasModesIF.h>
#include <framework/modes/ModeHelper.h>
#include <framework/ipc/MessageQueueSenderIF.h>
ModeHelper::ModeHelper(HasModesIF *owner) :
theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
HasModesIF::SUBMODE_NONE), owner(owner), parentQueueId(0), forced(
false) {
}
ModeHelper::~ModeHelper() {
}
ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
CommandMessage reply;
Mode_t mode;
Submode_t submode;
switch (message->getCommand()) {
case ModeMessage::CMD_MODE_COMMAND_FORCED:
forced = true;
/* NO BREAK falls through*/
case ModeMessage::CMD_MODE_COMMAND: {
mode = ModeMessage::getMode(message);
submode = ModeMessage::getSubmode(message);
uint32_t timeout;
ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
ModeMessage::cantReachMode(&reply, result);
MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
owner->getCommandQueue());
break;
}
//Free to start transition
theOneWhoCommandedAMode = message->getSender();
commandedMode = mode;
commandedSubmode = submode;
if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
&& (theOneWhoCommandedAMode != parentQueueId)) {
owner->setToExternalControl();
}
countdown.setTimeout(timeout);
owner->startTransition(mode, submode);
}
break;
case ModeMessage::CMD_MODE_READ: {
owner->getMode(&mode, &submode);
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
submode);
MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
owner->getCommandQueue());
}
break;
case ModeMessage::CMD_MODE_ANNOUNCE:
owner->announceMode(false);
break;
case ModeMessage::CMD_MODE_ANNOUNCE_RECURSIVELY:
owner->announceMode(true);
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
setParentQueue(parentQueueId);
return initialize();
}
void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
forced = false;
CommandMessage reply;
if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
if ((mode != commandedMode) || (submode != commandedSubmode)) {
ModeMessage::setModeMessage(&reply,
ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
} else {
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY,
mode, submode);
}
MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
owner->getCommandQueue());
}
if (theOneWhoCommandedAMode != parentQueueId
&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
submode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
}
theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
}
void ModeHelper::startTimer(uint32_t timeoutMs) {
countdown.setTimeout(timeoutMs);
}
void ModeHelper::setParentQueue(MessageQueueId_t parentQueueId) {
this->parentQueueId = parentQueueId;
}
ReturnValue_t ModeHelper::initialize(void) {
return HasReturnvaluesIF::RETURN_OK;
}
bool ModeHelper::isTimedOut() {
return countdown.hasTimedOut();
}
bool ModeHelper::isForced() {
return forced;
}
void ModeHelper::setForced(bool forced) {
this->forced = forced;
}