testArduino/fsfw/controller/ControllerBase.h

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2021-06-21 15:04:15 +02:00
#ifndef CONTROLLERBASE_H_
#define CONTROLLERBASE_H_
#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
#include "../modes/HasModesIF.h"
#include "../modes/ModeHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../datapool/HkSwitchHelper.h"
class ControllerBase: public HasModesIF,
public HasHealthIF,
public ExecutableObjectIF,
public SystemObject,
public HasReturnvaluesIF {
public:
static const Mode_t MODE_NORMAL = 2;
ControllerBase(uint32_t setObjectId, uint32_t parentId,
size_t commandQueueDepth = 3);
virtual ~ControllerBase();
ReturnValue_t initialize();
virtual MessageQueueId_t getCommandQueue() const;
virtual ReturnValue_t performOperation(uint8_t opCode);
virtual ReturnValue_t setHealth(HealthState health);
virtual HasHealthIF::HealthState getHealth();
/**
* Implementation of ExecutableObjectIF function
*
* Used to setup the reference of the task, that executes this component
* @param task_ Pointer to the taskIF of this task
*/
virtual void setTaskIF(PeriodicTaskIF* task_);
protected:
const uint32_t parentId;
Mode_t mode;
Submode_t submode;
MessageQueueIF* commandQueue;
ModeHelper modeHelper;
HealthHelper healthHelper;
HkSwitchHelper hkSwitcher;
/**
* Pointer to the task which executes this component, is invalid before setTaskIF was called.
*/
PeriodicTaskIF* executingTask;
void handleQueue();
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
virtual void performControlOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
virtual void modeChanged(Mode_t mode, Submode_t submode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
};
#endif /* CONTROLLERBASE_H_ */