126 lines
3.4 KiB
C
126 lines
3.4 KiB
C
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#ifndef SUBSYSTEMBASE_H_
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#define SUBSYSTEMBASE_H_
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#include "../container/HybridIterator.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 "../objectmanager/SystemObject.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include "modes/HasModeSequenceIF.h"
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#include "../tasks/ExecutableObjectIF.h"
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#include "../ipc/MessageQueueIF.h"
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#include <map>
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class SubsystemBase: public SystemObject,
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public HasModesIF,
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public HasHealthIF,
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public HasReturnvaluesIF,
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public ExecutableObjectIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
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static const ReturnValue_t CHILD_NOT_FOUND = MAKE_RETURN_CODE(0x01);
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static const ReturnValue_t CHILD_INFO_UPDATED = MAKE_RETURN_CODE(0x02);
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static const ReturnValue_t CHILD_DOESNT_HAVE_MODES = MAKE_RETURN_CODE(0x03);
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static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04);
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static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID =
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MAKE_RETURN_CODE(0x05);
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SubsystemBase(object_id_t setObjectId, object_id_t parent,
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Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
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virtual ~SubsystemBase();
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virtual MessageQueueId_t getCommandQueue() const;
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ReturnValue_t registerChild(object_id_t objectId);
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virtual ReturnValue_t initialize();
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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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protected:
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struct ChildInfo {
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MessageQueueId_t commandQueue;
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Mode_t mode;
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Submode_t submode;bool healthChanged;
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};
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Mode_t mode;
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Submode_t submode;
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bool childrenChangedMode;
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/**
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* Always check this against <=0, so you are robust against too many replies
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*/
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int32_t commandsOutstanding;
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MessageQueueIF* commandQueue;
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HealthHelper healthHelper;
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ModeHelper modeHelper;
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const object_id_t parentId;
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typedef std::map<object_id_t, ChildInfo> ChildrenMap;
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ChildrenMap childrenMap;
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void checkCommandQueue();
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/**
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* We need to know the target Submode, as children are able to inherit the submode
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*/
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ReturnValue_t checkStateAgainstTable(
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HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode);
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/**
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* We need to know the target Submode, as children are able to inherit the submode
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* Still, we have a default for all child implementations which do not use submode inheritance
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*/
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void executeTable(HybridIterator<ModeListEntry> tableIter,
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Submode_t targetSubmode = SUBMODE_NONE);
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ReturnValue_t updateChildMode(MessageQueueId_t queue, Mode_t mode,
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Submode_t submode);
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ReturnValue_t updateChildChangedHealth(MessageQueueId_t queue,
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bool changedHealth = true);
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virtual ReturnValue_t handleModeReply(CommandMessage *message);
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void commandAllChildren(CommandMessage *message);
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ReturnValue_t checkTable(HybridIterator<ModeListEntry> tableIter);
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void replyToCommand(CommandMessage *message);
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void setMode(Mode_t newMode, Submode_t newSubmode);
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void setMode(Mode_t newMode);
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virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
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virtual void performChildOperation() = 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 startTransition(Mode_t mode, Submode_t submode) = 0;
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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 modeChanged();
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};
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#endif /* SUBSYSTEMBASE_H_ */
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