fsfw/subsystem/SubsystemBase.h

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#ifndef FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
#define FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_
#include "modes/HasModeSequenceIF.h"
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#include "../container/HybridIterator.h"
#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
#include "../modes/HasModesIF.h"
#include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../ipc/MessageQueueIF.h"
#include <map>
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/**
* @defgroup subsystems Subsystem Objects
* Contains all Subsystem and Assemblies
*/
class SubsystemBase: public SystemObject,
public HasModesIF,
public HasHealthIF,
public HasReturnvaluesIF,
public ExecutableObjectIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SUBSYSTEM_BASE;
static const ReturnValue_t CHILD_NOT_FOUND = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t CHILD_INFO_UPDATED = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t CHILD_DOESNT_HAVE_MODES = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t COULD_NOT_INSERT_CHILD = MAKE_RETURN_CODE(0x04);
static const ReturnValue_t TABLE_CONTAINS_INVALID_OBJECT_ID =
MAKE_RETURN_CODE(0x05);
SubsystemBase(object_id_t setObjectId, object_id_t parent,
Mode_t initialMode = 0, uint16_t commandQueueDepth = 8);
virtual ~SubsystemBase();
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virtual MessageQueueId_t getCommandQueue() const override;
/**
* Function to register the child objects.
* Performs a checks if the child does implement HasHealthIF and/or HasModesIF
*
* Also adds them to the internal childrenMap.
*
* @param objectId
* @return RETURN_OK if successful
* CHILD_DOESNT_HAVE_MODES if Child is no HasHealthIF and no HasModesIF
* COULD_NOT_INSERT_CHILD If the Child could not be added to the ChildrenMap
*/
ReturnValue_t registerChild(object_id_t objectId);
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virtual ReturnValue_t initialize() override;
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virtual ReturnValue_t performOperation(uint8_t opCode) override;
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virtual ReturnValue_t setHealth(HealthState health) override;
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virtual HasHealthIF::HealthState getHealth() override;
protected:
struct ChildInfo {
MessageQueueId_t commandQueue;
Mode_t mode;
Submode_t submode;bool healthChanged;
};
Mode_t mode;
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Submode_t submode = SUBMODE_NONE;
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bool childrenChangedMode = false;
/**
* Always check this against <=0, so you are robust against too many replies
*/
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int32_t commandsOutstanding = 0;
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MessageQueueIF* commandQueue = nullptr;
HealthHelper healthHelper;
ModeHelper modeHelper;
const object_id_t parentId;
typedef std::map<object_id_t, ChildInfo> ChildrenMap;
ChildrenMap childrenMap;
void checkCommandQueue();
/**
* We need to know the target Submode, as children are able to inherit the submode
*/
ReturnValue_t checkStateAgainstTable(
HybridIterator<ModeListEntry> tableIter, Submode_t targetSubmode);
/**
* We need to know the target Submode, as children are able to inherit the submode
* Still, we have a default for all child implementations which do not use submode inheritance
*/
void executeTable(HybridIterator<ModeListEntry> tableIter,
Submode_t targetSubmode = SUBMODE_NONE);
ReturnValue_t updateChildMode(MessageQueueId_t queue, Mode_t mode,
Submode_t submode);
ReturnValue_t updateChildChangedHealth(MessageQueueId_t queue,
bool changedHealth = true);
virtual ReturnValue_t handleModeReply(CommandMessage *message);
void commandAllChildren(CommandMessage *message);
ReturnValue_t checkTable(HybridIterator<ModeListEntry> tableIter);
void replyToCommand(CommandMessage *message);
void setMode(Mode_t newMode, Submode_t newSubmode);
void setMode(Mode_t newMode);
virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
virtual void performChildOperation() = 0;
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode) = 0;
virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
virtual void getMode(Mode_t *mode, Submode_t *submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
virtual void modeChanged();
};
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#endif /* FSFW_SUBSYSTEM_SUBSYSTEMBASE_H_ */