fsfw/controller/ControllerBase.cpp

138 lines
3.6 KiB
C++

#include "ControllerBase.h"
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
#include "../action/HasActionsIF.h"
ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
size_t commandQueueDepth) :
SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF),
submode(SUBMODE_NONE), modeHelper(this),
healthHelper(this, setObjectId) {
commandQueue = QueueFactory::instance()->createMessageQueue(
commandQueueDepth);
}
ControllerBase::~ControllerBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t ControllerBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
MessageQueueId_t parentQueue = 0;
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == nullptr) {
return RETURN_FAILED;
}
parentQueue = parent->getCommandQueue();
parent->registerChild(getObjectId());
}
result = healthHelper.initialize(parentQueue);
if (result != RETURN_OK) {
return result;
}
result = modeHelper.initialize(parentQueue);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
MessageQueueId_t ControllerBase::getCommandQueue() const {
return commandQueue->getId();
}
void ControllerBase::handleQueue() {
CommandMessage command;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for (result = commandQueue->receiveMessage(&command);
result == RETURN_OK;
result = commandQueue->receiveMessage(&command)) {
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
continue;
}
result = handleCommandMessage(&command);
if (result == RETURN_OK) {
continue;
}
command.setToUnknownCommand();
commandQueue->reply(&command);
}
}
void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
changeHK(this->mode, this->submode, false);
triggerEvent(CHANGING_MODE, mode, submode);
this->mode = mode;
this->submode = submode;
modeHelper.modeChanged(mode, submode);
modeChanged(mode, submode);
announceMode(false);
changeHK(this->mode, this->submode, true);
}
void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode;
*submode = this->submode;
}
void ControllerBase::setToExternalControl() {
healthHelper.setHealth(EXTERNAL_CONTROL);
}
void ControllerBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
}
ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
handleQueue();
performControlOperation();
return RETURN_OK;
}
void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) {
return;
}
ReturnValue_t ControllerBase::setHealth(HealthState health) {
switch (health) {
case HEALTHY:
case EXTERNAL_CONTROL:
healthHelper.setHealth(health);
return RETURN_OK;
default:
return INVALID_HEALTH_STATE;
}
}
HasHealthIF::HealthState ControllerBase::getHealth() {
return healthHelper.getHealth();
}
void ControllerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_;
}
void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
ReturnValue_t ControllerBase::initializeAfterTaskCreation() {
return HasReturnvaluesIF::RETURN_OK;
}