fsfw/controller/ControllerBase.h
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

65 lines
1.7 KiB
C++

#ifndef CONTROLLERBASE_H_
#define CONTROLLERBASE_H_
#include <framework/health/HasHealthIF.h>
#include <framework/health/HealthHelper.h>
#include <framework/modes/HasModesIF.h>
#include <framework/modes/ModeHelper.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/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();
protected:
const uint32_t parentId;
Mode_t mode;
Submode_t submode;
MessageQueueIF* commandQueue;
ModeHelper modeHelper;
HealthHelper healthHelper;
HkSwitchHelper hkSwitcher;
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_ */