Today's the day. Renamed platform to framework.

controller/ControllerBase.cpp

@@ -0,0 +1,120 @@
+#include <framework/subsystem/SubsystemBase.h>
+#include <framework/controller/ControllerBase.h>
+#include <framework/subsystem/SubsystemBase.h>
+
+ControllerBase::ControllerBase(uint32_t setObjectId, uint32_t parentId,
+		size_t commandQueueDepth) :
+		SystemObject(setObjectId), parentId(parentId), mode(MODE_OFF), submode(
+				SUBMODE_NONE), commandQueue(commandQueueDepth), modeHelper(
+				this), healthHelper(this, setObjectId) {
+}
+
+ControllerBase::~ControllerBase() {
+}
+
+ReturnValue_t ControllerBase::initialize() {
+	ReturnValue_t result = SystemObject::initialize();
+	if (result != RETURN_OK) {
+		return result;
+	}
+
+	MessageQueueId_t parentQueue = 0;
+	if (parentId != 0) {
+		SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
+		if (parent == NULL) {
+			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 message;
+	ReturnValue_t result;
+	for (result = commandQueue.receiveMessage(&message); result == RETURN_OK;
+			result = commandQueue.receiveMessage(&message)) {
+
+		result = modeHelper.handleModeCommand(&message);
+		if (result == RETURN_OK) {
+			continue;
+		}
+
+		result = healthHelper.handleHealthCommand(&message);
+		if (result == RETURN_OK) {
+			continue;
+		}
+		result = handleCommandMessage(&message);
+		if (result == RETURN_OK) {
+			continue;
+		}
+		message.clearCommandMessage();
+		CommandMessage reply(CommandMessage::REPLY_REJECTED,
+				CommandMessage::UNKNOW_COMMAND, 0);
+		commandQueue.reply(&reply);
+	}
+
+}
+
+void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
+	triggerEvent(CHANGING_MODE, mode, submode);
+	modeHelper.modeChanged(mode, submode);
+	modeChanged(mode, submode);
+	this->mode = mode;
+	this->submode = submode;
+	announceMode(false);
+}
+
+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() {
+	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();
+}