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starting convergence

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This commit is contained in:
Robin Müller
2020-09-26 14:51:00 +02:00
parent d1fb512c1f
commit 7b57f372bf
10 changed files with 147 additions and 116 deletions
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16
modes/HasModesIF.h
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@ -9,8 +9,8 @@
#define HASMODESIF_H_
#include "../events/Event.h"
#include "ModeHelper.h"
#include "ModeMessage.h"
#include "../modes/ModeHelper.h"
#include "../modes/ModeMessage.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <stdint.h>
@ -46,12 +46,12 @@ protected:
uint32_t *msToReachTheMode) {
return HasReturnvaluesIF::RETURN_FAILED;
}
virtual void startTransition(Mode_t mode, Submode_t submode) {
}
virtual void setToExternalControl() {
}
virtual void announceMode(bool recursive) {
}
virtual void startTransition(Mode_t mode, Submode_t submode) {}
virtual void setToExternalControl() {}
virtual void announceMode(bool recursive) {}
};
#endif /* HASMODESIF_H_ */

75
modes/ModeHelper.cpp
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@ -1,48 +1,47 @@
#include "HasModesIF.h"
#include "ModeHelper.h"
#include "../ipc/MessageQueueSenderIF.h"
#include "../modes/HasModesIF.h"
#include "../modes/ModeHelper.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
ModeHelper::ModeHelper(HasModesIF *owner) :
theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
HasModesIF::SUBMODE_NONE), owner(owner), parentQueueId(0), forced(
false) {
}
commandedMode(HasModesIF::MODE_OFF),
commandedSubmode(HasModesIF::SUBMODE_NONE),
owner(owner), forced(false) {}
ModeHelper::~ModeHelper() {
}
ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
CommandMessage reply;
Mode_t mode;
Submode_t submode;
switch (message->getCommand()) {
switch (command->getCommand()) {
case ModeMessage::CMD_MODE_COMMAND_FORCED:
forced = true;
/* NO BREAK falls through*/
case ModeMessage::CMD_MODE_COMMAND: {
mode = ModeMessage::getMode(message);
submode = ModeMessage::getSubmode(message);
mode = ModeMessage::getMode(command);
submode = ModeMessage::getSubmode(command);
uint32_t timeout;
ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
if (result != HasReturnvaluesIF::RETURN_OK) {
ModeMessage::cantReachMode(&reply, result);
MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
owner->getCommandQueue());
MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
owner->getCommandQueue());
break;
}
//Free to start transition
theOneWhoCommandedAMode = message->getSender();
theOneWhoCommandedAMode = command->getSender();
commandedMode = mode;
commandedSubmode = submode;
if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
if ((parentQueueId != MessageQueueIF::NO_QUEUE)
&& (theOneWhoCommandedAMode != parentQueueId)) {
owner->setToExternalControl();
}
countdown.setTimeout(timeout);
owner->startTransition(mode, submode);
}
break;
@ -50,8 +49,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
owner->getMode(&mode, &submode);
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
submode);
MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
owner->getCommandQueue());
MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
owner->getCommandQueue());
}
break;
case ModeMessage::CMD_MODE_ANNOUNCE:
@ -71,27 +70,45 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
return initialize();
}
void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
forced = false;
sendModeReplyMessage(ownerMode, ownerSubmode);
sendModeInfoMessage(ownerMode, ownerSubmode);
theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
}
void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
Submode_t ownerSubmode) {
CommandMessage reply;
if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
if ((mode != commandedMode) || (submode != commandedSubmode)) {
if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE)
{
if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
{
ModeMessage::setModeMessage(&reply,
ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
} else {
ModeMessage::REPLY_WRONG_MODE_REPLY, ownerMode,
ownerSubmode);
}
else
{
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY,
mode, submode);
ownerMode, ownerSubmode);
}
MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
owner->getCommandQueue());
owner->getCommandQueue());
}
}
void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
Submode_t ownerSubmode) {
CommandMessage reply;
if (theOneWhoCommandedAMode != parentQueueId
&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
submode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
and parentQueueId != MessageQueueIF::NO_QUEUE)
{
ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
ownerMode, ownerSubmode);
MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
owner->getCommandQueue());
}
theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
}
void ModeHelper::startTimer(uint32_t timeoutMs) {

10
modes/ModeHelper.h
View File

@ -1,7 +1,8 @@
#ifndef MODEHELPER_H_
#define MODEHELPER_H_
#include "ModeMessage.h"
#include "../ipc/MessageQueueIF.h"
#include "../modes/ModeMessage.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../timemanager/Countdown.h"
@ -9,7 +10,7 @@ class HasModesIF;
class ModeHelper {
public:
MessageQueueId_t theOneWhoCommandedAMode;
MessageQueueId_t theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
Mode_t commandedMode;
Submode_t commandedSubmode;
@ -39,11 +40,14 @@ public:
void setForced(bool forced);
protected:
HasModesIF *owner;
MessageQueueId_t parentQueueId;
MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
Countdown countdown;
bool forced;
private:
void sendModeReplyMessage(Mode_t ownerMode, Submode_t ownerSubmode);
void sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode);
};
#endif /* MODEHELPER_H_ */

2
modes/ModeMessage.cpp
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@ -1,4 +1,4 @@
#include "ModeMessage.h"
#include "../modes/ModeMessage.h"
Mode_t ModeMessage::getMode(const CommandMessage* message) {
return message->getParameter();