cd_control_module.h

/*
 *  cd_control_module.h
 *  ControlDeck
 *
 *  Created by David Wilson on 2/13/08.
 *  Copyright 2008 Princeton Satellite Systems. All rights reserved.
 *
 */

#ifndef __CD_CONTROL_MODULE__
#define __CD_CONTROL_MODULE__

#include <vector>

#include <DSUtils/DSUtils.h>
#include "cd_data_ref.h"

using namespace std;

class cd_control_system;
class cd_data_point;
class cd_control_module;

typedef cd_data_ref CD_DATA_REF;
typedef vector<CD_DATA_REF> cd_variables_vector;

#define ERROR(...) error(__FILE__,__LINE__,__VA_ARGS__)

typedef cd_control_module *(*cd_control_module_builder_func)(const char *name);

void *cd_background_task_thread(void *data_struct);

class cd_control_module
{
    public:
        cd_control_module(const char *mod_name);
        virtual ~cd_control_module();
        
        // Initialization
        virtual void initialize_data();
        virtual void initialize_data_requests();
        virtual void setup_data(const char *command,const char *value);
        virtual void initialize();
        
        // Timed functions
        void request_timer(double period,int code);
        void remove_timer(int code);
        virtual void run_timer(int code);
        
        // Background thread functions
        void start_background_task(void *data,int code);
        virtual void run_background_task(void *data,int code);
        virtual void handle_intermediate_data(void *data,int code);
        virtual void complete_background_task(void *data,int code);
        
        // Called from a background thread function
        void return_intermediate_data(void *data,int code);
        
        // Event functions
        void request_event_notification(const char *group,const char *event_name,int code);
        void trigger_event(const char *group,const char *event_name);
        virtual void handle_event(int code);
        
        // Data functions
        CD_DATA_REF create_data(const char *group,const char *path,int type,const char *units,const char *description,void *initial_value = NULL);
        // SOMEDAY CD_DATA_REF request_data(const char *group,const char *path,int type) ; // __attribute__((deprecated));
        CD_DATA_REF request_data(const char *group,const char *path,int type,bool required=false,const char *units=NULL,const char *description=NULL);

        void mark_telemetry(CD_DATA_REF data);
        void mark_command(CD_DATA_REF data,const char *human_name = NULL);
        void mark_command_and_telemetry(CD_DATA_REF data,const char *human_name = NULL);
        void mark_telemetry_and_command(CD_DATA_REF data,const char *human_name = NULL);
        void add_attribute(CD_DATA_REF data,const char *attribute,const char *value);
        bool value_as_type(CD_DATA_REF data,int type,void *destination);
        void set_value_as_type(CD_DATA_REF data,int type,void *source, const char *msg = NULL);
        void add_setup(const char *command, const char *value);
        void execute_setups(void);

        // Logging
        void plog(const char *format,...);
        void error(const char *file,int line,const char *format,...);
        
        // Timing
        ds_date current_time();
        
        // Manifest
        unsigned int get_variables_count() const { return (unsigned int)_variables.size();}
        bool  variable_at_index(unsigned int idx) const;
        void clear_variables() { _variables.clear(); }

        // Introspection
        virtual void describe_setup();
        void describe_setup_command(const char *command,const char *description);
        void set_x(void *v) { x = v; }
    private:
                cd_control_module (const cd_control_module &r);
                cd_control_module &operator= (const cd_control_module &r);

    private:
        char *_name;
        cd_control_system *_system;
        cd_variables_vector _variables;
        ds_dynamic_array_t _setup_cmds;
        void *x;

        
        // control-system called manipulation functions
        void set_control_system(cd_control_system *system);
        void trigger_timer(int code);
        void note_background_task_finished(void *data,int code);
        void handle_background_task_finished(void *data,int code);
        void handle_background_task_data(void *data,int code);
    
    friend class cd_control_system;
    friend void *cd_background_task_thread(void *data_struct);
};

#endif