application.h

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#pragma once
#include <stdint.h>
#include "modules/timebase.h"
#include "modules/protocol.h"
#include "logic/error_codes.h"
 
namespace logic {
class CommandBase;
}
 
class Application {
public:
    Application();
 
    inline void CommandFinishedCorrectly() {
        lastCommandProcessedMs = mt::timebase.Millis();
    }
 
    void Panic(ErrorCode ec);
 
    void Step();
 
    uint8_t CurrentProgressCode();
    uint16_t CurrentErrorCode();
 
    enum class ResetTypes : uint8_t {
        Software = 0,
        EEPROMAndSoftware = 42,
    };
 
    void ProcessReset(ResetTypes resetType);
 
#ifndef UNITTEST
private:
#endif
    void CheckManualOperation();
 
    bool CheckMsgs();
 
    void PlanCommand(const mp::RequestMsg &rq);
 
    mp::ResponseCommandStatus RunningCommandStatus() const;
    void ReportCommandAccepted(const mp::RequestMsg &rq, mp::ResponseMsgParamCodes status);
    void ReportFINDA(const mp::RequestMsg &rq);
    void ReportRunningCommand();
    void ReportReadRegister(const mp::RequestMsg &rq);
    void ReportWriteRegister(const mp::RequestMsg &rq);
    void ProcessRequestMsg(const mp::RequestMsg &rq);
 
    uint16_t lastCommandProcessedMs;
 
    logic::CommandBase *currentCommand;
 
    mp::RequestMsg currentCommandRq;
};
 
extern Application application;