Subsystem.h

//
// Created by Tom Danvers on 13/12/2022.
//
 
#ifndef MRAS_SUBSYSTEM_H
#define MRAS_SUBSYSTEM_H
 
#include <cstdint>
#include "SystemMessage.h"
 
// macro to define empty message handler for subsystems that don't want to receive messages
#define SUBSYSTEM_NO_MESSAGE_HANDLER void on_message(SystemMessage *msg) override {};
 
#define SUBSYSTEM_NAME(name) const char* get_name() override { return name; }
 
 
class Subsystem {
public:
    virtual const char *get_name() = 0;
 
    /*
     * Children of subsystem should override this function and use it for running one-time setup code, analogous to
     * the Arduino setup() function
     *
     * The function should return a status code, with 0 indicating success and any other value representing an error
     */
    virtual int8_t setup() = 0;
 
    /*
     * Children of subsystem should override this function and use it for running their main loop, analogous to
     * the Arduino loop() function
     *
     * The function should return a status code, with 0 indicating success and any other value representing an error
     */
    virtual int8_t loop() = 0;
 
    uint8_t get_id() const;
 
    int8_t get_status() const;
 
    int8_t self_test() const;
 
    bool add_subscriber(Subsystem *subscriber);
 
    explicit Subsystem(uint8_t id) : id(id) {};
 
private:
    uint8_t id;
    Subsystem *subscribers[255] = {};
    int16_t subscriber_count = 0;
protected:
    int8_t status = 0;
    int8_t self_test_result = -1;
 
    void log(const char fmt[], ...);
 
    virtual void on_message(SystemMessage *msg) = 0;
 
    void publish(SystemMessage *msg);
 
    static void buzzer(uint16_t frequency, uint32_t duration, bool block = false);
 
};
 
 
#endif //MRAS_SUBSYSTEM_H