fsfw/ipc/CommandMessage.h

#ifndef FRAMEWORK_IPC_COMMANDMESSAGE_H_
#define FRAMEWORK_IPC_COMMANDMESSAGE_H_

#include <framework/ipc/CommandMessageIF.h>
#include <framework/ipc/MessageQueueMessage.h>
#include <framework/ipc/FwMessageTypes.h>

/**
 * @brief 	Default command message used to pass command messages between tasks.
 * 			Primary message type for IPC. Contains sender, 2-byte command ID
 * 			field, and 2 4-byte parameters.
 * @details
 * It operates on an external memory which is contained inside a
 * class implementing MessageQueueMessageIF by taking its address.
 * This allows for a more flexible designs of message implementations.
 * The pointer can be passed to different message implementations without
 * the need of unnecessary copying.
 *
 * The command message is based of the generic MessageQueueMessage which
 * currently has an internal message size of 28 bytes.
 * @author	Bastian Baetz
 */
class CommandMessage: public MessageQueueMessage, public CommandMessageIF {
public:
    /**
     * Default size can accomodate 2 4-byte parameters.
     */
    static constexpr size_t DEFAULT_COMMAND_MESSAGE_SIZE =
            CommandMessageIF::MINIMUM_COMMAND_MESSAGE_SIZE + sizeof(uint32_t);

	/**
	 * @brief   Default Constructor, does not initialize anything.
	 * @details
	 * This constructor should be used when receiving a Message, as the
	 * content is filled by the MessageQueue.
	 */
	CommandMessage();
	/**
	 * This constructor creates a new message with all message content
	 * initialized
	 *
	 * @param command	The DeviceHandlerCommand_t that will be sent
	 * @param parameter1	The first parameter
	 * @param parameter2	The second parameter
	 */
	CommandMessage(Command_t command, uint32_t parameter1, uint32_t parameter2);

	/**
	 * @brief 	Default Destructor
	 */
	virtual ~CommandMessage() {}

    /**
     * Read the DeviceHandlerCommand_t that is stored in the message,
     * usually used after receiving.
     *
     * @return the Command stored in the Message
     */
    virtual Command_t getCommand() const override;
    /**
     * Set the command type of the message. Default implementation also
     * sets the message type, which will be the first byte of the command ID.
     * @param the Command to be sent
     */
    virtual void setCommand(Command_t command);

    virtual uint8_t* getData() override;
    virtual const uint8_t* getData() const override;

	/**
	 * Get the first parameter of the message
	 * @return the first Parameter of the message
	 */
	uint32_t getParameter() const;
	/**
	 * Set the first parameter of the message
	 * @param the first parameter of the message
	 */
	void setParameter(uint32_t parameter1);
	uint32_t getParameter2() const;
	void setParameter2(uint32_t parameter2);
	uint32_t getParameter3() const;
	void setParameter3(uint32_t parameter3);

	/**
	 * check if a message was cleared
	 *
	 * @return if the command is CMD_NONE
	 */
	bool isClearedCommandMessage();

	/**
	 * Sets the command to REPLY_REJECTED with parameter UNKNOWN_COMMAND.
	 * Is needed quite often, so we better code it once only.
	 */
	void setToUnknownCommand() override;

    /**
     * A command message can be rejected and needs to offer a function
     * to set a rejected reply
     * @param reason
     * @param initialCommand
     */
    void setReplyRejected(ReturnValue_t reason,
            Command_t initialCommand) override;
    /**
     * Corrensonding getter function.
     * @param initialCommand
     * @return
     */
    ReturnValue_t getReplyRejectedReason(
            Command_t* initialCommand = nullptr) const override;

    virtual void clear() override;

    /**
     * Extract message ID, which is the first byte of the command ID for the
     * default implementation.
     * @return
     */
    virtual uint8_t getMessageType() const override;

    /** MessageQueueMessageIF functions used for minimum size check. */
    size_t getMinimumMessageSize() const override;
};

#endif /* COMMANDMESSAGE_H_ */