fsfw/action/ActionHelper.cpp

#include "ActionHelper.h"
#include "HasActionsIF.h"

#include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../serviceinterface/ServiceInterface.h"

ActionHelper::ActionHelper(HasActionsIF* setOwner,
        MessageQueueIF* useThisQueue) :
        owner(setOwner), queueToUse(useThisQueue) {
}

ActionHelper::~ActionHelper() {
}

ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
    if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
        ActionId_t currentAction = ActionMessage::getActionId(command);
        prepareExecution(command->getSender(), currentAction,
                ActionMessage::getStoreId(command));
        return HasReturnvaluesIF::RETURN_OK;
    } else {
        return CommandMessage::UNKNOWN_COMMAND;
    }
}

ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
    ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
    if (ipcStore == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    if(queueToUse_ != nullptr) {
        setQueueToUse(queueToUse_);
    }

    return HasReturnvaluesIF::RETURN_OK;
}

void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
        ActionId_t commandId, ReturnValue_t result) {
    CommandMessage reply;
    ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
    queueToUse->sendMessage(reportTo, &reply);
}

void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t commandId,
        ReturnValue_t result) {
    CommandMessage reply;
    ActionMessage::setCompletionReply(&reply, commandId, success, result);
    queueToUse->sendMessage(reportTo, &reply);
}

void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
    queueToUse = queue;
}

void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
        ActionId_t actionId, store_address_t dataAddress) {
    const uint8_t* dataPtr = NULL;
    size_t size = 0;
    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        CommandMessage reply;
        ActionMessage::setStepReply(&reply, actionId, 0, result);
        queueToUse->sendMessage(commandedBy, &reply);
        return;
    }
    result = owner->executeAction(actionId, commandedBy, dataPtr, size);
    ipcStore->deleteData(dataAddress);
    if(result == HasActionsIF::EXECUTION_FINISHED) {
        CommandMessage reply;
        ActionMessage::setCompletionReply(&reply, actionId, true, result);
        queueToUse->sendMessage(commandedBy, &reply);
    }
    if (result != HasReturnvaluesIF::RETURN_OK) {
        CommandMessage reply;
        ActionMessage::setStepReply(&reply, actionId, 0, result);
        queueToUse->sendMessage(commandedBy, &reply);
        return;
    }
}

ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
        ActionId_t replyId, SerializeIF* data, bool hideSender) {
    CommandMessage reply;
    store_address_t storeAddress;
    uint8_t *dataPtr;
    size_t maxSize = data->getSerializedSize();
    if (maxSize == 0) {
        /* No error, there's simply nothing to report. */
        return HasReturnvaluesIF::RETURN_OK;
    }
    size_t size = 0;
    ReturnValue_t result = ipcStore->getFreeElement(&storeAddress, maxSize,
            &dataPtr);
    if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "ActionHelper::reportData: Getting free element from IPC store failed!" <<
                std::endl;
#else
        sif::printWarning("ActionHelper::reportData: Getting free element from IPC "
                "store failed!\n");
#endif
        return result;
    }
    result = data->serialize(&dataPtr, &size, maxSize,
            SerializeIF::Endianness::BIG);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        ipcStore->deleteData(storeAddress);
        return result;
    }

    /* We don't need to report the objectId, as we receive REQUESTED data before the completion
    success message. True aperiodic replies need to be reported with another dedicated message. */
    ActionMessage::setDataReply(&reply, replyId, storeAddress);

    /* If the sender needs to be hidden, for example to handle packet
    as unrequested reply, this will be done here. */
    if (hideSender) {
        result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
    }
    else {
        result = queueToUse->sendMessage(reportTo, &reply);
    }

    if (result != HasReturnvaluesIF::RETURN_OK){
        ipcStore->deleteData(storeAddress);
    }
    return result;
}

void ActionHelper::resetHelper() {
}

ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
        ActionId_t replyId, const uint8_t *data, size_t dataSize,
        bool hideSender) {
    CommandMessage reply;
    store_address_t storeAddress;
    ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
    if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "ActionHelper::reportData: Adding data to IPC store failed!" << std::endl;
#else
        sif::printWarning("ActionHelper::reportData: Adding data to IPC store failed!\n");
#endif
        return result;
    }

    /* We don't need to report the objectId, as we receive REQUESTED data before the completion
    success message. True aperiodic replies need to be reported with another dedicated message. */
    ActionMessage::setDataReply(&reply, replyId, storeAddress);

    /* If the sender needs to be hidden, for example to handle packet
    as unrequested reply, this will be done here. */
    if (hideSender) {
        result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
    }
    else {
        result = queueToUse->sendMessage(reportTo, &reply);
    }

    if (result != HasReturnvaluesIF::RETURN_OK) {
        ipcStore->deleteData(storeAddress);
    }
    return result;
}