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taken over action folder

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Robin Müller 2021-02-08 14:22:34 +01:00
parent 86d0d5c4ee
commit 16763202c1
10 changed files with 480 additions and 469 deletions
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214
action/ActionHelper.cpp
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@ -3,151 +3,119 @@
#include "../ipc/MessageQueueSenderIF.h" #include "../ipc/MessageQueueSenderIF.h"
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
#include "../serviceinterface/ServiceInterface.h"
ActionHelper::ActionHelper(HasActionsIF* setOwner, ActionHelper::ActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) : MessageQueueIF* useThisQueue) :
owner(setOwner), queueToUse(useThisQueue) { owner(setOwner), queueToUse(useThisQueue) {
} }
ActionHelper::~ActionHelper() { ActionHelper::~ActionHelper() {
} }
ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) { ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
if (command->getCommand() == ActionMessage::EXECUTE_ACTION) { if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
ActionId_t currentAction = ActionMessage::getActionId(command); ActionId_t currentAction = ActionMessage::getActionId(command);
prepareExecution(command->getSender(), currentAction, prepareExecution(command->getSender(), currentAction,
ActionMessage::getStoreId(command)); ActionMessage::getStoreId(command));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {
return CommandMessage::UNKNOWN_COMMAND; return CommandMessage::UNKNOWN_COMMAND;
} }
} }
ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) { ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE); ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == nullptr) { if (ipcStore == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
if(queueToUse_ != nullptr) { if(queueToUse_ != nullptr) {
setQueueToUse(queueToUse_); setQueueToUse(queueToUse_);
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ReturnValue_t result) { ActionId_t commandId, ReturnValue_t result) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result); ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
queueToUse->sendMessage(reportTo, &reply); queueToUse->sendMessage(reportTo, &reply);
} }
void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result) { ReturnValue_t result) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setCompletionReply(&reply, commandId, result); ActionMessage::setCompletionReply(&reply, commandId, result);
queueToUse->sendMessage(reportTo, &reply); queueToUse->sendMessage(reportTo, &reply);
} }
void ActionHelper::setQueueToUse(MessageQueueIF* queue) { void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
queueToUse = queue; queueToUse = queue;
} }
void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) { ActionId_t actionId, store_address_t dataAddress) {
const uint8_t* dataPtr = NULL; const uint8_t* dataPtr = NULL;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
return; return;
} }
result = owner->executeAction(actionId, commandedBy, dataPtr, size); result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress); ipcStore->deleteData(dataAddress);
if(result == HasActionsIF::EXECUTION_FINISHED) { if(result == HasActionsIF::EXECUTION_FINISHED) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setCompletionReply(&reply, actionId, result); ActionMessage::setCompletionReply(&reply, actionId, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
} }
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
CommandMessage reply; CommandMessage reply;
ActionMessage::setStepReply(&reply, actionId, 0, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
return; return;
} }
} }
ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
ActionId_t replyId, SerializeIF* data, bool hideSender) { 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) {
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; CommandMessage reply;
store_address_t storeAddress; store_address_t storeAddress;
ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize); 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 (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; return result;
} }
result = data->serialize(&dataPtr, &size, maxSize,
SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeAddress); ipcStore->deleteData(storeAddress);
return result; return result;
} }
// We don't need to report the objectId, as we receive REQUESTED data /* We don't need to report the objectId, as we receive REQUESTED data before the completion
// before the completion success message. success message. True aperiodic replies need to be reported with another dedicated message. */
// True aperiodic replies need to be reported with
// another dedicated message.
ActionMessage::setDataReply(&reply, replyId, storeAddress); ActionMessage::setDataReply(&reply, replyId, storeAddress);
// If the sender needs to be hidden, for example to handle packet /* If the sender needs to be hidden, for example to handle packet
// as unrequested reply, this will be done here. as unrequested reply, this will be done here. */
if (hideSender) { if (hideSender) {
result = MessageQueueSenderIF::sendMessage(reportTo, &reply); result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
} }
@ -160,3 +128,45 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
} }
return result; 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;
}
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;
}

177
action/ActionHelper.h
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@ -18,68 +18,68 @@ class HasActionsIF;
class ActionHelper { class ActionHelper {
public: public:
/** /**
* Constructor of the action helper * Constructor of the action helper
* @param setOwner Pointer to the owner of the interface * @param setOwner Pointer to the owner of the interface
* @param useThisQueue messageQueue to be used, can be set during * @param useThisQueue messageQueue to be used, can be set during
* initialize function as well. * initialize function as well.
*/ */
ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~ActionHelper(); virtual ~ActionHelper();
/** /**
* Function to be called from the owner with a new command message * Function to be called from the owner with a new command message
* *
* If the message is a valid action message the helper will use the * If the message is a valid action message the helper will use the
* executeAction function from HasActionsIF. * executeAction function from HasActionsIF.
* If the message is invalid or the callback fails a message reply will be * If the message is invalid or the callback fails a message reply will be
* send to the sender of the message automatically. * send to the sender of the message automatically.
* *
* @param command Pointer to a command message received by the owner * @param command Pointer to a command message received by the owner
* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
* CommandMessage::UNKNOW_COMMAND if this message ID is unkown * CommandMessage::UNKNOW_COMMAND if this message ID is unkown
*/ */
ReturnValue_t handleActionMessage(CommandMessage* command); ReturnValue_t handleActionMessage(CommandMessage* command);
/** /**
* Helper initialize function. Must be called before use of any other * Helper initialize function. Must be called before use of any other
* helper function * helper function
* @param queueToUse_ Pointer to the messageQueue to be used, optional * @param queueToUse_ Pointer to the messageQueue to be used, optional
* if queue was set in constructor * if queue was set in constructor
* @return Returns RETURN_OK if successful * @return Returns RETURN_OK if successful
*/ */
ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr); ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
/** /**
* Function to be called from the owner to send a step message. * Function to be called from the owner to send a step message.
* Success or failure will be determined by the result value. * Success or failure will be determined by the result value.
* *
* @param step Number of steps already done * @param step Number of steps already done
* @param reportTo The messageQueueId to report the step message to * @param reportTo The messageQueueId to report the step message to
* @param commandId ID of the executed command * @param commandId ID of the executed command
* @param result Result of the execution * @param result Result of the execution
*/ */
void step(uint8_t step, MessageQueueId_t reportTo, void step(uint8_t step, MessageQueueId_t reportTo,
ActionId_t commandId, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/** /**
* Function to be called by the owner to send a action completion message * Function to be called by the owner to send a action completion message
* *
* @param reportTo MessageQueueId_t to report the action completion message to * @param reportTo MessageQueueId_t to report the action completion message to
* @param commandId ID of the executed command * @param commandId ID of the executed command
* @param result Result of the execution * @param result Result of the execution
*/ */
void finish(MessageQueueId_t reportTo, ActionId_t commandId, void finish(MessageQueueId_t reportTo, ActionId_t commandId,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
/** /**
* Function to be called by the owner if an action does report data. * Function to be called by the owner if an action does report data.
* Takes a SerializeIF* pointer and serializes it into the IPC store. * Takes a SerializeIF* pointer and serializes it into the IPC store.
* @param reportTo MessageQueueId_t to report the action completion * @param reportTo MessageQueueId_t to report the action completion
* message to * message to
* @param replyId ID of the executed command * @param replyId ID of the executed command
* @param data Pointer to the data * @param data Pointer to the data
* @return Returns RETURN_OK if successful, otherwise failure code * @return Returns RETURN_OK if successful, otherwise failure code
*/ */
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
SerializeIF* data, bool hideSender = false); SerializeIF* data, bool hideSender = false);
/** /**
* Function to be called by the owner if an action does report data. * Function to be called by the owner if an action does report data.
* Takes the raw data and writes it into the IPC store. * Takes the raw data and writes it into the IPC store.
@ -91,35 +91,36 @@ public:
*/ */
ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
const uint8_t* data, size_t dataSize, bool hideSender = false); const uint8_t* data, size_t dataSize, bool hideSender = false);
/** /**
* Function to setup the MessageQueueIF* of the helper. Can be used to * Function to setup the MessageQueueIF* of the helper. Can be used to
* set the MessageQueueIF* if message queue is unavailable at construction * set the MessageQueueIF* if message queue is unavailable at construction
* and initialize but must be setup before first call of other functions. * and initialize but must be setup before first call of other functions.
* @param queue Queue to be used by the helper * @param queue Queue to be used by the helper
*/ */
void setQueueToUse(MessageQueueIF *queue); void setQueueToUse(MessageQueueIF *queue);
protected: protected:
//!< Increase of value of this per step //! Increase of value of this per step
static const uint8_t STEP_OFFSET = 1; static const uint8_t STEP_OFFSET = 1;
HasActionsIF* owner;//!< Pointer to the owner //! Pointer to the owner
//! Queue to be used as response sender, has to be set in ctor or with HasActionsIF* owner;
//! setQueueToUse //! Queue to be used as response sender, has to be set in ctor or with
MessageQueueIF* queueToUse; //! setQueueToUse
//! Pointer to an IPC Store, initialized during construction or MessageQueueIF* queueToUse;
StorageManagerIF* ipcStore = nullptr; //! Pointer to an IPC Store, initialized during construction or
StorageManagerIF* ipcStore = nullptr;
/** /**
* Internal function called by handleActionMessage * Internal function called by handleActionMessage
* @param commandedBy MessageQueueID of Commander * @param commandedBy MessageQueueID of Commander
* @param actionId ID of action to be done * @param actionId ID of action to be done
* @param dataAddress Address of additional data in IPC Store * @param dataAddress Address of additional data in IPC Store
*/ */
virtual void prepareExecution(MessageQueueId_t commandedBy, virtual void prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress); ActionId_t actionId, store_address_t dataAddress);
/** /**
* @brief Default implementation is empty. * @brief Default implementation is empty.
*/ */
virtual void resetHelper(); virtual void resetHelper();
}; };
#endif /* FSFW_ACTION_ACTIONHELPER_H_ */ #endif /* FSFW_ACTION_ACTIONHELPER_H_ */

86
action/ActionMessage.cpp
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@ -11,71 +11,71 @@ ActionMessage::~ActionMessage() {
} }
void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid, void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters) { store_address_t parameters) {
message->setCommand(EXECUTE_ACTION); message->setCommand(EXECUTE_ACTION);
message->setParameter(fid); message->setParameter(fid);
message->setParameter2(parameters.raw); message->setParameter2(parameters.raw);
} }
ActionId_t ActionMessage::getActionId(const CommandMessage* message) { ActionId_t ActionMessage::getActionId(const CommandMessage* message) {
return ActionId_t(message->getParameter()); return ActionId_t(message->getParameter());
} }
store_address_t ActionMessage::getStoreId(const CommandMessage* message) { store_address_t ActionMessage::getStoreId(const CommandMessage* message) {
store_address_t temp; store_address_t temp;
temp.raw = message->getParameter2(); temp.raw = message->getParameter2();
return temp; return temp;
} }
void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step, void ActionMessage::setStepReply(CommandMessage* message, ActionId_t fid, uint8_t step,
ReturnValue_t result) { ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
message->setCommand(STEP_SUCCESS); message->setCommand(STEP_SUCCESS);
} else { } else {
message->setCommand(STEP_FAILED); message->setCommand(STEP_FAILED);
} }
message->setParameter(fid); message->setParameter(fid);
message->setParameter2((step << 16) + result); message->setParameter2((step << 16) + result);
} }
uint8_t ActionMessage::getStep(const CommandMessage* message) { uint8_t ActionMessage::getStep(const CommandMessage* message) {
return uint8_t((message->getParameter2() >> 16) & 0xFF); return uint8_t((message->getParameter2() >> 16) & 0xFF);
} }
ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) { ReturnValue_t ActionMessage::getReturnCode(const CommandMessage* message) {
return message->getParameter2() & 0xFFFF; return message->getParameter2() & 0xFFFF;
} }
void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId, void ActionMessage::setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data) { store_address_t data) {
message->setCommand(DATA_REPLY); message->setCommand(DATA_REPLY);
message->setParameter(actionId); message->setParameter(actionId);
message->setParameter2(data.raw); message->setParameter2(data.raw);
} }
void ActionMessage::setCompletionReply(CommandMessage* message, void ActionMessage::setCompletionReply(CommandMessage* message,
ActionId_t fid, ReturnValue_t result) { ActionId_t fid, ReturnValue_t result) {
if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) { if (result == HasReturnvaluesIF::RETURN_OK or result == HasActionsIF::EXECUTION_FINISHED) {
message->setCommand(COMPLETION_SUCCESS); message->setCommand(COMPLETION_SUCCESS);
} else { } else {
message->setCommand(COMPLETION_FAILED); message->setCommand(COMPLETION_FAILED);
} }
message->setParameter(fid); message->setParameter(fid);
message->setParameter2(result); message->setParameter2(result);
} }
void ActionMessage::clear(CommandMessage* message) { void ActionMessage::clear(CommandMessage* message) {
switch(message->getCommand()) { switch(message->getCommand()) {
case EXECUTE_ACTION: case EXECUTE_ACTION:
case DATA_REPLY: { case DATA_REPLY: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>( StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE); objects::IPC_STORE);
if (ipcStore != NULL) { if (ipcStore != NULL) {
ipcStore->deleteData(getStoreId(message)); ipcStore->deleteData(getStoreId(message));
} }
break; break;
} }
default: default:
break; break;
} }
} }

44
action/ActionMessage.h
View File

@ -15,29 +15,29 @@ using ActionId_t = uint32_t;
*/ */
class ActionMessage { class ActionMessage {
private: private:
ActionMessage(); ActionMessage();
public: public:
static const uint8_t MESSAGE_ID = messagetypes::ACTION; static const uint8_t MESSAGE_ID = messagetypes::ACTION;
static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1); static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2); static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3); static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4); static const Command_t DATA_REPLY = MAKE_COMMAND_ID(4);
static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5); static const Command_t COMPLETION_SUCCESS = MAKE_COMMAND_ID(5);
static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6); static const Command_t COMPLETION_FAILED = MAKE_COMMAND_ID(6);
virtual ~ActionMessage(); virtual ~ActionMessage();
static void setCommand(CommandMessage* message, ActionId_t fid, static void setCommand(CommandMessage* message, ActionId_t fid,
store_address_t parameters); store_address_t parameters);
static ActionId_t getActionId(const CommandMessage* message ); static ActionId_t getActionId(const CommandMessage* message );
static store_address_t getStoreId(const CommandMessage* message ); static store_address_t getStoreId(const CommandMessage* message );
static void setStepReply(CommandMessage* message, ActionId_t fid, static void setStepReply(CommandMessage* message, ActionId_t fid,
uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); uint8_t step, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static uint8_t getStep(const CommandMessage* message ); static uint8_t getStep(const CommandMessage* message );
static ReturnValue_t getReturnCode(const CommandMessage* message ); static ReturnValue_t getReturnCode(const CommandMessage* message );
static void setDataReply(CommandMessage* message, ActionId_t actionId, static void setDataReply(CommandMessage* message, ActionId_t actionId,
store_address_t data); store_address_t data);
static void setCompletionReply(CommandMessage* message, ActionId_t fid, static void setCompletionReply(CommandMessage* message, ActionId_t fid,
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
static void clear(CommandMessage* message); static void clear(CommandMessage* message);
}; };
#endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */ #endif /* FSFW_ACTION_ACTIONMESSAGE_H_ */

188
action/CommandActionHelper.cpp
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@ -5,123 +5,123 @@
#include "../objectmanager/ObjectManagerIF.h" #include "../objectmanager/ObjectManagerIF.h"
CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) : CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
owner(setOwner), queueToUse(NULL), ipcStore( owner(setOwner), queueToUse(NULL), ipcStore(
NULL), commandCount(0), lastTarget(0) { NULL), commandCount(0), lastTarget(0) {
} }
CommandActionHelper::~CommandActionHelper() { CommandActionHelper::~CommandActionHelper() {
} }
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, SerializeIF *data) { ActionId_t actionId, SerializeIF *data) {
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo); HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
if (receiver == NULL) { if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
} }
store_address_t storeId; store_address_t storeId;
uint8_t *storePointer; uint8_t *storePointer;
size_t maxSize = data->getSerializedSize(); size_t maxSize = data->getSerializedSize();
ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
&storePointer); &storePointer);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
size_t size = 0; size_t size = 0;
result = data->serialize(&storePointer, &size, maxSize, result = data->serialize(&storePointer, &size, maxSize,
SerializeIF::Endianness::BIG); SerializeIF::Endianness::BIG);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
return sendCommand(receiver->getCommandQueue(), actionId, storeId); return sendCommand(receiver->getCommandQueue(), actionId, storeId);
} }
ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
ActionId_t actionId, const uint8_t *data, uint32_t size) { ActionId_t actionId, const uint8_t *data, uint32_t size) {
// if (commandCount != 0) { // if (commandCount != 0) {
// return CommandsFunctionsIF::ALREADY_COMMANDING; // return CommandsFunctionsIF::ALREADY_COMMANDING;
// } // }
HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo); HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
if (receiver == NULL) { if (receiver == NULL) {
return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS; return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
} }
store_address_t storeId; store_address_t storeId;
ReturnValue_t result = ipcStore->addData(&storeId, data, size); ReturnValue_t result = ipcStore->addData(&storeId, data, size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return result; return result;
} }
return sendCommand(receiver->getCommandQueue(), actionId, storeId); return sendCommand(receiver->getCommandQueue(), actionId, storeId);
} }
ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
ActionId_t actionId, store_address_t storeId) { ActionId_t actionId, store_address_t storeId) {
CommandMessage command; CommandMessage command;
ActionMessage::setCommand(&command, actionId, storeId); ActionMessage::setCommand(&command, actionId, storeId);
ReturnValue_t result = queueToUse->sendMessage(queueId, &command); ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
ipcStore->deleteData(storeId); ipcStore->deleteData(storeId);
} }
lastTarget = queueId; lastTarget = queueId;
commandCount++; commandCount++;
return result; return result;
} }
ReturnValue_t CommandActionHelper::initialize() { ReturnValue_t CommandActionHelper::initialize() {
ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE); ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (ipcStore == NULL) { if (ipcStore == NULL) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
queueToUse = owner->getCommandQueuePtr(); queueToUse = owner->getCommandQueuePtr();
if (queueToUse == NULL) { if (queueToUse == NULL) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) { ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
if (reply->getSender() != lastTarget) { if (reply->getSender() != lastTarget) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
switch (reply->getCommand()) { switch (reply->getCommand()) {
case ActionMessage::COMPLETION_SUCCESS: case ActionMessage::COMPLETION_SUCCESS:
commandCount--; commandCount--;
owner->completionSuccessfulReceived(ActionMessage::getActionId(reply)); owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::COMPLETION_FAILED: case ActionMessage::COMPLETION_FAILED:
commandCount--; commandCount--;
owner->completionFailedReceived(ActionMessage::getActionId(reply), owner->completionFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getReturnCode(reply)); ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_SUCCESS: case ActionMessage::STEP_SUCCESS:
owner->stepSuccessfulReceived(ActionMessage::getActionId(reply), owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply)); ActionMessage::getStep(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::STEP_FAILED: case ActionMessage::STEP_FAILED:
commandCount--; commandCount--;
owner->stepFailedReceived(ActionMessage::getActionId(reply), owner->stepFailedReceived(ActionMessage::getActionId(reply),
ActionMessage::getStep(reply), ActionMessage::getStep(reply),
ActionMessage::getReturnCode(reply)); ActionMessage::getReturnCode(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
case ActionMessage::DATA_REPLY: case ActionMessage::DATA_REPLY:
extractDataForOwner(ActionMessage::getActionId(reply), extractDataForOwner(ActionMessage::getActionId(reply),
ActionMessage::getStoreId(reply)); ActionMessage::getStoreId(reply));
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
default: default:
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
} }
} }
uint8_t CommandActionHelper::getCommandCount() const { uint8_t CommandActionHelper::getCommandCount() const {
return commandCount; return commandCount;
} }
void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) { void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
const uint8_t * data = NULL; const uint8_t * data = NULL;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(storeId, &data, &size); ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
return; return;
} }
owner->dataReceived(actionId, data, size); owner->dataReceived(actionId, data, size);
ipcStore->deleteData(storeId); ipcStore->deleteData(storeId);
} }

36
action/CommandActionHelper.h
View File

@ -11,26 +11,26 @@
class CommandsActionsIF; class CommandsActionsIF;
class CommandActionHelper { class CommandActionHelper {
friend class CommandsActionsIF; friend class CommandsActionsIF;
public: public:
CommandActionHelper(CommandsActionsIF* owner); CommandActionHelper(CommandsActionsIF* owner);
virtual ~CommandActionHelper(); virtual ~CommandActionHelper();
ReturnValue_t commandAction(object_id_t commandTo, ReturnValue_t commandAction(object_id_t commandTo,
ActionId_t actionId, const uint8_t* data, uint32_t size); ActionId_t actionId, const uint8_t* data, uint32_t size);
ReturnValue_t commandAction(object_id_t commandTo, ReturnValue_t commandAction(object_id_t commandTo,
ActionId_t actionId, SerializeIF* data); ActionId_t actionId, SerializeIF* data);
ReturnValue_t initialize(); ReturnValue_t initialize();
ReturnValue_t handleReply(CommandMessage* reply); ReturnValue_t handleReply(CommandMessage* reply);
uint8_t getCommandCount() const; uint8_t getCommandCount() const;
private: private:
CommandsActionsIF* owner; CommandsActionsIF* owner;
MessageQueueIF* queueToUse; MessageQueueIF* queueToUse;
StorageManagerIF* ipcStore; StorageManagerIF* ipcStore;
uint8_t commandCount; uint8_t commandCount;
MessageQueueId_t lastTarget; MessageQueueId_t lastTarget;
void extractDataForOwner(ActionId_t actionId, store_address_t storeId); void extractDataForOwner(ActionId_t actionId, store_address_t storeId);
ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId, ReturnValue_t sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
store_address_t storeId); store_address_t storeId);
}; };
#endif /* COMMANDACTIONHELPER_H_ */ #endif /* COMMANDACTIONHELPER_H_ */

28
action/CommandsActionsIF.h
View File

@ -15,22 +15,22 @@
* - replyReceived(id, step, cause) (if cause == OK, it's a success). * - replyReceived(id, step, cause) (if cause == OK, it's a success).
*/ */
class CommandsActionsIF { class CommandsActionsIF {
friend class CommandActionHelper; friend class CommandActionHelper;
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF; static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1); static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2); static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
virtual ~CommandsActionsIF() {} virtual ~CommandsActionsIF() {}
virtual MessageQueueIF* getCommandQueuePtr() = 0; virtual MessageQueueIF* getCommandQueuePtr() = 0;
protected: protected:
virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0; virtual void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) = 0;
virtual void stepFailedReceived(ActionId_t actionId, uint8_t step, virtual void stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) = 0; ReturnValue_t returnCode) = 0;
virtual void dataReceived(ActionId_t actionId, const uint8_t* data, virtual void dataReceived(ActionId_t actionId, const uint8_t* data,
uint32_t size) = 0; uint32_t size) = 0;
virtual void completionSuccessfulReceived(ActionId_t actionId) = 0; virtual void completionSuccessfulReceived(ActionId_t actionId) = 0;
virtual void completionFailedReceived(ActionId_t actionId, virtual void completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) = 0; ReturnValue_t returnCode) = 0;
}; };

44
action/HasActionsIF.h
View File

@ -35,28 +35,28 @@
*/ */
class HasActionsIF { class HasActionsIF {
public: public:
static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF; static const uint8_t INTERFACE_ID = CLASS_ID::HAS_ACTIONS_IF;
static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1); static const ReturnValue_t IS_BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2); static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3); static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4); static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
virtual ~HasActionsIF() { } virtual ~HasActionsIF() { }
/** /**
* Function to get the MessageQueueId_t of the implementing object * Function to get the MessageQueueId_t of the implementing object
* @return MessageQueueId_t of the object * @return MessageQueueId_t of the object
*/ */
virtual MessageQueueId_t getCommandQueue() const = 0; virtual MessageQueueId_t getCommandQueue() const = 0;
/** /**
* Execute or initialize the execution of a certain function. * Execute or initialize the execution of a certain function.
* The ActionHelpers will execute this function and behave differently * The ActionHelpers will execute this function and behave differently
* depending on the returnvalue. * depending on the returnvalue.
* *
* @return * @return
* -@c EXECUTION_FINISHED Finish reply will be generated * -@c EXECUTION_FINISHED Finish reply will be generated
* -@c Not RETURN_OK Step failure reply will be generated * -@c Not RETURN_OK Step failure reply will be generated
*/ */
virtual ReturnValue_t executeAction(ActionId_t actionId, virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0; MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
}; };

102
action/SimpleActionHelper.cpp
View File

@ -2,74 +2,74 @@
#include "SimpleActionHelper.h" #include "SimpleActionHelper.h"
SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
MessageQueueIF* useThisQueue) : MessageQueueIF* useThisQueue) :
ActionHelper(setOwner, useThisQueue), isExecuting(false) { ActionHelper(setOwner, useThisQueue), isExecuting(false) {
} }
SimpleActionHelper::~SimpleActionHelper() { SimpleActionHelper::~SimpleActionHelper() {
} }
void SimpleActionHelper::step(ReturnValue_t result) { void SimpleActionHelper::step(ReturnValue_t result) {
// STEP_OFFESET is subtracted to compensate for adding offset in base // STEP_OFFESET is subtracted to compensate for adding offset in base
// method, which is not necessary here. // method, which is not necessary here.
ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
result); result);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
resetHelper(); resetHelper();
} }
} }
void SimpleActionHelper::finish(ReturnValue_t result) { void SimpleActionHelper::finish(ReturnValue_t result) {
ActionHelper::finish(lastCommander, lastAction, result); ActionHelper::finish(lastCommander, lastAction, result);
resetHelper(); resetHelper();
} }
ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) { ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
return ActionHelper::reportData(lastCommander, lastAction, data); return ActionHelper::reportData(lastCommander, lastAction, data);
} }
void SimpleActionHelper::resetHelper() { void SimpleActionHelper::resetHelper() {
stepCount = 0; stepCount = 0;
isExecuting = false; isExecuting = false;
lastAction = 0; lastAction = 0;
lastCommander = 0; lastCommander = 0;
} }
void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy,
ActionId_t actionId, store_address_t dataAddress) { ActionId_t actionId, store_address_t dataAddress) {
CommandMessage reply; CommandMessage reply;
if (isExecuting) { if (isExecuting) {
ipcStore->deleteData(dataAddress); ipcStore->deleteData(dataAddress);
ActionMessage::setStepReply(&reply, actionId, 0, ActionMessage::setStepReply(&reply, actionId, 0,
HasActionsIF::IS_BUSY); HasActionsIF::IS_BUSY);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
} }
const uint8_t* dataPtr = NULL; const uint8_t* dataPtr = NULL;
size_t size = 0; size_t size = 0;
ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size); ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
if (result != HasReturnvaluesIF::RETURN_OK) { if (result != HasReturnvaluesIF::RETURN_OK) {
ActionMessage::setStepReply(&reply, actionId, 0, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
return; return;
} }
lastCommander = commandedBy; lastCommander = commandedBy;
lastAction = actionId; lastAction = actionId;
result = owner->executeAction(actionId, commandedBy, dataPtr, size); result = owner->executeAction(actionId, commandedBy, dataPtr, size);
ipcStore->deleteData(dataAddress); ipcStore->deleteData(dataAddress);
switch (result) { switch (result) {
case HasReturnvaluesIF::RETURN_OK: case HasReturnvaluesIF::RETURN_OK:
isExecuting = true; isExecuting = true;
stepCount++; stepCount++;
break; break;
case HasActionsIF::EXECUTION_FINISHED: case HasActionsIF::EXECUTION_FINISHED:
ActionMessage::setCompletionReply(&reply, actionId, ActionMessage::setCompletionReply(&reply, actionId,
HasReturnvaluesIF::RETURN_OK); HasReturnvaluesIF::RETURN_OK);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
break; break;
default: default:
ActionMessage::setStepReply(&reply, actionId, 0, result); ActionMessage::setStepReply(&reply, actionId, 0, result);
queueToUse->sendMessage(commandedBy, &reply); queueToUse->sendMessage(commandedBy, &reply);
break; break;
} }
} }

30
action/SimpleActionHelper.h
View File

@ -4,27 +4,27 @@
#include "ActionHelper.h" #include "ActionHelper.h"
/** /**
* @brief This is an action helper which is only able to service one action * @brief This is an action helper which is only able to service one action
* at a time but remembers last commander and last action which * at a time but remembers last commander and last action which
* simplifies usage * simplifies usage
*/ */
class SimpleActionHelper: public ActionHelper { class SimpleActionHelper: public ActionHelper {
public: public:
SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue); SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
virtual ~SimpleActionHelper(); virtual ~SimpleActionHelper();
void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK); void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
ReturnValue_t reportData(SerializeIF* data); ReturnValue_t reportData(SerializeIF* data);
protected: protected:
void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
store_address_t dataAddress); store_address_t dataAddress);
virtual void resetHelper(); virtual void resetHelper();
private: private:
bool isExecuting; bool isExecuting;
MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE; MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
ActionId_t lastAction = 0; ActionId_t lastAction = 0;
uint8_t stepCount = 0; uint8_t stepCount = 0;
}; };
#endif /* SIMPLEACTIONHELPER_H_ */ #endif /* SIMPLEACTIONHELPER_H_ */