starting convergence

memory/AcceptsMemoryMessagesIF.h

@@ -1,12 +1,5 @@
-/**
+#ifndef FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_
- * @file	AcceptsMemoryMessagesIF.h
+#define FSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_
- * @brief	This file defines the AcceptsMemoryMessagesIF class.
- * @date	11.07.2013
- * @author	baetz
- */
-
-#ifndef ACCEPTSMEMORYMESSAGESIF_H_
-#define ACCEPTSMEMORYMESSAGESIF_H_
 
 #include "HasMemoryIF.h"
 #include "MemoryMessage.h"
@@ -18,4 +11,4 @@ public:
 };
 
 
-#endif /* ACCEPTSMEMORYMESSAGESIF_H_ */
+#endif /* AFSFW_MEMORY_ACCEPTSMEMORYMESSAGESIF_H_ */

memory/MemoryHelper.cpp

@@ -1,14 +1,15 @@
-#include "../globalfunctions/CRC.h"
 #include "MemoryHelper.h"
 #include "MemoryMessage.h"
+
+#include "../globalfunctions/CRC.h"
 #include "../objectmanager/ObjectManagerIF.h"
 #include "../serialize/EndianConverter.h"
 #include "../serviceinterface/ServiceInterfaceStream.h"
 
-MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue) :
+MemoryHelper::MemoryHelper(HasMemoryIF* workOnThis,
-		workOnThis(workOnThis), queueToUse(useThisQueue), ipcStore(NULL), ipcAddress(), lastCommand(
+		MessageQueueIF* useThisQueue):
-				CommandMessage::CMD_NONE), lastSender(0), reservedSpaceInIPC(
+		workOnThis(workOnThis), queueToUse(useThisQueue), ipcAddress(),
-				NULL), busy(false) {
+		lastCommand(CommandMessage::CMD_NONE), busy(false) {
 }
 
 ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
@@ -33,17 +34,8 @@ ReturnValue_t MemoryHelper::handleMemoryCommand(CommandMessage* message) {
 	}
 }
 
-ReturnValue_t MemoryHelper::initialize() {
-	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
-	if (ipcStore != NULL) {
-		return RETURN_OK;
-	} else {
-		return RETURN_FAILED;
-	}
-}
-
 void MemoryHelper::completeLoad(ReturnValue_t errorCode,
-		const uint8_t* dataToCopy, const uint32_t size, uint8_t* copyHere) {
+		const uint8_t* dataToCopy, const size_t size, uint8_t* copyHere) {
 	busy = false;
 	switch (errorCode) {
 	case HasMemoryIF::DO_IT_MYSELF:
@@ -67,13 +59,13 @@ void MemoryHelper::completeLoad(ReturnValue_t errorCode,
 		return;
 	}
 	//Only reached on success
-	CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, 0);
+	CommandMessage reply( CommandMessage::REPLY_COMMAND_OK, 0, 0);
 	queueToUse->sendMessage(lastSender, &reply);
 	ipcStore->deleteData(ipcAddress);
 }
 
 void MemoryHelper::completeDump(ReturnValue_t errorCode,
-		const uint8_t* dataToCopy, const uint32_t size) {
+		const uint8_t* dataToCopy, const size_t size) {
 	busy = false;
 	CommandMessage reply;
 	MemoryMessage::setMemoryReplyFailed(&reply, errorCode, lastCommand);
@@ -125,12 +117,12 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
 		break;
 	}
 	if (queueToUse->sendMessage(lastSender, &reply) != RETURN_OK) {
-		reply.clearCommandMessage();
+		reply.clear();
 	}
 }
 
 void MemoryHelper::swapMatrixCopy(uint8_t* out, const uint8_t *in,
-		uint32_t totalSize, uint8_t datatypeSize) {
+		size_t totalSize, uint8_t datatypeSize) {
 	if (totalSize % datatypeSize != 0){
 		return;
 	}
@@ -185,11 +177,18 @@ void MemoryHelper::handleMemoryCheckOrDump(CommandMessage* message) {
 }
 
 ReturnValue_t MemoryHelper::initialize(MessageQueueIF* queueToUse_) {
-	if(queueToUse_!=NULL){
+	if(queueToUse_ == nullptr) {
-		this->queueToUse = queueToUse_;
+		return HasReturnvaluesIF::RETURN_FAILED;
-	}else{
-		return MessageQueueIF::NO_QUEUE;
 	}
-
+	this->queueToUse = queueToUse_;
 	return initialize();
 }
+
+ReturnValue_t MemoryHelper::initialize() {
+	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+	if (ipcStore != nullptr) {
+		return RETURN_OK;
+	} else {
+		return RETURN_FAILED;
+	}
+}

memory/MemoryHelper.h

@@ -1,11 +1,16 @@
-#ifndef MEMORYHELPER_H_
+#ifndef FSFW_MEMORY_MEMORYHELPER_H_
-#define MEMORYHELPER_H_
+#define FSFW_MEMORY_MEMORYHELPER_H_
-#include "../ipc/CommandMessage.h"
+
 #include "AcceptsMemoryMessagesIF.h"
+
+#include "../ipc/CommandMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../storagemanager/StorageManagerIF.h"
 #include "../ipc/MessageQueueIF.h"
 
+/**
+ * @brief   TODO: documentation.
+ */
 class MemoryHelper : public HasReturnvaluesIF {
 public:
 	static const uint8_t INTERFACE_ID = CLASS_ID::MEMORY_HELPER;
@@ -13,25 +18,32 @@ public:
 	static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0xE1);
 	static const ReturnValue_t INVALID_SIZE = MAKE_RETURN_CODE(0xE2);
 	static const ReturnValue_t STATE_MISMATCH = MAKE_RETURN_CODE(0xE3);
+
+    MemoryHelper(HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue);
+    ~MemoryHelper();
+
+    ReturnValue_t handleMemoryCommand(CommandMessage* message);
+    void completeLoad(ReturnValue_t errorCode,
+            const uint8_t* dataToCopy = nullptr, const size_t size = 0,
+            uint8_t* copyHere = nullptr);
+    void completeDump(ReturnValue_t errorCode,
+            const uint8_t* dataToCopy = nullptr, const size_t size = 0);
+    void swapMatrixCopy(uint8_t *out, const uint8_t *in, size_t totalSize,
+            uint8_t datatypeSize);
+    ReturnValue_t initialize(MessageQueueIF* queueToUse_);
+
 private:
 	HasMemoryIF* workOnThis;
 	MessageQueueIF* queueToUse;
-	StorageManagerIF* ipcStore;
+	StorageManagerIF* ipcStore = nullptr;
 	store_address_t ipcAddress;
 	Command_t lastCommand;
-	MessageQueueId_t lastSender;
+	MessageQueueId_t lastSender = MessageQueueIF::NO_QUEUE;
-	uint8_t* reservedSpaceInIPC;
+	uint8_t* reservedSpaceInIPC = nullptr;
 	bool busy;
 	void handleMemoryLoad(CommandMessage* message);
 	void handleMemoryCheckOrDump(CommandMessage* message);
 	ReturnValue_t initialize();
-public:
+
-	ReturnValue_t handleMemoryCommand(CommandMessage* message);
-	void completeLoad( ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0, uint8_t* copyHere = NULL );
-	void completeDump(  ReturnValue_t errorCode, const uint8_t* dataToCopy = NULL, const uint32_t size = 0);
-	void swapMatrixCopy( uint8_t *out, const uint8_t *in, uint32_t totalSize, uint8_t datatypeSize);
-	ReturnValue_t initialize(MessageQueueIF* queueToUse_);
-	MemoryHelper( HasMemoryIF* workOnThis, MessageQueueIF* useThisQueue );
-	~MemoryHelper();
 };
-#endif /* MEMORYHELPER_H_ */
+#endif /* FSFW_MEMORY_MEMORYHELPER_H_ */

memory/MemoryMessage.cpp

@@ -1,7 +1,6 @@
 #include "MemoryMessage.h"
+
 #include "../objectmanager/ObjectManagerIF.h"
-MemoryMessage::MemoryMessage() {
-}
 
 uint32_t MemoryMessage::getAddress(const CommandMessage* message) {
 	return message->getParameter();
@@ -17,26 +16,24 @@ uint32_t MemoryMessage::getLength(const CommandMessage* message) {
 	return message->getParameter2();
 }
 
-ReturnValue_t MemoryMessage::setMemoryDumpCommand(CommandMessage* message,
+void MemoryMessage::setMemoryDumpCommand(CommandMessage* message,
 		uint32_t address, uint32_t length) {
 	message->setCommand(CMD_MEMORY_DUMP);
 	message->setParameter( address );
 	message->setParameter2( length );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MemoryMessage::setMemoryDumpReply(CommandMessage* message, store_address_t storageID) {
+void MemoryMessage::setMemoryDumpReply(CommandMessage* message,
+        store_address_t storageID) {
 	message->setCommand(REPLY_MEMORY_DUMP);
 	message->setParameter2( storageID.raw );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t MemoryMessage::setMemoryLoadCommand(CommandMessage* message,
+void MemoryMessage::setMemoryLoadCommand(CommandMessage* message,
 		uint32_t address, store_address_t storageID) {
 	message->setCommand(CMD_MEMORY_LOAD);
 	message->setParameter( address );
 	message->setParameter2( storageID.raw );
-	return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t MemoryMessage::getErrorCode(const CommandMessage* message) {

memory/MemoryMessage.h

@@ -1,14 +1,15 @@
-#ifndef MEMORYMESSAGE_H_
+#ifndef FSFW_MEMORY_MEMORYMESSAGE_H_
-#define MEMORYMESSAGE_H_
+#define FSFW_MEMORY_MEMORYMESSAGE_H_
 
 #include "../ipc/CommandMessage.h"
 #include "../storagemanager/StorageManagerIF.h"
 
 
 class MemoryMessage {
-private:
-	MemoryMessage(); //A private ctor inhibits instantiation
 public:
+    // Instantiation forbidden.
+	MemoryMessage() = delete;
+
 	static const uint8_t MESSAGE_ID = messagetypes::MEMORY;
 	static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 );
@@ -19,21 +20,29 @@ public:
 	static const Command_t END_OF_MEMORY_COPY = MAKE_COMMAND_ID(0xF0);
 
 	static uint32_t getAddress( const CommandMessage* message );
-	static store_address_t getStoreID( const CommandMessage* message );
+	static store_address_t getStoreID(const CommandMessage* message);
 	static uint32_t getLength( const CommandMessage* message );
-	static ReturnValue_t getErrorCode( const CommandMessage* message );
+	static ReturnValue_t getErrorCode(const CommandMessage* message);
-	static ReturnValue_t setMemoryDumpCommand( CommandMessage* message, uint32_t address, uint32_t length );
+    static uint16_t getCrc(const CommandMessage* message );
-	static ReturnValue_t setMemoryDumpReply( CommandMessage* message, store_address_t storageID );
+    static ReturnValue_t getCrcReturnValue(const CommandMessage* message);
-	static ReturnValue_t setMemoryLoadCommand( CommandMessage* message, uint32_t address, store_address_t storageID );
+    static Command_t getInitialCommand(const CommandMessage* message);
-	static ReturnValue_t setMemoryCheckCommand( CommandMessage* message, uint32_t address, uint32_t length );
+
-	static ReturnValue_t setMemoryCheckReply(  CommandMessage* message, uint16_t crc );
+	static void setMemoryDumpCommand(CommandMessage* message,
-	static ReturnValue_t setMemoryReplyFailed(  CommandMessage* message, ReturnValue_t errorCode, Command_t initialCommand );
+	        uint32_t address, uint32_t length );
-	static ReturnValue_t setMemoryCopyEnd( CommandMessage* message);
+	static void setMemoryDumpReply(CommandMessage* message,
+	        store_address_t storageID);
+	static void setMemoryLoadCommand(CommandMessage* message,
+	        uint32_t address, store_address_t storageID );
+	static ReturnValue_t setMemoryCheckCommand(CommandMessage* message,
+	        uint32_t address, uint32_t length);
+	static ReturnValue_t setMemoryCheckReply(CommandMessage* message,
+	        uint16_t crc);
+	static ReturnValue_t setMemoryReplyFailed(CommandMessage* message,
+	        ReturnValue_t errorCode, Command_t initialCommand);
+	static ReturnValue_t setMemoryCopyEnd(CommandMessage* message);
 	static void setCrcReturnValue(CommandMessage*, ReturnValue_t returnValue);
-	static uint16_t getCrc( const CommandMessage* message );
+
-	static ReturnValue_t getCrcReturnValue(const CommandMessage* message);
-	static Command_t getInitialCommand( const CommandMessage* message );
 	static void clear(CommandMessage* message);
 };
 
-#endif /* MEMORYMESSAGE_H_ */
+#endif /* FSFW_MEMORY_MEMORYMESSAGE_H_ */

memory/MemoryProxyIF.h

@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 #define FRAMEWORK_MEMORY_MEMORYPROXYIF_H_
 
-#include "AcceptsMemoryMessagesIF.h"
+#include "../memory/AcceptsMemoryMessagesIF.h"
 
 /**
  * This was a nice idea to transparently forward incoming messages to another object.

modes/HasModesIF.h

@@ -9,8 +9,8 @@
 #define HASMODESIF_H_
 
 #include "../events/Event.h"
-#include "ModeHelper.h"
+#include "../modes/ModeHelper.h"
-#include "ModeMessage.h"
+#include "../modes/ModeMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include <stdint.h>
 
@@ -46,12 +46,12 @@ protected:
 			uint32_t *msToReachTheMode) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	virtual void startTransition(Mode_t mode, Submode_t submode) {
+
-	}
+	virtual void startTransition(Mode_t mode, Submode_t submode) {}
-	virtual void setToExternalControl() {
+
-	}
+	virtual void setToExternalControl() {}
-	virtual void announceMode(bool recursive) {
+
-	}
+	virtual void announceMode(bool recursive) {}
 };
 
 #endif /* HASMODESIF_H_ */

modes/ModeHelper.cpp

@@ -1,48 +1,47 @@
-#include "HasModesIF.h"
-#include "ModeHelper.h"
 #include "../ipc/MessageQueueSenderIF.h"
+#include "../modes/HasModesIF.h"
+#include "../modes/ModeHelper.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
 
 ModeHelper::ModeHelper(HasModesIF *owner) :
-		theOneWhoCommandedAMode(0), commandedMode(HasModesIF::MODE_OFF), commandedSubmode(
+		commandedMode(HasModesIF::MODE_OFF),
-				HasModesIF::SUBMODE_NONE), owner(owner), parentQueueId(0), forced(
+		commandedSubmode(HasModesIF::SUBMODE_NONE),
-				false) {
+		owner(owner), forced(false) {}
-}
 
 ModeHelper::~ModeHelper() {
 
 }
 
-ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
+ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
 	CommandMessage reply;
 	Mode_t mode;
 	Submode_t submode;
-	switch (message->getCommand()) {
+	switch (command->getCommand()) {
 	case ModeMessage::CMD_MODE_COMMAND_FORCED:
 		forced = true;
 		/* NO BREAK falls through*/
 	case ModeMessage::CMD_MODE_COMMAND: {
-		mode = ModeMessage::getMode(message);
+		mode = ModeMessage::getMode(command);
-		submode = ModeMessage::getSubmode(message);
+		submode = ModeMessage::getSubmode(command);
 		uint32_t timeout;
 		ReturnValue_t result = owner->checkModeCommand(mode, submode, &timeout);
 		if (result != HasReturnvaluesIF::RETURN_OK) {
 			ModeMessage::cantReachMode(&reply, result);
-			MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
+			MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-					owner->getCommandQueue());
+			        owner->getCommandQueue());
 			break;
 		}
 		//Free to start transition
-		theOneWhoCommandedAMode = message->getSender();
+		theOneWhoCommandedAMode = command->getSender();
 		commandedMode = mode;
 		commandedSubmode = submode;
 
-		if ((parentQueueId != MessageQueueSenderIF::NO_QUEUE)
+		if ((parentQueueId != MessageQueueIF::NO_QUEUE)
 				&& (theOneWhoCommandedAMode != parentQueueId)) {
 			owner->setToExternalControl();
 		}
 
 		countdown.setTimeout(timeout);
-
 		owner->startTransition(mode, submode);
 	}
 		break;
@@ -50,8 +49,8 @@ ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* message) {
 		owner->getMode(&mode, &submode);
 		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY, mode,
 				submode);
-		MessageQueueSenderIF::sendMessage(message->getSender(), &reply,
+		MessageQueueSenderIF::sendMessage(command->getSender(), &reply,
-				owner->getCommandQueue());
+		       owner->getCommandQueue());
 	}
 		break;
 	case ModeMessage::CMD_MODE_ANNOUNCE:
@@ -71,27 +70,45 @@ ReturnValue_t ModeHelper::initialize(MessageQueueId_t parentQueueId) {
 	return initialize();
 }
 
-void ModeHelper::modeChanged(Mode_t mode, Submode_t submode) {
+void ModeHelper::modeChanged(Mode_t ownerMode, Submode_t ownerSubmode) {
 	forced = false;
+	sendModeReplyMessage(ownerMode, ownerSubmode);
+	sendModeInfoMessage(ownerMode, ownerSubmode);
+	theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
+}
+
+void ModeHelper::sendModeReplyMessage(Mode_t ownerMode,
+		Submode_t ownerSubmode) {
 	CommandMessage reply;
-	if (theOneWhoCommandedAMode != MessageQueueSenderIF::NO_QUEUE) {
+	if (theOneWhoCommandedAMode != MessageQueueIF::NO_QUEUE)
-		if ((mode != commandedMode) || (submode != commandedSubmode)) {
+	{
+		if (ownerMode != commandedMode or ownerSubmode != commandedSubmode)
+		{
 			ModeMessage::setModeMessage(&reply,
-					ModeMessage::REPLY_WRONG_MODE_REPLY, mode, submode);
+					ModeMessage::REPLY_WRONG_MODE_REPLY, ownerMode,
-		} else {
+					ownerSubmode);
+		}
+		else
+		{
 			ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_REPLY,
-					mode, submode);
+					ownerMode, ownerSubmode);
 		}
 		MessageQueueSenderIF::sendMessage(theOneWhoCommandedAMode, &reply,
-				owner->getCommandQueue());
+		        owner->getCommandQueue());
 	}
+}
+
+void ModeHelper::sendModeInfoMessage(Mode_t ownerMode,
+		Submode_t ownerSubmode) {
+	CommandMessage reply;
 	if (theOneWhoCommandedAMode != parentQueueId
-			&& parentQueueId != MessageQueueSenderIF::NO_QUEUE) {
+			and parentQueueId != MessageQueueIF::NO_QUEUE)
-		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO, mode,
+	{
-				submode);
+		ModeMessage::setModeMessage(&reply, ModeMessage::REPLY_MODE_INFO,
-		MessageQueueSenderIF::sendMessage(parentQueueId, &reply, owner->getCommandQueue());
+				ownerMode, ownerSubmode);
+		MessageQueueSenderIF::sendMessage(parentQueueId, &reply,
+		        owner->getCommandQueue());
 	}
-	theOneWhoCommandedAMode = MessageQueueSenderIF::NO_QUEUE;
 }
 
 void ModeHelper::startTimer(uint32_t timeoutMs) {

modes/ModeHelper.h

@@ -1,7 +1,8 @@
 #ifndef MODEHELPER_H_
 #define MODEHELPER_H_
 
-#include "ModeMessage.h"
+#include "../ipc/MessageQueueIF.h"
+#include "../modes/ModeMessage.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../timemanager/Countdown.h"
 
@@ -9,7 +10,7 @@ class HasModesIF;
 
 class ModeHelper {
 public:
-	MessageQueueId_t theOneWhoCommandedAMode;
+	MessageQueueId_t theOneWhoCommandedAMode = MessageQueueIF::NO_QUEUE;
 	Mode_t commandedMode;
 	Submode_t commandedSubmode;
 
@@ -39,11 +40,14 @@ public:
 	void setForced(bool forced);
 protected:
 	HasModesIF *owner;
-	MessageQueueId_t parentQueueId;
+	MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;
 
 	Countdown countdown;
 
 	bool forced;
+private:
+	void sendModeReplyMessage(Mode_t ownerMode, Submode_t ownerSubmode);
+	void sendModeInfoMessage(Mode_t ownerMode, Submode_t ownerSubmode);
 };
 
 #endif /* MODEHELPER_H_ */

modes/ModeMessage.cpp

@@ -1,4 +1,4 @@
-#include "ModeMessage.h"
+#include "../modes/ModeMessage.h"
 
 Mode_t ModeMessage::getMode(const CommandMessage* message) {
 	return message->getParameter();