Merge pull request 'Action folder: minor form improvements, include guards' (#235) from KSat/fsfw:mueller/action-update into master
Reviewed-on: fsfw/fsfw#235
This commit is contained in:
commit
de5e62a9c8
@ -3,8 +3,9 @@
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#include "../ipc/MessageQueueSenderIF.h"
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#include "../objectmanager/ObjectManagerIF.h"
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ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue) :
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owner(setOwner), queueToUse(useThisQueue), ipcStore(nullptr) {
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ActionHelper::ActionHelper(HasActionsIF* setOwner,
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MessageQueueIF* useThisQueue) :
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owner(setOwner), queueToUse(useThisQueue) {
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}
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ActionHelper::~ActionHelper() {
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@ -33,13 +34,15 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
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void ActionHelper::step(uint8_t step, MessageQueueId_t reportTo,
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ActionId_t commandId, ReturnValue_t result) {
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CommandMessage reply;
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ActionMessage::setStepReply(&reply, commandId, step + STEP_OFFSET, result);
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queueToUse->sendMessage(reportTo, &reply);
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}
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void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result) {
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void ActionHelper::finish(MessageQueueId_t reportTo, ActionId_t commandId,
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ReturnValue_t result) {
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CommandMessage reply;
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ActionMessage::setCompletionReply(&reply, commandId, result);
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queueToUse->sendMessage(reportTo, &reply);
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@ -49,8 +52,8 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) {
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queueToUse = queue;
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}
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void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
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store_address_t dataAddress) {
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void ActionHelper::prepareExecution(MessageQueueId_t commandedBy,
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ActionId_t actionId, store_address_t dataAddress) {
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const uint8_t* dataPtr = NULL;
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size_t size = 0;
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ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
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@ -62,6 +65,11 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
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}
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result = owner->executeAction(actionId, commandedBy, dataPtr, size);
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ipcStore->deleteData(dataAddress);
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if(result == HasActionsIF::EXECUTION_FINISHED) {
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CommandMessage reply;
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ActionMessage::setCompletionReply(&reply, actionId, result);
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queueToUse->sendMessage(commandedBy, &reply);
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}
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if (result != HasReturnvaluesIF::RETURN_OK) {
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CommandMessage reply;
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ActionMessage::setStepReply(&reply, actionId, 0, result);
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@ -86,22 +94,28 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = data->serialize(&dataPtr, &size, maxSize, SerializeIF::Endianness::BIG);
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result = data->serialize(&dataPtr, &size, maxSize,
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SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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ipcStore->deleteData(storeAddress);
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return result;
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}
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//We don't need to report the objectId, as we receive REQUESTED data before the completion success message.
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//True aperiodic replies need to be reported with another dedicated message.
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// We don't need to report the objectId, as we receive REQUESTED data
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// before the completion success message.
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// True aperiodic replies need to be reported with
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// another dedicated message.
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ActionMessage::setDataReply(&reply, replyId, storeAddress);
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//TODO Service Implementation sucks at the moment
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if (hideSender){
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// If the sender needs to be hidden, for example to handle packet
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// as unrequested reply, this will be done here.
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if (hideSender) {
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result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
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} else {
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}
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else {
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result = queueToUse->sendMessage(reportTo, &reply);
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}
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if ( result != HasReturnvaluesIF::RETURN_OK){
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if (result != HasReturnvaluesIF::RETURN_OK){
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ipcStore->deleteData(storeAddress);
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}
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return result;
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@ -109,3 +123,39 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
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void ActionHelper::resetHelper() {
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}
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ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo,
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ActionId_t replyId, const uint8_t *data, size_t dataSize,
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bool hideSender) {
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CommandMessage reply;
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store_address_t storeAddress;
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ReturnValue_t result = ipcStore->addData(&storeAddress, data, dataSize);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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if (result != HasReturnvaluesIF::RETURN_OK) {
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ipcStore->deleteData(storeAddress);
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return result;
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}
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// We don't need to report the objectId, as we receive REQUESTED data
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// before the completion success message.
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// True aperiodic replies need to be reported with
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// another dedicated message.
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ActionMessage::setDataReply(&reply, replyId, storeAddress);
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// If the sender needs to be hidden, for example to handle packet
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// as unrequested reply, this will be done here.
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if (hideSender) {
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result = MessageQueueSenderIF::sendMessage(reportTo, &reply);
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}
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else {
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result = queueToUse->sendMessage(reportTo, &reply);
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}
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if (result != HasReturnvaluesIF::RETURN_OK){
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ipcStore->deleteData(storeAddress);
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}
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return result;
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}
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@ -1,15 +1,18 @@
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#ifndef ACTIONHELPER_H_
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#define ACTIONHELPER_H_
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#ifndef FSFW_ACTION_ACTIONHELPER_H_
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#define FSFW_ACTION_ACTIONHELPER_H_
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#include "ActionMessage.h"
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#include "../serialize/SerializeIF.h"
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#include "../ipc/MessageQueueIF.h"
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/**
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* \brief Action Helper is a helper class which handles action messages
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* @brief Action Helper is a helper class which handles action messages
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*
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* Components which use the HasActionIF this helper can be used to handle the action messages.
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* It does handle step messages as well as other answers to action calls. It uses the executeAction function
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* of its owner as callback. The call of the initialize function is mandatory and it needs a valid messageQueueIF pointer!
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* Components which use the HasActionIF this helper can be used to handle
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* the action messages.
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* It does handle step messages as well as other answers to action calls.
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* It uses the executeAction function of its owner as callback.
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* The call of the initialize function is mandatory and needs a
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* valid MessageQueueIF pointer!
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*/
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class HasActionsIF;
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@ -18,7 +21,8 @@ public:
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/**
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* Constructor of the action helper
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* @param setOwner Pointer to the owner of the interface
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* @param useThisQueue messageQueue to be used, can be set during initialize function as well.
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* @param useThisQueue messageQueue to be used, can be set during
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* initialize function as well.
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*/
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ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
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@ -26,28 +30,36 @@ public:
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/**
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* Function to be called from the owner with a new command message
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*
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* If the message is a valid action message the helper will use the executeAction function from HasActionsIF.
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* If the message is invalid or the callback fails a message reply will be send to the sender of the message automatically.
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* If the message is a valid action message the helper will use the
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* executeAction function from HasActionsIF.
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* If the message is invalid or the callback fails a message reply will be
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* send to the sender of the message automatically.
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*
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* @param command Pointer to a command message received by the owner
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* @return HasReturnvaluesIF::RETURN_OK if the message is a action message, CommandMessage::UNKNOW_COMMAND if this message ID is unkown
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* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
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* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
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*/
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ReturnValue_t handleActionMessage(CommandMessage* command);
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/**
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* Helper initialize function. Must be called before use of any other helper function
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* @param queueToUse_ Pointer to the messageQueue to be used, optional if queue was set in constructor
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* Helper initialize function. Must be called before use of any other
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* helper function
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* @param queueToUse_ Pointer to the messageQueue to be used, optional
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* if queue was set in constructor
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* @return Returns RETURN_OK if successful
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*/
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ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
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/**
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* Function to be called from the owner to send a step message. Success or failure will be determined by the result value.
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* Function to be called from the owner to send a step message.
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* Success or failure will be determined by the result value.
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*
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* @param step Number of steps already done
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* @param reportTo The messageQueueId to report the step message to
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* @param commandId ID of the executed command
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* @param result Result of the execution
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*/
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void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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void step(uint8_t step, MessageQueueId_t reportTo,
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ActionId_t commandId,
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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/**
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* Function to be called by the owner to send a action completion message
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*
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@ -55,39 +67,59 @@ public:
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* @param commandId ID of the executed command
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* @param result Result of the execution
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*/
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void finish(MessageQueueId_t reportTo, ActionId_t commandId, ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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void finish(MessageQueueId_t reportTo, ActionId_t commandId,
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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/**
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* Function to be called by the owner if an action does report data
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*
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* @param reportTo MessageQueueId_t to report the action completion message to
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* Function to be called by the owner if an action does report data.
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* Takes a SerializeIF* pointer and serializes it into the IPC store.
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* @param reportTo MessageQueueId_t to report the action completion
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* message to
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* @param replyId ID of the executed command
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* @param data Pointer to the data
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* @return Returns RETURN_OK if successful, otherwise failure code
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*/
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ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId, SerializeIF* data, bool hideSender = false);
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ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
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SerializeIF* data, bool hideSender = false);
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/**
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* Function to be called by the owner if an action does report data.
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* Takes the raw data and writes it into the IPC store.
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* @param reportTo MessageQueueId_t to report the action completion
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* message to
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* @param replyId ID of the executed command
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* @param data Pointer to the data
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* @return Returns RETURN_OK if successful, otherwise failure code
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*/
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ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
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const uint8_t* data, size_t dataSize, bool hideSender = false);
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/**
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* Function to setup the MessageQueueIF* of the helper. Can be used to set the messageQueueIF* if
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* message queue is unavailable at construction and initialize but must be setup before first call of other functions.
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* Function to setup the MessageQueueIF* of the helper. Can be used to
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* set the MessageQueueIF* if message queue is unavailable at construction
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* and initialize but must be setup before first call of other functions.
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* @param queue Queue to be used by the helper
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*/
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void setQueueToUse(MessageQueueIF *queue);
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protected:
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static const uint8_t STEP_OFFSET = 1;//!< Increase of value of this per step
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//!< Increase of value of this per step
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static const uint8_t STEP_OFFSET = 1;
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HasActionsIF* owner;//!< Pointer to the owner
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MessageQueueIF* queueToUse;//!< Queue to be used as response sender, has to be set with
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StorageManagerIF* ipcStore;//!< Pointer to an IPC Store, initialized during construction or initialize(MessageQueueIF* queueToUse_) or with setQueueToUse(MessageQueueIF *queue)
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//! Queue to be used as response sender, has to be set in ctor or with
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//! setQueueToUse
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MessageQueueIF* queueToUse;
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//! Pointer to an IPC Store, initialized during construction or
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StorageManagerIF* ipcStore = nullptr;
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/**
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*Internal function called by handleActionMessage(CommandMessage* command)
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*
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* Internal function called by handleActionMessage
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* @param commandedBy MessageQueueID of Commander
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* @param actionId ID of action to be done
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* @param dataAddress Address of additional data in IPC Store
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*/
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virtual void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
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virtual void prepareExecution(MessageQueueId_t commandedBy,
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ActionId_t actionId, store_address_t dataAddress);
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/**
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*
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* @brief Default implementation is empty.
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*/
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virtual void resetHelper();
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};
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#endif /* ACTIONHELPER_H_ */
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#endif /* FSFW_ACTION_ACTIONHELPER_H_ */
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#ifndef FRAMEWORK_ACTION_HASACTIONSIF_H_
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#define FRAMEWORK_ACTION_HASACTIONSIF_H_
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#ifndef FSFW_ACTION_HASACTIONSIF_H_
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#define FSFW_ACTION_HASACTIONSIF_H_
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#include "ActionHelper.h"
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#include "ActionMessage.h"
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#include "SimpleActionHelper.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include "../ipc/MessageQueueIF.h"
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/**
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* @brief
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* Interface for component which uses actions
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@ -47,14 +48,16 @@ public:
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virtual MessageQueueId_t getCommandQueue() const = 0;
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/**
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* Execute or initialize the execution of a certain function.
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* Returning #EXECUTION_FINISHED or a failure code, nothing else needs to
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* be done. When needing more steps, return RETURN_OK and issue steps and
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* completion manually.
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* One "step failed" or completion report must be issued!
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* The ActionHelpers will execute this function and behave differently
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* depending on the returnvalue.
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*
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* @return
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* -@c EXECUTION_FINISHED Finish reply will be generated
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* -@c Not RETURN_OK Step failure reply will be generated
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*/
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virtual ReturnValue_t executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t* data, size_t size) = 0;
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};
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#endif /* FRAMEWORK_ACTION_HASACTIONSIF_H_ */
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#endif /* FSFW_ACTION_HASACTIONSIF_H_ */
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@ -1,16 +1,17 @@
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#include "HasActionsIF.h"
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#include "SimpleActionHelper.h"
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SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner,
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MessageQueueIF* useThisQueue) :
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ActionHelper(setOwner, useThisQueue), isExecuting(false), lastCommander(
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0), lastAction(0), stepCount(0) {
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ActionHelper(setOwner, useThisQueue), isExecuting(false) {
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}
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SimpleActionHelper::~SimpleActionHelper() {
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}
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void SimpleActionHelper::step(ReturnValue_t result) {
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//STEP_OFFESET is subtracted to compensate for adding offset in base method, which is not necessary here.
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// STEP_OFFESET is subtracted to compensate for adding offset in base
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// method, which is not necessary here.
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ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction,
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result);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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@ -1,8 +1,13 @@
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#ifndef SIMPLEACTIONHELPER_H_
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#define SIMPLEACTIONHELPER_H_
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#ifndef FSFW_ACTION_SIMPLEACTIONHELPER_H_
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#define FSFW_ACTION_SIMPLEACTIONHELPER_H_
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#include "ActionHelper.h"
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/**
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* @brief This is an action helper which is only able to service one action
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* at a time but remembers last commander and last action which
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* simplifies usage
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*/
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class SimpleActionHelper: public ActionHelper {
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public:
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SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
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@ -12,13 +17,14 @@ public:
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ReturnValue_t reportData(SerializeIF* data);
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protected:
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void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId, store_address_t dataAddress);
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virtual void resetHelper();
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void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
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store_address_t dataAddress);
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virtual void resetHelper();
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private:
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bool isExecuting;
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MessageQueueId_t lastCommander;
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ActionId_t lastAction;
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uint8_t stepCount;
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MessageQueueId_t lastCommander = MessageQueueIF::NO_QUEUE;
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ActionId_t lastAction = 0;
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uint8_t stepCount = 0;
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};
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#endif /* SIMPLEACTIONHELPER_H_ */
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