print clcw command

linux/obc/PdecHandler.h

@@ -10,6 +10,8 @@
 #include "fsfw/storagemanager/StorageManagerIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 #include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/action/ActionHelper.h"
+#include "fsfw/action/HasActionsIF.h"
 
 /**
  * @brief   This class controls the PDEC IP Core implemented in the programmable logic of the
@@ -29,7 +31,10 @@
  *
  * @author  J. Meier
  */
-class PdecHandler : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
+class PdecHandler : public SystemObject,
+                    public ExecutableObjectIF,
+                    public HasReturnvaluesIF,
+                    public HasActionsIF {
 
 public:
     /**
@@ -51,6 +56,21 @@ public:
 
     ReturnValue_t initialize() override;
 
+    MessageQueueId_t getCommandQueue() const;
+
+    ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                const uint8_t* data, size_t size) override;
+
+    /**
+     * brief    Returns the 32-bit wide communication link control word (CLCW)
+     */
+    uint32_t getClcw();
+
+    /**
+     * @rief    Reads and prints the CLCW. Can be useful for debugging.
+     */
+    void printClcw();
+
 private:
 
     static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@@ -63,6 +83,9 @@ private:
     static const ReturnValue_t AD_DISCARDED_WAIT = MAKE_RETURN_CODE(0xA4);
     static const ReturnValue_t AD_DISCARDED_NS_VS = MAKE_RETURN_CODE(0xA5);
 
+    //! [EXPORT] : [COMMENT] Received action message with unknown action id
+    static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xB0);
+
     static const ReturnValue_t NO_REPORT = MAKE_RETURN_CODE(0xA6);
     //! Error in version number and reserved A and B fields
     static const ReturnValue_t ERROR_VERSION_NUMBER = MAKE_RETURN_CODE(0xA7);
@@ -88,6 +111,11 @@ private:
     //! [EXPORT] : [COMMENT] Read invalid FAR from PDEC after startup
     static const Event INVALID_FAR = MAKE_EVENT(2, severity::HIGH);
 
+    static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
+
+    // Action IDs
+    static const ActionId_t PRINT_CLCW = 0;
+
     static const uint8_t STAT_POSITION = 31;
     static const uint8_t FRAME_ANA_POSITION = 28;
     static const uint8_t IREASON_POSITION = 25;
@@ -182,6 +210,11 @@ private:
         WAIT_FOR_RECOVERY
     };
 
+    /**
+     * @brief   Reads and handles messages stored in the commandQueue
+     */
+    void readCommandQueue(void);
+
     /**
      * @brief   Opens UIO device assigned to AXI to AHB converter giving access to the PDEC
      *          registers. The register base address will be mapped into the virtual address space.
@@ -284,9 +317,6 @@ private:
      */
     uint8_t getOddParity(uint8_t number);
 
-    void getClcw();
-    void printClcw(uint32_t clcw);
-
     object_id_t tcDestinationId;
 
     AcceptsTelecommandsIF* tcDestination = nullptr;
@@ -309,8 +339,12 @@ private:
     // UIO device file giving access to the PDEC register space
     std::string uioRegisters;
 
+    ActionHelper actionHelper;
+
     StorageManagerIF* tcStore = nullptr;
 
+    MessageQueueIF* commandQueue = nullptr;
+
     State state = State::INIT;
 
     /**
@@ -328,8 +362,6 @@ private:
     uint32_t pdecFar = 0;
 
     uint8_t tcSegment[TC_SEGMENT_LEN];
-
-    uint8_t debugDivider = 0;
 };
 
 #endif /* LINUX_OBC_PDECHANDLER_H_ */