added uart flush in ploc supervisor handler

mission/devices/PlocSupervisorHandler.cpp

@@ -5,8 +5,8 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/timemanager/Clock.h>
 
-PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
+PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie) :
-        DeviceHandlerBase(objectId, comIF, comCookie), hkset(this) {
+        DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this) {
     if (comCookie == NULL) {
         sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
     }
@@ -15,6 +15,20 @@ PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t c
 PlocSupervisorHandler::~PlocSupervisorHandler() {
 }
 
+ReturnValue_t PlocSupervisorHandler::initialize() {
+    ReturnValue_t result = RETURN_OK;
+    result = DeviceHandlerBase::initialize();
+    if (result != RETURN_OK) {
+        return result;
+    }
+    uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
+    if (uartComIf == nullptr) {
+        sif::warning << "PlocSupervisorHandler::initialize: Invalid uart com if" << std::endl;
+        return INVALID_UART_COM_IF;
+    }
+    return result;
+}
+
 
 void PlocSupervisorHandler::doStartUp(){
 #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
@@ -41,52 +55,72 @@ ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
 ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
 		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
 		size_t commandDataLen) {
+    ReturnValue_t result = RETURN_FAILED;
 	switch(deviceCommand) {
 	case(PLOC_SPV::GET_HK_REPORT): {
 	    prepareEmptyCmd(PLOC_SPV::APID_GET_HK_REPORT);
-	    return RETURN_OK;
+	    result = RETURN_OK;
+	    break;
 	}
 	case(PLOC_SPV::RESTART_MPSOC): {
 	    prepareEmptyCmd(PLOC_SPV::APID_RESTART_MPSOC);
-	    return RETURN_OK;
+	    result = RETURN_OK;
+	    break;
 	}
 	case(PLOC_SPV::START_MPSOC): {
 	    prepareEmptyCmd(PLOC_SPV::APID_START_MPSOC);
-	    return RETURN_OK;
+	    result = RETURN_OK;
+	    break;
 	}
 	case(PLOC_SPV::SHUTDOWN_MPSOC): {
 	    prepareEmptyCmd(PLOC_SPV::APID_SHUTWOWN_MPSOC);
-	    return RETURN_OK;
+	    result = RETURN_OK;
+	    break;
 	}
 	case(PLOC_SPV::SEL_MPSOC_BOOT_IMAGE): {
 	    prepareSelBootImageCmd(commandData);
-	    return RETURN_OK;
+	    result = RETURN_OK;
+	    break;
 	}
 	case(PLOC_SPV::RESET_MPSOC): {
         prepareEmptyCmd(PLOC_SPV::APID_RESET_MPSOC);
-        return RETURN_OK;
+        result = RETURN_OK;
+        break;
     }
 	case(PLOC_SPV::SET_TIME_REF): {
-	    return prepareSetTimeRefCmd();
+	    result = prepareSetTimeRefCmd();
+	    break;
 	}
 	case(PLOC_SPV::SET_BOOT_TIMEOUT): {
 	    prepareSetBootTimeoutCmd(commandData);
-        return RETURN_OK;
+        result = RETURN_OK;
+        break;
     }
 	case(PLOC_SPV::SET_MAX_RESTART_TRIES): {
 	    prepareRestartTriesCmd(commandData);
-        return RETURN_OK;
+        result = RETURN_OK;
+        break;
     }
 	case(PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION): {
 	    prepareDisableHk();
-        return RETURN_OK;
+        result = RETURN_OK;
+        break;
     }
 	default:
 	    sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
 	        << std::endl;
-		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+		result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+		break;
 	}
-	return HasReturnvaluesIF::RETURN_FAILED;
+
+	if (result == RETURN_OK) {
+	    /**
+	     * Flushing the receive buffer to make sure there are no data left from a faulty reply.
+	     */
+	    uartComIf->flushUartRxBuffer(comCookie);
+	}
+
+	return result;
 }
 
 void PlocSupervisorHandler::fillCommandAndReplyMap() {
@@ -222,7 +256,7 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
         triggerEvent(SUPV_CRC_FAILURE_EVENT);
         sendFailureReport(PLOC_SPV::ACK_REPORT, CRC_FAILURE);
         disableAllReplies();
-        return IGNORE_REPLY_DATA;
+        return RETURN_OK;
     }
 
     uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
@@ -564,8 +598,8 @@ void PlocSupervisorHandler::disableAllReplies() {
 
     /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
     switch (commandId) {
-    case PLOC_SPV::HK_REPORT: {
+    case PLOC_SPV::GET_HK_REPORT: {
-        iter = deviceReplyMap.find(PLOC_SPV::HK_REPORT);
+        iter = deviceReplyMap.find(PLOC_SPV::GET_HK_REPORT);
         info = &(iter->second);
         info->delayCycles = 0;
         info->command = deviceCommandMap.end();
@@ -608,5 +642,5 @@ void PlocSupervisorHandler::disableExeReportReply() {
     info->delayCycles = 0;
     info->command = deviceCommandMap.end();
     /* Expected replies is set to one here. The value will set to 0 in replyToReply() */
-    info->command->second.expectedReplies = 0;
+    info->command->second.expectedReplies = 1;
 }

mission/devices/PlocSupervisorHandler.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/PlocSupervisorDefinitions.h>
 #include <cstring>
+#include <fsfw_hal/linux/uart/UartComIF.h>
 
 /**
  * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
@@ -20,9 +21,11 @@
 class PlocSupervisorHandler: public DeviceHandlerBase {
 public:
 
-    PlocSupervisorHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
+    PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie);
 	virtual ~PlocSupervisorHandler();
 
+	virtual ReturnValue_t initialize() override;
+
 protected:
 	void doStartUp() override;
 	void doShutDown() override;
@@ -58,6 +61,8 @@ private:
     static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
     //! [EXPORT] : [COMMENT] Failed to read current system time
     static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
+    //! [EXPORT] : [COMMENT] Invalid communication interface specified
+    static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
 
     static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
 
@@ -96,6 +101,8 @@ private:
 
     PLOC_SPV::HkSet hkset;
 
+    UartComIF* uartComIf = nullptr;
+
 	/**
 	 * @brief   This function checks the crc of the received PLOC reply.
 	 *