Mode introspection and fixes

bsp_q7s/core/CoreController.cpp

@@ -1851,3 +1851,7 @@ bool CoreController::isNumber(const std::string &s) {
   return !s.empty() && std::find_if(s.begin(), s.end(),
                                     [](unsigned char c) { return !std::isdigit(c); }) == s.end();
 }
+
+ModeDefinitionHelper CoreController::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<ControllerModes, DefaultSubmode>();
+}

bsp_q7s/core/CoreController.h

@@ -93,6 +93,8 @@ class CoreController : public ExtendedControllerBase {
   ReturnValue_t handleAction(core::XscRebootObcAction* action);
   ReturnValue_t handleAction(core::RebootObcAction* action);
 
+  ModeDefinitionHelper getModeDefinitionHelper() override;
+
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;
 

bsp_q7s/core/InitMission.cpp

@@ -51,10 +51,10 @@ void printEnum(ParameterIF* param) {
   for (auto iter : param->getEnumValues()) {
     printf("---enum value %li: \"%s\"\n", iter, param->getEnumDescriptions()[i++]);
   }
-}
+}*/
 
 void printModes(HasModesIF* object) {
-  ModeHelperIF* modeHelper = object->getModeHelper();
+  const ModeHelper* modeHelper = object->getModeHelper();
 
   auto modes = modeHelper->getModes();
 
@@ -68,7 +68,7 @@ void printModes(HasModesIF* object) {
       printf("--submode \"%s\" (%i)\n", submode.second, submode.first);
     }
   }
-}*/
+}
 
 void printAction(HasActionsIF* actionIf) {
   auto actionMap = actionIf->getActionHelper()->getActionMap();
@@ -178,11 +178,13 @@ void initmission::initMission() {
       printAction(actionIf);
     }
 
-    /*HasModesIF* hasmodesIF = dynamic_cast<HasModesIF*>(iter.second);
+    HasModesIF* hasmodesIF = dynamic_cast<HasModesIF*>(iter.second);
     if (hasmodesIF != nullptr) {
       printModes(hasmodesIF);
     }
 
+    /*
+
     HousekeepingIF* hasHousekeeping = dynamic_cast<HousekeepingIF*>(iter.second);
     if (hasHousekeeping != nullptr) {
       printHousekeeping(hasHousekeeping);

fsfw

@@ -1 +1 @@
-Subproject commit d634bdb7753282f009bd2581945b861d9836c1a4
+Subproject commit c7e6f01f9bdd542ceb0bc7b948b5af426ef9aa95

linux/devices/GPSHyperionLinuxController.cpp

@@ -53,6 +53,11 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ModeDefinitionHelper GPSHyperionLinuxController::getModeDefinitionHelper() {
+  //TODO verify which modes are supported
+  return ModeDefinitionHelper::create<ControllerModes, DefaultSubmode>();
+}
+
 ReturnValue_t GPSHyperionLinuxController::executeAction(Action *action) {
   return action->handle();
 }

linux/devices/GPSHyperionLinuxController.h

@@ -39,6 +39,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
+  ModeDefinitionHelper getModeDefinitionHelper() override;
   ReturnValue_t executeAction(Action* action) override;
   ReturnValue_t handleAction(GPSHyperionLinuxAction * action);
   ReturnValue_t initialize() override;

mission/controller/AcsController.cpp

@@ -61,6 +61,10 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ModeDefinitionHelper AcsController::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<ControllerModes, DefaultSubmode>();
+}
+
 void AcsController::copyMgmData() {
   {
     PoolReadGuard pg(&mgm0Lis3Set);

mission/controller/AcsController.h

@@ -30,6 +30,8 @@ class AcsController : public ExtendedControllerBase {
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
 
+                                 ModeDefinitionHelper getModeDefinitionHelper() override;
+
   // MGMs
   acsctrl::MgmData mgmData;
 

mission/controller/ThermalController.cpp

@@ -231,6 +231,10 @@ ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode
   return RETURN_OK;
 }
 
+ModeDefinitionHelper ThermalController::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<ControllerModes, DefaultSubmode>();
+}
+
 void ThermalController::copySensors() {
   PoolReadGuard pg0(&max31865Set0);
   if (pg0.getReadResult() == HasReturnvaluesIF::RETURN_OK) {

mission/controller/ThermalController.h

@@ -27,6 +27,8 @@ class ThermalController : public ExtendedControllerBase {
   virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                          uint32_t* msToReachTheMode) override;
 
+  ModeDefinitionHelper getModeDefinitionHelper() override;
+
  private:
   static const uint32_t DELAY = 500;
 

mission/system/DualLaneAssemblyBase.cpp

@@ -1,6 +1,7 @@
 #include "DualLaneAssemblyBase.h"
 
 #include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/devicehandlers/DeviceHandlerIF.h>
 
 #include "OBSWConfig.h"
 
@@ -92,6 +93,10 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
   return RETURN_OK;
 }
 
+ModeDefinitionHelper DualLaneAssemblyBase::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<DeviceHandlerIF::DeviceHandlerMode, duallane::Submodes>();
+}
+
 ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   using namespace duallane;
   if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {

mission/system/DualLaneAssemblyBase.h

@@ -22,6 +22,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
                        pcdu::Switches switch1, pcdu::Switches switch2, Event pwrSwitchTimeoutEvent,
                        Event sideSwitchNotAllowedEvent, Event transitionOtherSideFailedEvent);
 
+  ModeDefinitionHelper getModeDefinitionHelper() override;
+
  protected:
   // This helper object complete encapsulates power switching
   DualLanePowerStateMachine pwrStateMachine;

mission/system/RwAssembly.cpp

@@ -189,3 +189,7 @@ void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
     }
   }
 }
+
+ModeDefinitionHelper RwAssembly::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<DeviceHandlerIF::DeviceHandlerMode, HasModesIF::DefaultSubmode>();
+}

mission/system/RwAssembly.h

@@ -15,6 +15,10 @@ class RwAssembly : public AssemblyBase {
   RwAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
              power::Switch_t switcher, RwHelper helper);
 
+  ~RwAssembly() {}
+
+  ModeDefinitionHelper getModeDefinitionHelper() override;
+
  private:
   static constexpr uint8_t NUMBER_RWS = 4;
   RwHelper helper;

mission/system/TcsBoardAssembly.cpp

@@ -203,3 +203,7 @@ void TcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
     triggerEvent(MODE_TRANSITION_FAILED, result);
   }
 }
+
+ModeDefinitionHelper TcsBoardAssembly::getModeDefinitionHelper(){
+  return ModeDefinitionHelper::create<DeviceHandlerIF::DeviceHandlerMode, HasModesIF::DefaultSubmode>();
+}

mission/system/TcsBoardAssembly.h

@@ -22,6 +22,8 @@ class TcsBoardAssembly : public AssemblyBase, public ConfirmsFailuresIF {
 
   ReturnValue_t initialize() override;
 
+  ModeDefinitionHelper getModeDefinitionHelper();
+
  private:
   static constexpr uint8_t NUMBER_RTDS = 16;
   PowerSwitcher switcher;

mission/system/definitions.h

@@ -2,6 +2,7 @@
 #define MISSION_SYSTEM_DEFINITIONS_H_
 
 #include <fsfw/modes/ModeMessage.h>
+#include <fsfw/introspection/ClasslessEnum.h>
 
 namespace power {
 
@@ -12,7 +13,7 @@ enum class OpCodes { NONE, TO_OFF_DONE, TO_NOT_OFF_DONE, TIMEOUT_OCCURED };
 
 namespace duallane {
 
-enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
+FSFW_CLASSLESS_ENUM(Submodes, Submode_t, ((A_SIDE, 0, "Side A")) ((B_SIDE, 1, "Side B")) ((DUAL_MODE, 2, "Dual mode")))
 
 }  // namespace duallane