GPSHyperionController adapted

bsp_q7s/callbacks/gnssCallback.cpp

@@ -4,11 +4,7 @@
 #include "fsfw/action/HasActionsIF.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
+ReturnValue_t gps::triggerGpioResetPin(uint8_t gpsId, void* args) {
-  // At least one byte which denotes which GPS to reset is required
-  if (len < 1 or actionData == nullptr) {
-    return HasActionsIF::INVALID_PARAMETERS;
-  }
   ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
   if (args == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -16,10 +12,8 @@ ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, vo
   if (resetArgs->gpioComIF == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
-  gpioId_t gpioId;
+  gpioId_t gpioId = gpioIds::GNSS_0_NRESET;
-  if (actionData[0] == 0) {
+  if (gpsId == 1) {
-    gpioId = gpioIds::GNSS_0_NRESET;
-  } else {
     gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);

bsp_q7s/callbacks/gnssCallback.h

@@ -11,7 +11,7 @@ struct ResetArgs {
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
+ReturnValue_t triggerGpioResetPin(uint8_t gpsId, void* args);
 
 }
 

linux/devices/GPSHyperionLinuxController.cpp

@@ -53,22 +53,19 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
+ReturnValue_t GPSHyperionLinuxController::executeAction(Action *action) {
-                                                        MessageQueueId_t commandedBy,
+  return action->handle();
-                                                        const uint8_t *data, size_t size) {
+}
-  switch (actionId) {
+
-    case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
+ReturnValue_t GPSHyperionLinuxController::handleAction(GPSHyperionLinuxAction * action) {
-      if (resetCallback != nullptr) {
+  if (resetCallback != nullptr) {
-        PoolReadGuard pg(&gpsSet);
+    PoolReadGuard pg(&gpsSet);
-        // Set HK entries invalid
+    // Set HK entries invalid
-        gpsSet.setValidity(false, true);
+    gpsSet.setValidity(false, true);
-        resetCallback(data, size, resetCallbackArgs);
+    resetCallback(static_cast<uint8_t>(action->gpsId.value), resetCallbackArgs);
-        return HasActionsIF::EXECUTION_FINISHED;
+    return HasActionsIF::EXECUTION_FINISHED;
-      }
-      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
-    }
   }
-  return HasReturnvaluesIF::RETURN_OK;
+  return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
 }
 
 ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(

linux/devices/GPSHyperionLinuxController.h

@@ -2,10 +2,11 @@
 #define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
 
 #include "commonSubsystemIds.h"
+#include "devicedefinitions/GPSHyperionLinuxDefinitions.h"
 #include "fsfw/FSFW.h"
 #include "fsfw/controller/ExtendedControllerBase.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
-#include "mission/devices/devicedefinitions/GPSDefinitions.h"
+
 
 #ifdef FSFW_OSAL_LINUX
 #include <gps.h>
@@ -30,7 +31,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
 
-  using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
+  using gpioResetFunction_t = ReturnValue_t (*)(uint8_t gpsId, void* args);
 
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@@ -38,8 +39,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
   ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                  uint32_t* msToReachTheMode) override;
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+  ReturnValue_t executeAction(Action* action) override;
-                              const uint8_t* data, size_t size) override;
+  ReturnValue_t handleAction(GPSHyperionLinuxAction * action);
   ReturnValue_t initialize() override;
 
  protected:
@@ -65,6 +66,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
   int32_t noModeSetCntr = 0;
   uint32_t timeIsConstantCounter = 0;
   Countdown timeUpdateCd = Countdown(60);
+  GPSHyperionLinuxAction action = GPSHyperionLinuxAction(this);
 
   void readGpsDataFromGpsd();
 };

linux/devices/devicedefinitions/GPSHyperionLinuxDefinitions.h

@@ -0,0 +1,21 @@
+#include <fsfw/action/MinMaxParameter.h>
+#include <fsfw/action/TemplateAction.h>
+#include <fsfw/introspection/Enum.h>
+
+#include "mission/devices/devicedefinitions/GPSDefinitions.h"
+
+class GPSHyperionLinuxController;
+
+FSFW_ENUM(GPSHyperionLinuxCommands, DeviceCommandId_t,
+          ((TRIGGER_RESET_PIN_GNSS, GpsHyperion::TRIGGER_RESET_PIN_GNSS, "Trigger Reset Pin")))
+
+class GPSHyperionLinuxAction
+    : public TemplateAction<GPSHyperionLinuxController, GPSHyperionLinuxAction,
+                            GPSHyperionLinuxCommands> {
+ public:
+  FSFW_ENUM(GpsIDs, uint8_t, ((GPS_0, 0, "GPS 0"))((GPS_1, 1, "GPS 1")))
+  GPSHyperionLinuxAction(GPSHyperionLinuxController *owner)
+      : TemplateAction(owner, GPSHyperionLinuxCommands::TRIGGER_RESET_PIN_GNSS){};
+
+  Parameter<GpsIDs> gpsId = Parameter<GpsIDs>::createParameter(this, "GPS ID");
+};