bit rate setter

mission/tmtc/CCSDSHandler.cpp

@@ -5,8 +5,10 @@
 
 #include "CCSDSHandler.h"
 
-CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination) :
-        SystemObject(objectId), ptmeId(ptmeId), tcDestination(tcDestination), parameterHelper(this) {
+CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
+        TxRateSetterIF* txRateSetterIF) :
+        SystemObject(objectId), ptmeId(ptmeId), tcDestination(tcDestination), parameterHelper(this), actionHelper(
+                this, nullptr), txRateSetterIF(txRateSetterIF) {
     commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
 }
 
@@ -55,6 +57,11 @@ ReturnValue_t CCSDSHandler::initialize() {
 		return result;
 	}
 
+	result = actionHelper.initialize(commandQueue);
+    if (result != RETURN_OK) {
+        return result;
+    }
+
 	VirtualChannelMapIter iter;
     for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
         result = iter->second->initialize();
@@ -77,10 +84,15 @@ void CCSDSHandler::readCommandQueue(void) {
         if (result == RETURN_OK) {
             return;
         }
+        result = actionHelper.handleActionMessage(&commandMessage);
+        if (result == RETURN_OK) {
+            return;
+        }
         CommandMessage reply;
         reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
                 commandMessage.getCommand());
         commandQueue->reply(&reply);
+        return;
     }
 }
 
@@ -140,3 +152,18 @@ MessageQueueId_t CCSDSHandler::getRequestQueue() {
     // Forward packets directly to TC distributor
     return tcDistributorQueueId;
 }
+
+ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId,
+        MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
+
+    switch(actionId) {
+    case SET_LOW_RATE:
+        txRateSetterIF->setRate(BitRates::RATE_400KHZ);
+        return EXECUTION_FINISHED;
+    case SET_HIGH_RATE:
+        txRateSetterIF->setRate(BitRates::RATE_2000KHZ);
+        return EXECUTION_FINISHED;
+    default:
+        return COMMAND_NOT_IMPLEMENTED;
+    }
+}