fsfw/src/fsfw/pus/CService200ModeCommanding.cpp

#include "fsfw/pus/CService200ModeCommanding.h"

#include "fsfw/modes/HasModesIF.h"
#include "fsfw/modes/ModeMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/pus/servicepackets/Service200Packets.h"
#include "fsfw/serialize/SerialLinkedListAdapter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"

CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, uint16_t apid,
                                                     uint8_t serviceId, uint8_t numParallelCommands,
                                                     uint16_t commandTimeoutSeconds)
    : CommandingServiceBase(objectId, apid, "PUS 200 Mode MGMT", serviceId, numParallelCommands,
                            commandTimeoutSeconds) {}

CService200ModeCommanding::~CService200ModeCommanding() {}

ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
  switch (subservice) {
    case (Subservice::COMMAND_MODE_COMMAND):
    case (Subservice::COMMAND_MODE_READ):
    case (Subservice::COMMAND_MODE_ANNCOUNCE):
    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
      return returnvalue::OK;
    default:
      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
  }
}

ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(uint8_t subservice,
                                                                  const uint8_t *tcData,
                                                                  size_t tcDataLen,
                                                                  MessageQueueId_t *id,
                                                                  object_id_t *objectId) {
  if (tcDataLen < sizeof(object_id_t)) {
    return CommandingServiceBase::INVALID_TC;
  }
  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);

  return checkInterfaceAndAcquireMessageQueue(id, objectId);
}

ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
    MessageQueueId_t *messageQueueToSet, object_id_t *objectId) {
  auto *destination = ObjectManager::instance()->get<HasModesIF>(*objectId);
  if (destination == nullptr) {
    return CommandingServiceBase::INVALID_OBJECT;
  }

  *messageQueueToSet = destination->getCommandQueue();
  return returnvalue::OK;
}

ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                        const uint8_t *tcData, size_t tcDataLen,
                                                        uint32_t *state, object_id_t objectId) {
  ReturnValue_t result = returnvalue::OK;
  if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE or
      subservice == Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY) {
    bool recursive = true;
    if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) {
      recursive = false;
    }
    ModeMessage::setModeAnnounceMessage(*message, recursive);
  } else {
    ModePacket modeCommandPacket;
    ReturnValue_t result =
        modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
    if (result != returnvalue::OK) {
      return result;
    }

    ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
                                modeCommandPacket.getSubmode());
  }

  return result;
}

ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
                                                     Command_t previousCommand, uint32_t *state,
                                                     CommandMessage *optionalNextCommand,
                                                     object_id_t objectId, bool *isStep) {
  Command_t replyId = reply->getCommand();
  ReturnValue_t result = returnvalue::FAILED;
  switch (replyId) {
    case (ModeMessage::REPLY_MODE_REPLY): {
      result = prepareModeReply(reply, objectId);
      break;
    }
    case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
      result = prepareWrongModeReply(reply, objectId);
      break;
    }
    case (ModeMessage::REPLY_CANT_REACH_MODE): {
      result = prepareCantReachModeReply(reply, objectId);
      break;
    }
    case (ModeMessage::REPLY_MODE_INFO):
      result = INVALID_REPLY;
      break;
    default:
      result = returnvalue::FAILED;
  }
  return result;
}

ReturnValue_t CService200ModeCommanding::prepareModeReply(const CommandMessage *reply,
                                                          object_id_t objectId) {
  ModePacket modeReplyPacket(objectId, ModeMessage::getMode(reply), ModeMessage::getSubmode(reply));
  return sendTmPacket(Subservice::REPLY_MODE_REPLY, modeReplyPacket);
}

ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(const CommandMessage *reply,
                                                               object_id_t objectId) {
  ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply), ModeMessage::getSubmode(reply));
  ReturnValue_t result = sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, wrongModeReply);
  if (result == returnvalue::OK) {
    // We want to produce an error here in any case because the mode was not correct
    return returnvalue::FAILED;
  }
  return result;
}

ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(const CommandMessage *reply,
                                                                   object_id_t objectId) {
  CantReachModePacket cantReachModePacket(objectId, ModeMessage::getCantReachModeReason(reply));
  ReturnValue_t result = sendTmPacket(Subservice::REPLY_CANT_REACH_MODE, cantReachModePacket);
  if (result == returnvalue::OK) {
    // We want to produce an error here in any case because the mode was not reached
    return returnvalue::FAILED;
  }
  return result;
}