Merge remote-tracking branch 'sidestream/mohr_introspection' into mohr/introspection

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -342,7 +342,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                 const uint8_t *commandData,
-                                                size_t commandDataLen) {exit(0);}
+                                                size_t commandDataLen) {return HasReturnvaluesIF::RETURN_FAILED;}
 
   /* Reply handling */
   /**

src/fsfw/introspection/EnumIF.h

@@ -1,10 +1,11 @@
 #pragma once
 
-#include <cstdint>
 #include <cstddef>
+#include <cstdint>
 
 class EnumIF {
  public:
+  virtual ~EnumIF() {}
   virtual int64_t getValue() const = 0;
   virtual bool isValid() const = 0;
   virtual size_t getSize() const = 0;

src/fsfw/modes/HasModesIF.h

@@ -6,6 +6,7 @@
 #include "../events/Event.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "ModeHelper.h"
+#include "ModeDefinitionHelper.h"
 #include "ModeMessage.h"
 
 class HasModesIF {
@@ -49,6 +50,7 @@ class HasModesIF {
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;
+  virtual ModeDefinitionHelper getModeDefinitionHelper()= 0;
   virtual void getMode(Mode_t *mode, Submode_t *submode) = 0;
 
  protected:

src/fsfw/modes/ModeDefinitionHelper.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include <fsfw/introspection/EnumIF.h>
+
+class ModeDefinitionHelper {
+ public:
+#ifdef FSFW_INTROSPECTION
+  ModeDefinitionHelper(EnumIF *mode, EnumIF *submode) : mode(mode), submode(submode) {}
+#else
+  ModeDefinitionHelper(void *mode, void *submode) {};
+#endif
+  template <typename Mode, typename Submode>
+  static ModeDefinitionHelper create() {
+#ifdef FSFW_INTROSPECTION
+    EnumIF *mode = new Mode();
+    EnumIF *submode = new Submode();
+    return ModeDefinitionHelper(mode, submode);
+#else
+    return ModeDefinitionHelper(nullptr, nullptr);
+#endif
+  }
+
+  void free() {
+#ifdef FSFW_INTROSPECTION
+    delete mode;
+    delete submode;
+#endif
+  }
+#ifdef FSFW_INTROSPECTION
+  EnumIF *mode;
+  EnumIF *submode;
+#endif
+};

src/fsfw/modes/ModeHelper.cpp

@@ -4,7 +4,7 @@
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
-ModeHelper::ModeHelper(HasModesIF* owner)
+ModeHelper::ModeHelper(HasModesIF *owner)
     : commandedMode(HasModesIF::MODE_OFF),
       commandedSubmode(HasModesIF::SUBMODE_NONE),
       owner(owner),
@@ -12,7 +12,7 @@ ModeHelper::ModeHelper(HasModesIF* owner)
 
 ModeHelper::~ModeHelper() {}
 
-ReturnValue_t ModeHelper::handleModeCommand(CommandMessage* command) {
+ReturnValue_t ModeHelper::handleModeCommand(CommandMessage *command) {
   CommandMessage reply;
   Mode_t mode;
   Submode_t submode;
@@ -106,3 +106,33 @@ bool ModeHelper::isTimedOut() { return countdown.hasTimedOut(); }
 bool ModeHelper::isForced() { return forced; }
 
 void ModeHelper::setForced(bool forced) { this->forced = forced; }
+
+#ifdef FSFW_INTROSPECTION
+std::vector<std::pair<Mode_t, const char *>> ModeHelper::getModes() const {
+  std::vector<std::pair<Mode_t, const char *>> modeVector;
+  auto modeDefinitionHelper = owner->getModeDefinitionHelper();
+  EnumIF *mode = modeDefinitionHelper.mode;
+  for (size_t i = 0; i < mode->getSize(); i++) {
+    modeVector.push_back(
+        std::pair<Mode_t, const char *>(mode->getElements()[i], mode->getDescriptions()[i]));
+  }
+  modeDefinitionHelper.free();
+  return modeVector;
+}
+
+std::vector<std::pair<Submode_t, const char *>> ModeHelper::getSubmodes(Mode_t mode) const {
+  auto modeDefinitionHelper = owner->getModeDefinitionHelper();
+  EnumIF *submode = modeDefinitionHelper.submode;
+  std::vector<std::pair<Submode_t, const char *>> submodeVector;
+  for (size_t i = 0; i < submode->getSize(); i++) {
+    uint32_t ignored;
+    if (owner->checkModeCommand(mode, submode->getElements()[i], &ignored) ==
+        HasReturnvaluesIF::RETURN_OK) {
+      submodeVector.push_back(std::pair<Submode_t, const char *>(submode->getElements()[i],
+                                                                 submode->getDescriptions()[i]));
+    }
+  }
+  modeDefinitionHelper.free();
+  return submodeVector;
+}
+#endif

src/fsfw/modes/ModeHelper.h

@@ -1,6 +1,8 @@
 #ifndef FSFW_MODES_MODEHELPER_H_
 #define FSFW_MODES_MODEHELPER_H_
 
+#include <vector>
+
 #include "ModeMessage.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/returnvalues/HasReturnvaluesIF.h"
@@ -39,6 +41,12 @@ class ModeHelper {
 
   void setForced(bool forced);
 
+#ifdef FSFW_INTROSPECTION
+  std::vector<std::pair<Mode_t, const char *>> getModes() const;
+
+  std::vector<std::pair<Submode_t, const char *>> getSubmodes(Mode_t mode) const;
+#endif
+
  protected:
   HasModesIF *owner;
   MessageQueueId_t parentQueueId = MessageQueueIF::NO_QUEUE;