dhb multiple replies support

devicehandlers/DeviceHandlerBase.cpp

@@ -308,6 +308,14 @@ void DeviceHandlerBase::doStateMachine() {
         uint32_t currentUptime;
         Clock::getUptime(&currentUptime);
         if (currentUptime - timeoutStart >= childTransitionDelay) {
+#if FSFW_VERBOSE_LEVEL >= 1
+            char printout[60];
+            sprintf(printout, "Transition timeout (%lu) occured !",
+                    static_cast<unsigned long>(childTransitionDelay));
+            /* Very common configuration error, so print it */
+            printWarningOrError(sif::OutputTypes::OUT_WARNING, "doStateMachine",
+                    RETURN_FAILED, printout);
+#endif
             triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0);
             setMode(transitionSourceMode, transitionSourceSubMode);
             break;
@@ -448,6 +456,15 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
     }
 }
 
+size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){
+    DeviceReplyIter iter = deviceReplyMap.find(commandId);
+    if(iter != deviceReplyMap.end()) {
+        return iter->second.replyLen;
+    }else{
+        return 0;
+   }
+}
+
 ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
         uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
     auto replyIter = deviceReplyMap.find(deviceReply);
@@ -638,16 +655,12 @@ void DeviceHandlerBase::doGetWrite() {
 void DeviceHandlerBase::doSendRead() {
     ReturnValue_t result;
 
-    size_t requestLen = 0;
+    size_t replyLen = 0;
     if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
-        DeviceReplyIter iter = deviceReplyMap.find(
+        replyLen = getNextReplyLength(cookieInfo.pendingCommand->first);
-                cookieInfo.pendingCommand->first);
-        if(iter != deviceReplyMap.end()) {
-            requestLen = iter->second.replyLen;
-        }
     }
 
-    result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
+    result = communicationInterface->requestReceiveMessage(comCookie, replyLen);
 
     if (result == RETURN_OK) {
         cookieInfo.state = COOKIE_READ_SENT;
@@ -1501,10 +1514,9 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
 
     if(errorType == sif::OutputTypes::OUT_WARNING) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID "
+        sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID 0x" << std::hex <<
-                << std::hex << std::setw(8) << std::setfill('0')
+                std::setw(8) << std::setfill('0') << this->getObjectId() << " | " << errorPrint <<
-                << this->getObjectId() << " | " << errorPrint << std::dec
+                std::dec << std::setfill(' ') << std::endl;
-                << std::setfill(' ') << std::endl;
 #else
         sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
                 functionName, this->getObjectId(), errorPrint);
@@ -1512,7 +1524,7 @@ void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
     }
     else if(errorType == sif::OutputTypes::OUT_ERROR) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::error << "DeviceHandlerBase::" << functionName << ": Object ID "
+        sif::error << "DeviceHandlerBase::" << functionName << ": Object ID 0x"
                 << std::hex << std::setw(8) << std::setfill('0')
                 << this->getObjectId() << " | " << errorPrint << std::dec
                 << std::setfill(' ') << std::endl;

devicehandlers/DeviceHandlerBase.h

@@ -471,13 +471,27 @@ protected:
     ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
             uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
             size_t replyLen = 0, bool periodic = false);
+
     /**
-     * @brief 	A simple command to add a command to the commandList.
+     * @brief   A simple command to add a command to the commandList.
      * @param deviceCommand The command to add
      * @return - @c RETURN_OK when the command was successfully inserted,
      *         - @c RETURN_FAILED else.
      */
     ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
+
+    /**
+     * @brief   This function returns the reply length of the next reply to read.
+     *
+     * @param deviceCommand The command which triggered the device reply.
+     *
+     * @details The default implementation assumes only one reply is triggered by the command. In
+     *          case the command triggers multiple replies (e.g. one acknowledgment, one data,
+     *          and one execution status reply), this function can be overwritten to get the
+     *          reply length of the next reply to read.
+     */
+    virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand);
+
     /**
      * @brief 	This is a helper method to facilitate updating entries
      *        	in the reply map.
@@ -953,7 +967,7 @@ protected:
      * 			- NO_REPLY_EXPECTED if there was no reply found. This is not an
      * 			  error case as many commands do not expect a reply.
      */
-    virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator cmd,
+    virtual ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
             uint8_t expectedReplies = 1, bool useAlternateId = false,
             DeviceCommandId_t alternateReplyID = 0);