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

src/fsfw/controller/ControllerBase.cpp

@@ -103,6 +103,12 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
 
 void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
 
+const ModeHelper * ControllerBase::getModeHelper() const {
+  return &modeHelper;
+}
+
+void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { return; }
+
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
     case HEALTHY:

src/fsfw/controller/ControllerBase.h

@@ -3,6 +3,7 @@
 
 #include "fsfw/health/HasHealthIF.h"
 #include "fsfw/health/HealthHelper.h"
+#include "fsfw/introspection/ClasslessEnum.h"
 #include "fsfw/modes/HasModesIF.h"
 #include "fsfw/modes/ModeHelper.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -21,7 +22,9 @@ class ControllerBase : public HasModesIF,
                        public SystemObject,
                        public HasReturnvaluesIF {
  public:
-  static const Mode_t MODE_NORMAL = 2;
+  FSFW_CLASSLESS_ENUM(ControllerModes, Mode_t,
+                      ((CONTROLLER_MODE_ON, MODE_ON, "On"))((CONTROLLER_MODE_OFF, MODE_OFF,
+                                                             "Off"))((MODE_NORMAL, 2, "Normal")))
 
   ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
   ~ControllerBase() override;
@@ -40,6 +43,9 @@ class ControllerBase : public HasModesIF,
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
+  /** HasModeIF override */
+  const ModeHelper *getModeHelper() const override;
+
  protected:
   /**
    * Implemented by child class. Handle command messages which are not

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1325,9 +1325,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t r
   }
 }
 
-ActionHelper *DeviceHandlerBase::getActionHelper() {
+ActionHelper* DeviceHandlerBase::getActionHelper() { return &actionHelper; }
-  return &actionHelper;
-}
 
 ReturnValue_t DeviceHandlerBase::executeAction(Action* action) {
   ReturnValue_t result = acceptExternalDeviceCommands();
@@ -1605,3 +1603,10 @@ void DeviceHandlerBase::disableCommandsAndReplies() {
     }
   }
 }
+
+ModeHelper const* DeviceHandlerBase::getModeHelper() const { return &modeHelper; }
+
+ModeDefinitionHelper DeviceHandlerBase::getModeDefinitionHelper() {
+  return ModeDefinitionHelper::create<DeviceHandlerMode, DefaultSubmode>();
+}
+

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -210,7 +210,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
-  virtual void getMode(Mode_t *mode, Submode_t *submode);
+  void getMode(Mode_t *mode, Submode_t *submode) override;
+  ModeHelper const * getModeHelper() const override;
+  ModeDefinitionHelper getModeDefinitionHelper() override;
   HealthState getHealth();
   ReturnValue_t setHealth(HealthState health);
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -4,6 +4,7 @@
 #include "../action/HasActionsIF.h"
 #include "../datapoollocal/localPoolDefinitions.h"
 #include "../events/Event.h"
+#include "../introspection/ClasslessEnum.h"
 #include "../ipc/MessageQueueSenderIF.h"
 #include "../modes/HasModesIF.h"
 #include "DeviceHandlerMessage.h"
@@ -37,23 +38,30 @@ class DeviceHandlerIF {
    * The mode of the device itself is transparent to the user but related to the mode of the
    * handler. MODE_ON and MODE_OFF are included in hasModesIF.h
    */
-
+  FSFW_CLASSLESS_ENUM(
-  // MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no
+      DeviceHandlerMode, Mode_t,
-  // commands are sent by the device handler itself, but direct commands van be commanded and will
+      //! The device is powered and ready to perform operations. In this mode, no
-  // be interpreted MODE_OFF = 1, //!< The device is powered off. The only command accepted in this
+      //! commands are sent by the device handler itself, but direct commands can be
-  // mode is a mode change to on.
+      //! commanded and will be executed/forwarded to the device
+      //! This is an alias of MODE_ON to have the FSFW_ENUM complete for introspection
+      ((DEVICEHANDLER_MODE_ON, HasModesIF::MODE_ON, "On"))
+      //! The device is powered off. The only command accepted in this
+      //! mode is a mode change to on.
+      //! This is an alias of MODE_OFF to have the FSFW_ENUM complete for introspection
+      ((DEVICEHANDLER_MODE_OFF, HasModesIF::MODE_OFF, "Off"))
       //! The device is powered on and the device handler periodically sends
       //! commands. The commands to be sent are selected by the handler
       //! according to the submode.
-  static const Mode_t MODE_NORMAL = 2;
+      ((MODE_NORMAL, 2, "Normal"))
       //! The device is powered on and ready to perform operations. In this mode,
       //! raw commands can be sent. The device handler will send all replies
-  //! received from the command back to the commanding object.
+      //! received from the command back to the commanding object as raw TM
-  static const Mode_t MODE_RAW = 3;
+      ((MODE_RAW, 3, "Raw"))
       //! The device is shut down but the switch could not be turned off, so the
       //! device still is powered. In this mode, only a mode change to @c MODE_OFF
       //! can be commanded, which tries to switch off the device again.
-  static const Mode_t MODE_ERROR_ON = 4;
+      ((MODE_ERROR_ON, 4, "Error")))
+
   //! This is a transitional state which can not be commanded. The device
   //! handler performs all commands to get the device in a state ready to
   //! perform commands. When this is completed, the mode changes to @c MODE_ON.

src/fsfw/modes/HasModesIF.h

@@ -4,9 +4,10 @@
 #include <cstdint>
 
 #include "../events/Event.h"
+#include "../introspection/ClasslessEnum.h"
 #include "../returnvalues/HasReturnvaluesIF.h"
-#include "ModeHelper.h"
 #include "ModeDefinitionHelper.h"
+#include "ModeHelper.h"
 #include "ModeMessage.h"
 
 class HasModesIF {
@@ -35,8 +36,9 @@ class HasModesIF {
   //! A mode command was rejected by the called object. Par1: called object id, Par2: return code.
   static const Event MODE_CMD_REJECTED = MAKE_EVENT(7, severity::LOW);
 
+<<<<<<< HEAD
   //! The device is powered and ready to perform operations. In this mode, no commands are
-  //! sent by the device handler itself, but direct commands van be commanded and will be
+  //! sent by the device handler itself, but direct commands can be commanded and will be
   //! interpreted
   static constexpr Mode_t MODE_ON = 1;
   //! The device is powered off. The only command accepted in this mode is a mode change to on.
@@ -45,11 +47,13 @@ class HasModesIF {
   static constexpr Mode_t MODE_INVALID = -1;
   static constexpr Mode_t MODE_UNDEFINED = -2;
 
-  //! To avoid checks against magic number "0".
+  FSFW_CLASSLESS_ENUM(DefaultSubmode, Submode_t,
-  static const Submode_t SUBMODE_NONE = 0;
+                      ((SUBMODE_NONE, 0,
+                        "Default")))  //!< To avoid checks against magic number "0".
 
   virtual ~HasModesIF() {}
   virtual MessageQueueId_t getCommandQueue() const = 0;
+  virtual const ModeHelper * getModeHelper() const = 0;
   virtual ModeDefinitionHelper getModeDefinitionHelper() = 0;
   virtual void getMode(Mode_t *mode, Submode_t *submode) = 0;
 

src/fsfw/subsystem/SubsystemBase.cpp

@@ -327,3 +327,7 @@ ReturnValue_t SubsystemBase::setHealth(HealthState health) {
 HasHealthIF::HealthState SubsystemBase::getHealth() { return healthHelper.getHealth(); }
 
 void SubsystemBase::modeChanged() {}
+
+const ModeHelper * SubsystemBase::getModeHelper() const {
+  return &modeHelper;
+}

src/fsfw/subsystem/SubsystemBase.h

@@ -41,7 +41,9 @@ class SubsystemBase : public SystemObject,
                 uint16_t commandQueueDepth = 8);
   virtual ~SubsystemBase();
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  MessageQueueId_t getCommandQueue() const override;
+
+  const ModeHelper * getModeHelper() const override;
 
   /**
    * Function to register the child objects.
@@ -56,13 +58,13 @@ class SubsystemBase : public SystemObject,
    */
   ReturnValue_t registerChild(object_id_t objectId);
 
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
 
-  virtual ReturnValue_t setHealth(HealthState health) override;
+  ReturnValue_t setHealth(HealthState health) override;
 
-  virtual HasHealthIF::HealthState getHealth() override;
+  HasHealthIF::HealthState getHealth() override;
 
  protected:
   struct ChildInfo {