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

src/fsfw/action/Action.h

@@ -24,7 +24,9 @@ class Action: public SerializeIF {
 #endif
   ActionId_t getId();
 
-  virtual ReturnValue_t handle() = 0;
+  MessageQueueId_t commandedBy;
+
+  [[nodiscard]] virtual ReturnValue_t handle() = 0;
 
   void registerParameter(ParameterIF *parameter);
 
@@ -40,6 +42,7 @@ class Action: public SerializeIF {
 
  private:
   ActionId_t id;
+  
 #ifdef FSFW_INTROSPECTION
   const char *name;
 #endif

src/fsfw/action/ActionHelper.cpp

@@ -73,7 +73,6 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
   }
   auto actionIter = actionMap.find(actionId);
   if (actionIter == actionMap.end()){
-    puts("end");
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
     queueToUse->sendMessage(commandedBy, &reply);
@@ -83,14 +82,15 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
   Action* action = actionIter->second;
   result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
   if ((result != HasReturnvaluesIF::RETURN_OK) || (size != 0)){ //TODO write unittest for second condition
-  printf("serialze %i, %x\n", size, result);
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
     queueToUse->sendMessage(commandedBy, &reply);
     ipcStore->deleteData(dataAddress);
     return;
   }
-  result = action->handle();
+  //TODO call action->check()
+  action->commandedBy = commandedBy;
+  result = owner->executeAction(action);
   ipcStore->deleteData(dataAddress);
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;

src/fsfw/action/HasActionsIF.h

@@ -58,7 +58,7 @@ class HasActionsIF {
    * -@c EXECUTION_FINISHED Finish reply will be generated
    * -@c Not RETURN_OK Step failure reply will be generated
    */
-  virtual ReturnValue_t executeAction(Action* action, MessageQueueId_t commandedBy) = 0;
+  virtual ReturnValue_t executeAction(Action* action) = 0;
 };
 
 #endif /* FSFW_ACTION_HASACTIONSIF_H_ */

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -8,9 +8,12 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
 
 ExtendedControllerBase::~ExtendedControllerBase() {}
 
-ReturnValue_t ExtendedControllerBase::executeAction(Action *action, MessageQueueId_t commandedBy) {
+ActionHelper *ExtendedControllerBase::getActionHelper() {
-  /* Needs to be overriden and implemented by child class. */
+  return &actionHelper;
-  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t ExtendedControllerBase::executeAction(Action *action) {
+  return action->handle();
 }
 
 object_id_t ExtendedControllerBase::getObjectId() const { return SystemObject::getObjectId(); }

src/fsfw/controller/ExtendedControllerBase.h

@@ -29,6 +29,10 @@ class ExtendedControllerBase : public ControllerBase,
   virtual ReturnValue_t performOperation(uint8_t opCode) override;
   virtual ReturnValue_t initializeAfterTaskCreation() override;
 
+  /* HasActionsIF overrides */
+  ActionHelper* getActionHelper() override;
+  ReturnValue_t executeAction(Action* actionId) override;
+
  protected:
   LocalDataPoolManager poolManager;
   ActionHelper actionHelper;
@@ -49,9 +53,6 @@ class ExtendedControllerBase : public ControllerBase,
   /* Handle the four messages mentioned above */
   void handleQueue() override;
 
-  /* HasActionsIF overrides */
-  virtual ReturnValue_t executeAction(Action* actionId, MessageQueueId_t commandedBy) override;
-
   /* HasLocalDatapoolIF overrides */
   virtual LocalDataPoolManager* getHkManagerHandle() override;
   virtual object_id_t getObjectId() const override;

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1316,7 +1316,11 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t r
   }
 }
 
-ReturnValue_t DeviceHandlerBase::executeAction(Action *action, MessageQueueId_t commandedBy) {
+ActionHelper *DeviceHandlerBase::getActionHelper() {
+  return &actionHelper;
+}
+
+ReturnValue_t DeviceHandlerBase::executeAction(Action *action) {
   ReturnValue_t result = acceptExternalDeviceCommands();
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
@@ -1330,7 +1334,7 @@ ReturnValue_t DeviceHandlerBase::executeAction(Action *action, MessageQueueId_t
     result = action->handle();
   }
   if (result == RETURN_OK) {
-    iter->second.sendReplyTo = commandedBy;
+    iter->second.sendReplyTo = action->commandedBy;
     iter->second.isExecuting = true;
     cookieInfo.pendingCommand = iter;
     cookieInfo.state = COOKIE_WRITE_READY;

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -204,8 +204,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
-  /** @brief  Implementation required for HasActionIF */ 
+  /** @brief  Implementations required for HasActionIF */
-  ReturnValue_t executeAction(Action *action, MessageQueueId_t commandedBy) override;
+  ActionHelper* getActionHelper() override;
+  ReturnValue_t executeAction(Action *action) override;
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;
@@ -313,6 +314,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    *    - Anything else triggers an even with the returnvalue as a parameter
    */
   virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) = 0;
+  
+  //TODO Remove and update documentation
   /**
    * @brief 	Build a device command packet from data supplied by a direct
    *          command (PUS Service 8)

tests/src/fsfw_tests/unit/action/TestActionHelper.h

@@ -37,7 +37,7 @@ class ActionHelperOwnerMockBase : public HasActionsIF {
 
   ActionHelper* getActionHelper() override { return &actionHelper; }
 
-  ReturnValue_t executeAction(Action* action, MessageQueueId_t commandedBy) override {
+  ReturnValue_t executeAction(Action* action) override {
     executeActionCalled = true;
     if (size > MAX_SIZE) {
       return 0xAFFE;