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

src/fsfw/action/ActionHelper.cpp

@@ -57,7 +57,9 @@ void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t co
 
 void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
-#include <stdio.h>
+MessageQueueIF const * ActionHelper::getQueue() const {
+  return queueToUse;
+}
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {

src/fsfw/action/ActionHelper.h

@@ -102,6 +102,12 @@ class ActionHelper {
    */
   void setQueueToUse(MessageQueueIF* queue);
 
+  /**
+   * Needed so templateAction can check if actionHelper was
+   * contructed already to aid in debuggig a nasty coding error.
+   */
+  MessageQueueIF const * getQueue() const;
+
   void registerAction(Action* action);
 
   std::map<ActionId_t, Action*> const* getActionMap();

src/fsfw/action/Parameter.h

@@ -40,6 +40,11 @@ class Parameter : public ParameterIF {
     return value;
   }
 
+  Parameter& operator =(const T& newValue){
+    value = newValue;
+    return *this;
+  }
+
 #ifdef FSFW_INTROSPECTION
   Types::ParameterType getType() override {
     return enumHelper<std::is_base_of<EnumIF, T>::value>::template getType<T>();
@@ -66,7 +71,6 @@ class Parameter : public ParameterIF {
 
   bool setFloating(double value) override {
     if (getType() != Types::FLOATING) {
-      puts("fups");
       return false;
     }
     this->value = T(value);
@@ -75,7 +79,6 @@ class Parameter : public ParameterIF {
 
   bool setSigned(int64_t value) override {
     if ((getType() != Types::SIGNED) && (getType() != Types::ENUM)) {
-      puts("sups");
       return false;
     }
     this->value = T(value);

src/fsfw/action/TemplateAction.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "Action.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 template <class owner, class action, class ActionEnum>
 class TemplateAction : public Action {
@@ -8,10 +9,15 @@ class TemplateAction : public Action {
 #ifdef FSFW_INTROSPECTION
   TemplateAction(owner *myOwner, ActionEnum id) : Action(), myOwner(myOwner) {
     Action::setEnum(&id);
+    if (myOwner->getActionHelper()->getQueue() == nullptr) {
+      sif::error
+          << "TemplateAction::TemplateAction: Action instances need to be created (ie located) after the actionHelper instance."
+          << "Program will segfault now..." << std::endl;
+    }
     myOwner->getActionHelper()->registerAction(this);
   }
 #else
-  TemplateAction(owner *myOwner, ActionEnum id) : Action((uint32_t) id), myOwner(myOwner) {
+  TemplateAction(owner *myOwner, ActionEnum id) : Action((uint32_t)id), myOwner(myOwner) {
     myOwner->getActionHelper()->registerAction(this);
   }
 #endif

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) = 0;
+                                                size_t commandDataLen) {exit(0);}
 
   /* Reply handling */
   /**

src/fsfw/objectmanager/ObjectManager.cpp

@@ -78,7 +78,7 @@ SystemObjectIF* ObjectManager::getSystemObject(object_id_t id) {
   }
 }
 
-void ObjectManager::initialize() {
+void ObjectManager::produce() {
   if (objectFactoryFunction == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
     sif::error << "ObjectManager::initialize: Passed produceObjects "
@@ -90,6 +90,10 @@ void ObjectManager::initialize() {
     return;
   }
   objectFactoryFunction(factoryArgs);
+}
+
+void ObjectManager::initialize() {
+  produce();
   ReturnValue_t result = RETURN_FAILED;
   uint32_t errorCount = 0;
   for (auto const& it : objectList) {
@@ -143,3 +147,7 @@ void ObjectManager::printList() {
   }
 #endif
 }
+
+const std::map<object_id_t, SystemObjectIF*> * ObjectManager::getObjectList(){
+  return &objectList;
+}

src/fsfw/objectmanager/ObjectManager.h

@@ -42,7 +42,9 @@ class ObjectManager : public ObjectManagerIF {
   ReturnValue_t insert(object_id_t id, SystemObjectIF* object) override;
   ReturnValue_t remove(object_id_t id) override;
   void initialize() override;
+  void produce() override;
   void printList() override;
+  const std::map<object_id_t, SystemObjectIF*> * getObjectList() override;
 
  protected:
   SystemObjectIF* getSystemObject(object_id_t id) override;

src/fsfw/objectmanager/ObjectManagerIF.h

@@ -1,6 +1,8 @@
 #ifndef FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 #define FSFW_OBJECTMANAGER_OBJECTMANAGERIF_H_
 
+#include <map>
+
 #include "../returnvalues/HasReturnvaluesIF.h"
 #include "../serviceinterface/ServiceInterface.h"
 #include "SystemObjectIF.h"
@@ -58,12 +60,14 @@ class ObjectManagerIF : public HasReturnvaluesIF {
    * 			@li RETURN_OK in case the object was successfully removed
    */
   virtual ReturnValue_t remove(object_id_t id) = 0;
+  virtual void produce() = 0;
   virtual void initialize() = 0;
   /**
    * @brief	This is a debug function, that prints the current content of the
    * 			object list.
    */
   virtual void printList() = 0;
+  virtual const std::map<object_id_t, SystemObjectIF*>* getObjectList() = 0;
 };
 
 #endif /* OBJECTMANAGERIF_H_ */