Merge pull request 'Mode Service Bugfixes' (#736) from eive/fsfw:mode_service_fixes into development

Reviewed-on: fsfw/fsfw#736

CHANGELOG.md

@@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ## Fixes
 
+- `CService200ModeManagement`: Various bugfixes which lead to now execution complete being generated
+  on mode announcements, duplicate mode reply generated on announce commands, and the mode read
+  subservice not working properly.
 - Memory leak fixes for the TCP/IP TMTC bridge.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/737
 - `Service9TimeManagement`: Fix the time dump at the `SET_TIME` subservice: Include clock timeval

src/fsfw/modes/ModeMessage.cpp

@@ -24,3 +24,19 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
   message->setParameter(reason);
   message->setParameter2(0);
 }
+
+void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
+  Command_t cmd;
+  if (recursive) {
+    cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
+  } else {
+    cmd = CMD_MODE_ANNOUNCE;
+  }
+  message.setCommand(cmd);
+}
+
+void ModeMessage::setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode) {
+  setModeMessage(&message, CMD_MODE_COMMAND, mode, submode);
+}
+
+void ModeMessage::setModeReadMessage(CommandMessage& message) { message.setCommand(CMD_MODE_READ); }

src/fsfw/modes/ModeMessage.h

@@ -45,6 +45,9 @@ class ModeMessage {
 
   static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
                              Submode_t submode);
+  static void setCmdModeMessage(CommandMessage& message, Mode_t mode, Submode_t submode);
+  static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
+  static void setModeReadMessage(CommandMessage& message);
   static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
   static void clear(CommandMessage* message);
 };

src/fsfw/pus/CService200ModeCommanding.cpp

@@ -19,7 +19,7 @@ ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
   switch (subservice) {
     case (Subservice::COMMAND_MODE_COMMAND):
     case (Subservice::COMMAND_MODE_READ):
-    case (Subservice::COMMAND_MODE_ANNCOUNCE):
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
       return returnvalue::OK;
     default:
       return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@@ -53,16 +53,32 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
 ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                         const uint8_t *tcData, size_t tcDataLen,
                                                         uint32_t *state, object_id_t objectId) {
-  ModePacket modeCommandPacket;
-  ReturnValue_t result =
-      modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
-  if (result != returnvalue::OK) {
-    return result;
-  }
+  bool recursive = false;
+  switch (subservice) {
+    case (Subservice::COMMAND_MODE_COMMAND): {
+      ModePacket modeCommandPacket;
+      ReturnValue_t result =
+          modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
+      if (result != returnvalue::OK) {
+        return result;
+      }
 
-  ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
-                              modeCommandPacket.getSubmode());
-  return result;
+      ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND,
+                                  modeCommandPacket.getMode(), modeCommandPacket.getSubmode());
+      return returnvalue::OK;
+    }
+    case (Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY):
+      recursive = true;
+      [[fallthrough]];
+    case (Subservice::COMMAND_MODE_ANNOUNCE):
+      ModeMessage::setModeAnnounceMessage(*message, recursive);
+      return EXECUTION_COMPLETE;
+    case (Subservice::COMMAND_MODE_READ):
+      ModeMessage::setModeReadMessage(*message);
+      return returnvalue::OK;
+    default:
+      return CommandingServiceBase::INVALID_SUBSERVICE;
+  }
 }
 
 ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply,
@@ -73,8 +89,10 @@ ReturnValue_t CService200ModeCommanding::handleReply(const CommandMessage *reply
   ReturnValue_t result = returnvalue::FAILED;
   switch (replyId) {
     case (ModeMessage::REPLY_MODE_REPLY): {
-      result = prepareModeReply(reply, objectId);
-      break;
+      if (previousCommand != ModeMessage::CMD_MODE_COMMAND) {
+        return prepareModeReply(reply, objectId);
+      }
+      return returnvalue::OK;
     }
     case (ModeMessage::REPLY_WRONG_MODE_REPLY): {
       result = prepareWrongModeReply(reply, objectId);

src/fsfw/pus/CService200ModeCommanding.h

@@ -52,7 +52,7 @@ class CService200ModeCommanding : public CommandingServiceBase {
     COMMAND_MODE_READ = 3,
     //!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
     //! This command does NOT have a reply
-    COMMAND_MODE_ANNCOUNCE = 4,
+    COMMAND_MODE_ANNOUNCE = 4,
     //!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
     //! command to every child. This command does NOT have a reply.
     COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,