src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -430,12 +430,7 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
     DeviceReplyInfo info;
     info.maxDelayCycles = maxDelayCycles;
     info.periodic = periodic;
-    if(info.periodic) {
-        info.delayCycles = info.maxDelayCycles;
-    }
-    else {
     info.delayCycles = 0;
-    }
     info.replyLen = replyLen;
     info.dataSet = dataSet;
     info.command = deviceCommandMap.end();
@@ -474,7 +469,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
     auto replyIter = deviceReplyMap.find(deviceReply);
     if (replyIter == deviceReplyMap.end()) {
         triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
-        return RETURN_FAILED;
+        return COMMAND_NOT_SUPPORTED;
     } else {
         DeviceReplyInfo *info = &(replyIter->second);
         if (maxDelayCycles != 0) {
@@ -486,6 +481,25 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
     }
 }
 
+ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply) {
+    auto replyIter = deviceReplyMap.find(deviceReply);
+    if (replyIter == deviceReplyMap.end()) {
+        triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
+        return COMMAND_NOT_SUPPORTED;
+    } else {
+        DeviceReplyInfo *info = &(replyIter->second);
+        if(not info->periodic) {
+            return COMMAND_NOT_SUPPORTED;
+        }
+        if(enable) {
+            info->delayCycles = info->maxDelayCycles;
+        }
+        else {
+            info->delayCycles = 0;
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
 
 ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
         LocalPoolDataSetBase *dataSet) {

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -456,7 +456,9 @@ protected:
      * @param replyLen Will be supplied to the requestReceiveMessage call of
      * the communication interface.
      * @param periodic	Indicates if the command is periodic (i.e. it is sent
-     * by the device repeatedly without request) or not. Default is aperiodic (0)
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
+     * Please note that periodic replies are disabled by default. You can enable them with
+     * #updatePeriodicReply
      * @return	- @c RETURN_OK when the command was successfully inserted,
      *          - @c RETURN_FAILED else.
      */
@@ -471,7 +473,9 @@ protected:
      * @param maxDelayCycles The maximum number of delay cycles the reply waits
      * until it times out.
      * @param periodic	Indicates if the command is periodic (i.e. it is sent
-     * by the device repeatedly without request) or not. Default is aperiodic (0)
+     * by the device repeatedly without request) or not. Default is aperiodic (0).
+     * Please note that periodic replies are disabled by default. You can enable them with
+     * #updatePeriodicReply
      * @return	- @c RETURN_OK when the command was successfully inserted,
      *          - @c RETURN_FAILED else.
      */
@@ -487,6 +491,14 @@ protected:
      */
     ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
 
+    /**
+     * Enables a periodic reply for a given command. It sets to delay cycles to the specified
+     * maximum delay cycles for a given reply ID if enabled or to 0 if disabled.
+     * @param enable Specify whether to enable or disable a given periodic reply
+     * @return
+     */
+    ReturnValue_t updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply);
+
     /**
      * @brief   This function returns the reply length of the next reply to read.
      *
@@ -500,12 +512,10 @@ protected:
     virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand);
 
     /**
-     * @brief 	This is a helper method to facilitate updating entries
+     * @brief 	This is a helper method to facilitate updating entries in the reply map.
-     *        	in the reply map.
      * @param deviceCommand	Identifier of the reply to update.
-     * @param delayCycles The current number of delay cycles to wait.
+     * @param delayCycles The current number of delay cycles to wait. As stated in
-     * As stated in #fillCommandAndCookieMap, to disable periodic commands,
+     * #fillCommandAndReplyMap, to disable periodic commands, this is set to zero.
-     * this is set to zero.
      * @param maxDelayCycles The maximum number of delay cycles the reply waits
      * until it times out. By passing 0 the entry remains untouched.
      * @param periodic Indicates if the command is periodic (i.e. it is sent