fsfw/src/fsfw/pus/CServiceHealthCommanding.cpp

#include <fsfw/events/EventManagerIF.h>
#include <fsfw/pus/CServiceHealthCommanding.h>

#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/pus/servicepackets/Service201Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h"

CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
    : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
                            args.numParallelCommands, args.commandTimeoutSeconds),
      healthTableId(args.table),
      maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}

ReturnValue_t CServiceHealthCommanding::initialize() {
  ReturnValue_t result = CommandingServiceBase::initialize();
  if (result != returnvalue::OK) {
    return result;
  }

  healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
  if (healthTable == nullptr) {
    return returnvalue::FAILED;
  }

  return returnvalue::OK;
}

ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
  switch (subservice) {
    case (Subservice::COMMAND_SET_HEALTH):
    case (Subservice::COMMAND_ANNOUNCE_HEALTH):
    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
      return returnvalue::OK;
    default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
      sif::error << "Invalid Subservice" << std::endl;
#endif
      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
  }
}

ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
                                                                 const uint8_t *tcData,
                                                                 size_t tcDataLen,
                                                                 MessageQueueId_t *id,
                                                                 object_id_t *objectId) {
  switch (subservice) {
    case (Subservice::COMMAND_SET_HEALTH):
    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
      if (tcDataLen < sizeof(object_id_t)) {
        return CommandingServiceBase::INVALID_TC;
      }
      SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);

      return checkInterfaceAndAcquireMessageQueue(id, objectId);
    }
    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
      return returnvalue::OK;
    }
    default: {
      return returnvalue::FAILED;
    }
  }
}

ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
    MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
  auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
  if (destination == nullptr) {
    return CommandingServiceBase::INVALID_OBJECT;
  }

  *messageQueueToSet = destination->getCommandQueue();
  return returnvalue::OK;
}

ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
                                                       const uint8_t *tcData, size_t tcDataLen,
                                                       uint32_t *state, object_id_t objectId) {
  ReturnValue_t result = returnvalue::OK;
  switch (subservice) {
    case (Subservice::COMMAND_SET_HEALTH): {
      if (tcDataLen != sizeof(object_id_t) + sizeof(HasHealthIF::HealthState)) {
        return CommandingServiceBase::INVALID_TC;
      }
      HealthSetCommand healthCommand;
      result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
      if (result != returnvalue::OK) {
        break;
      }
      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
                                      healthCommand.getHealth());
      break;
    }
    case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
      HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
      return CommandingServiceBase::EXECUTION_COMPLETE;
    }
    case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
      ReturnValue_t result = iterateHealthTable(true);
      if (result == returnvalue::OK) {
        reportAllHealth = true;
        return EXECUTION_COMPLETE;
      }
      return result;
    }
    default: {
      // Should never happen, subservice was already checked
      result = returnvalue::FAILED;
    }
  }
  return result;
}

ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
                                                    Command_t previousCommand, uint32_t *state,
                                                    CommandMessage *optionalNextCommand,
                                                    object_id_t objectId, bool *isStep) {
  Command_t replyId = reply->getCommand();
  if (replyId == HealthMessage::REPLY_HEALTH_SET) {
    return EXECUTION_COMPLETE;
  } else if (replyId == CommandMessageIF::REPLY_REJECTED) {
    return reply->getReplyRejectedReason();
  }
  return CommandingServiceBase::INVALID_REPLY;
}

void CServiceHealthCommanding::doPeriodicOperation() {
  if (reportAllHealth) {
    for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
      ReturnValue_t result = iterateHealthTable(false);
      if (result != returnvalue::OK) {
        reportAllHealth = false;
        break;
      }
    }
  }
}

// Not used for now, health state already reported by event
[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply(
    const CommandMessage *reply) {
  auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
  auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
  HealthSetReply healthSetReply(health, oldHealth);
  return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
}

ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
  std::pair<object_id_t, HasHealthIF::HealthState> pair;

  ReturnValue_t result = healthTable->iterate(&pair, reset);
  if (result != returnvalue::OK) {
    return result;
  } else {
    EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
    return returnvalue::OK;
  }
}