113 lines
4.1 KiB
C++
113 lines
4.1 KiB
C++
#include "fsfw/action.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
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: owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
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CommandActionHelper::~CommandActionHelper() = default;
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ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
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SerializeIF *data) {
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auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
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if (receiver == nullptr) {
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return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
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}
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store_address_t storeId;
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uint8_t *storePointer;
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size_t maxSize = data->getSerializedSize();
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ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize, &storePointer);
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if (result != returnvalue::OK) {
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return result;
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}
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size_t size = 0;
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result = data->serialize(&storePointer, &size, maxSize, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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return result;
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}
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return sendCommand(receiver->getCommandQueue(), actionId, storeId);
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}
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ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
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const uint8_t *data, uint32_t size) {
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auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
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if (receiver == nullptr) {
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return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
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}
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store_address_t storeId;
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ReturnValue_t result = ipcStore->addData(&storeId, data, size);
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if (result != returnvalue::OK) {
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return result;
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}
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return sendCommand(receiver->getCommandQueue(), actionId, storeId);
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}
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ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionId_t actionId,
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store_address_t storeId) {
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CommandMessage command;
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ActionMessage::setCommand(&command, actionId, storeId);
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ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
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if (result != returnvalue::OK) {
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ipcStore->deleteData(storeId);
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}
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lastTarget = queueId;
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commandCount++;
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return result;
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}
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ReturnValue_t CommandActionHelper::initialize() {
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ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
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if (ipcStore == nullptr) {
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return returnvalue::FAILED;
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}
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queueToUse = owner->getCommandQueuePtr();
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if (queueToUse == nullptr) {
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
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if (reply->getSender() != lastTarget) {
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return returnvalue::FAILED;
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}
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switch (reply->getCommand()) {
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case ActionMessage::COMPLETION_SUCCESS:
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commandCount--;
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owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
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return returnvalue::OK;
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case ActionMessage::COMPLETION_FAILED:
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commandCount--;
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owner->completionFailedReceived(ActionMessage::getActionId(reply),
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ActionMessage::getReturnCode(reply));
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return returnvalue::OK;
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case ActionMessage::STEP_SUCCESS:
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owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
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ActionMessage::getStep(reply));
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return returnvalue::OK;
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case ActionMessage::STEP_FAILED:
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commandCount--;
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owner->stepFailedReceived(ActionMessage::getActionId(reply), ActionMessage::getStep(reply),
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ActionMessage::getReturnCode(reply));
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return returnvalue::OK;
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case ActionMessage::DATA_REPLY:
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extractDataForOwner(ActionMessage::getActionId(reply), ActionMessage::getStoreId(reply));
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return returnvalue::OK;
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default:
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return returnvalue::FAILED;
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}
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}
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uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
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void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
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const uint8_t *data = nullptr;
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size_t size = 0;
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ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
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if (result != returnvalue::OK) {
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return;
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}
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owner->dataReceived(actionId, data, size);
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ipcStore->deleteData(storeId);
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}
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