114 lines
4.3 KiB
C++
114 lines
4.3 KiB
C++
#ifndef FSFW_ACTION_ACTIONHELPER_H_
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#define FSFW_ACTION_ACTIONHELPER_H_
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#include "ActionMessage.h"
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#include "../serialize/SerializeIF.h"
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#include "../ipc/MessageQueueIF.h"
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/**
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* @brief Action Helper is a helper class which handles action messages
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*
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* Components which use the HasActionIF this helper can be used to handle
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* the action messages.
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* It does handle step messages as well as other answers to action calls.
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* It uses the executeAction function of its owner as callback.
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* The call of the initialize function is mandatory and needs a
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* valid MessageQueueIF pointer!
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*/
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class HasActionsIF;
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class ActionHelper {
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public:
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/**
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* Constructor of the action helper
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* @param setOwner Pointer to the owner of the interface
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* @param useThisQueue messageQueue to be used, can be set during
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* initialize function as well.
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*/
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ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
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virtual ~ActionHelper();
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/**
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* Function to be called from the owner with a new command message
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*
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* If the message is a valid action message the helper will use the
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* executeAction function from HasActionsIF.
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* If the message is invalid or the callback fails a message reply will be
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* send to the sender of the message automatically.
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*
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* @param command Pointer to a command message received by the owner
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* @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
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* CommandMessage::UNKNOW_COMMAND if this message ID is unkown
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*/
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ReturnValue_t handleActionMessage(CommandMessage* command);
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/**
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* Helper initialize function. Must be called before use of any other
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* helper function
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* @param queueToUse_ Pointer to the messageQueue to be used, optional
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* if queue was set in constructor
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* @return Returns RETURN_OK if successful
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*/
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ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
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/**
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* Function to be called from the owner to send a step message.
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* Success or failure will be determined by the result value.
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*
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* @param step Number of steps already done
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* @param reportTo The messageQueueId to report the step message to
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* @param commandId ID of the executed command
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* @param result Result of the execution
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*/
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void step(uint8_t step, MessageQueueId_t reportTo, ActionId_t commandId,
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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/**
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* Function to be called by the owner to send a action completion message
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*
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* @param reportTo MessageQueueId_t to report the action completion message to
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* @param commandId ID of the executed command
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* @param result Result of the execution
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*/
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void finish(MessageQueueId_t reportTo, ActionId_t commandId,
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
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/**
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* Function to be called by the owner if an action does report data
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*
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* @param reportTo MessageQueueId_t to report the action completion
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* message to
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* @param replyId ID of the executed command
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* @param data Pointer to the data
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* @return Returns RETURN_OK if successful, otherwise failure code
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*/
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ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
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SerializeIF* data, bool hideSender = false);
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/**
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* Function to setup the MessageQueueIF* of the helper. Can be used to
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* set the MessageQueueIF* if message queue is unavailable at construction
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* and initialize but must be setup before first call of other functions.
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* @param queue Queue to be used by the helper
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*/
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void setQueueToUse(MessageQueueIF *queue);
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protected:
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//!< Increase of value of this per step
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static const uint8_t STEP_OFFSET = 1;
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HasActionsIF* owner;//!< Pointer to the owner
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//! Queue to be used as response sender, has to be set in ctor or with
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//! setQueueToUse
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MessageQueueIF* queueToUse;
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//! Pointer to an IPC Store, initialized during construction or
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StorageManagerIF* ipcStore;
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/**
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* Internal function called by handleActionMessage
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* @param commandedBy MessageQueueID of Commander
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* @param actionId ID of action to be done
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* @param dataAddress Address of additional data in IPC Store
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*/
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virtual void prepareExecution(MessageQueueId_t commandedBy,
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ActionId_t actionId, store_address_t dataAddress);
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/**
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* @brief Default implementation is empty.
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*/
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virtual void resetHelper();
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};
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#endif /* FSFW_ACTION_ACTIONHELPER_H_ */
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