65 lines
2.3 KiB
C++
65 lines
2.3 KiB
C++
#include "DeviceHandlerCommander.h"
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#include <fsfw/ipc/QueueFactory.h>
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DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
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: SystemObject(objectId), commandActionHelper(this) {
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auto mqArgs = MqArgs(this->getObjectId());
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commandQueue = QueueFactory::instance()->createMessageQueue(
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QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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DeviceHandlerCommander::~DeviceHandlerCommander() {}
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ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
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readCommandQueue();
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return RETURN_OK;
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}
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ReturnValue_t DeviceHandlerCommander::initialize() {
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ReturnValue_t result = commandActionHelper.initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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MessageQueueIF* DeviceHandlerCommander::getCommandQueuePtr() { return commandQueue; }
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void DeviceHandlerCommander::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
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void DeviceHandlerCommander::stepFailedReceived(ActionId_t actionId, uint8_t step,
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ReturnValue_t returnCode) {}
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void DeviceHandlerCommander::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
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}
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void DeviceHandlerCommander::completionSuccessfulReceived(ActionId_t actionId) {
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lastReplyReturnCode = RETURN_OK;
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}
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void DeviceHandlerCommander::completionFailedReceived(ActionId_t actionId,
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ReturnValue_t returnCode) {
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lastReplyReturnCode = returnCode;
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}
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void DeviceHandlerCommander::readCommandQueue() {
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CommandMessage message;
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
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result = commandQueue->receiveMessage(&message)) {
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result = commandActionHelper.handleReply(&message);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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}
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}
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ReturnValue_t DeviceHandlerCommander::sendCommand(object_id_t target, ActionId_t actionId) {
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return commandActionHelper.commandAction(target, actionId, nullptr, 0);
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}
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ReturnValue_t DeviceHandlerCommander::getReplyReturnCode() { return lastReplyReturnCode; }
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void DeviceHandlerCommander::resetReplyReturnCode() { lastReplyReturnCode = RETURN_FAILED; }
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