fsfw/src/fsfw/pus/Service8FunctionManagement.cpp

#include "fsfw/pus/Service8FunctionManagement.h"

#include "fsfw/action/HasActionsIF.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/pus/servicepackets/Service8Packets.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serviceinterface/ServiceInterface.h"

Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uint16_t apid,
                                                       uint8_t serviceId,
                                                       uint8_t numParallelCommands,
                                                       uint16_t commandTimeoutSeconds)
    : CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
                            numParallelCommands, commandTimeoutSeconds) {}

Service8FunctionManagement::~Service8FunctionManagement() {}

ReturnValue_t Service8FunctionManagement::isValidSubservice(uint8_t subservice) {
  switch (static_cast<Subservice>(subservice)) {
    case Subservice::COMMAND_DIRECT_COMMANDING:
      return returnvalue::OK;
    default:
      return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
  }
}

ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(uint8_t subservice,
                                                                   const uint8_t* tcData,
                                                                   size_t tcDataLen,
                                                                   MessageQueueId_t* id,
                                                                   object_id_t* objectId) {
  if (tcDataLen < sizeof(object_id_t)) {
    return CommandingServiceBase::INVALID_TC;
  }
  // Can't fail, size was checked before
  SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);

  return checkInterfaceAndAcquireMessageQueue(id, objectId);
}

ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
    MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
  // check HasActionIF property of target
  HasActionsIF* possibleTarget = ObjectManager::instance()->get<HasActionsIF>(*objectId);
  if (possibleTarget == nullptr) {
    return CommandingServiceBase::INVALID_OBJECT;
  }
  *messageQueueToSet = possibleTarget->getCommandQueue();
  return returnvalue::OK;
}

ReturnValue_t Service8FunctionManagement::prepareCommand(CommandMessage* message,
                                                         uint8_t subservice, const uint8_t* tcData,
                                                         size_t tcDataLen, uint32_t* state,
                                                         object_id_t objectId) {
  return prepareDirectCommand(message, tcData, tcDataLen);
}

ReturnValue_t Service8FunctionManagement::prepareDirectCommand(CommandMessage* message,
                                                               const uint8_t* tcData,
                                                               size_t tcDataLen) {
  if (message == nullptr) {
    return returnvalue::FAILED;
  }
  if (tcDataLen < sizeof(object_id_t) + sizeof(ActionId_t)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::debug << "Service8FunctionManagement::prepareDirectCommand:"
               << " TC size smaller thant minimum size of direct command." << std::endl;
#endif
    return CommandingServiceBase::INVALID_TC;
  }

  // Create direct command instance by extracting data from Telecommand
  DirectCommand command(tcData, tcDataLen);

  // store additional parameters into the IPC Store
  store_address_t parameterAddress;
  ReturnValue_t result =
      ipcStore->addData(&parameterAddress, command.getParameters(), command.getParametersSize());

  // setCommand expects a Command Message, an Action ID and a store adress
  // pointing to additional parameters
  ActionMessage::setCommand(message, command.getActionId(), parameterAddress);
  return result;
}

ReturnValue_t Service8FunctionManagement::handleReply(const CommandMessage* reply,
                                                      Command_t previousCommand, uint32_t* state,
                                                      CommandMessage* optionalNextCommand,
                                                      object_id_t objectId, bool* isStep) {
  Command_t replyId = reply->getCommand();
  ReturnValue_t result = returnvalue::FAILED;
  ActionId_t actionId = ActionMessage::getActionId(reply);
  ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);

  switch (replyId) {
    case ActionMessage::COMPLETION_SUCCESS: {
      DirectReply completionReply(objectId, actionId, returnCode);
      result = CommandingServiceBase::EXECUTION_COMPLETE;
      break;
    }
    case ActionMessage::STEP_SUCCESS: {
      *isStep = true;
      result = returnvalue::OK;
      break;
    }
    case ActionMessage::DATA_REPLY: {
      /* Multiple data replies are possible, so declare data reply as step */
      *isStep = true;
      result = handleDataReply(reply, objectId, actionId);
      break;
    }
    case ActionMessage::STEP_FAILED:
      *isStep = true;
      /* No break, falls through */
    case ActionMessage::COMPLETION_FAILED:
      result = ActionMessage::getReturnCode(reply);
      break;
    default:
      result = INVALID_REPLY;
  }
  return result;
}

ReturnValue_t Service8FunctionManagement::handleDataReply(const CommandMessage* reply,
                                                          object_id_t objectId,
                                                          ActionId_t actionId) {
  store_address_t storeId = ActionMessage::getStoreId(reply);
  size_t size = 0;
  const uint8_t* buffer = nullptr;
  ReturnValue_t result = ipcStore->getData(storeId, &buffer, &size);
  if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "Service 8: Could not retrieve data for data reply" << std::endl;
#endif
    return result;
  }
  DataReply dataReply(objectId, actionId, buffer, size);
  result = sendTmPacket(static_cast<uint8_t>(Subservice::REPLY_DIRECT_COMMANDING_DATA), dataReply);

  auto deletionResult = ipcStore->deleteData(storeId);
  if (deletionResult != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "Service8FunctionManagement::handleReply: Deletion"
                 << " of data in pool failed." << std::endl;
#endif
  }
  return result;
}