84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
#include "fsfw/action.h"
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SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
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: ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
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SimpleActionHelper::~SimpleActionHelper() = default;
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void SimpleActionHelper::step(ReturnValue_t result) {
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// STEP_OFFESET is subtracted to compensate for adding offset in base
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// method, which is not necessary here.
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ActionHelper::step(stepCount - STEP_OFFSET, lastCommander, lastAction, result);
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if (result != returnvalue::OK) {
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resetHelper();
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}
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}
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void SimpleActionHelper::finish(ReturnValue_t result) {
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ActionHelper::finish(lastCommander, lastAction, result);
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resetHelper();
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}
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ReturnValue_t SimpleActionHelper::reportData(SerializeIF* data) {
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return ActionHelper::reportData(lastCommander, lastAction, data);
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}
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void SimpleActionHelper::resetHelper() {
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stepCount = 0;
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isExecuting = false;
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lastAction = 0;
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lastCommander = 0;
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}
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void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
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store_address_t dataAddress) {
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CommandMessage reply;
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if (isExecuting) {
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ipcStore->deleteData(dataAddress);
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ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
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queueToUse->sendMessage(commandedBy, &reply);
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}
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const uint8_t* dataPtr = nullptr;
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size_t size = 0;
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ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
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if (result != returnvalue::OK) {
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ActionMessage::setStepReply(&reply, actionId, 0, result);
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queueToUse->sendMessage(commandedBy, &reply);
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ipcStore->deleteData(dataAddress);
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return;
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}
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auto actionIter = actionMap.find(actionId);
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if (actionIter == actionMap.end()){
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CommandMessage reply;
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ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
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queueToUse->sendMessage(commandedBy, &reply);
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ipcStore->deleteData(dataAddress);
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return;
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}
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Action* action = actionIter->second;
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result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
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if ((result != returnvalue::OK) or (size != 0)) {
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CommandMessage reply;
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ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
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queueToUse->sendMessage(commandedBy, &reply);
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ipcStore->deleteData(dataAddress);
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return;
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}
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result = action->handle();
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ipcStore->deleteData(dataAddress);
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switch (result) {
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case returnvalue::OK:
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isExecuting = true;
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stepCount++;
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break;
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case HasActionsIF::EXECUTION_FINISHED:
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ActionMessage::setCompletionReply(&reply, actionId, true, returnvalue::OK);
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queueToUse->sendMessage(commandedBy, &reply);
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break;
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default:
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ActionMessage::setStepReply(&reply, actionId, 0, result);
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queueToUse->sendMessage(commandedBy, &reply);
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break;
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}
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}
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