testArduino/fsfw/action/ActionHelper.h

#ifndef FSFW_ACTION_ACTIONHELPER_H_
#define FSFW_ACTION_ACTIONHELPER_H_

#include "ActionMessage.h"
#include "../serialize/SerializeIF.h"
#include "../ipc/MessageQueueIF.h"
/**
 * @brief Action Helper is a helper class which handles action messages
 *
 * Components which use the HasActionIF this helper can be used to handle
 * the action messages.
 * It does handle step messages as well as other answers to action calls.
 * It uses the executeAction function of its owner as callback.
 * The call of the initialize function is mandatory and needs a
 * valid MessageQueueIF pointer!
 */
class HasActionsIF;

class ActionHelper {
public:
	/**
	 * Constructor of the action helper
	 * @param setOwner Pointer to the owner of the interface
	 * @param useThisQueue  messageQueue to be used, can be set during
	 *                      initialize function as well.
	 */
	ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);

	virtual ~ActionHelper();
	/**
	 * Function to be called from the owner with a new command message
	 *
	 * If the message is a valid action message the helper will use the
	 * executeAction function from HasActionsIF.
	 * If the message is invalid or the callback fails a message reply will be
	 * send to the sender of the message automatically.
	 *
	 * @param command Pointer to a command message received by the owner
	 * @return HasReturnvaluesIF::RETURN_OK if the message is a action message,
	 *         CommandMessage::UNKNOW_COMMAND if this message ID is unkown
	 */
	ReturnValue_t handleActionMessage(CommandMessage* command);
	/**
	 * Helper initialize function. Must be called before use of any other
	 * helper function
	 * @param queueToUse_   Pointer to the messageQueue to be used, optional
	 *                      if queue was set in constructor
	 * @return Returns RETURN_OK if successful
	 */
	ReturnValue_t initialize(MessageQueueIF* queueToUse_ = nullptr);
	/**
	 * Function to be called from the owner to send a step message.
	 * Success or failure will be determined by the result value.
	 *
	 * @param step Number of steps already done
	 * @param reportTo The messageQueueId to report the step message to
	 * @param commandId ID of the executed command
	 * @param result Result of the execution
	 */
	void step(uint8_t step, MessageQueueId_t reportTo,
			ActionId_t commandId,
			ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
	/**
	 * Function to be called by the owner to send a action completion message
	 *
	 * @param reportTo MessageQueueId_t to report the action completion message to
	 * @param commandId ID of the executed command
	 * @param result Result of the execution
	 */
	void finish(MessageQueueId_t reportTo, ActionId_t commandId,
	        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
	/**
	 * Function to be called by the owner if an action does report data.
	 * Takes a SerializeIF* pointer and serializes it into the IPC store.
	 * @param reportTo  MessageQueueId_t to report the action completion
	 *                  message to
	 * @param replyId ID of the executed command
	 * @param data Pointer to the data
	 * @return Returns RETURN_OK if successful, otherwise failure code
	 */
	ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
	        SerializeIF* data, bool hideSender = false);
    /**
     * Function to be called by the owner if an action does report data.
     * Takes the raw data and writes it into the IPC store.
     * @param reportTo  MessageQueueId_t to report the action completion
     *                  message to
     * @param replyId ID of the executed command
     * @param data Pointer to the data
     * @return Returns RETURN_OK if successful, otherwise failure code
     */
    ReturnValue_t reportData(MessageQueueId_t reportTo, ActionId_t replyId,
            const uint8_t* data, size_t dataSize, bool hideSender = false);
	/**
	 * Function to setup the MessageQueueIF* of the helper. Can be used to
	 * set the MessageQueueIF* if message queue is unavailable at construction
	 * and initialize but must be setup before first call of other functions.
	 * @param queue Queue to be used by the helper
	 */
	void setQueueToUse(MessageQueueIF *queue);
protected:
	//!< Increase of value of this per step
	static const uint8_t STEP_OFFSET = 1;
	HasActionsIF* owner;//!< Pointer to the owner
	//! Queue to be used as response sender, has to be set in ctor or with
	//! setQueueToUse
	MessageQueueIF* queueToUse;
	//! Pointer to an IPC Store, initialized during construction or
	StorageManagerIF* ipcStore = nullptr;

	/**
	 * Internal function called by handleActionMessage
	 * @param commandedBy MessageQueueID of Commander
	 * @param actionId ID of action to be done
	 * @param dataAddress Address of additional data in IPC Store
	 */
	virtual void prepareExecution(MessageQueueId_t commandedBy,
	        ActionId_t actionId, store_address_t dataAddress);
	/**
	 * @brief Default implementation is empty.
	 */
	virtual void resetHelper();
};

#endif /* FSFW_ACTION_ACTIONHELPER_H_ */