testArduino/fsfw/action/CommandActionHelper.cpp

#include "ActionMessage.h"
#include "CommandActionHelper.h"
#include "CommandsActionsIF.h"
#include "HasActionsIF.h"
#include "../objectmanager/ObjectManagerIF.h"

CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner) :
		owner(setOwner), queueToUse(NULL), ipcStore(
		NULL), commandCount(0), lastTarget(0) {
}

CommandActionHelper::~CommandActionHelper() {
}

ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
		ActionId_t actionId, SerializeIF *data) {
	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
	if (receiver == NULL) {
		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
	}
	store_address_t storeId;
	uint8_t *storePointer;
	size_t maxSize = data->getSerializedSize();
	ReturnValue_t result = ipcStore->getFreeElement(&storeId, maxSize,
			&storePointer);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}
	size_t size = 0;
	result = data->serialize(&storePointer, &size, maxSize,
			SerializeIF::Endianness::BIG);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}
	return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}

ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo,
		ActionId_t actionId, const uint8_t *data, uint32_t size) {
//	if (commandCount != 0) {
//		return CommandsFunctionsIF::ALREADY_COMMANDING;
//	}
	HasActionsIF *receiver = objectManager->get<HasActionsIF>(commandTo);
	if (receiver == NULL) {
		return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
	}
	store_address_t storeId;
	ReturnValue_t result = ipcStore->addData(&storeId, data, size);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}
	return sendCommand(receiver->getCommandQueue(), actionId, storeId);
}

ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId,
		ActionId_t actionId, store_address_t storeId) {
	CommandMessage command;
	ActionMessage::setCommand(&command, actionId, storeId);
	ReturnValue_t result = queueToUse->sendMessage(queueId, &command);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		ipcStore->deleteData(storeId);
	}
	lastTarget = queueId;
	commandCount++;
	return result;
}

ReturnValue_t CommandActionHelper::initialize() {
	ipcStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
	if (ipcStore == NULL) {
		return HasReturnvaluesIF::RETURN_FAILED;
	}

	queueToUse = owner->getCommandQueuePtr();
	if (queueToUse == NULL) {
		return HasReturnvaluesIF::RETURN_FAILED;
	}
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
	if (reply->getSender() != lastTarget) {
		return HasReturnvaluesIF::RETURN_FAILED;
	}
	switch (reply->getCommand()) {
	case ActionMessage::COMPLETION_SUCCESS:
		commandCount--;
		owner->completionSuccessfulReceived(ActionMessage::getActionId(reply));
		return HasReturnvaluesIF::RETURN_OK;
	case ActionMessage::COMPLETION_FAILED:
		commandCount--;
		owner->completionFailedReceived(ActionMessage::getActionId(reply),
				ActionMessage::getReturnCode(reply));
		return HasReturnvaluesIF::RETURN_OK;
	case ActionMessage::STEP_SUCCESS:
		owner->stepSuccessfulReceived(ActionMessage::getActionId(reply),
				ActionMessage::getStep(reply));
		return HasReturnvaluesIF::RETURN_OK;
	case ActionMessage::STEP_FAILED:
		commandCount--;
		owner->stepFailedReceived(ActionMessage::getActionId(reply),
				ActionMessage::getStep(reply),
				ActionMessage::getReturnCode(reply));
		return HasReturnvaluesIF::RETURN_OK;
	case ActionMessage::DATA_REPLY:
		extractDataForOwner(ActionMessage::getActionId(reply),
				ActionMessage::getStoreId(reply));
		return HasReturnvaluesIF::RETURN_OK;
	default:
		return HasReturnvaluesIF::RETURN_FAILED;
	}
}

uint8_t CommandActionHelper::getCommandCount() const {
	return commandCount;
}

void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
	const uint8_t * data = NULL;
	size_t size = 0;
	ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return;
	}
	owner->dataReceived(actionId, data, size);
	ipcStore->deleteData(storeId);
}