multiple stuff, need to leave

src/fsfw/controller/ControllerBase.cpp

@@ -12,7 +12,7 @@ ControllerBase::ControllerBase(object_id_t setObjectId, object_id_t parentId,
       mode(MODE_OFF),
       submode(SUBMODE_NONE),
       modeHelper(this),
-      healthHelper(this, setObjectId) {
+      healthHelper(this, setObjectId), actionHelper(this, commandQueue), datapoolHelper(this), housekeepingHelper(this)  {
   commandQueue = QueueFactory::instance()->createMessageQueue(commandQueueDepth);
 }
 
@@ -45,6 +45,21 @@ ReturnValue_t ControllerBase::initialize() {
     return result;
   }
 
+  result = actionHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  result = housekeepingHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  result = datapoolHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
   return returnvalue::OK;
 }
 
@@ -64,6 +79,12 @@ void ControllerBase::handleQueue() {
     if (result == returnvalue::OK) {
       continue;
     }
+
+    result = actionHelper.handleActionMessage(&command);
+    if (result == returnvalue::OK) {
+      continue;
+    }
+
     result = handleCommandMessage(&command);
     if (result == returnvalue::OK) {
       continue;

src/fsfw/controller/ControllerBase.h

@@ -1,14 +1,15 @@
 #ifndef FSFW_CONTROLLER_CONTROLLERBASE_H_
 #define FSFW_CONTROLLER_CONTROLLERBASE_H_
 
-#include "fsfw/health/HasHealthIF.h"
+#include <fsfw/health/HasHealthIF.h>
-#include "fsfw/health/HealthHelper.h"
+#include <fsfw/health/HealthHelper.h>
-#include "fsfw/introspection/ClasslessEnum.h"
+#include <fsfw/introspection/ClasslessEnum.h>
-#include "fsfw/modes/HasModesIF.h"
+#include <fsfw/modes/HasModesIF.h>
-#include "fsfw/modes/ModeHelper.h"
+#include <fsfw/action/HasActionsIF.h>
-#include "fsfw/objectmanager/SystemObject.h"
+#include <fsfw/datapool/HasDatapoolIF.h>
-#include "fsfw/tasks/ExecutableObjectIF.h"
+#include <fsfw/objectmanager/SystemObject.h>
-#include "fsfw/tasks/PeriodicTaskIF.h"
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/PeriodicTaskIF.h>
 
 /**
  * @brief   Generic base class for controller classes
@@ -18,6 +19,8 @@
  */
 class ControllerBase : public HasModesIF,
                        public HasHealthIF,
+                       public HasDatapoolIF,
+                       public HasActionsIF,
                        public ExecutableObjectIF,
                        public SystemObject {
  public:
@@ -42,9 +45,17 @@ class ControllerBase : public HasModesIF,
   void setTaskIF(PeriodicTaskIF *task) override;
   ReturnValue_t initializeAfterTaskCreation() override;
 
-  /** HasModeIF override */
+  /** HasModeIF overrides */
   const ModeHelper *getModeHelper() const override;
 
+  /** HasActionsIF override */
+  ActionHelper* getActionHelper() override;
+  ReturnValue_t executeAction(Action* action) override;
+
+  /** HasDatapoolIF overrides */
+  DatapoolHelper* getDatapoolHelper() override;
+  HousekeepingHelper* getHousekeepingHelper() override;
+
  protected:
   /**
    * Implemented by child class. Handle command messages which are not
@@ -74,6 +85,12 @@ class ControllerBase : public HasModesIF,
 
   HealthHelper healthHelper;
 
+  ActionHelper actionHelper;
+
+  DatapoolHelper datapoolHelper;
+
+  HousekeepingHelper housekeepingHelper;
+
   /**
    * Pointer to the task which executes this component,
    * is invalid before setTaskIF was called.

src/fsfw/datapool/DatasetEntry.h

@@ -25,7 +25,7 @@ class DatasetEntry : public Parameter<T>, public DatasetEntryIF {
       return;
     }
     storedValue = new T();
-    storedValid = new bool
+    storedValid = new bool;
   }
 
  public:
@@ -48,6 +48,8 @@ class DatasetEntry : public Parameter<T>, public DatasetEntryIF {
 
   virtual bool getValid() { return valid; }
 
+  T value; //TODO can this be private?
+
  protected:
   virtual void commit() {
     *storedValue = value;
@@ -59,7 +61,7 @@ class DatasetEntry : public Parameter<T>, public DatasetEntryIF {
   }
 
   virtual void connect(DatasetEntryIF *entry) {
-    HousekeepingEntry<T> *theOther = dynamic_cast<HousekeepingEntry<T> *>(entry);
+    DatasetEntry<T> *theOther = dynamic_cast<DatasetEntry<T> *>(entry);
     if (theOther == nullptr) {
       // Configuration error
       return;
@@ -71,7 +73,7 @@ class DatasetEntry : public Parameter<T>, public DatasetEntryIF {
   virtual bool changed() { return ((value != *storedValue) || (valid != *storedValid)); }
 
  private:
-  T value;
+  
   T *storedValue;
   bool *storedValid;
   bool valid;

src/fsfw/datapool/DatasetEntryIF.h

@@ -26,10 +26,6 @@ class DatasetEntryIF {
   virtual void read() = 0;
   virtual void connect(DatasetEntryIF* entry) = 0;
 
-  /**
-   * create actualValue
-  */
-  virtual void allocate() = 0;
 
   /**
    * returns if value and actual value is different