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Merge branch 'mueller/master' into mueller/DHB_separating_steps

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This commit is contained in:
Robin Müller
2020-10-12 17:44:58 +02:00
parent dbb394f761 736ce2d5fd
commit d22c6a5fe9
275 changed files with 4916 additions and 3313 deletions
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4
devicehandlers/CommunicationMessage.cpp
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@ -122,7 +122,7 @@ uint32_t CommunicationMessage::getUint32Data() const{
}
void CommunicationMessage::setDataByte(uint8_t byte, uint8_t position) {
if(0 <= position && position <= 3) {
if(position <= 3) {
memcpy(getData() + 3 * sizeof(uint32_t) + position * sizeof(uint8_t), &byte, sizeof(byte));
}
else {
@ -131,7 +131,7 @@ void CommunicationMessage::setDataByte(uint8_t byte, uint8_t position) {
}
uint8_t CommunicationMessage::getDataByte(uint8_t position) const {
if(0 <= position && position <= 3) {
if(position <= 3) {
uint8_t byte;
memcpy(&byte, getData() + 3 * sizeof(uint32_t) + position * sizeof(uint8_t), sizeof(byte));
return byte;

40
devicehandlers/DeviceHandlerBase.cpp
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@ -1,18 +1,18 @@
#include "../devicehandlers/DeviceHandlerBase.h"
#include "DeviceHandlerBase.h"
#include "AcceptsDeviceResponsesIF.h"
#include "DeviceTmReportingWrapper.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../thermal/ThermalComponentIF.h"
#include "../devicehandlers/AcceptsDeviceResponsesIF.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../devicehandlers/DeviceTmReportingWrapper.h"
#include "../globalfunctions/CRC.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../ipc/MessageQueueMessage.h"
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../subsystem/SubsystemBase.h"
#include <iomanip>
@ -399,7 +399,7 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
PoolDataSetIF* replyDataSet, size_t replyLen, bool periodic,
LocalPoolDataSetBase* replyDataSet, size_t replyLen, bool periodic,
bool hasDifferentReplyId, DeviceCommandId_t replyId) {
//No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand);
@ -413,7 +413,7 @@ ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
}
ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
uint16_t maxDelayCycles, PoolDataSetIF* dataSet,
uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
size_t replyLen, bool periodic) {
DeviceReplyInfo info;
info.maxDelayCycles = maxDelayCycles;
@ -463,7 +463,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
PoolDataSetIF *dataSet) {
LocalPoolDataSetBase *dataSet) {
auto replyIter = deviceReplyMap.find(replyId);
if(replyIter == deviceReplyMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
@ -1286,10 +1286,14 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (iter == deviceCommandMap.end()) {
result = COMMAND_NOT_SUPPORTED;
} else if (iter->second.isExecuting) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Command "
<< deviceCommandId << " isExecuting" << std::endl; //so we can track misconfigurations
return; //this is an internal command, no need to report a failure here, missed reply will track if a reply is too late, otherwise, it's ok
<< deviceCommandId << " isExecuting" << std::dec
<< std::endl;
// this is an internal command, no need to report a failure here,
// missed reply will track if a reply is too late, otherwise, it's ok
return;
} else {
iter->second.sendReplyTo = NO_COMMANDER;
iter->second.isExecuting = true;
@ -1396,10 +1400,14 @@ ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
pstIntervalMs = executingTask->getPeriodMs();
}
this->hkManager.initializeAfterTaskCreation();
if(setStartupImmediately) {
startTransition(MODE_ON, SUBMODE_NONE);
}
return HasReturnvaluesIF::RETURN_OK;
}
DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
auto iter = deviceReplyMap.find(sid.ownerSetId);
if(iter != deviceReplyMap.end()) {
return iter->second.dataSet;
@ -1413,6 +1421,10 @@ object_id_t DeviceHandlerBase::getObjectId() const {
return SystemObject::getObjectId();
}
void DeviceHandlerBase::setStartUpImmediately() {
this->setStartupImmediately = true;
}
dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
return pstIntervalMs;
}

80
devicehandlers/DeviceHandlerBase.h
View File

@ -1,25 +1,26 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#include "DeviceHandlerIF.h"
#include "DeviceCommunicationIF.h"
#include "DeviceHandlerFailureIsolation.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
#include "../devicehandlers/DeviceHandlerIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../action/HasActionsIF.h"
#include "../datapool/PoolVariableIF.h"
#include "../devicehandlers/DeviceCommunicationIF.h"
#include "../modes/HasModesIF.h"
#include "../power/PowerSwitchIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../action/ActionHelper.h"
#include "../health/HealthHelper.h"
#include "../parameters/ParameterHelper.h"
#include "../datapool/HkSwitchHelper.h"
#include "../datapoollocal/HasLocalDataPoolIF.h"
#include "../datapoollocal/LocalDataPoolManager.h"
#include "../devicehandlers/DeviceHandlerFailureIsolation.h"
#include <map>
namespace Factory{
@ -104,6 +105,18 @@ public:
void setHkDestination(object_id_t hkDestination);
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId);
/**
* @brief Helper function to ease device handler development.
* This will instruct the transition to MODE_ON immediately
* (leading to doStartUp() being called for the transition to the ON mode),
* so external mode commanding is not necessary anymore.
*
* This has to be called before the task is started!
* (e.g. in the task factory). This is only a helper function for
* development. Regular mode commanding should be performed by commanding
* the AssemblyBase or Subsystem objects resposible for the device handler.
*/
void setStartUpImmediately();
/**
* @brief This function is the device handler base core component and is
@ -149,6 +162,14 @@ public:
* @return
*/
virtual ReturnValue_t initialize();
/**
* @brief Intialization steps performed after all tasks have been created.
* This function will be called by the executing task.
* @return
*/
virtual ReturnValue_t initializeAfterTaskCreation() override;
/** Destructor. */
virtual ~DeviceHandlerBase();
@ -370,7 +391,8 @@ protected:
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
uint16_t maxDelayCycles, PoolDataSetIF* replyDataSet = nullptr,
uint16_t maxDelayCycles,
LocalPoolDataSetBase* replyDataSet = nullptr,
size_t replyLen = 0, bool periodic = false,
bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
@ -385,7 +407,7 @@ protected:
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
uint16_t maxDelayCycles, PoolDataSetIF* dataSet = nullptr,
uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet = nullptr,
size_t replyLen = 0, bool periodic = false);
/**
@ -415,7 +437,7 @@ protected:
bool periodic = false);
ReturnValue_t setReplyDataset(DeviceCommandId_t replyId,
PoolDataSetIF* dataset);
LocalPoolDataSetBase* dataset);
/**
* @brief Can be implemented by child handler to
@ -645,7 +667,7 @@ protected:
//! The dataset used to access housekeeping data related to the
//! respective device reply. Will point to a dataset held by
//! the child handler (if one is specified)
PoolDataSetIF* dataSet = nullptr;
LocalPoolDataSetBase* dataSet;
//! The command that expects this reply.
DeviceCommandMap::iterator command;
};
@ -946,14 +968,17 @@ protected:
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void setToExternalControl();
virtual void announceMode(bool recursive);
/* HasModesIF overrides */
virtual void startTransition(Mode_t mode, Submode_t submode) override;
virtual void setToExternalControl() override;
virtual void announceMode(bool recursive) override;
virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
/**
* Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper" faster about executed events.
* Overwrites SystemObject::triggerEvent in order to inform FDIR"Helper"
* faster about executed events.
* This is a bit sneaky, but improves responsiveness of the device FDIR.
* @param event The event to be thrown
* @param parameter1 Optional parameter 1
@ -1045,6 +1070,8 @@ private:
*/
uint32_t timeoutStart = 0;
bool setStartupImmediately = false;
/**
* Delay for the current mode transition, used for time out
*/
@ -1163,7 +1190,6 @@ private:
ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
uint32_t *len);
/**
* @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
*/
@ -1174,28 +1200,14 @@ private:
*/
void callChildStatemachine();
/**
* Switches the channel of the cookie used for the communication
*
*
* @param newChannel the object Id of the channel to switch to
* @return
* - @c RETURN_OK when cookie was changed
* - @c RETURN_FAILED when cookies could not be changed,
* e.g. because the newChannel is not enabled
* - @c returnvalues of RMAPChannelIF::isActive()
*/
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
virtual ReturnValue_t initializeAfterTaskCreation() override;
virtual DataSetIF* getDataSetHandle(sid_t sid) override;
void parseReply(const uint8_t* receivedData,
size_t receivedDataLen);
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
virtual dur_millis_t getPeriodicOperationFrequency() const override;
void parseReply(const uint8_t* receivedData,
size_t receivedDataLen);
};
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */

8
devicehandlers/DeviceHandlerFailureIsolation.cpp
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@ -247,6 +247,14 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(
}
return true;
}
if (owner == nullptr) {
// Configuration error.
sif::error << "DeviceHandlerFailureIsolation::"
<< "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
return false;
}
if (owner->getHealth() == HasHealthIF::FAULTY
|| owner->getHealth() == HasHealthIF::PERMANENT_FAULTY) {
//Ignore all events in case device is already faulty.

16
devicehandlers/DeviceHandlerIF.h
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@ -1,12 +1,19 @@
#ifndef DEVICEHANDLERIF_H_
#define DEVICEHANDLERIF_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
#include "DeviceHandlerMessage.h"
#include "../action/HasActionsIF.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../events/Event.h"
#include "../modes/HasModesIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This is used to uniquely identify commands that are sent to a device
* The values are defined in the device-specific implementations
*/
using DeviceCommandId_t = uint32_t;
/**
* @brief This is the Interface used to communicate with a device handler.
* @details Includes all expected return values, events and modes.
@ -15,6 +22,7 @@
class DeviceHandlerIF {
public:
static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
@ -153,4 +161,4 @@ public:
};
#endif /* DEVICEHANDLERIF_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

17
devicehandlers/DeviceHandlerMessage.cpp
View File

@ -1,9 +1,5 @@
#include "DeviceHandlerMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
#include "../devicehandlers/DeviceHandlerMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
DeviceHandlerMessage::DeviceHandlerMessage() {
}
store_address_t DeviceHandlerMessage::getStoreAddress(
const CommandMessage* message) {
@ -25,14 +21,6 @@ uint8_t DeviceHandlerMessage::getWiretappingMode(
return message->getParameter();
}
//void DeviceHandlerMessage::setDeviceHandlerDirectCommandMessage(
// CommandMessage* message, DeviceCommandId_t deviceCommand,
// store_address_t commandParametersStoreId) {
// message->setCommand(CMD_DIRECT);
// message->setParameter(deviceCommand);
// message->setParameter2(commandParametersStoreId.raw);
//}
void DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(
CommandMessage* message, store_address_t rawPacketStoreId) {
message->setCommand(CMD_RAW);
@ -79,13 +67,12 @@ void DeviceHandlerMessage::setDeviceHandlerDirectCommandReply(
void DeviceHandlerMessage::clear(CommandMessage* message) {
switch (message->getCommand()) {
case CMD_RAW:
// case CMD_DIRECT:
case REPLY_RAW_COMMAND:
case REPLY_RAW_REPLY:
case REPLY_DIRECT_COMMAND_DATA: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
if (ipcStore != nullptr) {
ipcStore->deleteData(getStoreAddress(message));
}
}

78
devicehandlers/DeviceHandlerMessage.h
View File

@ -1,69 +1,56 @@
#ifndef DEVICEHANDLERMESSAGE_H_
#define DEVICEHANDLERMESSAGE_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
#include "../action/ActionMessage.h"
#include "../ipc/CommandMessage.h"
#include "../objectmanager/SystemObjectIF.h"
#include "../storagemanager/StorageManagerIF.h"
//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
// SHOULDDO: rework the static constructors to name the type of command
// they are building, maybe even hide setting the commandID.
/**
* This is used to uniquely identify commands that are sent to a device
*
* The values are defined in the device-specific implementations
*/
typedef uint32_t DeviceCommandId_t;
/**
* The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
* @brief The DeviceHandlerMessage is used to send commands to classes
* implementing DeviceHandlerIF
*/
class DeviceHandlerMessage {
private:
DeviceHandlerMessage();
public:
/**
* Instantiation forbidden. Instead, use static functions to operate
* on messages.
*/
DeviceHandlerMessage() = delete;
virtual ~DeviceHandlerMessage() {}
/**
* These are the commands that can be sent to a DeviceHandlerBase
*/
static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
// static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
//! Sends a raw command, setParameter is a storeId containing the
//! raw packet to send
static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
//! Requests a IO-Board switch, setParameter() is the IO-Board identifier
static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID(3);
//! (De)Activates the monitoring of all raw traffic in DeviceHandlers,
//! setParameter is 0 to deactivate, 1 to activate
static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID(4);
/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2); //!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3); //!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 ); //!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
*/
static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
//! Signals that a direct command was sent
static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
//! Contains a raw command sent to the Device
static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
//! Contains a raw reply from the Device, getParameter() is the ObjcetId
//! of the sender, getParameter2() is a ::store_id_t containing the
//! raw packet received
static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
/**
* Default Destructor
*/
virtual ~DeviceHandlerMessage() {
}
static store_address_t getStoreAddress(const CommandMessage* message);
static uint32_t getDeviceCommandId(const CommandMessage* message);
static object_id_t getDeviceObjectId(const CommandMessage *message);
static object_id_t getIoBoardObjectId(const CommandMessage* message);
static uint8_t getWiretappingMode(const CommandMessage* message);
// static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
// DeviceCommandId_t deviceCommand,
// store_address_t commandParametersStoreId);
static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
object_id_t deviceObjectid,
store_address_t commandParametersStoreId);
@ -75,11 +62,6 @@ public:
object_id_t deviceObjectid, store_address_t rawPacketStoreId,
bool isCommand);
// static void setDeviceHandlerMessage(CommandMessage* message,
// Command_t command, DeviceCommandId_t deviceCommand,
// store_address_t commandParametersStoreId);
// static void setDeviceHandlerMessage(CommandMessage* message,
// Command_t command, store_address_t rawPacketStoreId);
static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
uint8_t wiretappingMode);
static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
@ -88,4 +70,4 @@ public:
static void clear(CommandMessage* message);
};
#endif /* DEVICEHANDLERMESSAGE_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_ */