new Actions

src/fsfw/action/Action.cpp

@@ -0,0 +1,62 @@
+#include "Action.h"
+
+#include <fsfw/serialize/SerializeAdapter.h>
+
+#undef Action
+
+#ifdef FSFW_INTROSPECTION
+
+Action::Action() {}
+
+void Action::setEnum(EnumIF *theEnum) {
+  id = theEnum->getValue();
+  name = theEnum->getDescription();
+}
+
+const char *Action::getName() { return name; }
+#else
+Action::Action(ActionId_t id) : id(id) {}
+#endif
+ActionId_t Action::getId() { return id; }
+
+void Action::registerParameter(ParameterIF *parameter) { parameterList.push_back(parameter); }
+
+std::vector<ParameterIF *> const *Action::getParameters() const { return &parameterList; }
+
+size_t Action::getSerializedSize() const {
+  size_t size = SerializeAdapter::getSerializedSize(&id);
+  for (auto parameter : *getParameters()) {
+    size += parameter->getSerializedSize();
+  }
+  return size;
+}
+
+ReturnValue_t Action::serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                Endianness streamEndianness) const {
+  ReturnValue_t result = SerializeAdapter::serialize(&id, buffer, size, maxSize, streamEndianness);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  for (auto parameter : *getParameters()) {
+    result = parameter->serialize(buffer, size, maxSize, streamEndianness);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+  }
+  return result;
+}
+
+ReturnValue_t Action::deSerialize(const uint8_t **buffer, size_t *size,
+                                  Endianness streamEndianness) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;/* TODO not needed as must have been read before to find this action = SerializeAdapter::deSerialize(&id, buffer, size, streamEndianness);
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }*/
+  for (auto parameter : *getParameters()) {
+    result = parameter->deSerialize(buffer, size, streamEndianness);
+    if (result != HasReturnvaluesIF::RETURN_OK) {
+      return result;
+    }
+  }
+  return result;
+}

src/fsfw/action/Action.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <stdint.h>
+
+#include <vector>
+
+#include <fsfw/serialize/SerializeIF.h>
+#include "ActionMessage.h"
+#include "ParameterIF.h"
+
+
+#ifdef FSFW_INTROSPECTION
+#include "../introspection/Enum.h"
+#endif
+
+class Action: public SerializeIF {
+ public:
+#ifdef FSFW_INTROSPECTION
+  Action();
+  void setEnum(EnumIF* id);
+  const char *getName();
+#else
+  Action(ActionId_t id);
+#endif
+  ActionId_t getId();
+
+  virtual ReturnValue_t handle() = 0;
+
+  void registerParameter(ParameterIF *parameter);
+
+  std::vector<ParameterIF *> const *getParameters() const;
+
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                                  Endianness streamEndianness) const override;
+
+  size_t getSerializedSize() const override;
+
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                                    Endianness streamEndianness) override;
+
+ private:
+  ActionId_t id;
+#ifdef FSFW_INTROSPECTION
+  const char *name;
+#endif
+  std::vector<ParameterIF *> parameterList;
+};

src/fsfw/action/ActionHelper.cpp

@@ -57,6 +57,8 @@ void ActionHelper::finish(bool success, MessageQueueId_t reportTo, ActionId_t co
 
 void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
+#include <stdio.h>
+
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
   const uint8_t* dataPtr = NULL;
@@ -66,9 +68,29 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t act
     CommandMessage reply;
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
     return;
   }
-  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+  auto actionIter = actionMap.find(actionId);
+  if (actionIter == actionMap.end()){
+    puts("end");
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  Action* action = actionIter->second;
+  result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
+  if ((result != HasReturnvaluesIF::RETURN_OK) || (size != 0)){ //TODO write unittest for second condition
+  printf("serialze %i, %x\n", size, result);
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  result = action->handle();
   ipcStore->deleteData(dataAddress);
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
@@ -163,3 +185,11 @@ ReturnValue_t ActionHelper::reportData(MessageQueueId_t reportTo, ActionId_t rep
   }
   return result;
 }
+
+void ActionHelper::registerAction(Action* action) {
+  //TODO error handling
+  ActionId_t id = action->getId();
+  actionMap.emplace(id, action);
+}
+
+std::map<ActionId_t, Action*> const* ActionHelper::getActionMap() { return &actionMap; }

src/fsfw/action/ActionHelper.h

@@ -1,9 +1,11 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
+#include <map>
 #include "../ipc/MessageQueueIF.h"
 #include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "Action.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *
@@ -98,6 +100,10 @@ class ActionHelper {
    */
   void setQueueToUse(MessageQueueIF* queue);
 
+  void registerAction(Action* action);
+
+  std::map<ActionId_t, Action*> const* getActionMap();
+
  protected:
   //! Increase of value of this per step
   static const uint8_t STEP_OFFSET = 1;
@@ -108,6 +114,8 @@ class ActionHelper {
   MessageQueueIF* queueToUse;
   //! Pointer to an IPC Store, initialized during construction or
   StorageManagerIF* ipcStore = nullptr;
+  //! Map of all implemented Actions
+  std::map<ActionId_t, Action*> actionMap;
 
   /**
    * Internal function called by handleActionMessage

src/fsfw/action/CMakeLists.txt

@@ -1,3 +1,3 @@
 target_sources(
-  ${LIB_FSFW_NAME} PRIVATE ActionHelper.cpp ActionMessage.cpp
+  ${LIB_FSFW_NAME} PRIVATE Action.cpp ActionHelper.cpp ActionMessage.cpp
                            CommandActionHelper.cpp SimpleActionHelper.cpp)

src/fsfw/action/HasActionsIF.h

@@ -44,8 +44,11 @@ class HasActionsIF {
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
+   *
    */
   virtual MessageQueueId_t getCommandQueue() const = 0;
+
+  virtual ActionHelper* getActionHelper() = 0;
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently
@@ -55,8 +58,7 @@ class HasActionsIF {
    * -@c EXECUTION_FINISHED Finish reply will be generated
    * -@c Not RETURN_OK Step failure reply will be generated
    */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) = 0;
+  virtual ReturnValue_t executeAction(Action* action, MessageQueueId_t commandedBy) = 0;
 };
 
 #endif /* FSFW_ACTION_HASACTIONSIF_H_ */

src/fsfw/action/MinMaxParameter.h

@@ -0,0 +1,40 @@
+#pragma once
+
+#include "Parameter.h"
+
+template <typename T>
+class MinMaxParameter : public Parameter<T> {
+#ifdef FSFW_INTROSPECTION
+ private:
+  MinMaxParameter(Action *owner, const char *name, T min, T max)
+      : Parameter<T>(owner, name), min(min), max(max) {}
+
+ public:
+  static MinMaxParameter createMinMaxParameter(Action *owner, const char *name, T min, T max) {
+    return MinMaxParameter(owner, name, min, max);
+  }
+  virtual double getMinFloating() override { return static_cast<double>(min); }
+  virtual int64_t getMinSigned() override { return static_cast<int64_t>(min); }
+
+  virtual double getMaxFloating() override { return static_cast<double>(max); }
+  virtual int64_t getMaxSigned() override { return static_cast<int64_t>(max); }
+
+#else
+ private:
+  MinMaxParameter(Action *owner, T min, T max) : Parameter<T>(owner), min(min), max(max) {}
+
+ public:
+  static MinMaxParameter createMinMaxParameter(Action *owner, T min, T max) {
+    return MinMaxParameter(owner, min, max);
+  }
+#endif
+ private:
+  T min;
+  T max;
+};
+
+#ifdef FSFW_INTROSPECTION
+#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p2, p3, p4)
+#else
+#define createMinMaxParameter(p1, p2, p3, p4) createMinMaxParameter(p1, p3, p4)
+#endif

src/fsfw/action/Parameter.h

@@ -0,0 +1,117 @@
+#pragma once
+
+#include <stdio.h>
+
+#include "Action.h"
+#include <fsfw/introspection/Types.h>
+#include <fsfw/introspection/TypesHelper.h>
+#include "ParameterIF.h"
+// TODO: ifdef introspection stuff
+
+
+
+template <typename T>
+class Parameter : public ParameterIF {
+ protected:
+#ifdef FSFW_INTROSPECTION
+  Parameter(Action *owner, const char *name)
+      : name(name)
+#else
+  Parameter(Action *owner)
+#endif
+  {
+    owner->registerParameter(this);
+  }
+
+ public:
+#ifdef FSFW_INTROSPECTION
+  static Parameter createParameter(Action *owner, const char *name) {
+    return Parameter(owner, name);
+  }
+#else
+  static Parameter createParameter(Action *owner) { return Parameter(owner); }
+#endif
+
+  bool isValid() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::isValid(&value);
+  }
+
+  operator T(){
+    return value;
+  }
+
+#ifdef FSFW_INTROSPECTION
+  Types::ParameterType getType() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getType<T>();
+  }
+#endif
+
+  T value;
+
+  ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+                          Endianness streamEndianness) const override {
+    return SerializeAdapter::serialize(&value, buffer, size, maxSize, streamEndianness);
+  }
+
+  size_t getSerializedSize() const override { return SerializeAdapter::getSerializedSize(&value); }
+
+  ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+                            Endianness streamEndianness) override {
+    return SerializeAdapter::deSerialize(&value, buffer, size, streamEndianness);
+  }
+
+#ifdef FSFW_INTROSPECTION
+  double getFloating() override { return (double)value; }
+  int64_t getSigned() override { return (int64_t)value; }
+
+  bool setFloating(double value) override {
+    if (getType() != Types::FLOATING) {
+      puts("fups");
+      return false;
+    }
+    this->value = T(value);
+    return true;
+  }
+
+  bool setSigned(int64_t value) override {
+    if ((getType() != Types::SIGNED) && (getType() != Types::ENUM)) {
+      puts("sups");
+      return false;
+    }
+    this->value = T(value);
+    return true;
+  }
+
+  double getMinFloating() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
+  }
+  int64_t getMinSigned() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMin<T>();
+  }
+
+  double getMaxFloating() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
+  }
+  int64_t getMaxSigned() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::template getMax<T>();
+  }
+
+  std::vector<int64_t> getEnumValues() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumValues(&value);
+  }
+  const char *const *getEnumDescriptions() override {
+    return enumHelper<std::is_base_of<EnumIF, T>::value>::getEnumDescriptions(&value);
+  }
+
+  const char *getName() override { return name; }
+
+ private:
+  const char *name;
+#endif
+};
+
+#ifdef FSFW_INTROSPECTION
+#define createParameter(p1, p2) createParameter(p1, p2)
+#else
+#define createParameter(p1, p2) createParameter(p1)
+#endif

src/fsfw/action/ParameterIF.h

@@ -0,0 +1,45 @@
+#pragma once
+
+#include <fsfw/serialize/SerializeIF.h>
+#include <fsfw/introspection/Types.h>
+
+#ifdef FSFW_INTROSPECTION
+#include <vector>
+#endif
+
+class ParameterIF : public SerializeIF {
+ public:
+  virtual bool isValid() = 0;
+#ifdef FSFW_INTROSPECTION
+
+  
+
+  virtual const char *getName() = 0;
+
+  virtual Types::ParameterType getType() = 0;
+
+  virtual double getFloating() = 0;
+  virtual int64_t getSigned() = 0;
+
+  virtual bool setFloating(double value) = 0;
+  virtual bool setSigned(int64_t value) = 0;
+
+  virtual double getMinFloating() = 0;
+  virtual int64_t getMinSigned() = 0;
+
+  virtual double getMaxFloating() = 0;
+  virtual int64_t getMaxSigned() = 0;
+
+  virtual std::vector<int64_t> getEnumValues() = 0;
+  virtual const char *const * getEnumDescriptions() = 0;
+
+  // ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
+  //                                 Endianness streamEndianness) const override = 0;
+
+  // size_t getSerializedSize() const override = 0;
+
+  // ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
+  //                                   Endianness streamEndianness) override = 0;
+
+#endif
+};

src/fsfw/action/SimpleActionHelper.cpp

@@ -44,11 +44,27 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
   if (result != HasReturnvaluesIF::RETURN_OK) {
     ActionMessage::setStepReply(&reply, actionId, 0, result);
     queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
     return;
   }
-  lastCommander = commandedBy;
-  lastAction = actionId;
-  result = owner->executeAction(actionId, commandedBy, dataPtr, size);
+  auto actionIter = actionMap.find(actionId);
+  if (actionIter == actionMap.end()){
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_ACTION_ID);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  Action* action = actionIter->second;
+  result = action->deSerialize(&dataPtr, &size, SerializeIF::Endianness::NETWORK);
+  if (result != HasReturnvaluesIF::RETURN_OK){
+    CommandMessage reply;
+    ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::INVALID_PARAMETERS);
+    queueToUse->sendMessage(commandedBy, &reply);
+    ipcStore->deleteData(dataAddress);
+    return;
+  }
+  result = action->handle();
   ipcStore->deleteData(dataAddress);
   switch (result) {
     case HasReturnvaluesIF::RETURN_OK:

src/fsfw/action/TemplateAction.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include "Action.h"
+
+template <class owner, class action, class ActionEnum>
+class TemplateAction : public Action {
+ public:
+#ifdef FSFW_INTROSPECTION
+  TemplateAction(owner *myOwner, ActionEnum id) : Action(), myOwner(myOwner) {
+    Action::setEnum(&id);
+    myOwner->getActionHelper()->registerAction(this);
+  }
+#else
+  TemplateAction(owner *myOwner, ActionEnum id) : Action((uint32_t) id), myOwner(myOwner) {
+    myOwner->getActionHelper()->registerAction(this);
+  }
+#endif
+
+  ReturnValue_t handle() override { return myOwner->handleAction(dynamic_cast<action *>(this)); }
+
+ private:
+  owner *myOwner;
+};

src/fsfw/controller/ExtendedControllerBase.cpp

@@ -8,9 +8,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
 
 ExtendedControllerBase::~ExtendedControllerBase() {}
 
-ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
-                                                    MessageQueueId_t commandedBy,
-                                                    const uint8_t *data, size_t size) {
+ReturnValue_t ExtendedControllerBase::executeAction(Action *action, MessageQueueId_t commandedBy) {
   /* Needs to be overriden and implemented by child class. */
   return HasReturnvaluesIF::RETURN_OK;
 }

src/fsfw/controller/ExtendedControllerBase.h

@@ -50,8 +50,7 @@ class ExtendedControllerBase : public ControllerBase,
   void handleQueue() override;
 
   /* HasActionsIF overrides */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) override;
+  virtual ReturnValue_t executeAction(Action* actionId, MessageQueueId_t commandedBy) override;
 
   /* HasLocalDatapoolIF overrides */
   virtual LocalDataPoolManager* getHkManagerHandle() override;

src/fsfw/devicehandlers/DeviceHandlerBase.cpp

@@ -1263,19 +1263,18 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* dataSet, DeviceCommandId_t r
   }
 }
 
-ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                               const uint8_t* data, size_t size) {
+ReturnValue_t DeviceHandlerBase::executeAction(Action *action, MessageQueueId_t commandedBy) {
   ReturnValue_t result = acceptExternalDeviceCommands();
   if (result != HasReturnvaluesIF::RETURN_OK) {
     return result;
   }
-  DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
+  DeviceCommandMap::iterator iter = deviceCommandMap.find(action->getId());
   if (iter == deviceCommandMap.end()) {
     result = COMMAND_NOT_SUPPORTED;
   } else if (iter->second.isExecuting) {
     result = COMMAND_ALREADY_SENT;
   } else {
-    result = buildCommandFromCommand(actionId, data, size);
+    result = action->handle();
   }
   if (result == RETURN_OK) {
     iter->second.sendReplyTo = commandedBy;

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -201,9 +201,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    */
   virtual void setParentQueue(MessageQueueId_t parentQueueId);
 
-  /** @brief  Implementation required for HasActionIF */
-  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                              const uint8_t *data, size_t size) override;
+  /** @brief  Implementation required for HasActionIF */ 
+  ReturnValue_t executeAction(Action *action, MessageQueueId_t commandedBy) override;
 
   Mode_t getTransitionSourceMode() const;
   Submode_t getTransitionSourceSubMode() const;