fsfw/tmtcservices/TmTcBridge.cpp

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#include <framework/tmtcservices/TmTcBridge.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/osal/FreeRTOS/PeriodicTask.h>
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tasks/PeriodicTaskIF.h>
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TmTcBridge::TmTcBridge(object_id_t objectId_,
object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
ccsdsPacketDistributor(ccsdsPacketDistributor_),
sentPacketsPerCycle(5), delayBetweenSentPacketsMs(0)
{
TmTcReceptionQueue = QueueFactory::instance()->
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createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
}
TmTcBridge::~TmTcBridge() {}
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void TmTcBridge::setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets) {
this->delayBetweenSentPacketsMs = delayBetweenSentPackets;
}
ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
uint8_t sentPacketsPerCycle) {
if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) {
this->sentPacketsPerCycle = sentPacketsPerCycle;
return RETURN_OK;
}
else {
return RETURN_FAILED;
}
}
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ReturnValue_t TmTcBridge::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == NULL) {
return RETURN_FAILED;
}
tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (tmStore == NULL) {
return RETURN_FAILED;
}
AcceptsTelecommandsIF* tcDistributor =
objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
if (tcDistributor == NULL) {
return RETURN_FAILED;
}
TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
return RETURN_OK;
}
ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
ReturnValue_t result;
result = handleTc();
if(result != RETURN_OK) {
error << "TMTC Bridge: Error handling TCs" << std::endl;
}
result = handleTm();
if (result != RETURN_OK) {
error << "TMTC Bridge: Error handling TMs" << std::endl;
}
return result;
}
ReturnValue_t TmTcBridge::handleTc() {
uint8_t * recvBuffer = nullptr;
size_t recvLen = 0;
ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
if(result == RETURN_OK and recvLen > 0 and recvBuffer != nullptr) {
store_address_t storeId = 0;
ReturnValue_t result = tcStore->addData(&storeId,
recvBuffer, (uint32_t)recvLen);
if(result != RETURN_OK) {
return result;
}
TmTcMessage message(storeId);
if (TmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) {
tcStore->deleteData(storeId);
}
}
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return result;
}
ReturnValue_t TmTcBridge::handleTm() {
ReturnValue_t result = readTmQueue();
if(result != RETURN_OK) {
error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
return RETURN_FAILED;
}
if(tmStored && communicationLinkUp) {
result = sendStoredTm();
}
return result;
}
ReturnValue_t TmTcBridge::readTmQueue() {
TmTcMessage message;
const uint8_t* data = nullptr;
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uint32_t size = 0;
for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
{
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if(communicationLinkUp == false) {
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result = storeDownlinkData(&message);
return result;
}
result = tmStore->getData(message.getStorageId(), &data, &size);
if (result != HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = sendTm(data, size);
if (result != RETURN_OK) {
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error << "TMTC Bridge: Could not send TM packet"<< std::endl;
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tmStore->deleteData(message.getStorageId());
return result;
}
tmStore->deleteData(message.getStorageId());
}
return RETURN_OK;
}
ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
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info << "TMTC Bridge: Comm Link down. "
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"Saving packet ID to be sent later\r\n" << std::flush;
store_address_t storeId = 0;
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if(fifo.full()) {
error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
"reached! Overwriting old data" << std::endl;
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fifo.retrieve(&storeId);
tmStore->deleteData(storeId);
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}
storeId = message->getStorageId();
fifo.insert(storeId);
tmStored = true;
return RETURN_OK;
}
ReturnValue_t TmTcBridge::sendStoredTm() {
uint8_t counter = 0;
ReturnValue_t result = RETURN_OK;
while(!fifo.empty() && counter < sentPacketsPerCycle) {
//info << "TMTC Bridge: Sending stored TM data. There are "
// << (int) fifo.size() << " left to send\r\n" << std::flush;
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store_address_t storeId;
const uint8_t* data = NULL;
uint32_t size = 0;
fifo.retrieve(&storeId);
result = tmStore->getData(storeId, &data, &size);
// This does not work yet: is not static function
//PeriodicTaskIF::sleepFor(delayBetweenSentPacketsMs);
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sendTm(data,size);
if(result != RETURN_OK) {
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error << "TMTC Bridge: Could not send stored downlink data"
<< std::endl;
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result = RETURN_FAILED;
}
counter ++;
if(fifo.empty()) {
tmStored = false;
}
tmStore->deleteData(storeId);
}
return result;
}
void TmTcBridge::registerCommConnect() {
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if(!communicationLinkUp) {
info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
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communicationLinkUp = true;
}
}
void TmTcBridge::registerCommDisconnect() {
info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
if(communicationLinkUp) {
communicationLinkUp = false;
}
}
MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
return TmTcReceptionQueue->getId();
}
void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
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info << "TMTC Bridge: Printing data: [";
for(uint32_t i=0;i<dataLen;i++) {
info << std::hex << (int)data[i];
if(i < dataLen-1){
info << " , ";
}
}
info << " ] " << std::endl;
}