68 lines
2.8 KiB
C
68 lines
2.8 KiB
C
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#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
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#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
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#include <framework/action/ActionMessage.h>
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#include <framework/tmtcservices/CommandingServiceBase.h>
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/**
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* @brief Functional commanding.
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* Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
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* Dissertation Baetz p. 115, 116, 165-167
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*
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* This service provides the capability to perform functions of an
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* application process and provides high-level commanding as opposed to the
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* Raw Access provided by Service 2. Examples for these functions can include
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* control and operation of payload or the AOCS subsystem.
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* This service will be the primary means to control the spacecraft as it is
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* considered safer than the Raw Access provided
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* by Service 2 and is generally sufficient for most tasks.
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*
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* This is a gateway service. It relays device commands using the software bus.
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* This service is very closely tied to the Commanding Service Base template
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* class. There is constant interaction between this Service Base und a
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* subclass like this service.
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*
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* Service Capability:
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* - TC[8,128]: Direct Commanding
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* - TM[8,130]: Direct Commanding Data Reply
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*
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* @ingroup pus_services
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*/
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class Service8FunctionManagement : public CommandingServiceBase
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{
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public:
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Service8FunctionManagement(object_id_t objectId, uint16_t apid,
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uint8_t serviceId, uint8_t numParallelCommands = 4,
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uint16_t commandTimeoutSeconds = 60);
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virtual ~Service8FunctionManagement();
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protected:
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/* CSB abstract functions implementation . See CSB documentation. */
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ReturnValue_t isValidSubservice(uint8_t subservice) override;
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ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
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object_id_t *objectId) override;
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ReturnValue_t prepareCommand(CommandMessage* message,
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
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uint32_t *state, object_id_t objectId) override;
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ReturnValue_t handleReply(const CommandMessage* reply,
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Command_t previousCommand, uint32_t *state,
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CommandMessage* optionalNextCommand, object_id_t objectId,
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bool *isStep) override;
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private:
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enum class Subservice {
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DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
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DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
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};
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ReturnValue_t checkInterfaceAndAcquireMessageQueue(
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MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
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ReturnValue_t prepareDirectCommand(CommandMessage* message,
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const uint8_t* tcData, size_t tcDataLen);
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ReturnValue_t handleDataReply(const CommandMessage* reply,
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object_id_t objectId, ActionId_t actionId);
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};
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#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
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