fsfw/pus/CService201HealthCommanding.h

#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_

#include "../tmtcservices/CommandingServiceBase.h"

/**
 * @brief   Custom PUS service to set health of all objects
 *          implementing hasHealthIF.
 *
 * Examples: Device Handlers, Assemblies or Subsystems.
 * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
 * Dissertation Baetz p. 115, 116, 165-167.
 *
 * This is a gateway service. It relays device commands using the software bus.
 * This service is very closely tied to the Commanding Service Base template
 * class. There is constant interaction between this Service Base und a
 * child class like this service
 *
 */
class CService201HealthCommanding: public CommandingServiceBase {
public:
    static const uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
    static const uint16_t COMMAND_TIMEOUT_SECONDS = 60;

	CService201HealthCommanding(object_id_t objectId, uint16_t apid,
	        uint8_t serviceId);
	virtual~ CService201HealthCommanding();
protected:
	/* CSB abstract function implementations */
	ReturnValue_t isValidSubservice(uint8_t subservice) override;
	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
			object_id_t *objectId) override;
	/** Prepare health command */
	ReturnValue_t prepareCommand(CommandMessage* message,
			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
			uint32_t *state, object_id_t objectId) override;
	/** Handle health reply */
	ReturnValue_t handleReply(const CommandMessage* reply,
			Command_t previousCommand, uint32_t *state,
			CommandMessage* optionalNextCommand, object_id_t objectId,
			bool *isStep) override;

private:
	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
			const uint8_t* tcData, size_t tcDataLen);
	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);

	void prepareHealthSetReply(const CommandMessage *reply);

	enum Subservice {
		COMMAND_SET_HEALTH = 1, //!< [EXPORT] : [TC] Set health of target object
		REPLY_HEALTH_SET = 2 //!< [EXPORT] : [TM] Reply to health set command which also provides old health
	};
};

#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */