fsfw/tmtcservices/CommandingServiceBase.cpp

#include "AcceptsTelemetryIF.h"
#include "CommandingServiceBase.h"
#include "TmTcMessage.h"
#include <FSFWConfig.h>

#include "../tcdistribution/PUSDistributorIF.h"
#include "../objectmanager/ObjectManager.h"
#include "../ipc/QueueFactory.h"
#include "../tmtcpacket/pus/tc.h"
#include "../tmtcpacket/pus/tm.h"
#include "../serviceinterface/ServiceInterface.h"

object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;

CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
		uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
		uint16_t commandTimeoutSeconds, size_t queueDepth) :
		SystemObject(setObjectId), apid(apid), service(service),
		timeoutSeconds(commandTimeoutSeconds),
		commandMap(numberOfParallelCommands) {
	commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
	requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
}

void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
	this->packetSource = packetSource;
}

void CommandingServiceBase::setPacketDestination(
		object_id_t packetDestination) {
	this->packetDestination = packetDestination;
}


CommandingServiceBase::~CommandingServiceBase() {
	QueueFactory::instance()->deleteMessageQueue(commandQueue);
	QueueFactory::instance()->deleteMessageQueue(requestQueue);
}


ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
	handleCommandQueue();
	handleRequestQueue();
	checkTimeout();
	doPeriodicOperation();
	return RETURN_OK;
}


uint16_t CommandingServiceBase::getIdentifier() {
	return service;
}


MessageQueueId_t CommandingServiceBase::getRequestQueue() {
	return requestQueue->getId();
}


ReturnValue_t CommandingServiceBase::initialize() {
	ReturnValue_t result = SystemObject::initialize();
	if (result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	if(packetDestination == objects::NO_OBJECT) {
	    packetDestination = defaultPacketDestination;
	}
	AcceptsTelemetryIF* packetForwarding =
	        ObjectManager::instance()->get<AcceptsTelemetryIF>(packetDestination);

	if(packetSource == objects::NO_OBJECT) {
	    packetSource = defaultPacketSource;
	}
	PUSDistributorIF* distributor = ObjectManager::instance()->get<PUSDistributorIF>(
			packetSource);

	if (packetForwarding == nullptr or distributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
	    sif::error << "CommandingServiceBase::intialize: Packet source or "
	            "packet destination invalid!" << std::endl;
#endif
		return ObjectManagerIF::CHILD_INIT_FAILED;
	}

	distributor->registerService(this);
	requestQueue->setDefaultDestination(
			packetForwarding->getReportReceptionQueue());

	IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
	TCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);

	if (IPCStore == nullptr or TCStore == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
	    sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
	                    "not initialized yet!" << std::endl;
#endif
		return ObjectManagerIF::CHILD_INIT_FAILED;
	}

	return RETURN_OK;

}

void CommandingServiceBase::handleCommandQueue() {
	CommandMessage reply;
	ReturnValue_t result = RETURN_FAILED;
	while(true) {
	    result = commandQueue->receiveMessage(&reply);
	    if (result == HasReturnvaluesIF::RETURN_OK) {
	        handleCommandMessage(&reply);
	        continue;
	    }
	    else if(result == MessageQueueIF::EMPTY) {
	        break;
	    }
	    else {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
	        sif::warning << "CommandingServiceBase::handleCommandQueue: Receiving message failed"
	                "with code" << result << std::endl;
#else
	        sif::printWarning("CommandingServiceBase::handleCommandQueue: Receiving message "
	                "failed with code %d\n", result);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
	        break;
	    }
	}
}


void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
	bool isStep = false;
	CommandMessage nextCommand;
	CommandMapIter iter = commandMap.find(reply->getSender());

	// handle unrequested reply first
	if (reply->getSender() == MessageQueueIF::NO_QUEUE or
			iter == commandMap.end()) {
		handleUnrequestedReply(reply);
		return;
	}
	nextCommand.setCommand(CommandMessage::CMD_NONE);


	// Implemented by child class, specifies what to do with reply.
	ReturnValue_t result = handleReply(reply, iter->second.command, &iter->second.state,
			&nextCommand, iter->second.objectId, &isStep);

	/* If the child implementation does not implement special handling for
	 * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
	 * failure verification will be generated with the reason as the
	 * return code and the initial command as failure parameter 1 */
	if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
			(result == RETURN_FAILED or result == INVALID_REPLY)) {
	    result = reply->getReplyRejectedReason();
	    failureParameter1 = iter->second.command;
	}

	switch (result) {
	case EXECUTION_COMPLETE:
	case RETURN_OK:
	case NO_STEP_MESSAGE:
		// handle result of reply handler implemented by developer.
		handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
		break;
	case INVALID_REPLY:
		//might be just an unrequested reply at a bad moment
		handleUnrequestedReply(reply);
		break;
	default:
		if (isStep) {
			verificationReporter.sendFailureReport(
					tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
					result, ++iter->second.step, failureParameter1,
					failureParameter2);
		} else {
			verificationReporter.sendFailureReport(
					tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
					result, 0, failureParameter1, failureParameter2);
		}
		failureParameter1 = 0;
		failureParameter2 = 0;
		checkAndExecuteFifo(iter);
		break;
	}

}

void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
		CommandMapIter iter, CommandMessage* nextCommand,
		CommandMessage* reply, bool& isStep) {
	iter->second.command = nextCommand->getCommand();

	// In case a new command is to be sent immediately, this is performed here.
	// If no new command is sent, only analyse reply result by initializing
	// sendResult as RETURN_OK
	ReturnValue_t sendResult = RETURN_OK;
	if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
		sendResult = commandQueue->sendMessage(reply->getSender(),
				nextCommand);
	}

	if (sendResult == RETURN_OK) {
		if (isStep and result != NO_STEP_MESSAGE) {
			verificationReporter.sendSuccessReport(
					tc_verification::PROGRESS_SUCCESS,
					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
					iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
		}
		else {
			verificationReporter.sendSuccessReport(
					tc_verification::COMPLETION_SUCCESS,
					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
					iter->second.tcInfo.tcSequenceControl, 0);
			checkAndExecuteFifo(iter);
		}
	}
	else {
		if (isStep) {
			nextCommand->clearCommandMessage();
			verificationReporter.sendFailureReport(
					tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
					iter->second.tcInfo.tcPacketId,
					iter->second.tcInfo.tcSequenceControl, sendResult,
					++iter->second.step, failureParameter1, failureParameter2);
		} else {
			nextCommand->clearCommandMessage();
			verificationReporter.sendFailureReport(
					tc_verification::COMPLETION_FAILURE,
					iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
					iter->second.tcInfo.tcSequenceControl, sendResult, 0,
					failureParameter1, failureParameter2);
		}
		failureParameter1 = 0;
		failureParameter2 = 0;
		checkAndExecuteFifo(iter);
	}
}

void CommandingServiceBase::handleRequestQueue() {
	TmTcMessage message;
	ReturnValue_t result;
	store_address_t address;
	TcPacketStoredPus packet;
	MessageQueueId_t queue;
	object_id_t objectId;
	for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
			result = requestQueue->receiveMessage(&message)) {
		address = message.getStorageId();
		packet.setStoreAddress(address);

		if ((packet.getSubService() == 0)
				or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
			rejectPacket(tc_verification::START_FAILURE, &packet, INVALID_SUBSERVICE);
			continue;
		}

		result = getMessageQueueAndObject(packet.getSubService(),
				packet.getApplicationData(), packet.getApplicationDataSize(),
				&queue, &objectId);
		if (result != HasReturnvaluesIF::RETURN_OK) {
			rejectPacket(tc_verification::START_FAILURE, &packet, result);
			continue;
		}

		//Is a command already active for the target object?
		CommandMapIter iter;
		iter = commandMap.find(queue);

		if (iter != commandMap.end()) {
			result = iter->second.fifo.insert(address);
			if (result != RETURN_OK) {
				rejectPacket(tc_verification::START_FAILURE, &packet, OBJECT_BUSY);
			}
		} else {
			CommandInfo newInfo; //Info will be set by startExecution if neccessary
			newInfo.objectId = objectId;
			result = commandMap.insert(queue, newInfo, &iter);
			if (result != RETURN_OK) {
				rejectPacket(tc_verification::START_FAILURE, &packet, BUSY);
			} else {
				startExecution(&packet, iter);
			}
		}

	}
}


ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
		const uint8_t* data, size_t dataLen, const uint8_t* headerData,
		size_t headerSize) {
#if FSFW_USE_PUS_C_TELEMETRY == 0
	TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
			this->tmPacketCounter, data, dataLen, headerData, headerSize);
#else
	TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
            this->tmPacketCounter, data, dataLen, headerData, headerSize);
#endif
	ReturnValue_t result = tmPacketStored.sendPacket(
			requestQueue->getDefaultDestination(), requestQueue->getId());
	if (result == HasReturnvaluesIF::RETURN_OK) {
		this->tmPacketCounter++;
	}
	return result;
}


ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
        object_id_t objectId, const uint8_t *data, size_t dataLen) {
    uint8_t buffer[sizeof(object_id_t)];
    uint8_t* pBuffer = buffer;
    size_t size = 0;
    SerializeAdapter::serialize(&objectId, &pBuffer, &size,
                sizeof(object_id_t), SerializeIF::Endianness::BIG);
#if FSFW_USE_PUS_C_TELEMETRY == 0
    TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
            this->tmPacketCounter, data, dataLen, buffer, size);
#else
    TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
            this->tmPacketCounter, data, dataLen, buffer, size);
#endif
    ReturnValue_t result = tmPacketStored.sendPacket(
            requestQueue->getDefaultDestination(), requestQueue->getId());
    if (result == HasReturnvaluesIF::RETURN_OK) {
        this->tmPacketCounter++;
    }
    return result;
}


ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
        SerializeIF* content, SerializeIF* header) {
#if FSFW_USE_PUS_C_TELEMETRY == 0
    TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
            this->tmPacketCounter, content, header);
#else
    TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
            this->tmPacketCounter, content, header);
#endif
    ReturnValue_t result = tmPacketStored.sendPacket(
            requestQueue->getDefaultDestination(), requestQueue->getId());
    if (result == HasReturnvaluesIF::RETURN_OK) {
        this->tmPacketCounter++;
    }
    return result;
}


void CommandingServiceBase::startExecution(TcPacketStoredBase *storedPacket,
        CommandMapIter iter) {
    ReturnValue_t result = RETURN_OK;
    CommandMessage command;
    TcPacketBase* tcPacketBase = storedPacket->getPacketBase();
    if(tcPacketBase == nullptr) {
        return;
    }
    iter->second.subservice = tcPacketBase->getSubService();
    result = prepareCommand(&command, iter->second.subservice,
            tcPacketBase->getApplicationData(),
            tcPacketBase->getApplicationDataSize(), &iter->second.state,
            iter->second.objectId);

    ReturnValue_t sendResult = RETURN_OK;
	switch (result) {
	case RETURN_OK:
		if (command.getCommand() != CommandMessage::CMD_NONE) {
			sendResult = commandQueue->sendMessage(iter.value->first,
					&command);
		}
		if (sendResult == RETURN_OK) {
			Clock::getUptime(&iter->second.uptimeOfStart);
			iter->second.step = 0;
			iter->second.subservice = tcPacketBase->getSubService();
			iter->second.command = command.getCommand();
			iter->second.tcInfo.ackFlags = tcPacketBase->getAcknowledgeFlags();
			iter->second.tcInfo.tcPacketId = tcPacketBase->getPacketId();
			iter->second.tcInfo.tcSequenceControl =
			        tcPacketBase->getPacketSequenceControl();
			acceptPacket(tc_verification::START_SUCCESS, storedPacket);
		} else {
			command.clearCommandMessage();
			rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
			checkAndExecuteFifo(iter);
		}
		break;
	case EXECUTION_COMPLETE:
		if (command.getCommand() != CommandMessage::CMD_NONE) {
			//Fire-and-forget command.
			sendResult = commandQueue->sendMessage(iter.value->first,
					&command);
		}
		if (sendResult == RETURN_OK) {
			verificationReporter.sendSuccessReport(tc_verification::START_SUCCESS,
					storedPacket->getPacketBase());
			acceptPacket(tc_verification::COMPLETION_SUCCESS, storedPacket);
			checkAndExecuteFifo(iter);
		} else {
			command.clearCommandMessage();
			rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
			checkAndExecuteFifo(iter);
		}
		break;
	default:
		rejectPacket(tc_verification::START_FAILURE, storedPacket, result);
		checkAndExecuteFifo(iter);
		break;
	}
}


void CommandingServiceBase::rejectPacket(uint8_t reportId,
		TcPacketStoredBase* packet, ReturnValue_t errorCode) {
	verificationReporter.sendFailureReport(reportId, packet->getPacketBase(), errorCode);
	packet->deletePacket();
}


void CommandingServiceBase::acceptPacket(uint8_t reportId,
		TcPacketStoredBase* packet) {
	verificationReporter.sendSuccessReport(reportId, packet->getPacketBase());
	packet->deletePacket();
}


void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
	store_address_t address;
	if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
		commandMap.erase(&iter);
	} else {
		TcPacketStoredPus newPacket(address);
		startExecution(&newPacket, iter);
	}
}


void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
	reply->clearCommandMessage();
}


inline void CommandingServiceBase::doPeriodicOperation() {
}

MessageQueueId_t CommandingServiceBase::getCommandQueue() {
	return commandQueue->getId();
}

void CommandingServiceBase::checkTimeout() {
	uint32_t uptime;
	Clock::getUptime(&uptime);
	CommandMapIter iter;
	for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
		if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
			verificationReporter.sendFailureReport(
					tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
					iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
					TIMEOUT);
			checkAndExecuteFifo(iter);
		}
	}
}

void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
    executingTask = task_;
}