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Merge branch 'development' into mueller/parameter-convergence

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Robin Müller 2020-12-03 13:05:12 +01:00
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13
CHANGELOG Normal file
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@ -0,0 +1,13 @@
## Changes from ASTP 0.0.1 to 1.0.0
### FreeRTOS OSAL
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
a C file without issues
### PUS Services
- It is now possible to change the message queue depth for the telecommand verification service (PUS1)
- The same is possible for the event reporting service (PUS5)
- PUS Health Service added, which allows to command and retrieve health via PUS packets

2
NOTICE
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@ -4,6 +4,8 @@ The initial version of the Flight Software Framework was developed during
the Flying Laptop Project by the Universität Stuttgart in coorporation the Flying Laptop Project by the Universität Stuttgart in coorporation
with Airbus Defence and Space GmbH. with Airbus Defence and Space GmbH.
The supreme FSFW Logo was designed by Markus Koller and Luise Trilsbach.
Copyrights in the Flight Software Framework are retained by their contributors. Copyrights in the Flight Software Framework are retained by their contributors.
No copyright assignment is required to contribute to the Flight Software Framework. No copyright assignment is required to contribute to the Flight Software Framework.

4
README.md
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@ -1,5 +1,5 @@
Flight Software Framework (FSFW) ![FSFW Logo](logo/FSFW_Logo_V3_bw.png)
====== # Flight Software Framework (FSFW)
The Flight Software Framework is a C++ Object Oriented Framework for unmanned, The Flight Software Framework is a C++ Object Oriented Framework for unmanned,
automated systems like Satellites. automated systems like Satellites.

14
defaultcfg/fsfwconfig/FSFWConfig.h
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@ -1,7 +1,6 @@
#ifndef CONFIG_FSFWCONFIG_H_ #ifndef CONFIG_FSFWCONFIG_H_
#define CONFIG_FSFWCONFIG_H_ #define CONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef> #include <cstddef>
#include <cstdint> #include <cstdint>
@ -9,12 +8,12 @@
//! Those can lead to code bloat. //! Those can lead to code bloat.
#define FSFW_CPP_OSTREAM_ENABLED 1 #define FSFW_CPP_OSTREAM_ENABLED 1
//! Reduced printout to further decrese code size //! Reduced printout to further decrease code size
//! Be careful, this also turns off most diagnostic prinouts! //! Be careful, this also turns off most diagnostic prinouts!
#define FSFW_REDUCED_PRINTOUT 0 #define FSFW_ENHANCED_PRINTOUT 0
//! Can be used to enable debugging printouts for developing the FSFW //! Can be used to enable additional debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0 #define FSFW_PRINT_VERBOSITY_LEVEL 0
//! Defines the FIFO depth of each commanding service base which //! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle //! also determines how many commands a CSB service can handle in one cycle
@ -39,7 +38,10 @@
//! When using the newlib nano library, C99 support for stdio facilities //! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case. //! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1 #define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
namespace fsfwconfig { namespace fsfwconfig {
//! Default timestamp size. The default timestamp will be an eight byte CDC //! Default timestamp size. The default timestamp will be an eight byte CDC

2
devicehandlers/DeviceHandlerIF.h
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@ -18,6 +18,8 @@ public:
static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20; static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10; static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
static constexpr Command_t NO_COMMAND = -1;
/** /**
* @brief This is the mode the <strong>device handler</strong> is in. * @brief This is the mode the <strong>device handler</strong> is in.
* *

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2
osal/FreeRTOS/TaskManagement.h
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@ -13,7 +13,7 @@ extern "C" {
* Architecture dependant portmacro.h function call. * Architecture dependant portmacro.h function call.
* Should be implemented in bsp. * Should be implemented in bsp.
*/ */
extern void vRequestContextSwitchFromISR(); extern "C" void vRequestContextSwitchFromISR();
/*! /*!
* Used by functions to tell if they are being called from * Used by functions to tell if they are being called from

5
pus/CService200ModeCommanding.cpp
View File

@ -7,9 +7,10 @@
#include "../modes/ModeMessage.h" #include "../modes/ModeMessage.h"
CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
uint16_t apid, uint8_t serviceId): uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds):
CommandingServiceBase(objectId, apid, serviceId, CommandingServiceBase(objectId, apid, serviceId,
NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {} numParallelCommands, commandTimeoutSeconds) {}
CService200ModeCommanding::~CService200ModeCommanding() {} CService200ModeCommanding::~CService200ModeCommanding() {}

11
pus/CService200ModeCommanding.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ #ifndef FSFW_PUS_CSERVICE200MODECOMMANDING_H_
#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ #define FSFW_PUS_CSERVICE200MODECOMMANDING_H_
#include "../tmtcservices/CommandingServiceBase.h" #include "../tmtcservices/CommandingServiceBase.h"
@ -15,11 +15,10 @@
*/ */
class CService200ModeCommanding: public CommandingServiceBase { class CService200ModeCommanding: public CommandingServiceBase {
public: public:
static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
CService200ModeCommanding(object_id_t objectId, CService200ModeCommanding(object_id_t objectId,
uint16_t apid, uint8_t serviceId); uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
virtual~ CService200ModeCommanding(); virtual~ CService200ModeCommanding();
protected: protected:
@ -82,4 +81,4 @@ private:
}; };
}; };
#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */ #endif /* FSFW_PUS_CSERVICE200MODECOMMANDING_H_ */

106
pus/CService201HealthCommanding.cpp Normal file
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@ -0,0 +1,106 @@
#include "CService201HealthCommanding.h"
#include "../health/HasHealthIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../health/HealthMessage.h"
#include "servicepackets/Service201Packets.h"
CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds):
CommandingServiceBase(objectId, apid, serviceId,
numParallelCommands, commandTimeoutSeconds) {
}
CService201HealthCommanding::~CService201HealthCommanding() {
}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch(subservice) {
case(Subservice::COMMAND_SET_HEALTH):
case(Subservice::COMMAND_ANNOUNCE_HEALTH):
case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
return RETURN_OK;
default:
sif::error << "Invalid Subservice" << std::endl;
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
MessageQueueId_t *id, object_id_t *objectId) {
if(tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
if(destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = destination->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CService201HealthCommanding::prepareCommand(
CommandMessage* message, uint8_t subservice, const uint8_t *tcData,
size_t tcDataLen, uint32_t *state, object_id_t objectId) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(subservice) {
case(Subservice::COMMAND_SET_HEALTH): {
HealthSetCommand healthCommand;
result = healthCommand.deSerialize(&tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
break;
}
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
healthCommand.getHealth());
break;
}
case(Subservice::COMMAND_ANNOUNCE_HEALTH): {
HealthMessage::setHealthMessage(message,
HealthMessage::HEALTH_ANNOUNCE);
break;
}
case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
HealthMessage::setHealthMessage(message,
HealthMessage::HEALTH_ANNOUNCE_ALL);
break;
}
}
return result;
}
ReturnValue_t CService201HealthCommanding::handleReply
(const CommandMessage* reply, Command_t previousCommand,
uint32_t *state, CommandMessage* optionalNextCommand,
object_id_t objectId, bool *isStep) {
Command_t replyId = reply->getCommand();
if (replyId == HealthMessage::REPLY_HEALTH_SET) {
return EXECUTION_COMPLETE;
}
else if(replyId == CommandMessageIF::REPLY_REJECTED) {
return reply->getReplyRejectedReason();
}
return CommandingServiceBase::INVALID_REPLY;
}
// Not used for now, health state already reported by event
ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
const CommandMessage* reply) {
prepareHealthSetReply(reply);
uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);
return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
}

63
pus/CService201HealthCommanding.h Normal file
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@ -0,0 +1,63 @@
#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:
CService201HealthCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
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);
ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
enum Subservice {
//! [EXPORT] : [TC] Set health of target object
COMMAND_SET_HEALTH = 1,
//! [EXPORT] : [TM] Reply to health set command which also provides old health
REPLY_HEALTH_SET = 2,
//! [EXPORT] : [TC] Commands object to announce their health as an event
COMMAND_ANNOUNCE_HEALTH = 3,
//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
COMMAND_ANNOUNCE_HEALTH_ALL = 4
};
};
#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */

8
pus/Service1TelecommandVerification.cpp
View File

@ -6,15 +6,13 @@
#include "../tmtcpacket/pus/TmPacketStored.h" #include "../tmtcpacket/pus/TmPacketStored.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcservices/AcceptsTelemetryIF.h" #include "../tmtcservices/AcceptsTelemetryIF.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
Service1TelecommandVerification::Service1TelecommandVerification( Service1TelecommandVerification::Service1TelecommandVerification(
object_id_t objectId, uint16_t apid, uint8_t serviceId, object_id_t objectId, uint16_t apid, uint8_t serviceId,
object_id_t targetDestination): object_id_t targetDestination, uint16_t messageQueueDepth):
SystemObject(objectId), apid(apid), serviceId(serviceId), SystemObject(objectId), apid(apid), serviceId(serviceId),
targetDestination(targetDestination) { targetDestination(targetDestination) {
tmQueue = QueueFactory::instance()->createMessageQueue(); tmQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
} }
Service1TelecommandVerification::~Service1TelecommandVerification() {} Service1TelecommandVerification::~Service1TelecommandVerification() {}
@ -53,7 +51,7 @@ ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
result = generateSuccessReport(message); result = generateSuccessReport(message);
} }
if(result != HasReturnvaluesIF::RETURN_OK){ if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Service1TelecommandVerification::initialize: " sif::error << "Service1TelecommandVerification::sendVerificationReport: "
"Sending verification packet failed !" << std::endl; "Sending verification packet failed !" << std::endl;
} }
return result; return result;

11
pus/Service1TelecommandVerification.h
View File

@ -1,5 +1,5 @@
#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ #ifndef FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ #define FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
#include "../objectmanager/SystemObject.h" #include "../objectmanager/SystemObject.h"
#include "../returnvalues/HasReturnvaluesIF.h" #include "../returnvalues/HasReturnvaluesIF.h"
@ -44,14 +44,15 @@ public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
Service1TelecommandVerification(object_id_t objectId, Service1TelecommandVerification(object_id_t objectId,
uint16_t apid, uint8_t serviceId, object_id_t targetDestination); uint16_t apid, uint8_t serviceId, object_id_t targetDestination,
uint16_t messageQueueDepth);
virtual ~Service1TelecommandVerification(); virtual ~Service1TelecommandVerification();
/** /**
* *
* @return ID of Verification Queue * @return ID of Verification Queue
*/ */
virtual MessageQueueId_t getVerificationQueue(); virtual MessageQueueId_t getVerificationQueue() override;
/** /**
* Performs the service periodically as specified in init_mission(). * Performs the service periodically as specified in init_mission().
@ -91,4 +92,4 @@ private:
}; };
}; };
#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */ #endif /* FSFW_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */

21
pus/Service2DeviceAccess.cpp
View File

@ -21,8 +21,8 @@ Service2DeviceAccess::~Service2DeviceAccess() {}
ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) { ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
switch(static_cast<Subservice>(subservice)){ switch(static_cast<Subservice>(subservice)){
case Subservice::RAW_COMMANDING: case Subservice::COMMAND_RAW_COMMANDING:
case Subservice::TOGGLE_WIRETAPPING: case Subservice::COMMAND_TOGGLE_WIRETAPPING:
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
default: default:
sif::error << "Invalid Subservice" << std::endl; sif::error << "Invalid Subservice" << std::endl;
@ -39,8 +39,7 @@ ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
SerializeAdapter::deSerialize(objectId, &tcData, SerializeAdapter::deSerialize(objectId, &tcData,
&tcDataLen, SerializeIF::Endianness::BIG); &tcDataLen, SerializeIF::Endianness::BIG);
ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId); return checkInterfaceAndAcquireMessageQueue(id,objectId);
return result;
} }
ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue( ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
@ -59,14 +58,12 @@ ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen, uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
uint32_t* state, object_id_t objectId) { uint32_t* state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)){ switch(static_cast<Subservice>(subservice)){
case Subservice::RAW_COMMANDING: { case Subservice::COMMAND_RAW_COMMANDING: {
return prepareRawCommand(dynamic_cast<CommandMessage*>(message), return prepareRawCommand(message, tcData, tcDataLen);
tcData, tcDataLen);
} }
break; break;
case Subservice::TOGGLE_WIRETAPPING: { case Subservice::COMMAND_TOGGLE_WIRETAPPING: {
return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message), return prepareWiretappingCommand(message, tcData, tcDataLen);
tcData, tcDataLen);
} }
break; break;
default: default:
@ -121,11 +118,11 @@ void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
switch(reply->getCommand()) { switch(reply->getCommand()) {
case DeviceHandlerMessage::REPLY_RAW_COMMAND: case DeviceHandlerMessage::REPLY_RAW_COMMAND:
sendWiretappingTm(reply, sendWiretappingTm(reply,
static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC)); static_cast<uint8_t>(Subservice::REPLY_WIRETAPPING_RAW_TC));
break; break;
case DeviceHandlerMessage::REPLY_RAW_REPLY: case DeviceHandlerMessage::REPLY_RAW_REPLY:
sendWiretappingTm(reply, sendWiretappingTm(reply,
static_cast<uint8_t>(Subservice::RAW_REPLY)); static_cast<uint8_t>(Subservice::REPLY_RAW));
break; break;
default: default:
sif::error << "Unknown message in Service2DeviceAccess::" sif::error << "Unknown message in Service2DeviceAccess::"

18
pus/Service2DeviceAccess.h
View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ #ifndef FSFW_PUS_SERVICE2DEVICEACCESS_H_
#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_ #define FSFW_PUS_SERVICE2DEVICEACCESS_H_
#include "../objectmanager/SystemObjectIF.h" #include "../objectmanager/SystemObjectIF.h"
#include "../devicehandlers/AcceptsDeviceResponsesIF.h" #include "../devicehandlers/AcceptsDeviceResponsesIF.h"
@ -81,12 +81,16 @@ private:
const uint8_t* tcData, size_t tcDataLen); const uint8_t* tcData, size_t tcDataLen);
enum class Subservice { enum class Subservice {
RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol //!< [EXPORT] : [COMMAND] Command in device native protocol
TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication COMMAND_RAW_COMMANDING = 128,
RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler COMMAND_TOGGLE_WIRETAPPING = 129,
//!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
REPLY_RAW = 130,
//!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
REPLY_WIRETAPPING_RAW_TC = 131
}; };
}; };
#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */ #endif /* FSFW_PUS_DEVICE2DEVICECOMMANDING_H_ */

5
pus/Service5EventReporting.cpp
View File

@ -8,10 +8,11 @@
Service5EventReporting::Service5EventReporting(object_id_t objectId, Service5EventReporting::Service5EventReporting(object_id_t objectId,
uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle): uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle,
uint32_t messageQueueDepth):
PusServiceBase(objectId, apid, serviceId), PusServiceBase(objectId, apid, serviceId),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) { maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
eventQueue = QueueFactory::instance()->createMessageQueue(); eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
} }
Service5EventReporting::~Service5EventReporting(){} Service5EventReporting::~Service5EventReporting(){}

9
pus/Service5EventReporting.h
View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_ #ifndef FSFW_PUS_SERVICE5EVENTREPORTING_H_
#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_ #define FSFW_PUS_SERVICE5EVENTREPORTING_H_
#include "../tmtcservices/PusServiceBase.h" #include "../tmtcservices/PusServiceBase.h"
#include "../events/EventMessage.h" #include "../events/EventMessage.h"
@ -42,7 +42,8 @@ class Service5EventReporting: public PusServiceBase {
public: public:
Service5EventReporting(object_id_t objectId, uint16_t apid, Service5EventReporting(object_id_t objectId, uint16_t apid,
uint8_t serviceId, size_t maxNumberReportsPerCycle = 10); uint8_t serviceId, size_t maxNumberReportsPerCycle = 10,
uint32_t messageQueueDepth = 10);
virtual ~Service5EventReporting(); virtual ~Service5EventReporting();
/*** /***
@ -83,4 +84,4 @@ private:
ReturnValue_t generateEventReport(EventMessage message); ReturnValue_t generateEventReport(EventMessage message);
}; };
#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */ #endif /* FSFW_PUS_SERVICE5EVENTREPORTING_H_ */

8
pus/Service8FunctionManagement.cpp
View File

@ -7,10 +7,10 @@
#include "../serialize/SerializeAdapter.h" #include "../serialize/SerializeAdapter.h"
#include "../serviceinterface/ServiceInterfaceStream.h" #include "../serviceinterface/ServiceInterfaceStream.h"
Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id, Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId,
uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands, uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds): uint16_t commandTimeoutSeconds):
CommandingServiceBase(object_id, apid, serviceId, numParallelCommands, CommandingServiceBase(objectId, apid, serviceId, numParallelCommands,
commandTimeoutSeconds) {} commandTimeoutSeconds) {}
Service8FunctionManagement::~Service8FunctionManagement() {} Service8FunctionManagement::~Service8FunctionManagement() {}
@ -19,7 +19,7 @@ Service8FunctionManagement::~Service8FunctionManagement() {}
ReturnValue_t Service8FunctionManagement::isValidSubservice( ReturnValue_t Service8FunctionManagement::isValidSubservice(
uint8_t subservice) { uint8_t subservice) {
switch(static_cast<Subservice>(subservice)) { switch(static_cast<Subservice>(subservice)) {
case Subservice::DIRECT_COMMANDING: case Subservice::COMMAND_DIRECT_COMMANDING:
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
default: default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE; return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
@ -131,7 +131,7 @@ ReturnValue_t Service8FunctionManagement::handleDataReply(
} }
DataReply dataReply(objectId, actionId, buffer, size); DataReply dataReply(objectId, actionId, buffer, size);
result = sendTmPacket(static_cast<uint8_t>( result = sendTmPacket(static_cast<uint8_t>(
Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply); Subservice::REPLY_DIRECT_COMMANDING_DATA), &dataReply);
auto deletionResult = IPCStore->deleteData(storeId); auto deletionResult = IPCStore->deleteData(storeId);
if(deletionResult != HasReturnvaluesIF::RETURN_OK) { if(deletionResult != HasReturnvaluesIF::RETURN_OK) {

12
pus/Service8FunctionManagement.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ #ifndef FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ #define FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
#include "../action/ActionMessage.h" #include "../action/ActionMessage.h"
#include "../tmtcservices/CommandingServiceBase.h" #include "../tmtcservices/CommandingServiceBase.h"
@ -52,8 +52,10 @@ protected:
private: private:
enum class Subservice { enum class Subservice {
DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding //!< [EXPORT] : [COMMAND] Functional commanding
DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply COMMAND_DIRECT_COMMANDING = 128,
//!< [EXPORT] : [REPLY] Data reply
REPLY_DIRECT_COMMANDING_DATA = 130,
}; };
ReturnValue_t checkInterfaceAndAcquireMessageQueue( ReturnValue_t checkInterfaceAndAcquireMessageQueue(
@ -64,4 +66,4 @@ private:
object_id_t objectId, ActionId_t actionId); object_id_t objectId, ActionId_t actionId);
}; };
#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */ #endif /* FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */

6
pus/servicepackets/Service1Packets.h
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@ -1,3 +1,6 @@
#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
/** /**
* @defgroup spacepackets PUS Packet Definitions * @defgroup spacepackets PUS Packet Definitions
* This group contains all implemented TM or TM packages that are sent to * This group contains all implemented TM or TM packages that are sent to
@ -5,9 +8,6 @@
* packet structures in Mission Information Base (MIB). * packet structures in Mission Information Base (MIB).
*/ */
#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
#include "../../serialize/SerializeAdapter.h" #include "../../serialize/SerializeAdapter.h"
#include "../../tmtcservices/VerificationCodes.h" #include "../../tmtcservices/VerificationCodes.h"

6
pus/servicepackets/Service200Packets.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ #define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#include "../../serialize/SerialLinkedListAdapter.h" #include "../../serialize/SerialLinkedListAdapter.h"
#include "../../modes/ModeMessage.h" #include "../../modes/ModeMessage.h"
@ -60,4 +60,4 @@ public:
SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
}; };
#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */ #endif /* FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */

48
pus/servicepackets/Service201Packets.h Normal file
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@ -0,0 +1,48 @@
#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE201PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE201PACKETS_H_
#include "../../serialize/SerialLinkedListAdapter.h"
#include "../../serialize/SerializeIF.h"
#include "../../health/HasHealthIF.h"
class HealthSetCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1
public:
HealthSetCommand() {
setLinks();
}
HasHealthIF::HealthState getHealth() {
return static_cast<HasHealthIF::HealthState>(health.entry);
}
private:
void setLinks() {
setStart(&objectId);
objectId.setNext(&health);
}
SerializeElement<uint32_t> objectId; //!< [EXPORT] : [COMMENT] Target object Id
SerializeElement<uint8_t> health; //!< [EXPORT] : [COMMENT] Health to set
};
class HealthSetReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 2
public:
HealthSetReply(uint8_t health_, uint8_t oldHealth_):
health(health_), oldHealth(oldHealth_)
{
setLinks();
}
private:
HealthSetReply(const HealthSetReply &reply);
void setLinks() {
setStart(&objectId);
objectId.setNext(&health);
health.setNext(&oldHealth);
}
SerializeElement<uint32_t> objectId; //!< [EXPORT] : [COMMENT] Source object ID
SerializeElement<uint8_t> health; //!< [EXPORT] : [COMMENT] New Health
SerializeElement<uint8_t> oldHealth; //!< [EXPORT] : [COMMENT] Old Health
};
#endif /* FSFW_PUS_SERVICEPACKETS_SERVICE201PACKETS_H_ */

6
pus/servicepackets/Service2Packets.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ #define FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
#include "../../action/ActionMessage.h" #include "../../action/ActionMessage.h"
#include "../../objectmanager/SystemObjectIF.h" #include "../../objectmanager/SystemObjectIF.h"
@ -73,4 +73,4 @@ public:
} }
}; };
#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */ #endif /* FSFW_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */

6
pus/servicepackets/Service5Packets.h
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@ -1,5 +1,5 @@
#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ #define FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
#include "../../serialize/SerializeAdapter.h" #include "../../serialize/SerializeAdapter.h"
#include "../../tmtcservices/VerificationCodes.h" #include "../../tmtcservices/VerificationCodes.h"
@ -73,4 +73,4 @@ private:
}; };
#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */ #endif /* FSFW_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */

6
pus/servicepackets/Service8Packets.h
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@ -1,5 +1,5 @@
#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ #ifndef FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ #define FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
#include "../../action/ActionMessage.h" #include "../../action/ActionMessage.h"
#include "../../objectmanager/SystemObjectIF.h" #include "../../objectmanager/SystemObjectIF.h"
@ -118,4 +118,4 @@ private:
}; };
#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */ #endif /* FSFW_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */