Merge branch 'master' into mueller/defaultcfg
This commit is contained in:
commit
279682351a
@ -1,61 +1,77 @@
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#ifndef FSFW_IPC_MESSAGEQUEUEIF_H_
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#define FSFW_IPC_MESSAGEQUEUEIF_H_
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// COULDDO: We could support blocking calls
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#include "messageQueueDefinitions.h"
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#include "MessageQueueMessage.h"
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#include "MessageQueueMessageIF.h"
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#include "../returnvalues/HasReturnvaluesIF.h"
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#include <cstdint>
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// COULDDO: We could support blocking calls
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// semaphores are being implemented, which makes this idea even more iteresting.
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/**
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* @defgroup message_queue Message Queue
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* @brief Message Queue related software components
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*/
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class MessageQueueIF {
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public:
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static const MessageQueueId_t NO_QUEUE = 0;
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static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
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/**
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* No new messages on the queue
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*/
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//! No new messages on the queue
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static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
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/**
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* No space left for more messages
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*/
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//! No space left for more messages
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static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
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/**
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* Returned if a reply method was called without partner
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*/
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//! Returned if a reply method was called without partner
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static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
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//! Returned if the target destination is invalid.
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static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
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virtual ~MessageQueueIF() {}
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/**
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* @brief This operation sends a message to the last communication partner.
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* @details This operation simplifies answering an incoming message by using the stored
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* lastParnter information as destination. If there was no message received yet
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* (i.e. lastPartner is zero), an error code is returned.
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* @param message A pointer to a previously created message, which is sent.
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* \return RETURN_OK if ok
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* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
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* @details
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* This operation simplifies answering an incoming message by using the
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* stored lastParnter information as destination. If there was no message
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* received yet (i.e. lastPartner is zero), an error code is returned.
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* @param message
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* A pointer to a previously created message, which is sent.
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* @return
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* -@c RETURN_OK if ok
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* -@c NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found.
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*/
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virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
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virtual ReturnValue_t reply(MessageQueueMessageIF* message) = 0;
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/**
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* @brief This function reads available messages from the message queue and returns the sender.
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* @details It works identically to the other receiveMessage call, but in addition returns the
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* sender's queue id.
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* @param message A pointer to a message in which the received data is stored.
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* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
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* @brief This function reads available messages from the message queue
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* and returns the sender.
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* @details
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* It works identically to the other receiveMessage call, but in addition
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* returns the sender's queue id.
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* @param message
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* A pointer to a message in which the received data is stored.
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* @param receivedFrom
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* A pointer to a queue id in which the sender's id is stored.
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*/
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virtual ReturnValue_t receiveMessage(MessageQueueMessage* message,
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virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
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MessageQueueId_t *receivedFrom) = 0;
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/**
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* @brief This function reads available messages from the message queue.
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* @details If data is available it is stored in the passed message pointer. The message's
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* original content is overwritten and the sendFrom information is stored in the
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* lastPartner attribute. Else, the lastPartner information remains untouched, the
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* message's content is cleared and the function returns immediately.
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* @param message A pointer to a message in which the received data is stored.
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* @details
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* If data is available it is stored in the passed message pointer.
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* The message's original content is overwritten and the sendFrom
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* information is stored in theblastPartner attribute. Else, the lastPartner
|
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* information remains untouched, the message's content is cleared and the
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* function returns immediately.
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* @param message
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* A pointer to a message in which the received data is stored.
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::EMPTY if queue is empty
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*/
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virtual ReturnValue_t receiveMessage(MessageQueueMessage* message) = 0;
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virtual ReturnValue_t receiveMessage(MessageQueueMessageIF* message) = 0;
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/**
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* Deletes all pending messages in the queue.
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* @param count The number of flushed messages.
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@ -63,57 +79,89 @@ public:
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*/
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virtual ReturnValue_t flush(uint32_t* count) = 0;
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/**
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* @brief This method returns the message queue id of the last communication partner.
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* @brief This method returns the message queue
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* id of the last communication partner.
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*/
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virtual MessageQueueId_t getLastPartner() const = 0;
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/**
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* @brief This method returns the message queue id of this class's message queue.
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* @brief This method returns the message queue
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* id of this class's message queue.
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*/
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virtual MessageQueueId_t getId() const = 0;
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/**
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* \brief With the sendMessage call, a queue message is sent to a receiving queue.
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* \details This method takes the message provided, adds the sentFrom information and passes
|
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* it on to the destination provided with an operating system call. The OS's return
|
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* value is returned.
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* \param sendTo This parameter specifies the message queue id to send the message to.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
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* This variable is set to zero by default.
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* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full (if implemented).
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* @brief With the sendMessage call, a queue message
|
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* is sent to a receiving queue.
|
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* @details
|
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* This method takes the message provided, adds the sentFrom information
|
||||
* and passes it on to the destination provided with an operating system
|
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* call. The OS's returnvalue is returned.
|
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* @param sendTo
|
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* This parameter specifies the message queue id to send the message to.
|
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* @param message
|
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* This is a pointer to a previously created message, which is sent.
|
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* @param sentFrom
|
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* The sentFrom information can be set to inject the sender's queue id
|
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* into the message. This variable is set to zero by default.
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* @param ignoreFault
|
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* If set to true, the internal software fault counter is not incremented
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* if queue is full (if implemented).
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::FULL if queue is full
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*/
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
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/**
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* @brief This operation sends a message to the given destination.
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* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
|
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* queue id as "sentFrom" parameter.
|
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* @param sendTo This parameter specifies the message queue id of the destination message queue.
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* @param message A pointer to a previously created message, which is sent.
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* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo, MessageQueueMessage* message, bool ignoreFault = false ) = 0;
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virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
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bool ignoreFault = false ) = 0;
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|
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/**
|
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* \brief The sendToDefaultFrom method sends a queue message to the default destination.
|
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* \details In all other aspects, it works identical to the sendMessage method.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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||||
* @brief This operation sends a message to the given destination.
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* @details
|
||||
* It directly uses the sendMessage call of the MessageQueueSender parent,
|
||||
* but passes its queue id as "sentFrom" parameter.
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* @param sendTo
|
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* This parameter specifies the message queue id of the destination
|
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* message queue.
|
||||
* @param message
|
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* A pointer to a previously created message, which is sent.
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||||
* @param ignoreFault
|
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* If set to true, the internal software fault counter is not incremented
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* if queue is full.
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*/
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
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virtual ReturnValue_t sendMessage( MessageQueueId_t sendTo,
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MessageQueueMessageIF* message, bool ignoreFault = false ) = 0;
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/**
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* @brief The sendToDefaultFrom method sends a queue message
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* to the default destination.
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* @details
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* In all other aspects, it works identical to the sendMessage method.
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* @param message
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* This is a pointer to a previously created message, which is sent.
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* @param sentFrom
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* The sentFrom information can be set to inject the sender's queue id
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* into the message. This variable is set to zero by default.
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::FULL if queue is full
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*/
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virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom, bool ignoreFault = false ) = 0;
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/**
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* @brief This operation sends a message to the default destination.
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* @details As in the sendMessage method, this function uses the sendToDefault call of the
|
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* Implementation class and adds its queue id as "sentFrom" information.
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* @details
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* As in the sendMessage method, this function uses the sendToDefault
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* call of the Implementation class and adds its queue id as
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* "sentFrom" information.
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* @param message A pointer to a previously created message, which is sent.
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* @return -@c RETURN_OK on success
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* -@c MessageQueueIF::FULL if queue is full
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*/
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virtual ReturnValue_t sendToDefault( MessageQueueMessage* message ) = 0;
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virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message ) = 0;
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/**
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* \brief This method is a simple setter for the default destination.
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* @brief This method is a simple setter for the default destination.
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*/
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virtual void setDefaultDestination(MessageQueueId_t defaultDestination) = 0;
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/**
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* \brief This method is a simple getter for the default destination.
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* @brief This method is a simple getter for the default destination.
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*/
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virtual MessageQueueId_t getDefaultDestination() const = 0;
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@ -122,4 +170,4 @@ public:
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#endif /* FRAMEWORK_IPC_MESSAGEQUEUEIF_H_ */
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#endif /* FSFW_IPC_MESSAGEQUEUEIF_H_ */
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|
@ -1,8 +1,8 @@
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#ifndef FSFW_IPC_MESSAGEQUEUESENDERIF_H_
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#define FSFW_IPC_MESSAGEQUEUESENDERIF_H_
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#include "../ipc/MessageQueueIF.h"
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#include "../ipc/MessageQueueMessageIF.h"
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#include "MessageQueueIF.h"
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#include "MessageQueueMessageIF.h"
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#include "../objectmanager/ObjectManagerIF.h"
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class MessageQueueSenderIF {
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@ -15,7 +15,7 @@ public:
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* Not sure whether this is actually a good idea.
|
||||
*/
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static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message,
|
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MessageQueueMessageIF* message,
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MessageQueueId_t sentFrom = MessageQueueIF::NO_QUEUE,
|
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bool ignoreFault = false);
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private:
|
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|
@ -1,8 +1,10 @@
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#ifndef FRAMEWORK_IPC_QUEUEFACTORY_H_
|
||||
#define FRAMEWORK_IPC_QUEUEFACTORY_H_
|
||||
#ifndef FSFW_IPC_QUEUEFACTORY_H_
|
||||
#define FSFW_IPC_QUEUEFACTORY_H_
|
||||
|
||||
#include "MessageQueueIF.h"
|
||||
#include <stdint.h>
|
||||
#include "MessageQueueMessage.h"
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* Creates message queues.
|
||||
* This class is a "singleton" interface, i.e. it provides an
|
||||
@ -30,4 +32,4 @@ private:
|
||||
static QueueFactory* factoryInstance;
|
||||
};
|
||||
|
||||
#endif /* FRAMEWORK_IPC_QUEUEFACTORY_H_ */
|
||||
#endif /* FSFW_IPC_QUEUEFACTORY_H_ */
|
||||
|
@ -1,42 +1,76 @@
|
||||
#include "MessageQueue.h"
|
||||
|
||||
#include "../../objectmanager/ObjectManagerIF.h"
|
||||
#include "../../serviceinterface/ServiceInterfaceStream.h"
|
||||
|
||||
// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
|
||||
|
||||
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
|
||||
defaultDestination(0),lastPartner(0) {
|
||||
handle = xQueueCreate(message_depth, max_message_size);
|
||||
if (handle == NULL) {
|
||||
sif::error << "MessageQueue creation failed" << std::endl;
|
||||
// TODO I guess we should have a way of checking if we are in an ISR and then
|
||||
// use the "fromISR" versions of all calls
|
||||
// As a first step towards this, introduces system context variable which needs
|
||||
// to be switched manually
|
||||
// Haven't found function to find system context.
|
||||
MessageQueue::MessageQueue(size_t messageDepth, size_t maxMessageSize):
|
||||
maxMessageSize(maxMessageSize) {
|
||||
handle = xQueueCreate(messageDepth, maxMessageSize);
|
||||
if (handle == nullptr) {
|
||||
sif::error << "MessageQueue::MessageQueue Creation failed" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
MessageQueue::~MessageQueue() {
|
||||
if (handle != NULL) {
|
||||
if (handle != nullptr) {
|
||||
vQueueDelete(handle);
|
||||
}
|
||||
}
|
||||
|
||||
void MessageQueue::switchSystemContext(CallContext callContext) {
|
||||
this->callContext = callContext;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, bool ignoreFault) {
|
||||
MessageQueueMessageIF* message, bool ignoreFault) {
|
||||
return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
|
||||
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
|
||||
return sendToDefaultFrom(message, this->getId());
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
||||
if (this->lastPartner != 0) {
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
|
||||
if (this->lastPartner != MessageQueueIF::NO_QUEUE) {
|
||||
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||
} else {
|
||||
return NO_REPLY_PARTNER;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo, message, sentFrom, ignoreFault,
|
||||
callContext);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
|
||||
if (result != pdPASS) {
|
||||
if (not ignoreFault) {
|
||||
InternalErrorReporterIF* internalErrorReporter = objectManager->
|
||||
get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
if (internalErrorReporter != nullptr) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
}
|
||||
}
|
||||
return MessageQueueIF::FULL;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t* receivedFrom) {
|
||||
ReturnValue_t status = this->receiveMessage(message);
|
||||
if(status == HasReturnvaluesIF::RETURN_OK) {
|
||||
@ -45,8 +79,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
||||
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
|
||||
BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(
|
||||
message->getBuffer()), 0);
|
||||
if (result == pdPASS){
|
||||
this->lastPartner = message->getSender();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -67,51 +102,55 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getId() const {
|
||||
return (MessageQueueId_t) handle;
|
||||
return reinterpret_cast<MessageQueueId_t>(handle);
|
||||
}
|
||||
|
||||
void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
||||
defaultDestinationSet = true;
|
||||
this->defaultDestination = defaultDestination;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||
return defaultDestination;
|
||||
}
|
||||
|
||||
bool MessageQueue::isDefaultDestinationSet() const {
|
||||
return 0;
|
||||
return defaultDestinationSet;
|
||||
}
|
||||
|
||||
|
||||
// static core function to send messages.
|
||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage *message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
message->setSender(sentFrom);
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault, CallContext callContext) {
|
||||
BaseType_t result = pdFALSE;
|
||||
QueueHandle_t destination = nullptr;
|
||||
|
||||
BaseType_t result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
|
||||
reinterpret_cast<const void*>(message->getBuffer()), 0);
|
||||
if (result != pdPASS) {
|
||||
if (!ignoreFault) {
|
||||
InternalErrorReporterIF* internalErrorReporter =
|
||||
objectManager->get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
if (internalErrorReporter != NULL) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
}
|
||||
}
|
||||
return MessageQueueIF::FULL;
|
||||
if(sendTo == MessageQueueIF::NO_QUEUE or sendTo == 0x00) {
|
||||
return MessageQueueIF::DESTINVATION_INVALID;
|
||||
}
|
||||
else {
|
||||
destination = reinterpret_cast<QueueHandle_t>(sendTo);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
|
||||
message->setSender(sentFrom);
|
||||
|
||||
|
||||
if(callContext == CallContext::TASK) {
|
||||
result = xQueueSendToBack(destination,
|
||||
static_cast<const void*>(message->getBuffer()), 0);
|
||||
}
|
||||
else {
|
||||
/* If the call context is from an interrupt,
|
||||
* request a context switch if a higher priority task
|
||||
* was blocked by the interrupt. */
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
result = xQueueSendFromISR(reinterpret_cast<QueueHandle_t>(sendTo),
|
||||
static_cast<const void*>(message->getBuffer()),
|
||||
&xHigherPriorityTaskWoken);
|
||||
if(xHigherPriorityTaskWoken == pdTRUE) {
|
||||
TaskManagement::requestContextSwitch(callContext);
|
||||
}
|
||||
}
|
||||
return handleSendResult(result, ignoreFault);
|
||||
}
|
||||
|
||||
|
@ -1,159 +1,150 @@
|
||||
#ifndef MESSAGEQUEUE_H_
|
||||
#define MESSAGEQUEUE_H_
|
||||
#ifndef FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
|
||||
#define FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_
|
||||
|
||||
#include "../../internalError/InternalErrorReporterIF.h"
|
||||
#include "../../ipc/MessageQueueIF.h"
|
||||
#include "../../ipc/MessageQueueMessage.h"
|
||||
#include "../../ipc/MessageQueueMessageIF.h"
|
||||
#include "../../osal/FreeRTOS/TaskManagement.h"
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
#include <queue.h>
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/queue.h>
|
||||
#include <fsfw/ipc/MessageQueueMessage.h>
|
||||
|
||||
//TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
|
||||
// TODO: this class assumes that MessageQueueId_t is the same size as void*
|
||||
// (the FreeRTOS handle type), compiler will catch this but it might be nice
|
||||
// to have something checking or even an always working solution
|
||||
// https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/
|
||||
|
||||
/**
|
||||
* @brief This class manages sending and receiving of message queue messages.
|
||||
* @brief This class manages sending and receiving of
|
||||
* message queue messages.
|
||||
* @details
|
||||
* Message queues are used to pass asynchronous messages between processes.
|
||||
* They work like post boxes, where all incoming messages are stored in FIFO
|
||||
* order. This class creates a new receiving queue and provides methods to fetch
|
||||
* received messages. Being a child of MessageQueueSender, this class also
|
||||
* provides methods to send a message to a user-defined or a default destination.
|
||||
* In addition it also provides a reply method to answer to the queue it
|
||||
* received its last message from.
|
||||
*
|
||||
* @details Message queues are used to pass asynchronous messages between processes.
|
||||
* They work like post boxes, where all incoming messages are stored in FIFO
|
||||
* order. This class creates a new receiving queue and provides methods to fetch
|
||||
* received messages. Being a child of MessageQueueSender, this class also provides
|
||||
* methods to send a message to a user-defined or a default destination. In addition
|
||||
* it also provides a reply method to answer to the queue it received its last message
|
||||
* from.
|
||||
* The MessageQueue should be used as "post box" for a single owning object. So all
|
||||
* message queue communication is "n-to-one".
|
||||
* For creating the queue, as well as sending and receiving messages, the class makes
|
||||
* use of the operating system calls provided.
|
||||
* \ingroup message_queue
|
||||
* The MessageQueue should be used as "post box" for a single owning object.
|
||||
* So all message queue communication is "n-to-one".
|
||||
* For creating the queue, as well as sending and receiving messages, the class
|
||||
* makes use of the operating system calls provided.
|
||||
*
|
||||
* Please keep in mind that FreeRTOS offers different calls for message queue
|
||||
* operations if called from an ISR.
|
||||
* For now, the system context needs to be switched manually.
|
||||
* @ingroup osal
|
||||
* @ingroup message_queue
|
||||
*/
|
||||
class MessageQueue : public MessageQueueIF {
|
||||
friend class MessageQueueSenderIF;
|
||||
public:
|
||||
/**
|
||||
* @brief The constructor initializes and configures the message queue.
|
||||
* @details By making use of the according operating system call, a message queue is created
|
||||
* and initialized. The message depth - the maximum number of messages to be
|
||||
* buffered - may be set with the help of a parameter, whereas the message size is
|
||||
* automatically set to the maximum message queue message size. The operating system
|
||||
* sets the message queue id, or i case of failure, it is set to zero.
|
||||
* @param message_depth The number of messages to be buffered before passing an error to the
|
||||
* sender. Default is three.
|
||||
* @param max_message_size With this parameter, the maximum message size can be adjusted.
|
||||
* This should be left default.
|
||||
* @details
|
||||
* By making use of the according operating system call, a message queue
|
||||
* is created and initialized. The message depth - the maximum number of
|
||||
* messages to be buffered - may be set with the help of a parameter,
|
||||
* whereas the message size is automatically set to the maximum message
|
||||
* queue message size. The operating system sets the message queue id, or
|
||||
* in case of failure, it is set to zero.
|
||||
* @param message_depth
|
||||
* The number of messages to be buffered before passing an error to the
|
||||
* sender. Default is three.
|
||||
* @param max_message_size
|
||||
* With this parameter, the maximum message size can be adjusted.
|
||||
* This should be left default.
|
||||
*/
|
||||
MessageQueue( size_t message_depth = 3, size_t max_message_size = MessageQueueMessage::MAX_MESSAGE_SIZE );
|
||||
MessageQueue( size_t messageDepth = 3,
|
||||
size_t maxMessageSize = MessageQueueMessage::MAX_MESSAGE_SIZE );
|
||||
|
||||
/** Copying message queues forbidden */
|
||||
MessageQueue(const MessageQueue&) = delete;
|
||||
MessageQueue& operator=(const MessageQueue&) = delete;
|
||||
|
||||
/**
|
||||
* @brief The destructor deletes the formerly created message queue.
|
||||
* @details This is accomplished by using the delete call provided by the operating system.
|
||||
* @details This is accomplished by using the delete call provided
|
||||
* by the operating system.
|
||||
*/
|
||||
virtual ~MessageQueue();
|
||||
|
||||
/**
|
||||
* @brief This operation sends a message to the given destination.
|
||||
* @details It directly uses the sendMessage call of the MessageQueueSender parent, but passes its
|
||||
* queue id as "sentFrom" parameter.
|
||||
* @param sendTo This parameter specifies the message queue id of the destination message queue.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
* This function is used to switch the call context. This has to be called
|
||||
* if a message is sent or received from an ISR!
|
||||
* @param callContext
|
||||
*/
|
||||
void switchSystemContext(CallContext callContext);
|
||||
|
||||
/** MessageQueueIF implementation */
|
||||
ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, bool ignoreFault = false );
|
||||
/**
|
||||
* @brief This operation sends a message to the default destination.
|
||||
* @details As in the sendMessage method, this function uses the sendToDefault call of the
|
||||
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
ReturnValue_t sendToDefault( MessageQueueMessage* message );
|
||||
/**
|
||||
* @brief This operation sends a message to the last communication partner.
|
||||
* @details This operation simplifies answering an incoming message by using the stored
|
||||
* lastParnter information as destination. If there was no message received yet
|
||||
* (i.e. lastPartner is zero), an error code is returned.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
ReturnValue_t reply( MessageQueueMessage* message );
|
||||
MessageQueueMessageIF* message, bool ignoreFault = false) override;
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue and returns the sender.
|
||||
* @details It works identically to the other receiveMessage call, but in addition returns the
|
||||
* sender's queue id.
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessage* message,
|
||||
MessageQueueId_t *receivedFrom);
|
||||
ReturnValue_t sendToDefault(MessageQueueMessageIF* message) override;
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue.
|
||||
* @details If data is available it is stored in the passed message pointer. The message's
|
||||
* original content is overwritten and the sendFrom information is stored in the
|
||||
* lastPartner attribute. Else, the lastPartner information remains untouched, the
|
||||
* message's content is cleared and the function returns immediately.
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessage* message);
|
||||
/**
|
||||
* Deletes all pending messages in the queue.
|
||||
* @param count The number of flushed messages.
|
||||
* @return RETURN_OK on success.
|
||||
*/
|
||||
ReturnValue_t flush(uint32_t* count);
|
||||
/**
|
||||
* @brief This method returns the message queue id of the last communication partner.
|
||||
*/
|
||||
MessageQueueId_t getLastPartner() const;
|
||||
/**
|
||||
* @brief This method returns the message queue id of this class's message queue.
|
||||
*/
|
||||
MessageQueueId_t getId() const;
|
||||
/**
|
||||
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
|
||||
* \details This method takes the message provided, adds the sentFrom information and passes
|
||||
* it on to the destination provided with an operating system call. The OS's return
|
||||
* value is returned.
|
||||
* \param sendTo This parameter specifies the message queue id to send the message to.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
*/
|
||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
/**
|
||||
* \brief The sendToDefault method sends a queue message to the default destination.
|
||||
* \details In all other aspects, it works identical to the sendMessage method.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
*/
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
/**
|
||||
* \brief This method is a simple setter for the default destination.
|
||||
*/
|
||||
void setDefaultDestination(MessageQueueId_t defaultDestination);
|
||||
/**
|
||||
* \brief This method is a simple getter for the default destination.
|
||||
*/
|
||||
MessageQueueId_t getDefaultDestination() const;
|
||||
ReturnValue_t reply(MessageQueueMessageIF* message) override;
|
||||
virtual ReturnValue_t sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault = false) override;
|
||||
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault = false) override;
|
||||
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t *receivedFrom) override;
|
||||
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message) override;
|
||||
|
||||
ReturnValue_t flush(uint32_t* count) override;
|
||||
|
||||
MessageQueueId_t getLastPartner() const override;
|
||||
|
||||
MessageQueueId_t getId() const override;
|
||||
|
||||
void setDefaultDestination(MessageQueueId_t defaultDestination) override;
|
||||
|
||||
MessageQueueId_t getDefaultDestination() const override;
|
||||
|
||||
bool isDefaultDestinationSet() const override;
|
||||
|
||||
bool isDefaultDestinationSet() const;
|
||||
protected:
|
||||
/**
|
||||
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
|
||||
* \details This method takes the message provided, adds the sentFrom information and passes
|
||||
* it on to the destination provided with an operating system call. The OS's return
|
||||
* value is returned.
|
||||
* \param sendTo This parameter specifies the message queue id to send the message to.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
* @brief Implementation to be called from any send Call within
|
||||
* MessageQueue and MessageQueueSenderIF.
|
||||
* @details
|
||||
* This method takes the message provided, adds the sentFrom information and
|
||||
* passes it on to the destination provided with an operating system call.
|
||||
* The OS's return value is returned.
|
||||
* @param sendTo
|
||||
* This parameter specifies the message queue id to send the message to.
|
||||
* @param message
|
||||
* This is a pointer to a previously created message, which is sent.
|
||||
* @param sentFrom
|
||||
* The sentFrom information can be set to inject the sender's queue id into
|
||||
* the message. This variable is set to zero by default.
|
||||
* @param ignoreFault
|
||||
* If set to true, the internal software fault counter is not incremented
|
||||
* if queue is full.
|
||||
* @param context Specify whether call is made from task or from an ISR.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault=false, CallContext callContext = CallContext::TASK);
|
||||
|
||||
static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
|
||||
|
||||
private:
|
||||
bool defaultDestinationSet = false;
|
||||
QueueHandle_t handle;
|
||||
MessageQueueId_t defaultDestination;
|
||||
MessageQueueId_t lastPartner;
|
||||
MessageQueueId_t defaultDestination = MessageQueueIF::NO_QUEUE;
|
||||
MessageQueueId_t lastPartner = MessageQueueIF::NO_QUEUE;
|
||||
const size_t maxMessageSize;
|
||||
//! Stores the current system context
|
||||
CallContext callContext = CallContext::TASK;
|
||||
};
|
||||
|
||||
#endif /* MESSAGEQUEUE_H_ */
|
||||
#endif /* FSFW_OSAL_FREERTOS_MESSAGEQUEUE_H_ */
|
||||
|
@ -1,14 +1,14 @@
|
||||
#include "MessageQueue.h"
|
||||
|
||||
#include "../../ipc/MessageQueueSenderIF.h"
|
||||
#include "../../ipc/QueueFactory.h"
|
||||
|
||||
#include "MessageQueue.h"
|
||||
|
||||
|
||||
QueueFactory* QueueFactory::factoryInstance = nullptr;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
||||
sentFrom,ignoreFault);
|
||||
|
@ -9,9 +9,11 @@
|
||||
#include <errno.h>
|
||||
|
||||
|
||||
|
||||
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
|
||||
id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
|
||||
defaultDestination(MessageQueueIF::NO_QUEUE) {
|
||||
defaultDestination(MessageQueueIF::NO_QUEUE),
|
||||
maxMessageSize(maxMessageSize) {
|
||||
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
|
||||
mq_attr attributes;
|
||||
this->id = 0;
|
||||
@ -46,7 +48,7 @@ MessageQueue::~MessageQueue() {
|
||||
status = mq_unlink(name);
|
||||
if(status != 0){
|
||||
sif::error << "MessageQueue::Destructor: mq_unlink Failed with status: "
|
||||
<< strerror(errno) <<std::endl;
|
||||
<< strerror(errno) << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
@ -61,22 +63,27 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
|
||||
// Just an additional helpful printout :-)
|
||||
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
|
||||
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
|
||||
// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
|
||||
// This happens if the msg_max value is not large enough
|
||||
// It is ignored if the executable is run in privileged mode.
|
||||
// Run the unlockRealtime script or grant the mode manually by using:
|
||||
// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
|
||||
/*
|
||||
See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
|
||||
This happens if the msg_max value is not large enough
|
||||
It is ignored if the executable is run in privileged mode.
|
||||
Run the unlockRealtime script or grant the mode manually by using:
|
||||
sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
|
||||
|
||||
// Persistent solution for session:
|
||||
// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
|
||||
Persistent solution for session:
|
||||
echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
|
||||
|
||||
// Permanent solution:
|
||||
// sudo nano /etc/sysctl.conf
|
||||
// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
|
||||
// Apply changes with: sudo sysctl -p
|
||||
Permanent solution:
|
||||
sudo nano /etc/sysctl.conf
|
||||
Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
|
||||
Apply changes with: sudo sysctl -p
|
||||
*/
|
||||
sif::error << "MessageQueue::MessageQueue: Default MQ size "
|
||||
<< defaultMqMaxMsg << " is too small for requested size "
|
||||
<< messageDepth << std::endl;
|
||||
sif::error << "This error can be fixed by setting the maximum "
|
||||
"allowed message size higher!" << std::endl;
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -118,15 +125,15 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, bool ignoreFault) {
|
||||
MessageQueueMessageIF* message, bool ignoreFault) {
|
||||
return sendMessageFrom(sendTo, message, this->getId(), false);
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessage* message) {
|
||||
ReturnValue_t MessageQueue::sendToDefault(MessageQueueMessageIF* message) {
|
||||
return sendToDefaultFrom(message, this->getId());
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
||||
ReturnValue_t MessageQueue::reply(MessageQueueMessageIF* message) {
|
||||
if (this->lastPartner != 0) {
|
||||
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||
} else {
|
||||
@ -134,21 +141,34 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t* receivedFrom) {
|
||||
ReturnValue_t status = this->receiveMessage(message);
|
||||
*receivedFrom = this->lastPartner;
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
||||
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
|
||||
if(message == nullptr) {
|
||||
sif::error << "MessageQueue::receiveMessage: Message is "
|
||||
"nullptr!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(message->getMaximumMessageSize() < maxMessageSize) {
|
||||
sif::error << "MessageQueue::receiveMessage: Message size "
|
||||
<< message->getMaximumMessageSize()
|
||||
<< " too small to receive data!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
unsigned int messagePriority = 0;
|
||||
int status = mq_receive(id,reinterpret_cast<char*>(message->getBuffer()),
|
||||
message->MAX_MESSAGE_SIZE,&messagePriority);
|
||||
message->getMaximumMessageSize(),&messagePriority);
|
||||
if (status > 0) {
|
||||
this->lastPartner = message->getSender();
|
||||
//Check size of incoming message.
|
||||
if (message->messageSize < message->getMinimumMessageSize()) {
|
||||
if (message->getMessageSize() < message->getMinimumMessageSize()) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -158,7 +178,7 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
||||
} else {
|
||||
//No message was received. Keep lastPartner anyway, I might send
|
||||
//something later. But still, delete packet content.
|
||||
memset(message->getData(), 0, message->MAX_DATA_SIZE);
|
||||
memset(message->getData(), 0, message->getMaximumMessageSize());
|
||||
switch(errno){
|
||||
case EAGAIN:
|
||||
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
|
||||
@ -258,18 +278,19 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
||||
this->defaultDestination = defaultDestination;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo,message, sentFrom,ignoreFault);
|
||||
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||
return this->defaultDestination;
|
||||
}
|
||||
@ -281,11 +302,18 @@ bool MessageQueue::isDefaultDestinationSet() const {
|
||||
uint16_t MessageQueue::queueCounter = 0;
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage *message, MessageQueueId_t sentFrom,
|
||||
MessageQueueMessageIF *message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
if(message == nullptr) {
|
||||
sif::error << "MessageQueue::sendMessageFromMessageQueue: Message is "
|
||||
"nullptr!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
message->setSender(sentFrom);
|
||||
int result = mq_send(sendTo,
|
||||
reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
|
||||
reinterpret_cast<const char*>(message->getBuffer()),
|
||||
message->getMessageSize(),0);
|
||||
|
||||
//TODO: Check if we're in ISR.
|
||||
if (result != 0) {
|
||||
@ -303,13 +331,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
//MQ_NONBLOCK flag was set in its attributes, and the
|
||||
//specified queue is full.
|
||||
return MessageQueueIF::FULL;
|
||||
case EBADF:
|
||||
case EBADF: {
|
||||
//mq_des doesn't represent a valid message queue descriptor,
|
||||
//or mq_des wasn't opened for writing.
|
||||
sif::error << "MessageQueue::sendMessage: Configuration error "
|
||||
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
|
||||
<< " sent from " << sentFrom << std::endl;
|
||||
/*NO BREAK*/
|
||||
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
|
||||
<< " destination invalid." << std::endl;
|
||||
sif::error << strerror(errno) << " in "
|
||||
<<"mq_send to: " << sendTo << " sent from "
|
||||
<< sentFrom << std::endl;
|
||||
return DESTINVATION_INVALID;
|
||||
}
|
||||
case EINTR:
|
||||
//The call was interrupted by a signal.
|
||||
case EINVAL:
|
||||
|
@ -1,5 +1,5 @@
|
||||
#ifndef MESSAGEQUEUE_H_
|
||||
#define MESSAGEQUEUE_H_
|
||||
#ifndef FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
|
||||
#define FSFW_OSAL_LINUX_MESSAGEQUEUE_H_
|
||||
|
||||
#include "../../internalError/InternalErrorReporterIF.h"
|
||||
#include "../../ipc/MessageQueueIF.h"
|
||||
@ -56,14 +56,14 @@ public:
|
||||
* @param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
*/
|
||||
virtual ReturnValue_t sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, bool ignoreFault = false );
|
||||
MessageQueueMessageIF* message, bool ignoreFault = false );
|
||||
/**
|
||||
* @brief This operation sends a message to the default destination.
|
||||
* @details As in the sendMessage method, this function uses the sendToDefault call of the
|
||||
* MessageQueueSender parent class and adds its queue id as "sentFrom" information.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
virtual ReturnValue_t sendToDefault( MessageQueueMessage* message );
|
||||
virtual ReturnValue_t sendToDefault( MessageQueueMessageIF* message );
|
||||
/**
|
||||
* @brief This operation sends a message to the last communication partner.
|
||||
* @details This operation simplifies answering an incoming message by using the stored
|
||||
@ -71,7 +71,7 @@ public:
|
||||
* (i.e. lastPartner is zero), an error code is returned.
|
||||
* @param message A pointer to a previously created message, which is sent.
|
||||
*/
|
||||
ReturnValue_t reply( MessageQueueMessage* message );
|
||||
ReturnValue_t reply( MessageQueueMessageIF* message );
|
||||
|
||||
/**
|
||||
* @brief This function reads available messages from the message queue and returns the sender.
|
||||
@ -80,7 +80,7 @@ public:
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
* @param receivedFrom A pointer to a queue id in which the sender's id is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessage* message,
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message,
|
||||
MessageQueueId_t *receivedFrom);
|
||||
|
||||
/**
|
||||
@ -91,7 +91,7 @@ public:
|
||||
* message's content is cleared and the function returns immediately.
|
||||
* @param message A pointer to a message in which the received data is stored.
|
||||
*/
|
||||
ReturnValue_t receiveMessage(MessageQueueMessage* message);
|
||||
ReturnValue_t receiveMessage(MessageQueueMessageIF* message);
|
||||
/**
|
||||
* Deletes all pending messages in the queue.
|
||||
* @param count The number of flushed messages.
|
||||
@ -114,7 +114,9 @@ public:
|
||||
* This variable is set to zero by default.
|
||||
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
*/
|
||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo, MessageQueueMessage* message, MessageQueueId_t sentFrom, bool ignoreFault = false );
|
||||
virtual ReturnValue_t sendMessageFrom( MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault = false );
|
||||
/**
|
||||
* \brief The sendToDefault method sends a queue message to the default destination.
|
||||
* \details In all other aspects, it works identical to the sendMessage method.
|
||||
@ -122,7 +124,8 @@ public:
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
*/
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
virtual ReturnValue_t sendToDefaultFrom( MessageQueueMessageIF* message,
|
||||
MessageQueueId_t sentFrom = NO_QUEUE, bool ignoreFault = false );
|
||||
/**
|
||||
* \brief This method is a simple setter for the default destination.
|
||||
*/
|
||||
@ -145,7 +148,9 @@ protected:
|
||||
* This variable is set to zero by default.
|
||||
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom = NO_QUEUE,
|
||||
bool ignoreFault=false);
|
||||
private:
|
||||
/**
|
||||
* @brief The class stores the queue id it got assigned from the operating system in this attribute.
|
||||
@ -171,11 +176,12 @@ private:
|
||||
/**
|
||||
* The name of the message queue, stored for unlinking
|
||||
*/
|
||||
char name[5];
|
||||
char name[16];
|
||||
|
||||
static uint16_t queueCounter;
|
||||
const size_t maxMessageSize;
|
||||
|
||||
ReturnValue_t handleError(mq_attr* attributes, uint32_t messageDepth);
|
||||
};
|
||||
|
||||
#endif /* MESSAGEQUEUE_H_ */
|
||||
#endif /* FSFW_OSAL_LINUX_MESSAGEQUEUE_H_ */
|
||||
|
@ -15,7 +15,7 @@ QueueFactory* QueueFactory::factoryInstance = nullptr;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
MessageQueueMessageIF* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,
|
||||
sentFrom,ignoreFault);
|
||||
|
@ -1,31 +1,39 @@
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "CCSDSDistributor.h"
|
||||
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../tmtcpacket/SpacePacketBase.h"
|
||||
|
||||
CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
|
||||
TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
|
||||
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
|
||||
object_id_t setObjectId):
|
||||
TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
|
||||
}
|
||||
|
||||
CCSDSDistributor::~CCSDSDistributor() {
|
||||
CCSDSDistributor::~CCSDSDistributor() {}
|
||||
|
||||
}
|
||||
|
||||
iterator_t CCSDSDistributor::selectDestination() {
|
||||
// debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
|
||||
const uint8_t* p_packet = NULL;
|
||||
TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
|
||||
// sif::debug << "CCSDSDistributor::selectDestination received: " <<
|
||||
// this->currentMessage.getStorageId().pool_index << ", " <<
|
||||
// this->currentMessage.getStorageId().packet_index << std::endl;
|
||||
const uint8_t* packet = nullptr;
|
||||
size_t size = 0;
|
||||
//TODO check returncode?
|
||||
this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
|
||||
SpacePacketBase current_packet( p_packet );
|
||||
// info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
|
||||
iterator_t position = this->queueMap.find( current_packet.getAPID() );
|
||||
ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
|
||||
&packet, &size );
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "CCSDSDistributor::selectDestination: Getting data from"
|
||||
" store failed!" << std::endl;
|
||||
}
|
||||
SpacePacketBase currentPacket(packet);
|
||||
|
||||
// sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
|
||||
// << std::hex << currentPacket.getAPID() << std::dec << std::endl;
|
||||
TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
|
||||
if ( position != this->queueMap.end() ) {
|
||||
return position;
|
||||
} else {
|
||||
//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
|
||||
return this->queueMap.find( this->default_apid );
|
||||
//The APID was not found. Forward packet to main SW-APID anyway to
|
||||
// create acceptance failure report.
|
||||
return this->queueMap.find( this->defaultApid );
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
MessageQueueId_t CCSDSDistributor::getRequestQueue() {
|
||||
@ -35,9 +43,9 @@ MessageQueueId_t CCSDSDistributor::getRequestQueue() {
|
||||
ReturnValue_t CCSDSDistributor::registerApplication(
|
||||
AcceptsTelecommandsIF* application) {
|
||||
ReturnValue_t returnValue = RETURN_OK;
|
||||
bool errorCode = true;
|
||||
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( application->getIdentifier(), application->getRequestQueue() ) ).second;
|
||||
if( errorCode == false ) {
|
||||
auto insertPair = this->queueMap.emplace(application->getIdentifier(),
|
||||
application->getRequestQueue());
|
||||
if(not insertPair.second) {
|
||||
returnValue = RETURN_FAILED;
|
||||
}
|
||||
return returnValue;
|
||||
@ -46,9 +54,8 @@ ReturnValue_t CCSDSDistributor::registerApplication(
|
||||
ReturnValue_t CCSDSDistributor::registerApplication(uint16_t apid,
|
||||
MessageQueueId_t id) {
|
||||
ReturnValue_t returnValue = RETURN_OK;
|
||||
bool errorCode = true;
|
||||
errorCode = this->queueMap.insert( std::pair<uint32_t, MessageQueueId_t>( apid, id ) ).second;
|
||||
if( errorCode == false ) {
|
||||
auto insertPair = this->queueMap.emplace(apid, id);
|
||||
if(not insertPair.second) {
|
||||
returnValue = RETURN_FAILED;
|
||||
}
|
||||
return returnValue;
|
||||
@ -62,7 +69,11 @@ uint16_t CCSDSDistributor::getIdentifier() {
|
||||
ReturnValue_t CCSDSDistributor::initialize() {
|
||||
ReturnValue_t status = this->TcDistributor::initialize();
|
||||
this->tcStore = objectManager->get<StorageManagerIF>( objects::TC_STORE );
|
||||
if (this->tcStore == NULL) status = RETURN_FAILED;
|
||||
if (this->tcStore == nullptr) {
|
||||
sif::error << "CCSDSDistributor::initialize: Could not initialize"
|
||||
" TC store!" << std::endl;
|
||||
status = RETURN_FAILED;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
|
@ -1,58 +1,71 @@
|
||||
#ifndef CCSDSDISTRIBUTOR_H_
|
||||
#define CCSDSDISTRIBUTOR_H_
|
||||
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
|
||||
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
|
||||
|
||||
#include "../objectmanager/ObjectManagerIF.h"
|
||||
#include "../storagemanager/StorageManagerIF.h"
|
||||
#include "CCSDSDistributorIF.h"
|
||||
#include "TcDistributor.h"
|
||||
#include "../tcdistribution/CCSDSDistributorIF.h"
|
||||
#include "../tcdistribution/TcDistributor.h"
|
||||
#include "../tmtcservices/AcceptsTelecommandsIF.h"
|
||||
|
||||
/**
|
||||
* An instantiation of the CCSDSDistributorIF.
|
||||
* It receives Space Packets, and selects a destination depending on the APID of the telecommands.
|
||||
* @brief An instantiation of the CCSDSDistributorIF.
|
||||
* @details
|
||||
* It receives Space Packets, and selects a destination depending on the
|
||||
* APID of the telecommands.
|
||||
* The Secondary Header (with Service/Subservice) is ignored.
|
||||
* \ingroup tc_distribution
|
||||
* @ingroup tc_distribution
|
||||
*/
|
||||
class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
|
||||
protected:
|
||||
/**
|
||||
* This implementation checks if an Application with fitting APID has registered and forwards the
|
||||
* packet to the according message queue.
|
||||
* If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
|
||||
* message should be generated.
|
||||
* @return Iterator to map entry of found APID or iterator to default APID.
|
||||
*/
|
||||
iterator_t selectDestination();
|
||||
/**
|
||||
* The default APID, where packets with unknown APID are sent to.
|
||||
*/
|
||||
uint16_t default_apid;
|
||||
/**
|
||||
* A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
|
||||
* exists no SpacePacketStored class.
|
||||
*/
|
||||
StorageManagerIF* tcStore;
|
||||
/**
|
||||
* The callback here handles the generation of acceptance success/failure messages.
|
||||
*/
|
||||
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
|
||||
class CCSDSDistributor : public TcDistributor,
|
||||
public CCSDSDistributorIF,
|
||||
public AcceptsTelecommandsIF {
|
||||
public:
|
||||
/**
|
||||
* The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
|
||||
* \c tcStore is set in the \c initialize method.
|
||||
* @param set_default_apid The default APID, where packets with unknown destination are sent to.
|
||||
* @brief The constructor sets the default APID and calls the
|
||||
* TcDistributor ctor with a certain object id.
|
||||
* @details
|
||||
* @c tcStore is set in the @c initialize method.
|
||||
* @param setDefaultApid The default APID, where packets with unknown
|
||||
* destination are sent to.
|
||||
*/
|
||||
CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
|
||||
CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
|
||||
/**
|
||||
* The destructor is empty.
|
||||
*/
|
||||
~CCSDSDistributor();
|
||||
MessageQueueId_t getRequestQueue();
|
||||
ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
|
||||
ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
|
||||
uint16_t getIdentifier();
|
||||
ReturnValue_t initialize();
|
||||
virtual ~CCSDSDistributor();
|
||||
|
||||
MessageQueueId_t getRequestQueue() override;
|
||||
ReturnValue_t registerApplication( uint16_t apid,
|
||||
MessageQueueId_t id) override;
|
||||
ReturnValue_t registerApplication(
|
||||
AcceptsTelecommandsIF* application) override;
|
||||
uint16_t getIdentifier() override;
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* This implementation checks if an application with fitting APID has
|
||||
* registered and forwards the packet to the according message queue.
|
||||
* If the packet is not found, it returns the queue to @c defaultApid,
|
||||
* where a Acceptance Failure message should be generated.
|
||||
* @return Iterator to map entry of found APID or iterator to default APID.
|
||||
*/
|
||||
TcMqMapIter selectDestination() override;
|
||||
/**
|
||||
* The callback here handles the generation of acceptance
|
||||
* success/failure messages.
|
||||
*/
|
||||
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus ) override;
|
||||
|
||||
/**
|
||||
* The default APID, where packets with unknown APID are sent to.
|
||||
*/
|
||||
uint16_t defaultApid;
|
||||
/**
|
||||
* A reference to the TC storage must be maintained, as this class handles
|
||||
* pure Space Packets and there exists no SpacePacketStored class.
|
||||
*/
|
||||
StorageManagerIF* tcStore = nullptr;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* CCSDSDISTRIBUTOR_H_ */
|
||||
#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */
|
||||
|
@ -1,34 +1,38 @@
|
||||
#ifndef CCSDSDISTRIBUTORIF_H_
|
||||
#define CCSDSDISTRIBUTORIF_H_
|
||||
#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
|
||||
#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
|
||||
|
||||
#include "../tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "../ipc/MessageQueueSenderIF.h"
|
||||
/**
|
||||
* This is the Interface to a CCSDS Distributor.
|
||||
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register themselves,
|
||||
* either by passing a pointer to themselves (and implementing the CCSDSApplicationIF,
|
||||
* or by explicitly passing an APID and a MessageQueueId to route the TC's to.
|
||||
* \ingroup tc_distribution
|
||||
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register
|
||||
* themselves, either by passing a pointer to themselves (and implementing the
|
||||
* CCSDSApplicationIF), or by explicitly passing an APID and a MessageQueueId
|
||||
* to route the TC's to.
|
||||
* @ingroup tc_distribution
|
||||
*/
|
||||
class CCSDSDistributorIF {
|
||||
public:
|
||||
/**
|
||||
* With this call, a class implementing the CCSDSApplicationIF can register at the
|
||||
* distributor.
|
||||
* With this call, a class implementing the CCSDSApplicationIF can register
|
||||
* at the distributor.
|
||||
* @param application A pointer to the Application to register.
|
||||
* @return - \c RETURN_OK on success,
|
||||
* - \c RETURN_FAILED on failure.
|
||||
* @return - @c RETURN_OK on success,
|
||||
* - @c RETURN_FAILED on failure.
|
||||
*/
|
||||
virtual ReturnValue_t registerApplication( AcceptsTelecommandsIF* application ) = 0;
|
||||
virtual ReturnValue_t registerApplication(
|
||||
AcceptsTelecommandsIF* application) = 0;
|
||||
/**
|
||||
* With this call, other Applications can register to the CCSDS distributor.
|
||||
* This is done by passing an APID and a MessageQueueId to the method.
|
||||
* @param apid The APID to register.
|
||||
* @param id The MessageQueueId of the message queue to send the TC Packets to.
|
||||
* @return - \c RETURN_OK on success,
|
||||
* - \c RETURN_FAILED on failure.
|
||||
* @param id The MessageQueueId of the message queue to send the
|
||||
* TC Packets to.
|
||||
* @return - @c RETURN_OK on success,
|
||||
* - @c RETURN_FAILED on failure.
|
||||
*/
|
||||
virtual ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id ) = 0;
|
||||
virtual ReturnValue_t registerApplication( uint16_t apid,
|
||||
MessageQueueId_t id) = 0;
|
||||
/**
|
||||
* The empty virtual destructor.
|
||||
*/
|
||||
@ -37,4 +41,4 @@ public:
|
||||
};
|
||||
|
||||
|
||||
#endif /* CCSDSDISTRIBUTORIF_H_ */
|
||||
#endif /* FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_ */
|
||||
|
@ -1,61 +1,71 @@
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "CCSDSDistributorIF.h"
|
||||
#include "PUSDistributor.h"
|
||||
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../tmtcpacket/pus/TcPacketStored.h"
|
||||
#include "../tmtcservices/PusVerificationReport.h"
|
||||
|
||||
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource) :
|
||||
TcDistributor(setObjectId), checker(setApid), verifyChannel(), currentPacket(), tcStatus(
|
||||
RETURN_FAILED), packetSource(setPacketSource) {
|
||||
PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
|
||||
object_id_t setPacketSource) :
|
||||
TcDistributor(setObjectId), checker(setApid), verifyChannel(),
|
||||
tcStatus(RETURN_FAILED), packetSource(setPacketSource) {}
|
||||
|
||||
PUSDistributor::~PUSDistributor() {}
|
||||
|
||||
PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
|
||||
// sif:: debug << "PUSDistributor::handlePacket received: "
|
||||
// << this->current_packet_id.store_index << ", "
|
||||
// << this->current_packet_id.packet_index << std::endl;
|
||||
TcMqMapIter queueMapIt = this->queueMap.end();
|
||||
if(this->currentPacket == nullptr) {
|
||||
return queueMapIt;
|
||||
}
|
||||
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
|
||||
if (currentPacket->getWholeData() != nullptr) {
|
||||
tcStatus = checker.checkPacket(currentPacket);
|
||||
#ifdef DEBUG
|
||||
if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::debug << "PUSDistributor::handlePacket: Packet format "
|
||||
<< "invalid, code "<< static_cast<int>(tcStatus)
|
||||
<< std::endl;
|
||||
}
|
||||
#endif
|
||||
uint32_t queue_id = currentPacket->getService();
|
||||
queueMapIt = this->queueMap.find(queue_id);
|
||||
}
|
||||
else {
|
||||
tcStatus = PACKET_LOST;
|
||||
}
|
||||
|
||||
if (queueMapIt == this->queueMap.end()) {
|
||||
tcStatus = DESTINATION_NOT_FOUND;
|
||||
#ifdef DEBUG
|
||||
sif::debug << "PUSDistributor::handlePacket: Destination not found, "
|
||||
<< "code "<< static_cast<int>(tcStatus) << std::endl;
|
||||
#endif
|
||||
}
|
||||
|
||||
if (tcStatus != RETURN_OK) {
|
||||
return this->queueMap.end();
|
||||
}
|
||||
else {
|
||||
return queueMapIt;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
PUSDistributor::~PUSDistributor() {
|
||||
|
||||
}
|
||||
|
||||
iterator_t PUSDistributor::selectDestination() {
|
||||
// debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
|
||||
iterator_t queueMapIt = this->queueMap.end();
|
||||
this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
|
||||
if (currentPacket.getWholeData() != NULL) {
|
||||
tcStatus = checker.checkPacket(¤tPacket);
|
||||
// info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
|
||||
uint32_t queue_id = currentPacket.getService();
|
||||
queueMapIt = this->queueMap.find(queue_id);
|
||||
} else {
|
||||
tcStatus = PACKET_LOST;
|
||||
}
|
||||
if (queueMapIt == this->queueMap.end()) {
|
||||
tcStatus = DESTINATION_NOT_FOUND;
|
||||
}
|
||||
|
||||
if (tcStatus != RETURN_OK) {
|
||||
sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
|
||||
<< std::endl;
|
||||
return this->queueMap.end();
|
||||
} else {
|
||||
return queueMapIt;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//uint16_t PUSDistributor::createDestination( uint8_t service_id, uint8_t subservice_id ) {
|
||||
// return ( service_id << 8 ) + subservice_id;
|
||||
//}
|
||||
|
||||
ReturnValue_t PUSDistributor::registerService(AcceptsTelecommandsIF* service) {
|
||||
ReturnValue_t returnValue = RETURN_OK;
|
||||
bool errorCode = true;
|
||||
uint16_t serviceId = service->getIdentifier();
|
||||
// sif::info << "Service ID: " << (int)serviceId << std::endl;
|
||||
MessageQueueId_t queue = service->getRequestQueue();
|
||||
errorCode = this->queueMap.insert(
|
||||
std::pair<uint32_t, MessageQueueId_t>(serviceId, queue)).second;
|
||||
if (errorCode == false) {
|
||||
//TODO Return Code
|
||||
returnValue = MessageQueueIF::NO_QUEUE;
|
||||
auto returnPair = queueMap.emplace(serviceId, queue);
|
||||
if (not returnPair.second) {
|
||||
sif::error << "PUSDistributor::registerService: Service ID already"
|
||||
" exists in map." << std::endl;
|
||||
return SERVICE_ID_ALREADY_EXISTS;
|
||||
}
|
||||
return returnValue;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MessageQueueId_t PUSDistributor::getRequestQueue() {
|
||||
@ -68,13 +78,14 @@ ReturnValue_t PUSDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
|
||||
}
|
||||
if (tcStatus != RETURN_OK) {
|
||||
this->verifyChannel.sendFailureReport(TC_VERIFY::ACCEPTANCE_FAILURE,
|
||||
¤tPacket, tcStatus);
|
||||
//A failed packet is deleted immediately after reporting, otherwise it will block memory.
|
||||
currentPacket.deletePacket();
|
||||
currentPacket, tcStatus);
|
||||
// A failed packet is deleted immediately after reporting,
|
||||
// otherwise it will block memory.
|
||||
currentPacket->deletePacket();
|
||||
return RETURN_FAILED;
|
||||
} else {
|
||||
this->verifyChannel.sendSuccessReport(TC_VERIFY::ACCEPTANCE_SUCCESS,
|
||||
¤tPacket);
|
||||
currentPacket);
|
||||
return RETURN_OK;
|
||||
}
|
||||
}
|
||||
@ -84,11 +95,19 @@ uint16_t PUSDistributor::getIdentifier() {
|
||||
}
|
||||
|
||||
ReturnValue_t PUSDistributor::initialize() {
|
||||
currentPacket = new TcPacketStored();
|
||||
if(currentPacket == nullptr) {
|
||||
// Should not happen, memory allocation failed!
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
CCSDSDistributorIF* ccsdsDistributor =
|
||||
objectManager->get<CCSDSDistributorIF>(packetSource);
|
||||
if (ccsdsDistributor == NULL) {
|
||||
return RETURN_FAILED;
|
||||
} else {
|
||||
return ccsdsDistributor->registerApplication(this);
|
||||
if (ccsdsDistributor == nullptr) {
|
||||
sif::error << "PUSDistributor::initialize: Packet source invalid."
|
||||
<< " Make sure it exists and implements CCSDSDistributorIF!"
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return ccsdsDistributor->registerApplication(this);
|
||||
}
|
||||
|
@ -1,67 +1,79 @@
|
||||
#ifndef PUSDISTRIBUTOR_H_
|
||||
#define PUSDISTRIBUTOR_H_
|
||||
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
|
||||
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "PUSDistributorIF.h"
|
||||
#include "TcDistributor.h"
|
||||
#include "TcPacketCheck.h"
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "../tmtcservices/VerificationReporter.h"
|
||||
|
||||
/**
|
||||
* This class accepts PUS Telecommands and forwards them to Application services.
|
||||
* In addition, the class performs a formal packet check and sends acceptance success
|
||||
* or failure messages.
|
||||
* \ingroup tc_distribution
|
||||
* This class accepts PUS Telecommands and forwards them to Application
|
||||
* services. In addition, the class performs a formal packet check and
|
||||
* sends acceptance success or failure messages.
|
||||
* @ingroup tc_distribution
|
||||
*/
|
||||
class PUSDistributor: public TcDistributor,
|
||||
public PUSDistributorIF,
|
||||
public AcceptsTelecommandsIF {
|
||||
public:
|
||||
/**
|
||||
* The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
|
||||
* The ctor passes @c set_apid to the checker class and calls the
|
||||
* TcDistribution ctor with a certain object id.
|
||||
* @param setApid The APID of this receiving Application.
|
||||
* @param setObjectId Object ID of the distributor itself
|
||||
* @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
|
||||
* @param setPacketSource Object ID of the source of TC packets.
|
||||
* Must implement CCSDSDistributorIF.
|
||||
*/
|
||||
PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
|
||||
PUSDistributor(uint16_t setApid, object_id_t setObjectId,
|
||||
object_id_t setPacketSource);
|
||||
/**
|
||||
* The destructor is empty.
|
||||
*/
|
||||
virtual ~PUSDistributor();
|
||||
ReturnValue_t registerService(AcceptsTelecommandsIF* service);
|
||||
MessageQueueId_t getRequestQueue();
|
||||
uint16_t getIdentifier();
|
||||
ReturnValue_t initialize();
|
||||
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
|
||||
MessageQueueId_t getRequestQueue() override;
|
||||
ReturnValue_t initialize() override;
|
||||
uint16_t getIdentifier() override;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* This attribute contains the class, that performs a formal packet check.
|
||||
*/
|
||||
TcPacketCheck checker;
|
||||
/**
|
||||
* With this class, verification messages are sent to the TC Verification service.
|
||||
* With this class, verification messages are sent to the
|
||||
* TC Verification service.
|
||||
*/
|
||||
VerificationReporter verifyChannel;
|
||||
/**
|
||||
* The currently handled packet is stored here.
|
||||
*/
|
||||
TcPacketStored currentPacket;
|
||||
TcPacketStored* currentPacket = nullptr;
|
||||
/**
|
||||
* With this variable, the current check status is stored to generate acceptance messages later.
|
||||
* With this variable, the current check status is stored to generate
|
||||
* acceptance messages later.
|
||||
*/
|
||||
ReturnValue_t tcStatus;
|
||||
|
||||
const object_id_t packetSource;
|
||||
|
||||
/**
|
||||
* This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
|
||||
* It also initiates the formal packet check and sending of verification messages.
|
||||
* @return Iterator to map entry of found service id or iterator to \c map.end().
|
||||
* This method reads the packet service, checks if such a service is
|
||||
* registered and forwards the packet to the destination.
|
||||
* It also initiates the formal packet check and sending of verification
|
||||
* messages.
|
||||
* @return Iterator to map entry of found service id
|
||||
* or iterator to @c map.end().
|
||||
*/
|
||||
iterator_t selectDestination();
|
||||
TcMqMapIter selectDestination() override;
|
||||
/**
|
||||
* The callback here handles the generation of acceptance success/failure messages.
|
||||
* The callback here handles the generation of acceptance
|
||||
* success/failure messages.
|
||||
*/
|
||||
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
|
||||
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
|
||||
};
|
||||
|
||||
#endif /* PUSDISTRIBUTOR_H_ */
|
||||
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */
|
||||
|
@ -1,11 +1,12 @@
|
||||
#ifndef PUSDISTRIBUTORIF_H_
|
||||
#define PUSDISTRIBUTORIF_H_
|
||||
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
|
||||
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_
|
||||
|
||||
#include "../tmtcservices/AcceptsTelecommandsIF.h"
|
||||
#include "../ipc/MessageQueueSenderIF.h"
|
||||
|
||||
/**
|
||||
* This interface allows PUS Services to register themselves at a PUS Distributor.
|
||||
* \ingroup tc_distribution
|
||||
* @ingroup tc_distribution
|
||||
*/
|
||||
class PUSDistributorIF {
|
||||
public:
|
||||
@ -17,10 +18,10 @@ public:
|
||||
/**
|
||||
* With this method, Services can register themselves at the PUS Distributor.
|
||||
* @param service A pointer to the registering Service.
|
||||
* @return - \c RETURN_OK on success,
|
||||
* - \c RETURN_FAILED on failure.
|
||||
* @return - @c RETURN_OK on success,
|
||||
* - @c RETURN_FAILED on failure.
|
||||
*/
|
||||
virtual ReturnValue_t registerService( AcceptsTelecommandsIF* service ) = 0;
|
||||
};
|
||||
|
||||
#endif /* PUSDISTRIBUTORIF_H_ */
|
||||
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */
|
||||
|
@ -1,12 +1,13 @@
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "TcDistributor.h"
|
||||
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../tmtcservices/TmTcMessage.h"
|
||||
#include "../ipc/QueueFactory.h"
|
||||
|
||||
TcDistributor::TcDistributor(object_id_t set_object_id) :
|
||||
SystemObject(set_object_id), tcQueue(NULL) {
|
||||
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
|
||||
TcDistributor::TcDistributor(object_id_t objectId) :
|
||||
SystemObject(objectId) {
|
||||
tcQueue = QueueFactory::instance()->
|
||||
createMessageQueue(DISTRIBUTER_MAX_PACKETS);
|
||||
}
|
||||
|
||||
TcDistributor::~TcDistributor() {
|
||||
@ -15,7 +16,6 @@ TcDistributor::~TcDistributor() {
|
||||
|
||||
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
|
||||
ReturnValue_t status = RETURN_OK;
|
||||
// debug << "TcDistributor: performing Operation." << std::endl;
|
||||
for (status = tcQueue->receiveMessage(¤tMessage); status == RETURN_OK;
|
||||
status = tcQueue->receiveMessage(¤tMessage)) {
|
||||
status = handlePacket();
|
||||
@ -29,7 +29,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
|
||||
|
||||
ReturnValue_t TcDistributor::handlePacket() {
|
||||
|
||||
iterator_t queueMapIt = this->selectDestination();
|
||||
TcMqMapIter queueMapIt = this->selectDestination();
|
||||
ReturnValue_t returnValue = RETURN_FAILED;
|
||||
if (queueMapIt != this->queueMap.end()) {
|
||||
returnValue = this->tcQueue->sendMessage(queueMapIt->second,
|
||||
@ -39,14 +39,14 @@ ReturnValue_t TcDistributor::handlePacket() {
|
||||
}
|
||||
|
||||
void TcDistributor::print() {
|
||||
sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
|
||||
<< std::endl;
|
||||
for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
|
||||
it++) {
|
||||
sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
|
||||
<< std::endl;
|
||||
sif::debug << "Distributor content is: " << std::endl
|
||||
<< "ID\t| Message Queue ID" << std::endl;
|
||||
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
|
||||
for (const auto& queueMapIter: queueMap) {
|
||||
sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second
|
||||
<< std::endl;
|
||||
}
|
||||
sif::debug << std::dec;
|
||||
sif::debug << std::setfill(' ') << std::dec;
|
||||
|
||||
}
|
||||
|
||||
|
@ -1,5 +1,6 @@
|
||||
#ifndef TCDISTRIBUTOR_H_
|
||||
#define TCDISTRIBUTOR_H_
|
||||
#ifndef FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
|
||||
#define FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_
|
||||
|
||||
#include "../objectmanager/ObjectManagerIF.h"
|
||||
#include "../objectmanager/SystemObject.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
@ -9,16 +10,12 @@
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
#include <map>
|
||||
|
||||
|
||||
/**
|
||||
* \defgroup tc_distribution Telecommand Distribution
|
||||
* All classes associated with Routing and Distribution of Telecommands belong to this group.
|
||||
* @defgroup tc_distribution Telecommand Distribution
|
||||
* All classes associated with Routing and Distribution of Telecommands
|
||||
* belong to this group.
|
||||
*/
|
||||
|
||||
/**
|
||||
* This typedef simplifies writing down the \c map iterator.
|
||||
*/
|
||||
typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
|
||||
|
||||
/**
|
||||
* This is the base class to implement distributors for Space Packets.
|
||||
@ -28,62 +25,19 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
|
||||
* message queue ids to some identifier. The process of unpacking the
|
||||
* destination information from the packet is handled by the child class
|
||||
* implementations.
|
||||
* \ingroup tc_distribution
|
||||
* @ingroup tc_distribution
|
||||
*/
|
||||
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
|
||||
private:
|
||||
/**
|
||||
* This constant sets the maximum number of packets distributed per call.
|
||||
*/
|
||||
static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
|
||||
protected:
|
||||
/**
|
||||
* This is the receiving queue for incoming Telecommands.
|
||||
* The child classes must make its queue id public.
|
||||
*/
|
||||
MessageQueueIF* tcQueue;
|
||||
/**
|
||||
* The last received incoming packet information is stored in this
|
||||
* member.
|
||||
* As different child classes unpack the incoming packet differently
|
||||
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
|
||||
* is not tried to unpack the packet information within this class.
|
||||
*/
|
||||
TmTcMessage currentMessage;
|
||||
/**
|
||||
* The map that links certain packet information to a destination.
|
||||
* The packet information may be the APID of the packet or the service
|
||||
* identifier. Filling of the map is under control of the different child
|
||||
* classes.
|
||||
*/
|
||||
std::map<uint32_t, MessageQueueId_t> queueMap;
|
||||
/**
|
||||
* This method shall unpack the routing information from the incoming
|
||||
* packet and select the map entry which represents the packet's target.
|
||||
* @return An iterator to the map element to forward to or queuMap.end().
|
||||
*/
|
||||
virtual iterator_t selectDestination() = 0;
|
||||
/**
|
||||
* The handlePacket method calls the child class's selectDestination method
|
||||
* and forwards the packet to its destination, if found.
|
||||
* @return The message queue return value or \c RETURN_FAILED, in case no
|
||||
* destination was found.
|
||||
*/
|
||||
ReturnValue_t handlePacket();
|
||||
/**
|
||||
* This method gives the child class a chance to perform some kind of operation
|
||||
* after the parent tried to forward the message.
|
||||
* A typically application would be sending success/failure messages.
|
||||
* The default implementation just returns \c RETURN_OK.
|
||||
* @param queueStatus The status of the message queue after an attempt to send the TC.
|
||||
* @return - \c RETURN_OK on success
|
||||
* - \c RETURN_FAILED on failure
|
||||
*/
|
||||
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
|
||||
class TcDistributor : public SystemObject,
|
||||
public ExecutableObjectIF,
|
||||
public HasReturnvaluesIF {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
|
||||
static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
|
||||
static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
|
||||
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
|
||||
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
|
||||
|
||||
static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
|
||||
static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
|
||||
static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
|
||||
static constexpr ReturnValue_t SERVICE_ID_ALREADY_EXISTS = MAKE_RETURN_CODE(3);
|
||||
/**
|
||||
* Within the default constructor, the SystemObject id is set and the
|
||||
* message queue is initialized.
|
||||
@ -91,7 +45,7 @@ public:
|
||||
* @param set_object_id This id is assigned to the distributor
|
||||
* implementation.
|
||||
*/
|
||||
TcDistributor( object_id_t set_object_id );
|
||||
TcDistributor(object_id_t objectId);
|
||||
/**
|
||||
* The destructor is empty, the message queues are not in the vicinity of
|
||||
* this class.
|
||||
@ -110,7 +64,59 @@ public:
|
||||
* queueMap.
|
||||
*/
|
||||
void print();
|
||||
|
||||
protected:
|
||||
/**
|
||||
* This is the receiving queue for incoming Telecommands.
|
||||
* The child classes must make its queue id public.
|
||||
*/
|
||||
MessageQueueIF* tcQueue = nullptr;
|
||||
/**
|
||||
* The last received incoming packet information is stored in this
|
||||
* member.
|
||||
* As different child classes unpack the incoming packet differently
|
||||
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
|
||||
* is not tried to unpack the packet information within this class.
|
||||
*/
|
||||
TmTcMessage currentMessage;
|
||||
/**
|
||||
* The map that links certain packet information to a destination.
|
||||
* The packet information may be the APID of the packet or the service
|
||||
* identifier. Filling of the map is under control of the different child
|
||||
* classes.
|
||||
*/
|
||||
TcMessageQueueMap queueMap;
|
||||
/**
|
||||
* This method shall unpack the routing information from the incoming
|
||||
* packet and select the map entry which represents the packet's target.
|
||||
* @return An iterator to the map element to forward to or queuMap.end().
|
||||
*/
|
||||
virtual TcMqMapIter selectDestination() = 0;
|
||||
/**
|
||||
* The handlePacket method calls the child class's selectDestination method
|
||||
* and forwards the packet to its destination, if found.
|
||||
* @return The message queue return value or @c RETURN_FAILED, in case no
|
||||
* destination was found.
|
||||
*/
|
||||
ReturnValue_t handlePacket();
|
||||
/**
|
||||
* This method gives the child class a chance to perform some kind of
|
||||
* operation after the parent tried to forward the message.
|
||||
* A typically application would be sending success/failure messages.
|
||||
* The default implementation just returns @c RETURN_OK.
|
||||
* @param queueStatus The status of the message queue after an attempt
|
||||
* to send the TC.
|
||||
* @return - @c RETURN_OK on success
|
||||
* - @c RETURN_FAILED on failure
|
||||
*/
|
||||
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
|
||||
|
||||
private:
|
||||
/**
|
||||
* This constant sets the maximum number of packets distributed per call.
|
||||
*/
|
||||
static constexpr uint8_t DISTRIBUTER_MAX_PACKETS = 128;
|
||||
};
|
||||
|
||||
|
||||
#endif /* TCDISTRIBUTOR_H_ */
|
||||
#endif /* FSFW_TMTCSERVICES_TCDISTRIBUTOR_H_ */
|
||||
|
@ -1,31 +1,33 @@
|
||||
#include "TcPacketCheck.h"
|
||||
|
||||
#include "../globalfunctions/CRC.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../storagemanager/StorageManagerIF.h"
|
||||
#include "TcPacketCheck.h"
|
||||
#include "../tmtcservices/VerificationCodes.h"
|
||||
|
||||
TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
|
||||
TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) {
|
||||
}
|
||||
|
||||
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
|
||||
uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
|
||||
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
|
||||
uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
|
||||
currentPacket->getFullSize() );
|
||||
if ( calculated_crc != 0 ) {
|
||||
return INCORRECT_CHECKSUM;
|
||||
}
|
||||
bool condition = !(current_packet->hasSecondaryHeader()) ||
|
||||
current_packet->getPacketVersionNumber() != CCSDS_VERSION_NUMBER ||
|
||||
!(current_packet->isTelecommand());
|
||||
bool condition = (not currentPacket->hasSecondaryHeader()) or
|
||||
(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
|
||||
(not currentPacket->isTelecommand());
|
||||
if ( condition ) {
|
||||
return INCORRECT_PRIMARY_HEADER;
|
||||
}
|
||||
if ( current_packet->getAPID() != this->apid )
|
||||
if ( currentPacket->getAPID() != this->apid )
|
||||
return ILLEGAL_APID;
|
||||
|
||||
if ( !current_packet->isSizeCorrect() ) {
|
||||
if ( not currentPacket->isSizeCorrect() ) {
|
||||
return INCOMPLETE_PACKET;
|
||||
}
|
||||
condition = (current_packet->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
|
||||
(current_packet->getPusVersionNumber() != PUS_VERSION_NUMBER);
|
||||
condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
|
||||
(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
|
||||
if ( condition ) {
|
||||
return INCORRECT_SECONDARY_HEADER;
|
||||
}
|
||||
|
@ -1,28 +1,29 @@
|
||||
#ifndef TCPACKETCHECK_H_
|
||||
#define TCPACKETCHECK_H_
|
||||
#ifndef FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
|
||||
#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
|
||||
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../tmtcpacket/pus/TcPacketStored.h"
|
||||
#include "../tmtcservices/PusVerificationReport.h"
|
||||
|
||||
/**
|
||||
* This class performs a formal packet check for incoming PUS Telecommand Packets.
|
||||
* Currently, it only checks if the APID and CRC are correct.
|
||||
* \ingroup tc_distribution
|
||||
* @ingroup tc_distribution
|
||||
*/
|
||||
class TcPacketCheck : public HasReturnvaluesIF {
|
||||
protected:
|
||||
/**
|
||||
* Describes the version number a packet must have to pass.
|
||||
*/
|
||||
static const uint8_t CCSDS_VERSION_NUMBER = 0;
|
||||
static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
|
||||
/**
|
||||
* Describes the secondary header a packet must have to pass.
|
||||
*/
|
||||
static const uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
|
||||
static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
|
||||
/**
|
||||
* Describes the TC Packet PUS Version Number a packet must have to pass.
|
||||
*/
|
||||
static const uint8_t PUS_VERSION_NUMBER = 1;
|
||||
static constexpr uint8_t PUS_VERSION_NUMBER = 1;
|
||||
/**
|
||||
* The packet id each correct packet should have.
|
||||
* It is composed of the APID and some static fields.
|
||||
@ -41,19 +42,19 @@ public:
|
||||
* The constructor only sets the APID attribute.
|
||||
* @param set_apid The APID to set.
|
||||
*/
|
||||
TcPacketCheck( uint16_t set_apid );
|
||||
TcPacketCheck( uint16_t setApid );
|
||||
/**
|
||||
* This is the actual method to formally check a certain Telecommand Packet.
|
||||
* The packet's Application Data can not be checked here.
|
||||
* @param current_packet The packt to check
|
||||
* @return - \c RETURN_OK on success.
|
||||
* - \c INCORRECT_CHECKSUM if checksum is invalid.
|
||||
* - \c ILLEGAL_APID if APID does not match.
|
||||
* @return - @c RETURN_OK on success.
|
||||
* - @c INCORRECT_CHECKSUM if checksum is invalid.
|
||||
* - @c ILLEGAL_APID if APID does not match.
|
||||
*/
|
||||
ReturnValue_t checkPacket( TcPacketStored* current_packet );
|
||||
ReturnValue_t checkPacket( TcPacketStored* currentPacket );
|
||||
|
||||
uint16_t getApid() const;
|
||||
};
|
||||
|
||||
|
||||
#endif /* TCPACKETCHECK_H_ */
|
||||
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */
|
||||
|
Loading…
Reference in New Issue
Block a user