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cleaned up includes and improved doc a bit

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This commit is contained in:
Robin Müller 2020-06-10 22:12:29 +02:00
parent 659594bac7
commit 5007041bc8
2 changed files with 76 additions and 65 deletions
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27
tmtcservices/CommandingServiceBase.cpp
View File

@ -1,22 +1,21 @@
/* #include <framework/tcdistribution/PUSDistributorIF.h>
* CommandingServiceBase.cpp #include <framework/tmtcservices/AcceptsTelemetryIF.h>
* #include <framework/objectmanager/ObjectManagerIF.h>
* Created on: 28.08.2019
* Author: gaisser
*/
#include <framework/tmtcservices/CommandingServiceBase.h> #include <framework/tmtcservices/CommandingServiceBase.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeout_seconds, object_id_t setPacketSource, uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth) : object_id_t setPacketDestination, size_t queueDepth) :
SystemObject(setObjectId), apid(apid), service(service), timeout_seconds( SystemObject(setObjectId), apid(apid), service(service),
commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore( timeoutSeconds(commandTimeoutSeconds),
NULL), commandQueue(NULL), requestQueue(NULL), commandMap( commandMap(numberOfParallelCommands), packetSource(setPacketSource),
numberOfParallelCommands), failureParameter1(0), failureParameter2( packetDestination(setPacketDestination) {
0), packetSource(setPacketSource), packetDestination(
setPacketDestination),executingTask(NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
} }
@ -369,7 +368,7 @@ void CommandingServiceBase::checkTimeout() {
typename FixedMap<MessageQueueId_t, typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator iter; CommandingServiceBase::CommandInfo>::Iterator iter;
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) { if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
verificationReporter.sendFailureReport( verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,

112
tmtcservices/CommandingServiceBase.h
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@ -1,35 +1,33 @@
#ifndef COMMANDINGSERVICEBASE_H_ #ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#define COMMANDINGSERVICEBASE_H_ #define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#include <framework/container/FixedMap.h>
#include <framework/container/FIFO.h>
#include <framework/ipc/CommandMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h> #include <framework/objectmanager/SystemObject.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/storagemanager/StorageManagerIF.h> #include <framework/storagemanager/StorageManagerIF.h>
#include <framework/tasks/ExecutableObjectIF.h> #include <framework/tasks/ExecutableObjectIF.h>
#include <framework/tcdistribution/PUSDistributorIF.h> #include <framework/ipc/MessageQueueIF.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h> #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/tmtcservices/VerificationReporter.h> #include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h> #include <framework/ipc/CommandMessage.h>
#include <framework/ipc/QueueFactory.h> #include <framework/container/FixedMap.h>
#include <framework/timemanager/Clock.h> #include <framework/container/FIFO.h>
#include <framework/serialize/SerializeIF.h>
class TcPacketStored;
/** /**
* \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus. * @brief This class is the basis for all PUS Services, which have to
* relay Telecommands to software bus.
* *
* It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase. * It manages Telecommand reception and the generation of Verification Reports
* Every class that inherits from this abstract class has to implement four adaption points: * similar to PusServiceBase. This class is used if a telecommand can't be
* handled immediately and must be relayed to the internal software bus.
* - isValidSubservice * - isValidSubservice
* - getMessageQueueAndObject * - getMessageQueueAndObject
* - prepareCommand * - prepareCommand
* - handleReply * - handleReply
* \ingroup pus_services * @author gaisser
* @ingroup pus_services
*/ */
class CommandingServiceBase: public SystemObject, class CommandingServiceBase: public SystemObject,
public AcceptsTelecommandsIF, public AcceptsTelecommandsIF,
@ -59,7 +57,7 @@ public:
*/ */
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands, uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeout_seconds, object_id_t setPacketSource, uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth = 20); object_id_t setPacketDestination, size_t queueDepth = 20);
virtual ~CommandingServiceBase(); virtual ~CommandingServiceBase();
@ -113,8 +111,9 @@ protected:
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
/** /**
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved. * Once a TC Request is valid, the existence of the destination and its
* The target message queue ID can then be acquired by using the target interface. * target interface is checked and retrieved. The target message queue ID
* can then be acquired by using the target interface.
* @param subservice * @param subservice
* @param tcData Application Data of TC Packet * @param tcData Application Data of TC Packet
* @param tcDataLen * @param tcDataLen
@ -129,10 +128,10 @@ protected:
object_id_t *objectId) = 0; object_id_t *objectId) = 0;
/** /**
* After the Message Queue and Object ID are determined, * After the Message Queue and Object ID are determined, the command is
* the command is prepared by using an implementation specific CommandMessage type * prepared by using an implementation specific CommandMessage type
* which is sent to the target object. * which is sent to the target object. It contains all necessary information
* It contains all necessary information for the device to execute telecommands. * for the device to execute telecommands.
* @param message * @param message
* @param subservice * @param subservice
* @param tcData * @param tcData
@ -146,18 +145,23 @@ protected:
uint32_t *state, object_id_t objectId) = 0; uint32_t *state, object_id_t objectId) = 0;
/** /**
* This function is responsible for the communication between the Command Service Base * This function is implemented by child services to specify how replies
* and the respective PUS Commanding Service once the execution has started. * to a command from another software component are handled
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function. * @param reply
* There are different translations of these replies to specify how the Command Service proceeds. * This is the reply in form of a command message.
* @param reply[out] Command Message which contains information about the command * @param previousCommand
* @param previousCommand [out] * Command_t of related command
* @param state * @param state [out/in]
* @param optionalNextCommand * Additional parameter which can be used to pass state information.
* State of the communication
* @param optionalNextCommand [out]
* An optional next command which can be set in this function
* @param objectId Source object ID * @param objectId Source object ID
* @param isStep Flag value to mark steps of command execution * @param isStep Flag value to mark steps of command execution
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success * @return
* - @c INVALID_REPLY can handle unrequested replies * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
* generate TC verification success
* - @c INVALID_REPLY calls handleUnrequestedReply
* - Anything else triggers a TC verification failure * - Anything else triggers a TC verification failure
*/ */
virtual ReturnValue_t handleReply(const CommandMessage *reply, virtual ReturnValue_t handleReply(const CommandMessage *reply,
@ -165,6 +169,16 @@ protected:
CommandMessage *optionalNextCommand, object_id_t objectId, CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0; bool *isStep) = 0;
/**
* This function can be overidden to handle unrequested reply,
* when the reply sender ID is unknown or is not found is the command map.
* @param reply
*/
virtual void handleUnrequestedReply(CommandMessage *reply);
virtual void doPeriodicOperation();
struct CommandInfo { struct CommandInfo {
struct tcInfo { struct tcInfo {
uint8_t ackFlags; uint8_t ackFlags;
@ -184,33 +198,35 @@ protected:
const uint8_t service; const uint8_t service;
const uint16_t timeout_seconds; const uint16_t timeoutSeconds;
uint8_t tmPacketCounter; uint8_t tmPacketCounter = 0;
StorageManagerIF *IPCStore; StorageManagerIF *IPCStore = nullptr;
StorageManagerIF *TCStore; StorageManagerIF *TCStore = nullptr;
MessageQueueIF* commandQueue; MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* requestQueue; MessageQueueIF* requestQueue = nullptr;
VerificationReporter verificationReporter; VerificationReporter verificationReporter;
FixedMap<MessageQueueId_t, CommandInfo> commandMap; FixedMap<MessageQueueId_t, CommandInfo> commandMap;
uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition. /* May be set be children to return a more precise failure condition. */
uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition. uint32_t failureParameter1 = 0;
uint32_t failureParameter2 = 0;
object_id_t packetSource; object_id_t packetSource;
object_id_t packetDestination; object_id_t packetDestination;
/** /**
* Pointer to the task which executes this component, is invalid before setTaskIF was called. * Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/ */
PeriodicTaskIF* executingTask; PeriodicTaskIF* executingTask = nullptr;
/** /**
* @brief Send TM data from pointer to data. * @brief Send TM data from pointer to data.
@ -246,10 +262,6 @@ protected:
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = nullptr); SerializeIF* header = nullptr);
virtual void handleUnrequestedReply(CommandMessage *reply);
virtual void doPeriodicOperation();
void checkAndExecuteFifo( void checkAndExecuteFifo(
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter); typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);