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Merge pull request 'tmtc bridge improvements' (#136) from KSat/fsfw:mueller_TmTcBridgeImprovements into master

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This commit is contained in:
Steffen Gaisser 2020-07-14 11:58:38 +02:00
commit 52f56ca798
2 changed files with 84 additions and 63 deletions
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85
tmtcservices/TmTcBridge.cpp
View File

@ -5,11 +5,13 @@
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/globalfunctions/arrayprinter.h>
TmTcBridge::TmTcBridge(object_id_t objectId_,
object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
ccsdsPacketDistributor(ccsdsPacketDistributor_)
TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId):
SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
tcDestination(tcDestination)
{
TmTcReceptionQueue = QueueFactory::instance()->
tmTcReceptionQueue = QueueFactory::instance()->
createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
}
@ -22,8 +24,9 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
return RETURN_OK;
}
else {
sif::warning << "TmTcBridge: Number of packets sent per cycle "
"exceeds limits. Keeping default value." << std::endl;
sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of "
<< "packets sent per cycle exceeds limits. "
<< "Keeping default value." << std::endl;
return RETURN_FAILED;
}
}
@ -35,27 +38,35 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
return RETURN_OK;
}
else {
sif::warning << "TmTcBridge: Number of packets stored "
"exceeds limits. Keeping default value." << std::endl;
sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of "
<< "packets stored exceeds limits. "
<< "Keeping default value." << std::endl;
return RETURN_FAILED;
}
}
ReturnValue_t TmTcBridge::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == NULL) {
return RETURN_FAILED;
tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
if (tcStore == nullptr) {
sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
"it is created and set up properly." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (tmStore == NULL) {
return RETURN_FAILED;
tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
if (tmStore == nullptr) {
sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
"it is created and set up properly." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelecommandsIF* tcDistributor =
objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
if (tcDistributor == NULL) {
return RETURN_FAILED;
objectManager->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
sif::error << "TmTcBridge::initialize: TC Distributor invalid"
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
return RETURN_OK;
}
@ -63,26 +74,25 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
ReturnValue_t result;
result = handleTc();
if(result != RETURN_OK) {
sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
sif::debug << "TmTcBridge::performOperation: "
<< "Error handling TCs" << std::endl;
}
result = handleTm();
if (result != RETURN_OK) {
sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
sif::debug << "TmTcBridge::performOperation: "
<< "Error handling TMs" << std::endl;
}
return result;
}
ReturnValue_t TmTcBridge::handleTc() {
uint8_t * recvBuffer = nullptr;
size_t recvLen = 0;
ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
return result;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TmTcBridge::handleTm() {
ReturnValue_t result = handleTmQueue();
if(result != RETURN_OK) {
sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl;
return RETURN_FAILED;
}
@ -97,8 +107,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
TmTcMessage message;
const uint8_t* data = nullptr;
size_t size = 0;
for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
{
if(communicationLinkUp == false) {
result = storeDownlinkData(&message);
@ -112,7 +122,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
result = sendTm(data, size);
if (result != RETURN_OK) {
sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
sif::warning << "TmTcBridge: Could not send TM packet" << std::endl;
tmStore->deleteData(message.getStorageId());
return result;
@ -123,13 +133,12 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
}
ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
//debug << "TMTC Bridge: Comm Link down. "
// "Saving packet ID to be sent later\r\n" << std::flush;
store_address_t storeId = 0;
if(tmFifo.full()) {
sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
"reached! Overwriting old data" << std::endl;
sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number "
<< "of stored packet IDs reached! "
<< "Overwriting old data" << std::endl;
tmFifo.retrieve(&storeId);
tmStore->deleteData(storeId);
}
@ -183,10 +192,20 @@ void TmTcBridge::registerCommDisconnect() {
}
MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
return TmTcReceptionQueue->getId();
return tmTcReceptionQueue->getId();
}
void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
arrayprinter::print(data, dataLen);
}
uint16_t TmTcBridge::getIdentifier() {
// This is no PUS service, so we just return 0
return 0;
}
MessageQueueId_t TmTcBridge::getRequestQueue() {
// Default implementation: Relay TC messages to TC distributor directly.
return tmTcReceptionQueue->getDefaultDestination();
}

62
tmtcservices/TmTcBridge.h
View File

@ -1,16 +1,18 @@
#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
#include <framework/objectmanager/SystemObject.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/ipc/MessageQueueIF.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/container/FIFO.h>
#include <framework/tmtcservices/TmTcMessage.h>
class TmTcBridge : public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public SystemObject {
@ -22,7 +24,8 @@ public:
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
TmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId);
virtual ~TmTcBridge();
/**
@ -57,45 +60,42 @@ public:
*/
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/**
* Return TMTC Reception Queue
* @param virtualChannel
* @return
*/
MessageQueueId_t getReportReceptionQueue(
/** AcceptsTelemetryIF override */
virtual MessageQueueId_t getReportReceptionQueue(
uint8_t virtualChannel = 0) override;
/** AcceptsTelecommandsIF override */
virtual uint16_t getIdentifier() override;
virtual MessageQueueId_t getRequestQueue() override;
protected:
//! Cached for initialize function.
object_id_t tmStoreId = objects::NO_OBJECT;
object_id_t tcStoreId = objects::NO_OBJECT;
object_id_t tcDestination = objects::NO_OBJECT;
//! Used to send and receive TMTC messages.
//! TmTcMessage is used to transport messages between tasks.
MessageQueueIF* TmTcReceptionQueue = nullptr;
StorageManagerIF* tcStore = nullptr;
//! The TmTcMessage class is used to transport messages between tasks.
MessageQueueIF* tmTcReceptionQueue = nullptr;
StorageManagerIF* tmStore = nullptr;
object_id_t ccsdsPacketDistributor = 0;
//! Used to specify whether communication link is up
bool communicationLinkUp = false;
StorageManagerIF* tcStore = nullptr;
//! Used to specify whether communication link is up. Will be true
//! by default, so telemetry will be handled immediately.
bool communicationLinkUp = true;
bool tmStored = false;
/**
* @brief Handle TC reception
* @details
* Default implementation provided, but is empty.
* Child handler should override this in most cases orsend TC to the
* TC distributor directly with the address of the reception queue by
* calling getReportRecptionQueue()
* In most cases, TC reception will be handled in a separate task anyway.
* @return
*/
virtual ReturnValue_t handleTc();
/**
* Implemented by child class. Perform receiving of Telecommand,
* for example by implementing specific drivers or wrappers,
* e.g. UART Communication or an ethernet stack
* @param recvBuffer [out] Received data
* @param size [out] Size of received data
* @return
*/
virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
/**
* Handle Telemetry. Default implementation provided.
* Calls sendTm()
@ -104,7 +104,8 @@ protected:
virtual ReturnValue_t handleTm();
/**
* Read the TM Queue and send TM if necessary. Default implementation provided
* Read the TM Queue and send TM if necessary.
* Default implementation provided
* @return
*/
virtual ReturnValue_t handleTmQueue();
@ -117,7 +118,8 @@ protected:
/**
* Implemented by child class. Perform sending of Telemetry by implementing
* communication drivers or wrappers, e.g. UART communication or lwIP stack.
* communication drivers or wrappers, e.g. serial communication or a socket
* call.
* @param data
* @param dataLen
* @return