Merge remote-tracking branch 'upstream/development' into mueller/DHB-update
This commit is contained in:
commit
6024c40334
@ -6,6 +6,10 @@
|
||||
- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
|
||||
a C file without issues
|
||||
|
||||
### PUS Services
|
||||
|
||||
- PUS Health Service added, which allows to command and retrieve health via PUS packets
|
||||
|
||||
### Device Handler Base
|
||||
|
||||
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
|
||||
|
||||
106
pus/CService201HealthCommanding.cpp
Normal file
106
pus/CService201HealthCommanding.cpp
Normal file
@ -0,0 +1,106 @@
|
||||
#include "CService201HealthCommanding.h"
|
||||
|
||||
#include "../health/HasHealthIF.h"
|
||||
#include "../serviceinterface/ServiceInterfaceStream.h"
|
||||
#include "../health/HealthMessage.h"
|
||||
#include "servicepackets/Service201Packets.h"
|
||||
|
||||
CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
|
||||
uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
|
||||
uint16_t commandTimeoutSeconds):
|
||||
CommandingServiceBase(objectId, apid, serviceId,
|
||||
numParallelCommands, commandTimeoutSeconds) {
|
||||
}
|
||||
|
||||
CService201HealthCommanding::~CService201HealthCommanding() {
|
||||
}
|
||||
|
||||
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
|
||||
switch(subservice) {
|
||||
case(Subservice::COMMAND_SET_HEALTH):
|
||||
case(Subservice::COMMAND_ANNOUNCE_HEALTH):
|
||||
case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
|
||||
return RETURN_OK;
|
||||
default:
|
||||
sif::error << "Invalid Subservice" << std::endl;
|
||||
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
|
||||
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
||||
MessageQueueId_t *id, object_id_t *objectId) {
|
||||
if(tcDataLen < sizeof(object_id_t)) {
|
||||
return CommandingServiceBase::INVALID_TC;
|
||||
}
|
||||
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
|
||||
SerializeIF::Endianness::BIG);
|
||||
|
||||
return checkInterfaceAndAcquireMessageQueue(id,objectId);
|
||||
}
|
||||
|
||||
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
|
||||
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
|
||||
HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
|
||||
if(destination == nullptr) {
|
||||
return CommandingServiceBase::INVALID_OBJECT;
|
||||
}
|
||||
|
||||
*messageQueueToSet = destination->getCommandQueue();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CService201HealthCommanding::prepareCommand(
|
||||
CommandMessage* message, uint8_t subservice, const uint8_t *tcData,
|
||||
size_t tcDataLen, uint32_t *state, object_id_t objectId) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(subservice) {
|
||||
case(Subservice::COMMAND_SET_HEALTH): {
|
||||
HealthSetCommand healthCommand;
|
||||
result = healthCommand.deSerialize(&tcData, &tcDataLen,
|
||||
SerializeIF::Endianness::BIG);
|
||||
if (result != RETURN_OK) {
|
||||
break;
|
||||
}
|
||||
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
|
||||
healthCommand.getHealth());
|
||||
break;
|
||||
}
|
||||
case(Subservice::COMMAND_ANNOUNCE_HEALTH): {
|
||||
HealthMessage::setHealthMessage(message,
|
||||
HealthMessage::HEALTH_ANNOUNCE);
|
||||
break;
|
||||
}
|
||||
case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
|
||||
HealthMessage::setHealthMessage(message,
|
||||
HealthMessage::HEALTH_ANNOUNCE_ALL);
|
||||
break;
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t CService201HealthCommanding::handleReply
|
||||
(const CommandMessage* reply, Command_t previousCommand,
|
||||
uint32_t *state, CommandMessage* optionalNextCommand,
|
||||
object_id_t objectId, bool *isStep) {
|
||||
Command_t replyId = reply->getCommand();
|
||||
if (replyId == HealthMessage::REPLY_HEALTH_SET) {
|
||||
return EXECUTION_COMPLETE;
|
||||
}
|
||||
else if(replyId == CommandMessageIF::REPLY_REJECTED) {
|
||||
return reply->getReplyRejectedReason();
|
||||
}
|
||||
return CommandingServiceBase::INVALID_REPLY;
|
||||
}
|
||||
|
||||
// Not used for now, health state already reported by event
|
||||
ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
|
||||
const CommandMessage* reply) {
|
||||
prepareHealthSetReply(reply);
|
||||
uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
|
||||
uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
|
||||
HealthSetReply healthSetReply(health, oldHealth);
|
||||
return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
|
||||
}
|
||||
|
||||
63
pus/CService201HealthCommanding.h
Normal file
63
pus/CService201HealthCommanding.h
Normal file
@ -0,0 +1,63 @@
|
||||
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
|
||||
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
|
||||
|
||||
#include "../tmtcservices/CommandingServiceBase.h"
|
||||
|
||||
/**
|
||||
* @brief Custom PUS service to set health of all objects
|
||||
* implementing hasHealthIF.
|
||||
*
|
||||
* Examples: Device Handlers, Assemblies or Subsystems.
|
||||
* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
|
||||
* Dissertation Baetz p. 115, 116, 165-167.
|
||||
*
|
||||
* This is a gateway service. It relays device commands using the software bus.
|
||||
* This service is very closely tied to the Commanding Service Base template
|
||||
* class. There is constant interaction between this Service Base und a
|
||||
* child class like this service
|
||||
*
|
||||
*/
|
||||
class CService201HealthCommanding: public CommandingServiceBase {
|
||||
public:
|
||||
|
||||
CService201HealthCommanding(object_id_t objectId, uint16_t apid,
|
||||
uint8_t serviceId, uint8_t numParallelCommands = 4,
|
||||
uint16_t commandTimeoutSeconds = 60);
|
||||
virtual~ CService201HealthCommanding();
|
||||
protected:
|
||||
/* CSB abstract function implementations */
|
||||
ReturnValue_t isValidSubservice(uint8_t subservice) override;
|
||||
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
|
||||
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
|
||||
object_id_t *objectId) override;
|
||||
/** Prepare health command */
|
||||
ReturnValue_t prepareCommand(CommandMessage* message,
|
||||
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
||||
uint32_t *state, object_id_t objectId) override;
|
||||
/** Handle health reply */
|
||||
ReturnValue_t handleReply(const CommandMessage* reply,
|
||||
Command_t previousCommand, uint32_t *state,
|
||||
CommandMessage* optionalNextCommand, object_id_t objectId,
|
||||
bool *isStep) override;
|
||||
|
||||
private:
|
||||
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
|
||||
const uint8_t* tcData, size_t tcDataLen);
|
||||
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
|
||||
MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
|
||||
|
||||
ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
|
||||
|
||||
enum Subservice {
|
||||
//! [EXPORT] : [TC] Set health of target object
|
||||
COMMAND_SET_HEALTH = 1,
|
||||
//! [EXPORT] : [TM] Reply to health set command which also provides old health
|
||||
REPLY_HEALTH_SET = 2,
|
||||
//! [EXPORT] : [TC] Commands object to announce their health as an event
|
||||
COMMAND_ANNOUNCE_HEALTH = 3,
|
||||
//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
|
||||
COMMAND_ANNOUNCE_HEALTH_ALL = 4
|
||||
};
|
||||
};
|
||||
|
||||
#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */
|
||||
Loading…
Reference in New Issue
Block a user