CSB new update init
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@ -1,26 +1,35 @@
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/*
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* CommandingServiceBase.cpp
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*
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* Created on: 28.08.2019
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* Author: gaisser
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*/
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#include <framework/tcdistribution/PUSDistributorIF.h>
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#include <framework/tmtcservices/AcceptsTelemetryIF.h>
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/tmtcservices/CommandingServiceBase.h>
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#include <framework/tmtcservices/TmTcMessage.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/tmtcpacket/pus/TcPacketStored.h>
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#include <framework/tmtcpacket/pus/TmPacketStored.h>
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object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
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object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
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CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
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uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
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uint16_t commandTimeout_seconds, object_id_t setPacketSource,
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object_id_t setPacketDestination, size_t queueDepth) :
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SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
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commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
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NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
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numberOfParallelCommands), failureParameter1(0), failureParameter2(
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0), packetSource(setPacketSource), packetDestination(
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setPacketDestination),executingTask(NULL) {
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uint16_t commandTimeoutSeconds, size_t queueDepth) :
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SystemObject(setObjectId), apid(apid), service(service),
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timeoutSeconds(commandTimeoutSeconds),
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commandMap(numberOfParallelCommands) {
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commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
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requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
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}
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void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
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this->packetSource = packetSource;
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}
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void CommandingServiceBase::setPacketDestination(
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object_id_t packetDestination) {
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this->packetDestination = packetDestination;
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}
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CommandingServiceBase::~CommandingServiceBase() {
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QueueFactory::instance()->deleteMessageQueue(commandQueue);
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@ -53,12 +62,22 @@ ReturnValue_t CommandingServiceBase::initialize() {
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return result;
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}
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if(packetDestination == objects::NO_OBJECT) {
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packetDestination = defaultPacketDestination;
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}
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AcceptsTelemetryIF* packetForwarding =
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objectManager->get<AcceptsTelemetryIF>(packetDestination);
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if(packetSource == objects::NO_OBJECT) {
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packetSource = defaultPacketSource;
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}
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PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
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packetSource);
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if ((packetForwarding == NULL) && (distributor == NULL)) {
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return RETURN_FAILED;
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if (packetForwarding == nullptr or distributor == nullptr) {
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sif::error << "CommandingServiceBase::intialize: Packet source or "
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"packet destination invalid!" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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distributor->registerService(this);
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@ -68,8 +87,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
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IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
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TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
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if ((IPCStore == NULL) || (TCStore == NULL)) {
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return RETURN_FAILED;
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if (IPCStore == nullptr or TCStore == nullptr) {
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sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
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"not initialized yet!" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return RETURN_OK;
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@ -77,97 +98,126 @@ ReturnValue_t CommandingServiceBase::initialize() {
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}
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void CommandingServiceBase::handleCommandQueue() {
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CommandMessage reply, nextCommand;
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ReturnValue_t result, sendResult = RETURN_OK;
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bool isStep = false;
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CommandMessage reply;
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ReturnValue_t result = RETURN_FAILED;
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for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
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result = commandQueue->receiveMessage(&reply)) {
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isStep = false;
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typename FixedMap<MessageQueueId_t,
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CommandingServiceBase::CommandInfo>::Iterator iter;
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if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
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handleUnrequestedReply(&reply);
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continue;
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}
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if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
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handleUnrequestedReply(&reply);
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continue;
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}
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nextCommand.setCommand(CommandMessage::CMD_NONE);
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result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
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iter->objectId, &isStep);
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switch (result) {
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case EXECUTION_COMPLETE:
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case RETURN_OK:
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case NO_STEP_MESSAGE:
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iter->command = nextCommand.getCommand();
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if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
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sendResult = commandQueue->sendMessage(reply.getSender(),
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&nextCommand);
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}
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if (sendResult == RETURN_OK) {
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if (isStep) {
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if (result != NO_STEP_MESSAGE) {
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verificationReporter.sendSuccessReport(
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TC_VERIFY::PROGRESS_SUCCESS,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, ++iter->step);
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}
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} else {
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verificationReporter.sendSuccessReport(
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TC_VERIFY::COMPLETION_SUCCESS,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, 0);
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checkAndExecuteFifo(&iter);
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}
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} else {
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if (isStep) {
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nextCommand.clearCommandMessage();
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verificationReporter.sendFailureReport(
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TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, sendResult,
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++iter->step, failureParameter1, failureParameter2);
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} else {
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nextCommand.clearCommandMessage();
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verificationReporter.sendFailureReport(
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TC_VERIFY::COMPLETION_FAILURE,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, sendResult, 0,
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failureParameter1, failureParameter2);
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}
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failureParameter1 = 0;
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failureParameter2 = 0;
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checkAndExecuteFifo(&iter);
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}
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break;
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case INVALID_REPLY:
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//might be just an unrequested reply at a bad moment
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handleUnrequestedReply(&reply);
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break;
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default:
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if (isStep) {
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verificationReporter.sendFailureReport(
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TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
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result, ++iter->step, failureParameter1,
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failureParameter2);
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} else {
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verificationReporter.sendFailureReport(
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TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
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result, 0, failureParameter1, failureParameter2);
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}
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failureParameter1 = 0;
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failureParameter2 = 0;
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checkAndExecuteFifo(&iter);
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break;
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}
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handleCommandMessage(&reply);
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}
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}
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void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
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bool isStep = false;
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CommandMessage nextCommand;
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CommandMapIter iter = commandMap.find(reply->getSender());
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// handle unrequested reply first
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if (reply->getSender() == MessageQueueIF::NO_QUEUE or
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iter == commandMap.end()) {
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handleUnrequestedReply(reply);
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return;
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}
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nextCommand.setCommand(CommandMessage::CMD_NONE);
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// Implemented by child class, specifies what to do with reply.
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ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
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&nextCommand, iter->objectId, &isStep);
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/* If the child implementation does not implement special handling for
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* rejected replies (RETURN_FAILED is returned), a failure verification
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* will be generated with the reason as the return code and the initial
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* command as failure parameter 1 */
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if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
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result == RETURN_FAILED) {
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result = reply->getReplyRejectedReason();
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failureParameter1 = iter->command;
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}
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switch (result) {
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case EXECUTION_COMPLETE:
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case RETURN_OK:
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case NO_STEP_MESSAGE:
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// handle result of reply handler implemented by developer.
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handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
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break;
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case INVALID_REPLY:
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//might be just an unrequested reply at a bad moment
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handleUnrequestedReply(reply);
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break;
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default:
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if (isStep) {
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verificationReporter.sendFailureReport(
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TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
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result, ++iter->step, failureParameter1,
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failureParameter2);
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} else {
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verificationReporter.sendFailureReport(
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TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
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result, 0, failureParameter1, failureParameter2);
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}
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failureParameter1 = 0;
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failureParameter2 = 0;
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checkAndExecuteFifo(iter);
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break;
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}
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}
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void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
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CommandMapIter iter, CommandMessage* nextCommand,
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CommandMessage* reply, bool& isStep) {
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iter->command = nextCommand->getCommand();
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// In case a new command is to be sent immediately, this is performed here.
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// If no new command is sent, only analyse reply result by initializing
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// sendResult as RETURN_OK
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ReturnValue_t sendResult = RETURN_OK;
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if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
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sendResult = commandQueue->sendMessage(reply->getSender(),
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nextCommand);
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}
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if (sendResult == RETURN_OK) {
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if (isStep and result != NO_STEP_MESSAGE) {
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verificationReporter.sendSuccessReport(
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TC_VERIFY::PROGRESS_SUCCESS,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, ++iter->step);
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}
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else {
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verificationReporter.sendSuccessReport(
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TC_VERIFY::COMPLETION_SUCCESS,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, 0);
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checkAndExecuteFifo(iter);
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}
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}
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else {
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if (isStep) {
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nextCommand->clearCommandMessage();
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verificationReporter.sendFailureReport(
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TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, sendResult,
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++iter->step, failureParameter1, failureParameter2);
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} else {
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nextCommand->clearCommandMessage();
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verificationReporter.sendFailureReport(
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TC_VERIFY::COMPLETION_FAILURE,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, sendResult, 0,
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failureParameter1, failureParameter2);
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}
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failureParameter1 = 0;
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failureParameter2 = 0;
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checkAndExecuteFifo(iter);
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}
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}
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void CommandingServiceBase::handleRequestQueue() {
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TmTcMessage message;
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ReturnValue_t result;
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@ -180,8 +230,8 @@ void CommandingServiceBase::handleRequestQueue() {
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address = message.getStorageId();
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packet.setStoreAddress(address);
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if ((packet.getSubService() == 0)
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|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
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if (packet.getSubService() == 0
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or isValidSubservice(packet.getSubService()) != RETURN_OK) {
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rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
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continue;
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}
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@ -194,8 +244,7 @@ void CommandingServiceBase::handleRequestQueue() {
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}
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//Is a command already active for the target object?
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typename FixedMap<MessageQueueId_t,
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CommandingServiceBase::CommandInfo>::Iterator iter;
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CommandMapIter iter;
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iter = commandMap.find(queue);
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if (iter != commandMap.end()) {
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@ -210,7 +259,7 @@ void CommandingServiceBase::handleRequestQueue() {
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if (result != RETURN_OK) {
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rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
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} else {
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startExecution(&packet, &iter);
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startExecution(&packet, iter);
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}
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}
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@ -218,9 +267,9 @@ void CommandingServiceBase::handleRequestQueue() {
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}
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void CommandingServiceBase::sendTmPacket(uint8_t subservice,
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const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
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uint32_t headerSize) {
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ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
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const uint8_t* data, size_t dataLen, const uint8_t* headerData,
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size_t headerSize) {
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TmPacketStored tmPacketStored(this->apid, this->service, subservice,
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this->tmPacketCounter, data, dataLen, headerData, headerSize);
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ReturnValue_t result = tmPacketStored.sendPacket(
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@ -228,79 +277,79 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
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if (result == HasReturnvaluesIF::RETURN_OK) {
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this->tmPacketCounter++;
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}
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return result;
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}
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void CommandingServiceBase::sendTmPacket(uint8_t subservice,
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object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
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uint8_t buffer[sizeof(object_id_t)];
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uint8_t* pBuffer = buffer;
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size_t size = 0;
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SerializeAdapter::serialize(&objectId, &pBuffer, &size,
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sizeof(object_id_t), SerializeIF::Endianness::BIG);
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TmPacketStored tmPacketStored(this->apid, this->service, subservice,
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this->tmPacketCounter, data, dataLen, buffer, size);
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ReturnValue_t result = tmPacketStored.sendPacket(
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requestQueue->getDefaultDestination(), requestQueue->getId());
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if (result == HasReturnvaluesIF::RETURN_OK) {
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this->tmPacketCounter++;
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}
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ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
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object_id_t objectId, const uint8_t *data, size_t dataLen) {
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uint8_t buffer[sizeof(object_id_t)];
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uint8_t* pBuffer = buffer;
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size_t size = 0;
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SerializeAdapter::serialize(&objectId, &pBuffer, &size,
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sizeof(object_id_t), SerializeIF::Endianness::BIG);
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TmPacketStored tmPacketStored(this->apid, this->service, subservice,
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this->tmPacketCounter, data, dataLen, buffer, size);
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ReturnValue_t result = tmPacketStored.sendPacket(
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requestQueue->getDefaultDestination(), requestQueue->getId());
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if (result == HasReturnvaluesIF::RETURN_OK) {
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this->tmPacketCounter++;
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}
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return result;
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}
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void CommandingServiceBase::sendTmPacket(uint8_t subservice,
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SerializeIF* content, SerializeIF* header) {
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TmPacketStored tmPacketStored(this->apid, this->service, subservice,
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this->tmPacketCounter, content, header);
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ReturnValue_t result = tmPacketStored.sendPacket(
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requestQueue->getDefaultDestination(), requestQueue->getId());
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if (result == HasReturnvaluesIF::RETURN_OK) {
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this->tmPacketCounter++;
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}
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ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
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SerializeIF* content, SerializeIF* header) {
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TmPacketStored tmPacketStored(this->apid, this->service, subservice,
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this->tmPacketCounter, content, header);
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ReturnValue_t result = tmPacketStored.sendPacket(
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requestQueue->getDefaultDestination(), requestQueue->getId());
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if (result == HasReturnvaluesIF::RETURN_OK) {
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this->tmPacketCounter++;
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}
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return result;
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}
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void CommandingServiceBase::startExecution(
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TcPacketStored *storedPacket,
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typename FixedMap<MessageQueueId_t,
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CommandingServiceBase::CommandInfo>::Iterator *iter) {
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ReturnValue_t result, sendResult = RETURN_OK;
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CommandMessage message;
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(*iter)->subservice = storedPacket->getSubService();
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result = prepareCommand(&message, (*iter)->subservice,
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storedPacket->getApplicationData(),
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storedPacket->getApplicationDataSize(), &(*iter)->state,
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(*iter)->objectId);
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void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
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CommandMapIter iter) {
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ReturnValue_t result = RETURN_OK;
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CommandMessage command;
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iter->subservice = storedPacket->getSubService();
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result = prepareCommand(&command, iter->subservice,
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storedPacket->getApplicationData(),
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storedPacket->getApplicationDataSize(), &iter->state,
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iter->objectId);
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ReturnValue_t sendResult = RETURN_OK;
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switch (result) {
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case RETURN_OK:
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if (message.getCommand() != CommandMessage::CMD_NONE) {
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sendResult = commandQueue->sendMessage((*iter).value->first,
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&message);
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if (command.getCommand() != CommandMessage::CMD_NONE) {
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sendResult = commandQueue->sendMessage(iter.value->first,
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&command);
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}
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if (sendResult == RETURN_OK) {
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Clock::getUptime(&(*iter)->uptimeOfStart);
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(*iter)->step = 0;
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// (*iter)->state = 0;
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(*iter)->subservice = storedPacket->getSubService();
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(*iter)->command = message.getCommand();
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(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
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(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
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(*iter)->tcInfo.tcSequenceControl =
|
||||
Clock::getUptime(&iter->uptimeOfStart);
|
||||
iter->step = 0;
|
||||
iter->subservice = storedPacket->getSubService();
|
||||
iter->command = command.getCommand();
|
||||
iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||
iter->tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||
iter->tcInfo.tcSequenceControl =
|
||||
storedPacket->getPacketSequenceControl();
|
||||
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
command.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
break;
|
||||
case EXECUTION_COMPLETE:
|
||||
if (message.getCommand() != CommandMessage::CMD_NONE) {
|
||||
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
||||
//Fire-and-forget command.
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
&message);
|
||||
sendResult = commandQueue->sendMessage(iter.value->first,
|
||||
&command);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
|
||||
@ -308,7 +357,7 @@ void CommandingServiceBase::startExecution(
|
||||
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
|
||||
checkAndExecuteFifo(iter);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
command.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
@ -335,12 +384,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::checkAndExecuteFifo(
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator *iter) {
|
||||
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
|
||||
store_address_t address;
|
||||
if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
|
||||
commandMap.erase(iter);
|
||||
if (iter->fifo.retrieve(&address) != RETURN_OK) {
|
||||
commandMap.erase(&iter);
|
||||
} else {
|
||||
TcPacketStored newPacket(address);
|
||||
startExecution(&newPacket, iter);
|
||||
@ -348,8 +395,7 @@ void CommandingServiceBase::checkAndExecuteFifo(
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::handleUnrequestedReply(
|
||||
CommandMessage* reply) {
|
||||
void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
|
||||
reply->clearCommandMessage();
|
||||
}
|
||||
|
||||
@ -364,18 +410,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
|
||||
void CommandingServiceBase::checkTimeout() {
|
||||
uint32_t uptime;
|
||||
Clock::getUptime(&uptime);
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
CommandMapIter iter;
|
||||
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
|
||||
if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
|
||||
if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
TIMEOUT);
|
||||
checkAndExecuteFifo(&iter);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
|
||||
executingTask = task_;
|
||||
}
|
||||
|
||||
@ -1,40 +1,43 @@
|
||||
#ifndef COMMANDINGSERVICEBASE_H_
|
||||
#define COMMANDINGSERVICEBASE_H_
|
||||
#ifndef FRAMEWORK_TMTCSERVICES_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/serialize/SerializeAdapter.h>
|
||||
#include <framework/storagemanager/StorageManagerIF.h>
|
||||
#include <framework/tasks/ExecutableObjectIF.h>
|
||||
#include <framework/tcdistribution/PUSDistributorIF.h>
|
||||
#include <framework/tmtcpacket/pus/TcPacketStored.h>
|
||||
#include <framework/tmtcpacket/pus/TmPacketStored.h>
|
||||
#include <framework/ipc/MessageQueueIF.h>
|
||||
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
|
||||
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
|
||||
#include <framework/tmtcservices/TmTcMessage.h>
|
||||
|
||||
#include <framework/tmtcservices/VerificationReporter.h>
|
||||
#include <framework/internalError/InternalErrorReporterIF.h>
|
||||
#include <framework/ipc/QueueFactory.h>
|
||||
#include <framework/timemanager/Clock.h>
|
||||
#include <framework/ipc/CommandMessage.h>
|
||||
#include <framework/container/FixedMap.h>
|
||||
#include <framework/container/FIFO.h>
|
||||
#include <framework/serialize/SerializeIF.h>
|
||||
|
||||
class TcPacketStored;
|
||||
|
||||
namespace Factory{
|
||||
void setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
/**
|
||||
* \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.
|
||||
* Every class that inherits from this abstract class has to implement four adaption points:
|
||||
* It manages Telecommand reception and the generation of Verification Reports
|
||||
* 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
|
||||
* - getMessageQueueAndObject
|
||||
* - prepareCommand
|
||||
* - handleReply
|
||||
* \ingroup pus_services
|
||||
* @author gaisser
|
||||
* @ingroup pus_services
|
||||
*/
|
||||
class CommandingServiceBase: public SystemObject,
|
||||
public AcceptsTelecommandsIF,
|
||||
public ExecutableObjectIF,
|
||||
public HasReturnvaluesIF {
|
||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
|
||||
static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
|
||||
@ -59,10 +62,24 @@ public:
|
||||
*/
|
||||
CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
|
||||
uint8_t service, uint8_t numberOfParallelCommands,
|
||||
uint16_t commandTimeout_seconds, object_id_t setPacketSource,
|
||||
object_id_t setPacketDestination, size_t queueDepth = 20);
|
||||
uint16_t commandTimeoutSeconds, size_t queueDepth = 20);
|
||||
virtual ~CommandingServiceBase();
|
||||
|
||||
/**
|
||||
* This setter can be used to set the packet source individually instead
|
||||
* of using the default static framework ID set in the factory.
|
||||
* This should be called at object initialization and not during run-time!
|
||||
* @param packetSource
|
||||
*/
|
||||
void setPacketSource(object_id_t packetSource);
|
||||
/**
|
||||
* This setter can be used to set the packet destination individually
|
||||
* instead of using the default static framework ID set in the factory.
|
||||
* This should be called at object initialization and not during run-time!
|
||||
* @param packetDestination
|
||||
*/
|
||||
void setPacketDestination(object_id_t packetDestination);
|
||||
|
||||
/***
|
||||
* This is the periodically called function.
|
||||
* Handle request queue for external commands.
|
||||
@ -91,82 +108,111 @@ public:
|
||||
*/
|
||||
virtual MessageQueueId_t getCommandQueue();
|
||||
|
||||
virtual ReturnValue_t initialize();
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
/**
|
||||
* Implementation of ExecutableObjectIF function
|
||||
*
|
||||
* Used to setup the reference of the task, that executes this component
|
||||
* @param task_ Pointer to the taskIF of this task
|
||||
* @param task Pointer to the taskIF of this task
|
||||
*/
|
||||
virtual void setTaskIF(PeriodicTaskIF* task_){
|
||||
executingTask = task_;
|
||||
};
|
||||
virtual void setTaskIF(PeriodicTaskIF* task);
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Check the target subservice
|
||||
* @param subservice[in]
|
||||
* @return -@c RETURN_OK on success
|
||||
* -@c INVALID_SUBSERVICE if service is not known
|
||||
* @return
|
||||
* -@c RETURN_OK Subservice valid, continue message handling
|
||||
* -@c INVALID_SUBSERVICE if service is not known, rejects packet.
|
||||
*/
|
||||
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.
|
||||
* The target message queue ID can then be acquired by using the target interface.
|
||||
* Once a TC Request is valid, the existence of the destination and its
|
||||
* target interface is checked and retrieved. The target message queue ID
|
||||
* can then be acquired by using the target interface.
|
||||
* @param subservice
|
||||
* @param tcData Application Data of TC Packet
|
||||
* @param tcDataLen
|
||||
* @param id MessageQueue ID is stored here
|
||||
* @param objectId Object ID is extracted and stored here
|
||||
* @return - @c RETURN_OK on success
|
||||
* - @c RETURN_FAILED
|
||||
* - @c CSB or implementation specific return codes
|
||||
* @return
|
||||
* - @c RETURN_OK Cotinue message handling
|
||||
* - @c RETURN_FAILED Reject the packet and generates a start failure
|
||||
* verification
|
||||
*/
|
||||
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
|
||||
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
|
||||
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
|
||||
object_id_t *objectId) = 0;
|
||||
|
||||
/**
|
||||
* After the Message Queue and Object ID are determined,
|
||||
* the command is prepared by using an implementation specific CommandMessage type
|
||||
* which is sent to the target object.
|
||||
* It contains all necessary information for the device to execute telecommands.
|
||||
* @param message[out] message to be sent to the object
|
||||
* @param subservice[in] Subservice of the current communication
|
||||
* @param tcData Additional data of the command
|
||||
* @param tcDataLen Length of the additional data
|
||||
* @param state[out] Setable state of the communication
|
||||
* After the Message Queue and Object ID are determined, the command is
|
||||
* prepared by using an implementation specific CommandMessage type
|
||||
* which is sent to the target object. It contains all necessary information
|
||||
* for the device to execute telecommands.
|
||||
* @param message [out] message which can be set and is sent to the object
|
||||
* @param subservice Subservice of the current communication
|
||||
* @param tcData Application data of command
|
||||
* @param tcDataLen Application data length
|
||||
* @param state [out/in] Setable state of the communication.
|
||||
* communication
|
||||
* @param objectId Target object ID
|
||||
* @return - @c RETURN_OK on success
|
||||
* - @c EXECUTION_COMPLETE if exectuin is finished
|
||||
* - any other return code will be part of (1,4) start failure
|
||||
* @return
|
||||
* - @c RETURN_OK to generate a verification start message
|
||||
* - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
|
||||
* verification message.
|
||||
* - @c Anything else rejects the packets and generates a start failure
|
||||
* verification.
|
||||
*/
|
||||
virtual ReturnValue_t prepareCommand(CommandMessage *message,
|
||||
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
|
||||
virtual ReturnValue_t prepareCommand(CommandMessage* message,
|
||||
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
||||
uint32_t *state, object_id_t objectId) = 0;
|
||||
|
||||
/**
|
||||
* This function is responsible for the communication between the Command Service Base
|
||||
* and the respective PUS Commanding Service once the execution has started.
|
||||
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
|
||||
* There are different translations of these replies to specify how the Command Service proceeds.
|
||||
* @param reply Command Message which contains information about the command
|
||||
* @param previousCommand Command_t of last command
|
||||
* @param state state of the communication
|
||||
* @param optionalNextCommand[out] An optional next command which can be set in this function
|
||||
* This function is implemented by child services to specify how replies
|
||||
* to a command from another software component are handled.
|
||||
* @param reply
|
||||
* This is the reply which can be accessed via the command message
|
||||
* interface. The internal message pointer can be passed to different
|
||||
* command message implementations (see CommandMessageIF)
|
||||
* @param previousCommand
|
||||
* Command_t of related command
|
||||
* @param state [out/in]
|
||||
* 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 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
|
||||
* - @c INVALID_REPLY can handle unrequested replies
|
||||
* - Anything else triggers a TC verification failure
|
||||
* @return
|
||||
* - @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. If RETURN_FAILED
|
||||
* is returned and the command ID is CommandMessage::REPLY_REJECTED,
|
||||
* a failure verification message with the reason as the error parameter
|
||||
* and the initial command as failure parameter 1.
|
||||
*/
|
||||
virtual ReturnValue_t handleReply(const CommandMessage *reply,
|
||||
virtual ReturnValue_t handleReply(const CommandMessage* reply,
|
||||
Command_t previousCommand, uint32_t *state,
|
||||
CommandMessage *optionalNextCommand, object_id_t objectId,
|
||||
CommandMessage* optionalNextCommand, object_id_t objectId,
|
||||
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.
|
||||
* The default implementation will clear the command message and all
|
||||
* its contents.
|
||||
* @param reply
|
||||
* Reply which is non-const so the default implementation can clear the
|
||||
* message.
|
||||
*/
|
||||
virtual void handleUnrequestedReply(CommandMessage* reply);
|
||||
|
||||
virtual void doPeriodicOperation();
|
||||
|
||||
|
||||
struct CommandInfo {
|
||||
struct tcInfo {
|
||||
uint8_t ackFlags;
|
||||
@ -182,84 +228,92 @@ protected:
|
||||
FIFO<store_address_t, 3> fifo;
|
||||
};
|
||||
|
||||
using CommandMapIter = FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator;
|
||||
|
||||
const uint16_t apid;
|
||||
|
||||
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;
|
||||
|
||||
FixedMap<MessageQueueId_t, CommandInfo> commandMap;
|
||||
|
||||
uint32_t failureParameter1; //!< 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.
|
||||
/* 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 packetDestination;
|
||||
static object_id_t defaultPacketSource;
|
||||
object_id_t packetSource = objects::NO_OBJECT;
|
||||
static object_id_t defaultPacketDestination;
|
||||
object_id_t packetDestination = objects::NO_OBJECT;
|
||||
|
||||
/**
|
||||
* 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;
|
||||
|
||||
/**
|
||||
* Send TM data from pointer to data. If a header is supplied it is added before data
|
||||
* @brief Send TM data from pointer to data.
|
||||
* If a header is supplied it is added before data
|
||||
* @param subservice Number of subservice
|
||||
* @param data Pointer to the data in the Packet
|
||||
* @param dataLen Lenght of data in the Packet
|
||||
* @param headerData HeaderData will be placed before data
|
||||
* @param headerSize Size of HeaderData
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
|
||||
const uint8_t* headerData = NULL, uint32_t headerSize = 0);
|
||||
ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
|
||||
size_t dataLen, const uint8_t* headerData = nullptr,
|
||||
size_t headerSize = 0);
|
||||
|
||||
/**
|
||||
* To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
|
||||
* @brief To send TM packets of objects that still need to be serialized
|
||||
* and consist of an object ID with appended data.
|
||||
* @param subservice Number of subservice
|
||||
* @param objectId ObjectId is placed before data
|
||||
* @param data Data to append to the packet
|
||||
* @param dataLen Length of Data
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, object_id_t objectId,
|
||||
const uint8_t *data, uint32_t dataLen);
|
||||
ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
|
||||
const uint8_t *data, size_t dataLen);
|
||||
|
||||
/**
|
||||
* To send packets has data which is in form of a SerializeIF or Adapters implementing it
|
||||
* @brief To send packets which are contained inside a class implementing
|
||||
* SerializeIF.
|
||||
* @param subservice Number of subservice
|
||||
* @param content This is a pointer to the serialized packet
|
||||
* @param header Serialize IF header which will be placed before content
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, SerializeIF* content,
|
||||
SerializeIF* header = NULL);
|
||||
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
|
||||
SerializeIF* header = nullptr);
|
||||
|
||||
virtual void handleUnrequestedReply(CommandMessage *reply);
|
||||
|
||||
virtual void doPeriodicOperation();
|
||||
|
||||
void checkAndExecuteFifo(
|
||||
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
|
||||
void checkAndExecuteFifo(CommandMapIter iter);
|
||||
|
||||
private:
|
||||
/**
|
||||
* This method handles internal execution of a command,
|
||||
* once it has been started by @sa{startExecution()} in the Request Queue handler.
|
||||
* It handles replies generated by the devices and relayed by the specific service implementation.
|
||||
* This means that it determines further course of action depending on the return values specified
|
||||
* in the service implementation.
|
||||
* once it has been started by @sa{startExecution()} in the request
|
||||
* queue handler.
|
||||
* It handles replies generated by the devices and relayed by the specific
|
||||
* service implementation. This means that it determines further course of
|
||||
* action depending on the return values specified in the service
|
||||
* implementation.
|
||||
* This includes the generation of TC verification messages. Note that
|
||||
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
|
||||
* the static framework object ID @c VerificationReporter::messageReceiver
|
||||
* needs to be set.
|
||||
* - TM[1,5] Step Successs
|
||||
* - TM[1,6] Step Failure
|
||||
* - TM[1,7] Completion Success
|
||||
@ -268,10 +322,13 @@ private:
|
||||
void handleCommandQueue();
|
||||
|
||||
/**
|
||||
* @brief Handler function for request queue
|
||||
* @details
|
||||
* Sequence of request queue handling:
|
||||
* isValidSubservice -> getMessageQueueAndObject -> startExecution
|
||||
* Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()}
|
||||
* or Start Failure Report TM[1,4] by using the TC Verification Service
|
||||
* Generates a Start Success Reports TM[1,3] in subfunction
|
||||
* @sa{startExecution()} or a Start Failure Report TM[1,4] by using the
|
||||
* TC Verification Service.
|
||||
*/
|
||||
void handleRequestQueue();
|
||||
|
||||
@ -280,8 +337,11 @@ private:
|
||||
|
||||
void acceptPacket(uint8_t reportId, TcPacketStored* packet);
|
||||
|
||||
void startExecution(TcPacketStored *storedPacket,
|
||||
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
|
||||
void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
|
||||
|
||||
void handleCommandMessage(CommandMessage* reply);
|
||||
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
|
||||
CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
|
||||
|
||||
void checkTimeout();
|
||||
};
|
||||
|
||||
Loading…
Reference in New Issue
Block a user