Merge branch 'mueller_framework' into mueller_newCommandMessageTest
This commit is contained in:
commit
c1fe326f67
@ -9,8 +9,9 @@
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#include <errno.h>
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MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0),
|
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lastPartner(0), defaultDestination(NO_QUEUE) {
|
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MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
|
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id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
|
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defaultDestination(MessageQueueIF::NO_QUEUE) {
|
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//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
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mq_attr attributes;
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this->id = 0;
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@ -56,16 +57,23 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
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sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
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" for message size" << std::endl;
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size_t defaultMqMaxMsg = 0;
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// Not POSIX conformant, but should work for all UNIX systems.
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// Just an additional helpful printout :-)
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if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
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defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
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// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
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// This happens if the msg_max value is not large enough
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// It is ignored if the executable is run in privileged mode.
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// Run the unlockRealtime script or grant the mode manully by using:
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// Run the unlockRealtime script or grant the mode manually by using:
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// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
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// Permanent solution (EventManager has mq depth of 80):
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// echo msg_max | sudo tee /proc/sys/fs/mqueue/msg_max
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// Persistent solution for session:
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// echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
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// Permanent solution:
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// sudo nano /etc/sysctl.conf
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// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
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// Apply changes with: sudo sysctl -p
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sif::error << "MessageQueue::MessageQueue: Default MQ size "
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<< defaultMqMaxMsg << " is too small for requested size "
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<< messageDepth << std::endl;
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@ -75,24 +83,22 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
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case(EEXIST): {
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// An error occured during open
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// We need to distinguish if it is caused by an already created queue
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if (errno == EEXIST) {
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//There's another queue with the same name
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//We unlink the other queue
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int status = mq_unlink(name);
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if (status != 0) {
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sif::error << "mq_unlink Failed with status: " << strerror(errno)
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<< std::endl;
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}
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else {
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// Successful unlinking, try to open again
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mqd_t tempId = mq_open(name,
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O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
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S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
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if (tempId != -1) {
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//Successful mq_open
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this->id = tempId;
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return HasReturnvaluesIF::RETURN_OK;
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}
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//There's another queue with the same name
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//We unlink the other queue
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int status = mq_unlink(name);
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if (status != 0) {
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sif::error << "mq_unlink Failed with status: " << strerror(errno)
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<< std::endl;
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}
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else {
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// Successful unlinking, try to open again
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mqd_t tempId = mq_open(name,
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O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
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S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
|
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if (tempId != -1) {
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//Successful mq_open
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this->id = tempId;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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break;
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@ -150,12 +156,13 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
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//Success but no message received
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return MessageQueueIF::EMPTY;
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} else {
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//No message was received. Keep lastPartner anyway, I might send something later.
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//But still, delete packet content.
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//No message was received. Keep lastPartner anyway, I might send
|
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//something later. But still, delete packet content.
|
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memset(message->getData(), 0, message->MAX_DATA_SIZE);
|
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switch(errno){
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case EAGAIN:
|
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//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages currently on the specified queue.
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//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
|
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//currently on the specified queue.
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return MessageQueueIF::EMPTY;
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case EBADF:
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//mqdes doesn't represent a valid queue open for reading.
|
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@ -165,9 +172,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
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case EINVAL:
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/*
|
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* This value indicates one of the following:
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* * The pointer to the buffer for storing the received message, msg_ptr, is NULL.
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* * The number of bytes requested, msg_len is less than zero.
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* * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags.
|
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* - The pointer to the buffer for storing the received message,
|
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* msg_ptr, is NULL.
|
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* - The number of bytes requested, msg_len is less than zero.
|
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* - msg_len is anything other than the mq_msgsize of the specified
|
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* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
|
||||
* been set in the queue's mq_flags.
|
||||
*/
|
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sif::error << "MessageQueue::receive: configuration error "
|
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<< strerror(errno) << std::endl;
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@ -175,8 +185,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
|
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case EMSGSIZE:
|
||||
/*
|
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* This value indicates one of the following:
|
||||
* * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue.
|
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* * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received.
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* - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
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* and the given msg_len is shorter than the mq_msgsize for
|
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* the given queue.
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* - the extended option MQ_READBUF_DYNAMIC has been set, but the
|
||||
* given msg_len is too short for the message that would have
|
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* been received.
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*/
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sif::error << "MessageQueue::receive: configuration error "
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<< strerror(errno) << std::endl;
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@ -224,9 +238,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
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case EINVAL:
|
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/*
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* This value indicates one of the following:
|
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* * mq_attr is NULL.
|
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* * MQ_MULT_NOTIFY had been set for this queue, and the given mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once MQ_MULT_NOTIFY has been turned on, it may never be turned off.
|
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*
|
||||
* - mq_attr is NULL.
|
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* - MQ_MULT_NOTIFY had been set for this queue, and the given
|
||||
* mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
|
||||
* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
|
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*/
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default:
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return HasReturnvaluesIF::RETURN_FAILED;
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@ -275,7 +290,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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//TODO: Check if we're in ISR.
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if (result != 0) {
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if(!ignoreFault){
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InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
|
||||
InternalErrorReporterIF* internalErrorReporter =
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objectManager->get<InternalErrorReporterIF>(
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objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != NULL) {
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internalErrorReporter->queueMessageNotSent();
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@ -283,10 +299,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
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}
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switch(errno){
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case EAGAIN:
|
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//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full.
|
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//The O_NONBLOCK flag was set when opening the queue, or the
|
||||
//MQ_NONBLOCK flag was set in its attributes, and the
|
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//specified queue is full.
|
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return MessageQueueIF::FULL;
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case EBADF:
|
||||
//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
|
||||
//mq_des doesn't represent a valid message queue descriptor,
|
||||
//or mq_des wasn't opened for writing.
|
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sif::error << "MessageQueue::sendMessage: Configuration error "
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<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
|
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<< " sent from " << sentFrom << std::endl;
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@ -296,13 +315,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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case EINVAL:
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/*
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* This value indicates one of the following:
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* * msg_ptr is NULL.
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* * msg_len is negative.
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* * msg_prio is greater than MQ_PRIO_MAX.
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* * msg_prio is less than 0.
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* * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des,
|
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* and msg_prio is greater than the priority of the calling process.
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* */
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* - msg_ptr is NULL.
|
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* - msg_len is negative.
|
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* - msg_prio is greater than MQ_PRIO_MAX.
|
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* - msg_prio is less than 0.
|
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* - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
|
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* msg_prio is greater than the priority of the calling process.
|
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*/
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sif::error << "MessageQueue::sendMessage: Configuration error "
|
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<< strerror(errno) << " in mq_send" << std::endl;
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/*NO BREAK*/
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@ -1,22 +1,21 @@
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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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|
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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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uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
|
||||
object_id_t setPacketDestination, size_t queueDepth) :
|
||||
SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
|
||||
commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
|
||||
NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
|
||||
numberOfParallelCommands), failureParameter1(0), failureParameter2(
|
||||
0), packetSource(setPacketSource), packetDestination(
|
||||
setPacketDestination),executingTask(NULL) {
|
||||
SystemObject(setObjectId), apid(apid), service(service),
|
||||
timeoutSeconds(commandTimeoutSeconds),
|
||||
commandMap(numberOfParallelCommands), packetSource(setPacketSource),
|
||||
packetDestination(setPacketDestination) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||
}
|
||||
@ -57,7 +56,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
|
||||
objectManager->get<AcceptsTelemetryIF>(packetDestination);
|
||||
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
|
||||
packetSource);
|
||||
if ((packetForwarding == NULL) && (distributor == NULL)) {
|
||||
if (packetForwarding == nullptr or distributor == nullptr) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
@ -68,7 +67,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
|
||||
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
|
||||
|
||||
if ((IPCStore == NULL) || (TCStore == NULL)) {
|
||||
if (IPCStore == nullptr or TCStore == nullptr) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
@ -77,100 +76,118 @@ ReturnValue_t CommandingServiceBase::initialize() {
|
||||
}
|
||||
|
||||
void CommandingServiceBase::handleCommandQueue() {
|
||||
MessageQueueMessage replyMessage;
|
||||
CommandMessage reply(&replyMessage);
|
||||
MessageQueueMessage nextCommandMessage;
|
||||
CommandMessage nextCommand(&nextCommandMessage);
|
||||
ReturnValue_t result, sendResult = RETURN_OK;
|
||||
bool isStep = false;
|
||||
MessageQueueMessage message;
|
||||
CommandMessage reply(&message);
|
||||
ReturnValue_t result = RETURN_FAILED;
|
||||
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
|
||||
result = commandQueue->receiveMessage(&reply)) {
|
||||
isStep = false;
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
}
|
||||
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
}
|
||||
nextCommand.setCommand(CommandMessage::CMD_NONE);
|
||||
result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
|
||||
iter->objectId, &isStep);
|
||||
switch (result) {
|
||||
case EXECUTION_COMPLETE:
|
||||
case RETURN_OK:
|
||||
case NO_STEP_MESSAGE:
|
||||
iter->command = nextCommand.getCommand();
|
||||
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage(reply.getSender(),
|
||||
&nextCommand);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
if (isStep) {
|
||||
if (result != NO_STEP_MESSAGE) {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::PROGRESS_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, ++iter->step);
|
||||
}
|
||||
} else {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, 0);
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
} else {
|
||||
if (isStep) {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult,
|
||||
++iter->step, failureParameter1, failureParameter2);
|
||||
} else {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult, 0,
|
||||
failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
break;
|
||||
case INVALID_REPLY:
|
||||
//might be just an unrequested reply at a bad moment
|
||||
handleUnrequestedReply(&reply);
|
||||
break;
|
||||
default:
|
||||
if (isStep) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, ++iter->step, failureParameter1,
|
||||
failureParameter2);
|
||||
} else {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, 0, failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(&iter);
|
||||
break;
|
||||
}
|
||||
|
||||
handleCommandMessage(reply);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
|
||||
bool isStep = false;
|
||||
MessageQueueMessage message;
|
||||
CommandMessage nextCommand(&message);
|
||||
CommandMapIter iter;
|
||||
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
|
||||
handleUnrequestedReply(&reply);
|
||||
return;
|
||||
}
|
||||
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
|
||||
handleUnrequestedReply(&reply);
|
||||
return;
|
||||
}
|
||||
nextCommand.setCommand(CommandMessage::CMD_NONE);
|
||||
|
||||
// Implemented by child class, specifies what to do with reply.
|
||||
ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
|
||||
&nextCommand, iter->objectId, &isStep);
|
||||
|
||||
switch (result) {
|
||||
case EXECUTION_COMPLETE:
|
||||
case RETURN_OK:
|
||||
case NO_STEP_MESSAGE:
|
||||
// handle result of reply handler implemented by developer.
|
||||
handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
|
||||
break;
|
||||
case INVALID_REPLY:
|
||||
//might be just an unrequested reply at a bad moment
|
||||
handleUnrequestedReply(&reply);
|
||||
break;
|
||||
default:
|
||||
if (isStep) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, ++iter->step, failureParameter1,
|
||||
failureParameter2);
|
||||
} else {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, 0, failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(iter);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
|
||||
CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
|
||||
bool& isStep) {
|
||||
iter->command = nextCommand.getCommand();
|
||||
|
||||
// In case a new command is to be sent immediately, this is performed here.
|
||||
// If no new command is sent, only analyse reply result by initializing
|
||||
// sendResult as RETURN_OK
|
||||
ReturnValue_t sendResult = RETURN_OK;
|
||||
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage(reply.getSender(),
|
||||
&nextCommand);
|
||||
}
|
||||
|
||||
if (sendResult == RETURN_OK) {
|
||||
if (isStep and result != NO_STEP_MESSAGE) {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::PROGRESS_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, ++iter->step);
|
||||
}
|
||||
else {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, 0);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (isStep) {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult,
|
||||
++iter->step, failureParameter1, failureParameter2);
|
||||
} else {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult, 0,
|
||||
failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
}
|
||||
|
||||
void CommandingServiceBase::handleRequestQueue() {
|
||||
TmTcMessage message;
|
||||
ReturnValue_t result;
|
||||
@ -183,8 +200,8 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
address = message.getStorageId();
|
||||
packet.setStoreAddress(address);
|
||||
|
||||
if ((packet.getSubService() == 0)
|
||||
|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
|
||||
if (packet.getSubService() == 0
|
||||
or isValidSubservice(packet.getSubService()) != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
|
||||
continue;
|
||||
}
|
||||
@ -197,8 +214,7 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
}
|
||||
|
||||
//Is a command already active for the target object?
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
CommandMapIter iter;
|
||||
iter = commandMap.find(queue);
|
||||
|
||||
if (iter != commandMap.end()) {
|
||||
@ -213,7 +229,7 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
if (result != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
|
||||
} else {
|
||||
startExecution(&packet, &iter);
|
||||
startExecution(&packet, iter);
|
||||
}
|
||||
}
|
||||
|
||||
@ -266,34 +282,32 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::startExecution(
|
||||
TcPacketStored *storedPacket,
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator *iter) {
|
||||
ReturnValue_t result, sendResult = RETURN_OK;
|
||||
MessageQueueMessage message;
|
||||
CommandMessage command(&message);
|
||||
(*iter)->subservice = storedPacket->getSubService();
|
||||
result = prepareCommand(&command, (*iter)->subservice,
|
||||
storedPacket->getApplicationData(),
|
||||
storedPacket->getApplicationDataSize(), &(*iter)->state,
|
||||
(*iter)->objectId);
|
||||
void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
|
||||
CommandMapIter iter) {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
MessageQueueMessage message;
|
||||
CommandMessage command(&message);
|
||||
iter->subservice = storedPacket->getSubService();
|
||||
result = prepareCommand(&command, iter->subservice,
|
||||
storedPacket->getApplicationData(),
|
||||
storedPacket->getApplicationDataSize(), &iter->state,
|
||||
iter->objectId);
|
||||
|
||||
ReturnValue_t sendResult = RETURN_OK;
|
||||
switch (result) {
|
||||
case RETURN_OK:
|
||||
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
sendResult = commandQueue->sendMessage(iter.value->first,
|
||||
&message);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
Clock::getUptime(&(*iter)->uptimeOfStart);
|
||||
(*iter)->step = 0;
|
||||
// (*iter)->state = 0;
|
||||
(*iter)->subservice = storedPacket->getSubService();
|
||||
(*iter)->command = command.getCommand();
|
||||
(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||
(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||
(*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 {
|
||||
@ -305,7 +319,7 @@ void CommandingServiceBase::startExecution(
|
||||
case EXECUTION_COMPLETE:
|
||||
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
||||
//Fire-and-forget command.
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
sendResult = commandQueue->sendMessage(iter.value->first,
|
||||
&message);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
@ -341,12 +355,10 @@ 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);
|
||||
@ -370,15 +382,14 @@ 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,35 +1,33 @@
|
||||
#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;
|
||||
|
||||
/**
|
||||
* \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,
|
||||
@ -59,7 +57,7 @@ public:
|
||||
*/
|
||||
CommandingServiceBase(object_id_t setObjectId, 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 = 20);
|
||||
virtual ~CommandingServiceBase();
|
||||
|
||||
@ -113,8 +111,9 @@ protected:
|
||||
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
|
||||
@ -129,15 +128,16 @@ protected:
|
||||
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
|
||||
* @param subservice
|
||||
* @param tcData
|
||||
* @param tcDataLen
|
||||
* @param state
|
||||
* 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
|
||||
*/
|
||||
@ -146,25 +146,40 @@ protected:
|
||||
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[out] Command Message which contains information about the command
|
||||
* @param previousCommand [out]
|
||||
* @param state
|
||||
* @param optionalNextCommand
|
||||
* 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 in form of a command message.
|
||||
* @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
|
||||
*/
|
||||
virtual ReturnValue_t handleReply(const CommandMessage *reply,
|
||||
Command_t previousCommand, uint32_t *state,
|
||||
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.
|
||||
* @param reply
|
||||
*/
|
||||
virtual void handleUnrequestedReply(CommandMessage *reply);
|
||||
|
||||
virtual void doPeriodicOperation();
|
||||
|
||||
|
||||
struct CommandInfo {
|
||||
struct tcInfo {
|
||||
uint8_t ackFlags;
|
||||
@ -180,37 +195,42 @@ 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;
|
||||
|
||||
/**
|
||||
* 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.
|
||||
@ -246,22 +266,21 @@ protected:
|
||||
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
|
||||
@ -282,8 +301,11 @@ 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();
|
||||
};
|
||||
|
||||
@ -9,10 +9,11 @@
|
||||
object_id_t PusServiceBase::packetSource = 0;
|
||||
object_id_t PusServiceBase::packetDestination = 0;
|
||||
|
||||
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) :
|
||||
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1(
|
||||
0), errorParameter2(0), requestQueue(NULL) {
|
||||
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
|
||||
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
|
||||
uint8_t setServiceId) :
|
||||
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
|
||||
requestQueue = QueueFactory::instance()->
|
||||
createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
|
||||
}
|
||||
|
||||
PusServiceBase::~PusServiceBase() {
|
||||
@ -20,51 +21,60 @@ PusServiceBase::~PusServiceBase() {
|
||||
}
|
||||
|
||||
ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
|
||||
handleRequestQueue();
|
||||
ReturnValue_t result = this->performService();
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "PusService " << (uint16_t) this->serviceId
|
||||
<< ": performService returned with " << (int16_t) result
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void PusServiceBase::handleRequestQueue() {
|
||||
TmTcMessage message;
|
||||
ReturnValue_t result = RETURN_FAILED;
|
||||
for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
|
||||
ReturnValue_t status = this->requestQueue->receiveMessage(&message);
|
||||
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
|
||||
// << std::dec << " returned: " << status << std::endl;
|
||||
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
|
||||
// << std::hex << this->requestQueue.getId()
|
||||
// << std::dec << " returned: " << status << std::endl;
|
||||
if (status == RETURN_OK) {
|
||||
this->currentPacket.setStoreAddress(message.getStorageId());
|
||||
// info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
|
||||
//info << "Service " << (uint16_t) this->serviceId <<
|
||||
// ": new packet!" << std::endl;
|
||||
|
||||
ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService());
|
||||
result = this->handleRequest(currentPacket.getSubService());
|
||||
|
||||
// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
|
||||
if (return_code == RETURN_OK) {
|
||||
// debug << "Service " << (uint16_t)this->serviceId <<
|
||||
// ": handleRequest returned: " << (int)return_code << std::endl;
|
||||
if (result == RETURN_OK) {
|
||||
this->verifyReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
this->verifyReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
|
||||
return_code, 0, errorParameter1, errorParameter2);
|
||||
result, 0, errorParameter1, errorParameter2);
|
||||
}
|
||||
this->currentPacket.deletePacket();
|
||||
errorParameter1 = 0;
|
||||
errorParameter2 = 0;
|
||||
} else if (status == MessageQueueIF::EMPTY) {
|
||||
}
|
||||
else if (status == MessageQueueIF::EMPTY) {
|
||||
status = RETURN_OK;
|
||||
// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
|
||||
// debug << "PusService " << (uint16_t)this->serviceId <<
|
||||
// ": no new packet." << std::endl;
|
||||
break;
|
||||
} else {
|
||||
|
||||
}
|
||||
else {
|
||||
sif::error << "PusServiceBase::performOperation: Service "
|
||||
<< (uint16_t) this->serviceId
|
||||
<< ": Error receiving packet. Code: " << std::hex << status
|
||||
<< std::dec << std::endl;
|
||||
}
|
||||
}
|
||||
ReturnValue_t return_code = this->performService();
|
||||
if (return_code == RETURN_OK) {
|
||||
return RETURN_OK;
|
||||
} else {
|
||||
|
||||
sif::error << "PusService " << (uint16_t) this->serviceId
|
||||
<< ": performService returned with " << (int16_t) return_code
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t PusServiceBase::getIdentifier() {
|
||||
@ -80,19 +90,21 @@ ReturnValue_t PusServiceBase::initialize() {
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>(
|
||||
AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
|
||||
packetDestination);
|
||||
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
|
||||
packetSource);
|
||||
if ((dest_service != NULL) && (distributor != NULL)) {
|
||||
if ((destService != nullptr) && (distributor != nullptr)) {
|
||||
this->requestQueue->setDefaultDestination(
|
||||
dest_service->getReportReceptionQueue());
|
||||
destService->getReportReceptionQueue());
|
||||
distributor->registerService(this);
|
||||
return RETURN_OK;
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
sif::error << "PusServiceBase::PusServiceBase: Service "
|
||||
<< (uint32_t) this->serviceId << ": Configuration error."
|
||||
<< " Make sure packetSource and packetDestination are defined correctly" << std::endl;
|
||||
<< " Make sure packetSource and packetDestination are defined "
|
||||
"correctly" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
#ifndef PUSSERVICEBASE_H_
|
||||
#define PUSSERVICEBASE_H_
|
||||
#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
|
||||
#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
|
||||
|
||||
#include <framework/objectmanager/ObjectManagerIF.h>
|
||||
#include <framework/objectmanager/SystemObject.h>
|
||||
@ -9,7 +9,6 @@
|
||||
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
|
||||
#include <framework/tmtcservices/VerificationCodes.h>
|
||||
#include <framework/tmtcservices/VerificationReporter.h>
|
||||
#include <framework/internalError/InternalErrorReporterIF.h>
|
||||
#include <framework/ipc/MessageQueueIF.h>
|
||||
|
||||
namespace Factory{
|
||||
@ -17,18 +16,22 @@ void setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
/**
|
||||
* \defgroup pus_services PUS Service Framework
|
||||
* @defgroup pus_services PUS Service Framework
|
||||
* These group contains all implementations of PUS Services in the OBSW.
|
||||
* Most of the Services are directly taken from the ECSS PUS Standard.
|
||||
*/
|
||||
|
||||
/**
|
||||
* \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
|
||||
* It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
|
||||
* from this abstract class has to implement handleRequest and performService. Services that are created with this
|
||||
* @brief This class is the basis for all PUS Services,
|
||||
* which can immediately process Telecommand Packets.
|
||||
* @details
|
||||
* It manages Telecommand reception and the generation of Verification Reports.
|
||||
* Every class that inherits from this abstract class has to implement
|
||||
* handleRequest and performService. Services that are created with this
|
||||
* Base class have to handle any kind of request immediately on reception.
|
||||
* All PUS Services are System Objects, so an Object ID needs to be specified on construction.
|
||||
* \ingroup pus_services
|
||||
* All PUS Services are System Objects, so an Object ID needs to be specified
|
||||
* on construction.
|
||||
* @ingroup pus_services
|
||||
*/
|
||||
class PusServiceBase : public ExecutableObjectIF,
|
||||
public AcceptsTelecommandsIF,
|
||||
@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF,
|
||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||
public:
|
||||
/**
|
||||
* The constructor for the class.
|
||||
* The passed values are set, but inter-object initialization is done in the initialize method.
|
||||
* @param setObjectId The system object identifier of this Service instance.
|
||||
* @param set_apid The APID the Service is instantiated for.
|
||||
* @param set_service_id The Service Identifier as specified in ECSS PUS.
|
||||
* @brief The passed values are set, but inter-object initialization is
|
||||
* done in the initialize method.
|
||||
* @param setObjectId
|
||||
* The system object identifier of this Service instance.
|
||||
* @param setApid
|
||||
* The APID the Service is instantiated for.
|
||||
* @param setServiceId
|
||||
* The Service Identifier as specified in ECSS PUS.
|
||||
*/
|
||||
PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
|
||||
PusServiceBase( object_id_t setObjectId, uint16_t setApid,
|
||||
uint8_t setServiceId);
|
||||
/**
|
||||
* The destructor is empty.
|
||||
*/
|
||||
virtual ~PusServiceBase();
|
||||
/**
|
||||
* @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
|
||||
* @brief The handleRequest method shall handle any kind of Telecommand
|
||||
* Request immediately.
|
||||
* @details
|
||||
* Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
|
||||
* They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
|
||||
* Success or Failure Reports are generated automatically after execution of this method.
|
||||
* Implemetations can take the Telecommand in currentPacket and perform
|
||||
* any kind of operation.
|
||||
* They may send additional "Start Success (1,3)" messages with the
|
||||
* verifyReporter, but Completion Success or Failure Reports are generated
|
||||
* automatically after execution of this method.
|
||||
*
|
||||
* If a Telecommand can not be executed within one call cycle,
|
||||
* this Base class is not the right parent.
|
||||
*
|
||||
* The child class may add additional error information by setting #errorParameters which are
|
||||
* attached to the generated verification message.
|
||||
* The child class may add additional error information by setting
|
||||
* #errorParameters which aren attached to the generated verification
|
||||
* message.
|
||||
*
|
||||
* Subservice checking should be implemented in this method.
|
||||
*
|
||||
* @return The returned status_code is directly taken as main error code in the Verification Report.
|
||||
* @return The returned status_code is directly taken as main error code
|
||||
* in the Verification Report.
|
||||
* On success, RETURN_OK shall be returned.
|
||||
*/
|
||||
virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
|
||||
/**
|
||||
* In performService, implementations can handle periodic, non-TC-triggered activities.
|
||||
* In performService, implementations can handle periodic,
|
||||
* non-TC-triggered activities.
|
||||
* The performService method is always called.
|
||||
* @return A success or failure code that does not trigger any kind of verification message.
|
||||
* @return Currently, everything other that RETURN_OK only triggers
|
||||
* diagnostic output.
|
||||
*/
|
||||
virtual ReturnValue_t performService() = 0;
|
||||
/**
|
||||
* This method implements the typical activity of a simple PUS Service.
|
||||
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
|
||||
* It checks for new requests, and, if found, calls handleRequest, sends
|
||||
* completion verification messages and deletes
|
||||
* the TC requests afterwards.
|
||||
* performService is always executed afterwards.
|
||||
* @return \c RETURN_OK if the periodic performService was successful.
|
||||
* \c RETURN_FAILED else.
|
||||
* @return @c RETURN_OK if the periodic performService was successful.
|
||||
* @c RETURN_FAILED else.
|
||||
*/
|
||||
ReturnValue_t performOperation(uint8_t opCode);
|
||||
virtual uint16_t getIdentifier();
|
||||
@ -97,19 +112,19 @@ protected:
|
||||
/**
|
||||
* One of two error parameters for additional error information.
|
||||
*/
|
||||
uint32_t errorParameter1;
|
||||
uint32_t errorParameter1 = 0;
|
||||
/**
|
||||
* One of two error parameters for additional error information.
|
||||
*/
|
||||
uint32_t errorParameter2;
|
||||
uint32_t errorParameter2 = 0;
|
||||
/**
|
||||
* This is a complete instance of the Telecommand reception queue of the class.
|
||||
* It is initialized on construction of the class.
|
||||
* This is a complete instance of the telecommand reception queue
|
||||
* of the class. It is initialized on construction of the class.
|
||||
*/
|
||||
MessageQueueIF* requestQueue;
|
||||
MessageQueueIF* requestQueue = nullptr;
|
||||
/**
|
||||
* An instance of the VerificationReporter class, that simplifies sending any kind of
|
||||
* Verification Message to the TC Verification Service.
|
||||
* An instance of the VerificationReporter class, that simplifies
|
||||
* sending any kind of verification message to the TC Verification Service.
|
||||
*/
|
||||
VerificationReporter verifyReporter;
|
||||
/**
|
||||
@ -124,9 +139,12 @@ protected:
|
||||
private:
|
||||
/**
|
||||
* This constant sets the maximum number of packets accepted per call.
|
||||
* Remember that one packet must be completely handled in one #handleRequest call.
|
||||
* Remember that one packet must be completely handled in one
|
||||
* #handleRequest call.
|
||||
*/
|
||||
static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
|
||||
|
||||
void handleRequestQueue();
|
||||
};
|
||||
|
||||
#endif /* PUSSERVICEBASE_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user