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Merge pull request 'A lot of new features and tweaks' (#12) from mueller_framework into front_branch

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This commit is contained in:
Robin Müller 2020-07-08 18:49:09 +02:00
commit c8821ae74f
47 changed files with 2051 additions and 497 deletions
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27
container/DynamicFIFO.h Normal file
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@ -0,0 +1,27 @@
#ifndef FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
#define FRAMEWORK_CONTAINER_DYNAMICFIFO_H_
#include <framework/container/FIFOBase.h>
#include <vector>
/**
* @brief Simple First-In-First-Out data structure. The maximum size
* can be set in the constructor.
* @details
* The maximum capacity can be determined at run-time, so this container
* performs dynamic memory allocation!
* The public interface of FIFOBase exposes the user interface for the FIFO.
* @tparam T Entry Type
* @tparam capacity Maximum capacity
*/
template<typename T>
class DynamicFIFO: public FIFOBase<T> {
public:
DynamicFIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
values(maxCapacity) {};
private:
std::vector<T> values;
};
#endif /* FRAMEWORK_CONTAINER_DYNAMICFIFO_H_ */

23
container/FIFO.h
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@ -1,31 +1,26 @@
#ifndef FRAMEWORK_CONTAINER_FIFO_H_
#define FRAMEWORK_CONTAINER_FIFO_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/container/FIFOBase.h>
#include <vector>
namespace fsfw {
#include <array>
/**
* @brief Simple First-In-First-Out data structure. The maximum size
* can be set in the constructor.
* @brief Simple First-In-First-Out data structure with size fixed at
* compile time
* @details
* The maximum capacity can be determined at run-time, so this container
* performs dynamic memory allocation!
* Performs no dynamic memory allocation.
* The public interface of FIFOBase exposes the user interface for the FIFO.
* @tparam T Entry Type
* @tparam capacity Maximum capacity
*/
template<typename T>
template<typename T, size_t capacity>
class FIFO: public FIFOBase<T> {
public:
FIFO(size_t maxCapacity): FIFOBase<T>(values.data(), maxCapacity),
values(maxCapacity) {};
FIFO(): FIFOBase<T>(values.data(), capacity) {};
private:
std::vector<T> values;
std::array<T, capacity> values;
};
}
#endif /* FRAMEWORK_CONTAINER_FIFO_H_ */
#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */

4
container/FIFOBase.h
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@ -4,8 +4,6 @@
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <cstddef>
namespace fsfw {
template <typename T>
class FIFOBase {
public:
@ -60,6 +58,4 @@ private:
#include <framework/container/FIFOBase.tpp>
}
#endif /* FRAMEWORK_CONTAINER_FIFOBASE_H_ */

6
container/SimpleRingBuffer.cpp
View File

@ -17,7 +17,7 @@ SimpleRingBuffer::~SimpleRingBuffer() {
ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data,
uint32_t amount) {
if (availableWriteSpace() >= amount || overwriteOld) {
if (availableWriteSpace() >= amount or overwriteOld) {
uint32_t amountTillWrap = writeTillWrap();
if (amountTillWrap >= amount) {
memcpy(&buffer[write], data, amount);
@ -43,7 +43,7 @@ ReturnValue_t SimpleRingBuffer::readData(uint8_t* data, uint32_t amount,
return HasReturnvaluesIF::RETURN_FAILED;
}
}
if (trueAmount != NULL) {
if (trueAmount != nullptr) {
*trueAmount = amount;
}
if (amountTillWrap >= amount) {
@ -65,7 +65,7 @@ ReturnValue_t SimpleRingBuffer::deleteData(uint32_t amount,
return HasReturnvaluesIF::RETURN_FAILED;
}
}
if (trueAmount != NULL) {
if (trueAmount != nullptr) {
*trueAmount = amount;
}
incrementRead(amount, READ_PTR);

2
container/SimpleRingBuffer.h
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@ -2,7 +2,7 @@
#define FRAMEWORK_CONTAINER_SIMPLERINGBUFFER_H_
#include <framework/container/RingBufferBase.h>
#include <stddef.h>
#include <cstddef>
/**
* @brief Circular buffer implementation, useful for buffering

30
container/StaticFIFO.h
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@ -1,30 +0,0 @@
#ifndef FRAMEWORK_CONTAINER_STATICFIFO_H_
#define FRAMEWORK_CONTAINER_STATICFIFO_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/container/FIFOBase.h>
#include <array>
namespace fsfw {
/**
* @brief Simple First-In-First-Out data structure with size fixed at
* compile time
* @details
* Performs no dynamic memory allocation.
* The public interface of FIFOBase exposes the user interface for the FIFO.
* @tparam T Entry Type
* @tparam capacity Maximum capacity
*/
template<typename T, size_t capacity>
class StaticFIFO: public FIFOBase<T> {
public:
StaticFIFO(): FIFOBase<T>(values.data(), capacity) {};
private:
std::array<T, capacity> values;
};
}
#endif /* FRAMEWORK_CONTAINERS_STATICFIFO_H_ */

2
framework.mk
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@ -58,4 +58,4 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/packetmatcher/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcpacket/pus/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/tmtcservices/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/test/*.cpp)
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/pus/*.cpp)

147
globalfunctions/DleEncoder.cpp
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@ -1,95 +1,124 @@
#include <framework/globalfunctions/DleEncoder.h>
DleEncoder::DleEncoder() {
}
DleEncoder::DleEncoder() {}
DleEncoder::~DleEncoder() {
}
ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
uint32_t maxDestStreamlen, uint32_t *decodedLen) {
uint32_t encodedIndex = 0, decodedIndex = 0;
uint8_t nextByte;
if (*sourceStream != STX) {
return RETURN_FAILED;
}
++encodedIndex;
while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
&& (sourceStream[encodedIndex] != ETX)
&& (sourceStream[encodedIndex] != STX)) {
if (sourceStream[encodedIndex] == DLE) {
nextByte = sourceStream[encodedIndex + 1];
if (nextByte == 0x10) {
destStream[decodedIndex] = nextByte;
} else {
if ((nextByte == 0x42) || (nextByte == 0x43)
|| (nextByte == 0x4D)) {
destStream[decodedIndex] = nextByte - 0x40;
} else {
return RETURN_FAILED;
}
}
++encodedIndex;
} else {
destStream[decodedIndex] = sourceStream[encodedIndex];
}
++encodedIndex;
++decodedIndex;
}
if (sourceStream[encodedIndex] != ETX) {
return RETURN_FAILED;
} else {
*readLen = ++encodedIndex;
*decodedLen = decodedIndex;
return RETURN_OK;
}
}
DleEncoder::~DleEncoder() {}
ReturnValue_t DleEncoder::encode(const uint8_t* sourceStream,
uint32_t sourceLen, uint8_t* destStream, uint32_t maxDestLen,
uint32_t* encodedLen, bool addStxEtx) {
size_t sourceLen, uint8_t* destStream, size_t maxDestLen,
size_t* encodedLen, bool addStxEtx) {
if (maxDestLen < 2) {
return RETURN_FAILED;
return STREAM_TOO_SHORT;
}
uint32_t encodedIndex = 0, sourceIndex = 0;
size_t encodedIndex = 0, sourceIndex = 0;
uint8_t nextByte;
if (addStxEtx) {
destStream[0] = STX;
++encodedIndex;
}
while ((encodedIndex < maxDestLen) && (sourceIndex < sourceLen)) {
while (encodedIndex < maxDestLen and sourceIndex < sourceLen)
{
nextByte = sourceStream[sourceIndex];
if ((nextByte == STX) || (nextByte == ETX) || (nextByte == 0x0D)) {
// STX, ETX and CR characters in the stream need to be escaped with DLE
if (nextByte == STX or nextByte == ETX or nextByte == CARRIAGE_RETURN) {
if (encodedIndex + 1 >= maxDestLen) {
return RETURN_FAILED;
} else {
return STREAM_TOO_SHORT;
}
else {
destStream[encodedIndex] = DLE;
++encodedIndex;
/* Escaped byte will be actual byte + 0x40. This prevents
* STX, ETX, and carriage return characters from appearing
* in the encoded data stream at all, so when polling an
* encoded stream, the transmission can be stopped at ETX.
* 0x40 was chosen at random with special requirements:
* - Prevent going from one control char to another
* - Prevent overflow for common characters */
destStream[encodedIndex] = nextByte + 0x40;
}
} else if (nextByte == DLE) {
}
// DLE characters are simply escaped with DLE.
else if (nextByte == DLE) {
if (encodedIndex + 1 >= maxDestLen) {
return RETURN_FAILED;
} else {
return STREAM_TOO_SHORT;
}
else {
destStream[encodedIndex] = DLE;
++encodedIndex;
destStream[encodedIndex] = DLE;
}
} else {
}
else {
destStream[encodedIndex] = nextByte;
}
++encodedIndex;
++sourceIndex;
}
if ((sourceIndex == sourceLen) && (encodedIndex < maxDestLen)) {
if (sourceIndex == sourceLen and encodedIndex < maxDestLen) {
if (addStxEtx) {
destStream[encodedIndex] = ETX;
++encodedIndex;
}
*encodedLen = encodedIndex;
return RETURN_OK;
} else {
return RETURN_FAILED;
}
else {
return STREAM_TOO_SHORT;
}
}
ReturnValue_t DleEncoder::decode(const uint8_t *sourceStream,
size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
size_t maxDestStreamlen, size_t *decodedLen) {
size_t encodedIndex = 0, decodedIndex = 0;
uint8_t nextByte;
if (*sourceStream != STX) {
return DECODING_ERROR;
}
++encodedIndex;
while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)
&& (sourceStream[encodedIndex] != ETX)
&& (sourceStream[encodedIndex] != STX))
{
if (sourceStream[encodedIndex] == DLE) {
nextByte = sourceStream[encodedIndex + 1];
// The next byte is a DLE character that was escaped by another
// DLE character, so we can write it to the destination stream.
if (nextByte == DLE) {
destStream[decodedIndex] = nextByte;
}
else {
/* The next byte is a STX, DTX or 0x0D character which
* was escaped by a DLE character. The actual byte was
* also encoded by adding + 0x40 to preven having control chars,
* in the stream at all, so we convert it back. */
if (nextByte == 0x42 or nextByte == 0x43 or nextByte == 0x4D) {
destStream[decodedIndex] = nextByte - 0x40;
}
else {
return DECODING_ERROR;
}
}
++encodedIndex;
}
else {
destStream[decodedIndex] = sourceStream[encodedIndex];
}
++encodedIndex;
++decodedIndex;
}
if (sourceStream[encodedIndex] != ETX) {
return DECODING_ERROR;
}
else {
*readLen = ++encodedIndex;
*decodedLen = decodedIndex;
return RETURN_OK;
}
}

78
globalfunctions/DleEncoder.h
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@ -1,25 +1,79 @@
#ifndef DLEENCODER_H_
#define DLEENCODER_H_
#ifndef FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
#define FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <cstddef>
/**
* @brief This DLE Encoder (Data Link Encoder) can be used to encode and
* decode arbitrary data with ASCII control characters
* @details
* List of control codes:
* https://en.wikipedia.org/wiki/C0_and_C1_control_codes
*
* This encoder can be used to achieve a basic transport layer when using
* char based transmission systems.
* The passed source strean is converted into a encoded stream by adding
* a STX marker at the start of the stream and an ETX marker at the end of
* the stream. Any STX, ETX, DLE and CR occurences in the source stream are
* escaped by a DLE character. The encoder also replaces escaped control chars
* by another char, so STX, ETX and CR should not appear anywhere in the actual
* encoded data stream.
*
* When using a strictly char based reception of packets enoded with DLE,
* STX can be used to notify a reader that actual data will start to arrive
* while ETX can be used to notify the reader that the data has ended.
*/
class DleEncoder: public HasReturnvaluesIF {
private:
DleEncoder();
virtual ~DleEncoder();
public:
static const uint8_t STX = 0x02;
static const uint8_t ETX = 0x03;
static const uint8_t DLE = 0x10;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::DLE_ENCODER;
static constexpr ReturnValue_t STREAM_TOO_SHORT = MAKE_RETURN_CODE(0x01);
static constexpr ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(0x02);
//! Start Of Text character. First character is encoded stream
static constexpr uint8_t STX = 0x02;
//! End Of Text character. Last character in encoded stream
static constexpr uint8_t ETX = 0x03;
//! Data Link Escape character. Used to escape STX, ETX and DLE occurences
//! in the source stream.
static constexpr uint8_t DLE = 0x10;
static constexpr uint8_t CARRIAGE_RETURN = 0x0D;
/**
* Encodes the give data stream by preceding it with the STX marker
* and ending it with an ETX marker. STX, ETX and DLE characters inside
* the stream are escaped by DLE characters and also replaced by adding
* 0x40 (which is reverted in the decoing process).
* @param sourceStream
* @param sourceLen
* @param destStream
* @param maxDestLen
* @param encodedLen
* @param addStxEtx
* Adding STX and ETX can be omitted, if they are added manually.
* @return
*/
static ReturnValue_t encode(const uint8_t *sourceStream, size_t sourceLen,
uint8_t *destStream, size_t maxDestLen, size_t *encodedLen,
bool addStxEtx = true);
/**
* Converts an encoded stream back.
* @param sourceStream
* @param sourceStreamLen
* @param readLen
* @param destStream
* @param maxDestStreamlen
* @param decodedLen
* @return
*/
static ReturnValue_t decode(const uint8_t *sourceStream,
uint32_t sourceStreamLen, uint32_t *readLen, uint8_t *destStream,
uint32_t maxDestStreamlen, uint32_t *decodedLen);
static ReturnValue_t encode(const uint8_t *sourceStream, uint32_t sourceLen,
uint8_t *destStream, uint32_t maxDestLen, uint32_t *encodedLen,
bool addStxEtx = true);
size_t sourceStreamLen, size_t *readLen, uint8_t *destStream,
size_t maxDestStreamlen, size_t *decodedLen);
};
#endif /* DLEENCODER_H_ */
#endif /* FRAMEWORK_GLOBALFUNCTIONS_DLEENCODER_H_ */

14
ipc/MessageQueueIF.h
View File

@ -18,18 +18,14 @@ public:
static const MessageQueueId_t NO_QUEUE = MessageQueueMessageIF::NO_QUEUE; //!< Ugly hack.
static const uint8_t INTERFACE_ID = CLASS_ID::MESSAGE_QUEUE_IF;
/**
* No new messages on the queue
*/
//! No new messages on the queue
static const ReturnValue_t EMPTY = MAKE_RETURN_CODE(1);
/**
* No space left for more messages
*/
//! No space left for more messages
static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
/**
* Returned if a reply method was called without partner
*/
//! Returned if a reply method was called without partner
static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
//! Returned if the target destination is invalid.
static constexpr ReturnValue_t DESTINVATION_INVALID = MAKE_RETURN_CODE(4);
virtual ~MessageQueueIF() {}
/**

4
objectmanager/frameworkObjects.h
View File

@ -3,6 +3,9 @@
namespace objects {
enum framework_objects {
// Default verification reporter.
PUS_SERVICE_1 = 0x53000000,
//Generic IDs for IPC, modes, health, events
HEALTH_TABLE = 0x53010000,
// MODE_STORE = 0x53010100,
@ -12,6 +15,7 @@ enum framework_objects {
//IDs for PUS Packet Communication
TC_STORE = 0x534f0100,
TM_STORE = 0x534f0200,
NO_OBJECT = 0xFFFFFFFF
};
}

2
osal/linux/FixedTimeslotTask.cpp
View File

@ -45,7 +45,7 @@ ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
}
sif::error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
" not found, not adding it to pst" << std::dec << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}

21
osal/linux/MessageQueue.cpp
View File

@ -155,10 +155,10 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessageIF* message) {
}
if(message->getMaximumMessageSize() < maxMessageSize) {
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize() <<
" too small to receive data!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
sif::error << "MessageQueue::receiveMessage: Message size "
<< message->getMaximumMessageSize()
<< " too small to receive data!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
unsigned int messagePriority = 0;
@ -330,13 +330,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is full.
return MessageQueueIF::FULL;
case EBADF:
case EBADF: {
//mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo
<< " sent from " << sentFrom << std::endl;
/*NO BREAK*/
sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
<< " destination invalid." << std::endl;
sif::error << strerror(errno) << " in "
<<"mq_send to: " << sendTo << " sent from "
<< sentFrom << std::endl;
return DESTINVATION_INVALID;
}
case EINTR:
//The call was interrupted by a signal.
case EINVAL:

8
osal/linux/PeriodicPosixTask.cpp
View File

@ -68,12 +68,12 @@ void PeriodicPosixTask::taskFunctionality(void) {
char name[20] = {0};
int status = pthread_getname_np(pthread_self(),name,sizeof(name));
if(status == 0){
sif::error << "PeriodicPosixTask " << name << ": Deadline "
"missed." << std::endl;
//sif::error << "PeriodicPosixTask " << name << ": Deadline "
// "missed." << std::endl;
}
else {
sif::error << "PeriodicPosixTask X: Deadline missed. " <<
status << std::endl;
//sif::error << "PeriodicPosixTask X: Deadline missed. " <<
// status << std::endl;
}
if (this->deadlineMissedFunc != nullptr) {
this->deadlineMissedFunc();

104
osal/linux/TcUnixUdpPollingTask.cpp
View File

@ -1,6 +1,7 @@
#include <framework/osal/linux/TcUnixUdpPollingTask.h>
#include <framework/globalfunctions/arrayprinter.h>
TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
TcUnixUdpPollingTask::TcUnixUdpPollingTask(object_id_t objectId,
object_id_t tmtcUnixUdpBridge, size_t frameSize,
double timeoutSeconds): SystemObject(objectId),
tmtcBridgeId(tmtcUnixUdpBridge) {
@ -23,23 +24,12 @@ TcSocketPollingTask::TcSocketPollingTask(object_id_t objectId,
else {
receptionTimeout = timevalOperations::toTimeval(timeoutSeconds);
}
// Set receive timeout.
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
&receptionTimeout, sizeof(receptionTimeout));
if(result == -1) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting receive"
"timeout failed with " << strerror(errno) << std::endl;
return;
}
}
TcSocketPollingTask::~TcSocketPollingTask() {
}
TcUnixUdpPollingTask::~TcUnixUdpPollingTask() {}
ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
// Poll for new data permanently. The call will block until the specified
// length of bytes has been received or a timeout occured.
ReturnValue_t TcUnixUdpPollingTask::performOperation(uint8_t opCode) {
// Poll for new UDP datagrams in permanent loop.
while(1) {
//! Sender Address is cached here.
struct sockaddr_in senderAddress;
@ -48,21 +38,58 @@ ReturnValue_t TcSocketPollingTask::performOperation(uint8_t opCode) {
receptionBuffer.data(), frameSize, receptionFlags,
reinterpret_cast<sockaddr*>(&senderAddress), &senderSockLen);
if(bytesReceived < 0) {
//handle error
sif::error << "TcSocketPollingTask::performOperation: recvfrom "
"failed with " << strerror(errno) << std::endl;
// handle error
sif::error << "TcSocketPollingTask::performOperation: Reception"
"error." << std::endl;
handleReadError();
continue;
}
sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
<< " bytes received" << std::endl;
// sif::debug << "TcSocketPollingTask::performOperation: " << bytesReceived
// << " bytes received" << std::endl;
ReturnValue_t result = handleSuccessfullTcRead();
ReturnValue_t result = handleSuccessfullTcRead(bytesReceived);
if(result != HasReturnvaluesIF::RETURN_FAILED) {
}
tmtcBridge->registerCommConnect();
tmtcBridge->checkAndSetClientAddress(senderAddress);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcSocketPollingTask::initialize() {
ReturnValue_t TcUnixUdpPollingTask::handleSuccessfullTcRead(size_t bytesRead) {
store_address_t storeId;
ReturnValue_t result = tcStore->addData(&storeId,
receptionBuffer.data(), bytesRead);
// arrayprinter::print(receptionBuffer.data(), bytesRead);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "TcSerialPollingTask::transferPusToSoftwareBus: Data "
"storage failed" << std::endl;
sif::error << "Packet size: " << bytesRead << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
TmTcMessage message(storeId);
result = MessageQueueSenderIF::sendMessage(targetTcDestination, &message);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Serial Polling: Sending message to queue failed"
<< std::endl;
tcStore->deleteData(storeId);
}
return result;
}
ReturnValue_t TcUnixUdpPollingTask::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == nullptr) {
sif::error << "TcSerialPollingTask::initialize: TC Store uninitialized!"
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmtcBridge = objectManager->get<TmTcUnixUdpBridge>(tmtcBridgeId);
if(tmtcBridge == nullptr) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Invalid"
@ -71,9 +98,40 @@ ReturnValue_t TcSocketPollingTask::initialize() {
}
serverUdpSocket = tmtcBridge->serverSocket;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TcSocketPollingTask::handleSuccessfullTcRead() {
ReturnValue_t TcUnixUdpPollingTask::initializeAfterTaskCreation() {
// Initialize the destination after task creation. This ensures
// that the destination will be set in the TMTC bridge.
targetTcDestination = tmtcBridge->getRequestQueue();
return HasReturnvaluesIF::RETURN_OK;
}
void TcUnixUdpPollingTask::setTimeout(double timeoutSeconds) {
timeval tval;
tval = timevalOperations::toTimeval(timeoutSeconds);
int result = setsockopt(serverUdpSocket, SOL_SOCKET, SO_RCVTIMEO,
&tval, sizeof(receptionTimeout));
if(result == -1) {
sif::error << "TcSocketPollingTask::TcSocketPollingTask: Setting "
"receive timeout failed with " << strerror(errno) << std::endl;
}
}
void TcUnixUdpPollingTask::handleReadError() {
switch(errno) {
case(EAGAIN): {
// todo: When working in timeout mode, this will occur more often
// and is not an error.
sif::error << "TcUnixUdpPollingTask::handleReadError: Timeout."
<< std::endl;
break;
}
default: {
sif::error << "TcUnixUdpPollingTask::handleReadError: "
<< strerror(errno) << std::endl;
}
}
}

23
osal/linux/TcUnixUdpPollingTask.h
View File

@ -1,5 +1,6 @@
#ifndef FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
#define FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_
#include <framework/objectmanager/SystemObject.h>
#include <framework/osal/linux/TmTcUnixUdpBridge.h>
#include <framework/tasks/ExecutableObjectIF.h>
@ -16,7 +17,7 @@
* This class caches the IP address of the sender. It is assumed there
* is only one sender for now.
*/
class TcSocketPollingTask: public SystemObject,
class TcUnixUdpPollingTask: public SystemObject,
public ExecutableObjectIF {
friend class TmTcUnixUdpBridge;
public:
@ -24,17 +25,29 @@ public:
//! 0.5 default milliseconds timeout for now.
static constexpr timeval DEFAULT_TIMEOUT = {.tv_sec = 0, .tv_usec = 500};
TcSocketPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
TcUnixUdpPollingTask(object_id_t objectId, object_id_t tmtcUnixUdpBridge,
size_t frameSize = 0, double timeoutSeconds = -1);
virtual~ TcSocketPollingTask();
virtual~ TcUnixUdpPollingTask();
/**
* Turn on optional timeout for UDP polling. In the default mode,
* the receive function will block until a packet is received.
* @param timeoutSeconds
*/
void setTimeout(double timeoutSeconds);
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initialize() override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected:
StorageManagerIF* tcStore = nullptr;
private:
//! TMTC bridge is cached.
object_id_t tmtcBridgeId = objects::NO_OBJECT;
TmTcUnixUdpBridge* tmtcBridge = nullptr;
MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
//! Reception flags: https://linux.die.net/man/2/recvfrom.
int receptionFlags = 0;
@ -47,8 +60,8 @@ private:
size_t frameSize = 0;
timeval receptionTimeout;
ReturnValue_t handleSuccessfullTcRead();
ReturnValue_t handleSuccessfullTcRead(size_t bytesRead);
void handleReadError();
};
#endif /* FRAMEWORK_OSAL_LINUX_TCSOCKETPOLLINGTASK_H_ */

108
osal/linux/TmTcUnixUdpBridge.cpp
View File

@ -1,12 +1,14 @@
#include <framework/osal/linux/TmTcUnixUdpBridge.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <errno.h>
#include <framework/ipc/MutexHelper.h>
#include <errno.h>
#include <arpa/inet.h>
TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
object_id_t ccsdsPacketDistributor, uint16_t serverPort,
uint16_t clientPort):
TmTcBridge(objectId, ccsdsPacketDistributor) {
object_id_t tcDestination, object_id_t tmStoreId, object_id_t tcStoreId,
uint16_t serverPort, uint16_t clientPort):
TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
mutex = MutexFactory::instance()->createMutex();
uint16_t setServerPort = DEFAULT_UDP_SERVER_PORT;
@ -20,31 +22,37 @@ TmTcUnixUdpBridge::TmTcUnixUdpBridge(object_id_t objectId,
}
// Set up UDP socket: https://man7.org/linux/man-pages/man7/ip.7.html
serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
//clientSocket = socket(AF_INET, SOCK_DGRAM, 0);
serverSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if(socket < 0) {
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not open"
" UDP socket!" << std::endl;
// check errno here.
handleSocketError();
return;
}
serverAddress.sin_family = AF_INET;
// Accept packets from any interface.
//serverAddress.sin_addr.s_addr = inet_addr("127.73.73.0");
serverAddress.sin_addr.s_addr = htonl(INADDR_ANY);
serverAddress.sin_port = htons(setServerPort);
serverAddressLen = sizeof(serverAddress);
setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, &serverSocketOptions,
sizeof(serverSocketOptions));
serverSocketLen = sizeof(serverAddress);
clientAddress.sin_family = AF_INET;
clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
clientAddress.sin_port = htons(setClientPort);
clientAddressLen = sizeof(clientAddress);
int result = bind(serverSocket,
reinterpret_cast<struct sockaddr*>(&serverAddress),
serverSocketLen);
serverAddressLen);
if(result == -1) {
sif::error << "TmTcUnixUdpBridge::TmTcUnixUdpBridge: Could not bind "
"local port " << setServerPort << " to server socket!"
<< std::endl;
// check errno here.
handleBindError();
return;
}
@ -55,16 +63,43 @@ TmTcUnixUdpBridge::~TmTcUnixUdpBridge() {
ReturnValue_t TmTcUnixUdpBridge::sendTm(const uint8_t *data, size_t dataLen) {
int flags = 0;
ssize_t result = send(serverSocket, data, dataLen, flags);
if(result < 0) {
//handle error
sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed "
"with error " << strerror(errno) << std::endl;
}
clientAddress.sin_addr.s_addr = htons(INADDR_ANY);
//clientAddress.sin_addr.s_addr = inet_addr("127.73.73.1");
clientAddressLen = sizeof(serverAddress);
// char ipAddress [15];
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
ssize_t bytesSent = sendto(serverSocket, data, dataLen, flags,
reinterpret_cast<sockaddr*>(&clientAddress), clientAddressLen);
if(bytesSent < 0) {
sif::error << "TmTcUnixUdpBridge::sendTm: Send operation failed."
<< std::endl;
handleSendError();
}
// sif::debug << "TmTcUnixUdpBridge::sendTm: " << bytesSent << " bytes were"
// " sent." << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
MutexHelper lock(mutex, 10);
// char ipAddress [15];
// sif::debug << "IP Address Sender: "<< inet_ntop(AF_INET,
// &newAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
// sif::debug << "IP Address Old: " << inet_ntop(AF_INET,
// &clientAddress.sin_addr.s_addr, ipAddress, 15) << std::endl;
// Set new IP address if it has changed.
if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
clientAddressLen = sizeof(clientAddress);
}
}
void TmTcUnixUdpBridge::handleSocketError() {
// See: https://man7.org/linux/man-pages/man2/socket.2.html
@ -77,40 +112,30 @@ void TmTcUnixUdpBridge::handleSocketError() {
case(ENOBUFS):
case(ENOMEM):
case(EPROTONOSUPPORT):
sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
sif::error << "TmTcUnixBridge::handleSocketError: Socket creation failed"
<< " with " << strerror(errno) << std::endl;
break;
default:
sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
sif::error << "TmTcUnixBridge::handleSocketError: Unknown error"
<< std::endl;
break;
}
}
void TmTcUnixUdpBridge::setTimeout(float timeoutSeconds) {
}
void TmTcUnixUdpBridge::checkAndSetClientAddress(sockaddr_in newAddress) {
MutexHelper lock(mutex, 10);
// Set new IP address if it has changed.
if(clientAddress.sin_addr.s_addr != newAddress.sin_addr.s_addr) {
clientAddress.sin_addr.s_addr = newAddress.sin_addr.s_addr;
}
}
void TmTcUnixUdpBridge::handleBindError() {
// See: https://man7.org/linux/man-pages/man2/bind.2.html
switch(errno) {
case(EACCES):
case(EACCES): {
/*
Ephermeral ports can be shown with following command:
sysctl -A | grep ip_local_port_range
*/
sif::error << "TmTcUnixBridge::TmTcUnixBridge: Port access issue."
sif::error << "TmTcUnixBridge::handleBindError: Port access issue."
"Ports 1-1024 are reserved on UNIX systems and require root "
"rights while ephermeral ports should not be used as well."
<< std::endl;
break;
}
break;
case(EADDRINUSE):
case(EBADF):
case(EINVAL):
@ -122,19 +147,22 @@ void TmTcUnixUdpBridge::handleBindError() {
case(ENOENT):
case(ENOMEM):
case(ENOTDIR):
case(EROFS):
sif::error << "TmTcUnixBridge::TmTcUnixBridge: Socket creation failed"
<< " with " << strerror(errno) << std::endl;
case(EROFS): {
sif::error << "TmTcUnixBridge::handleBindError: Socket creation failed"
<< " with " << strerror(errno) << std::endl;
break;
}
default:
sif::error << "TmTcUnixBridge::TmTcUnixBridge: Unknown error"
<< std::endl;
sif::error << "TmTcUnixBridge::handleBindError: Unknown error"
<< std::endl;
break;
}
}
ReturnValue_t TmTcUnixUdpBridge::receiveTc(uint8_t **recvBuffer, size_t *size) {
// TC reception handled by separate polling task because it is blocking.
return HasReturnvaluesIF::RETURN_OK;
void TmTcUnixUdpBridge::handleSendError() {
switch(errno) {
default:
sif::error << "Error: " << strerror(errno) << std::endl;
}
}

20
osal/linux/TmTcUnixUdpBridge.h
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@ -1,39 +1,40 @@
#ifndef FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#define FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/TmTcBridge.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/udp.h>
class TmTcUnixUdpBridge: public TmTcBridge {
friend class TcSocketPollingTask;
friend class TcUnixUdpPollingTask;
public:
// The ports chosen here should not be used by any other process.
// List of used ports on Linux: /etc/services
static constexpr uint16_t DEFAULT_UDP_SERVER_PORT = 7301;
static constexpr uint16_t DEFAULT_UDP_CLIENT_PORT = 7302;
TmTcUnixUdpBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor,
uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
TmTcUnixUdpBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId,
uint16_t serverPort = 0xFFFF,uint16_t clientPort = 0xFFFF);
virtual~ TmTcUnixUdpBridge();
void setTimeout(float timeoutSeconds);
void checkAndSetClientAddress(sockaddr_in clientAddress);
protected:
virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer,
size_t * size) override;
virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) override;
private:
int serverSocket = 0;
const int serverSocketOptions = 0;
struct sockaddr_in clientAddress;
socklen_t clientSocketLen = 0;
socklen_t clientAddressLen = 0;
struct sockaddr_in serverAddress;
socklen_t serverSocketLen = 0;
socklen_t serverAddressLen = 0;
//! Access to the client address is mutex protected as it is set
//! by another task.
@ -41,8 +42,7 @@ private:
void handleSocketError();
void handleBindError();
void handleSendError();
};
#endif /* FRAMEWORK_OSAL_LINUX_TMTCUNIXUDPBRIDGE_H_ */

100
pus/Service1TelecommandVerification.cpp Normal file
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@ -0,0 +1,100 @@
#include <framework/pus/Service1TelecommandVerification.h>
#include <framework/pus/servicepackets/Service1Packets.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/tmtcservices/PusVerificationReport.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
Service1TelecommandVerification::Service1TelecommandVerification(
object_id_t objectId, uint16_t apid, uint8_t serviceId,
object_id_t targetDestination):
SystemObject(objectId), apid(apid), serviceId(serviceId),
targetDestination(targetDestination) {
tmQueue = QueueFactory::instance()->createMessageQueue();
}
Service1TelecommandVerification::~Service1TelecommandVerification() {}
MessageQueueId_t Service1TelecommandVerification::getVerificationQueue(){
return tmQueue->getId();
}
ReturnValue_t Service1TelecommandVerification::performOperation(
uint8_t operationCode){
PusVerificationMessage message;
ReturnValue_t status = tmQueue->receiveMessage(&message);
while(status == HasReturnvaluesIF::RETURN_OK) {
status = sendVerificationReport(&message);
if(status != HasReturnvaluesIF::RETURN_OK) {
return status;
}
status = tmQueue->receiveMessage(&message);
}
if (status == MessageQueueIF::EMPTY) {
return HasReturnvaluesIF::RETURN_OK;
}
else {
return status;
}
}
ReturnValue_t Service1TelecommandVerification::sendVerificationReport(
PusVerificationMessage* message) {
ReturnValue_t result;
if(message->getReportId() % 2 == 0) {
result = generateFailureReport(message);
} else {
result = generateSuccessReport(message);
}
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Service1TelecommandVerification::initialize: "
"Sending verification packet failed !" << std::endl;
}
return result;
}
ReturnValue_t Service1TelecommandVerification::generateFailureReport(
PusVerificationMessage *message) {
FailureReport report(
message->getReportId(), message->getTcPacketId(),
message->getTcSequenceControl(), message->getStep(),
message->getErrorCode(), message->getParameter1(),
message->getParameter2());
TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
packetSubCounter++, &report);
ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
tmQueue->getId());
return result;
}
ReturnValue_t Service1TelecommandVerification::generateSuccessReport(
PusVerificationMessage *message) {
SuccessReport report(message->getReportId(),message->getTcPacketId(),
message->getTcSequenceControl(),message->getStep());
TmPacketStored tmPacket(apid, serviceId, message->getReportId(),
packetSubCounter++, &report);
ReturnValue_t result = tmPacket.sendPacket(tmQueue->getDefaultDestination(),
tmQueue->getId());
return result;
}
ReturnValue_t Service1TelecommandVerification::initialize() {
// Get target object for TC verification messages
AcceptsTelemetryIF* funnel = objectManager->
get<AcceptsTelemetryIF>(targetDestination);
if(funnel == nullptr){
sif::error << "Service1TelecommandVerification::initialize: Specified"
" TM funnel invalid. Make sure it is set up and implements"
" AcceptsTelemetryIF." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmQueue->setDefaultDestination(funnel->getReportReceptionQueue());
return SystemObject::initialize();
}

94
pus/Service1TelecommandVerification.h Normal file
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@ -0,0 +1,94 @@
#ifndef MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
#define MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_
#include <framework/objectmanager/SystemObject.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
#include <framework/tmtcservices/PusVerificationReport.h>
#include <framework/ipc/MessageQueueIF.h>
/**
* @brief Verify TC acceptance, start, progress and execution.
*
* Full Documentation: ECSS-E70-41A p.51
*
* The telecommand verification service provides the capability for
* explicit verification of each distinct stage of execution of a telecommand
* packet, from on-board acceptance through to completion of execution.
*
* Minimum capabilities of this service:
*
* - TM[1,1]: Telecommand Acceptance Report - Success.
* - TM[1,2]: Telecommand Acceptance Report - Failure.
*
* Additional capabilities of this service:
*
* - TM[1,3]: Telecommand Execution Started Report - Success (Req. 4).
* - TM[1,4]: Telecommand Execution Started Report - Failure (Req. 3).
* - TM[1,5]: Telecommand Execution Progress Report - Success (Req. 6).
* - TM[1,6]: Telecommand Execution Progress Report - Failure (Req. 5).
* - TM[1,7]: Telecommand Execution Completed Report - Success (Req. 8).
* - TM[1,8]: Telecommand Execution Completed Report - Failure (Req. 7).
*
* This Service is not inherited from PUSServiceBase unlike other PUS Services
* because all services implementing PUSServiceBase use this service to
* generate verification reports.
* @ingroup pus_services
*/
class Service1TelecommandVerification: public AcceptsVerifyMessageIF,
public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PUS_SERVICE_1;
Service1TelecommandVerification(object_id_t objectId,
uint16_t apid, uint8_t serviceId, object_id_t targetDestination);
virtual ~Service1TelecommandVerification();
/**
*
* @return ID of Verification Queue
*/
virtual MessageQueueId_t getVerificationQueue();
/**
* Performs the service periodically as specified in init_mission().
* Triggers the handlePacket function to send TC verification messages
* @param operationCode
* @return
*/
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/**
* Initializes the destination for TC verification messages and initializes
* Service 1 as a system object
* @return
*/
ReturnValue_t initialize() override;
private:
uint16_t apid = 0;
uint8_t serviceId = 0;
object_id_t targetDestination = objects::NO_OBJECT;
ReturnValue_t sendVerificationReport(PusVerificationMessage* message);
ReturnValue_t generateFailureReport(PusVerificationMessage* message);
ReturnValue_t generateSuccessReport(PusVerificationMessage* message);
uint16_t packetSubCounter = 0;
MessageQueueIF* tmQueue = nullptr;
enum class Subservice: uint8_t {
VERIFY_ACCEPTANCE_SUCCESS = 1, //!< [EXPORT] : [TM]
VERIFY_ACCEPTANCE_FAILED = 2, //!< [EXPORT] : [TM]
VERIFY_START_SUCCESS = 3, //!< [EXPORT] : [TM]
VERIFY_START_FAILED = 4, //!< [EXPORT] : [TM]
VERIFY_STEP_SUCCESS = 5, //!< [EXPORT] : [TM]
VERIFY_STEP_FAILED = 6 //!< [EXPORT] : [TM]
};
};
#endif /* MISSION_PUS_SERVICE1TELECOMMANDVERIFICATION_H_ */

167
pus/Service2DeviceAccess.cpp Normal file
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@ -0,0 +1,167 @@
#include <framework/pus/Service2DeviceAccess.h>
#include <framework/pus/servicepackets/Service2Packets.h>
#include <framework/devicehandlers/DeviceHandlerIF.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/devicehandlers/DeviceHandlerMessage.h>
#include <framework/serialize/EndianConverter.h>
#include <framework/action/ActionMessage.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/serialize/SerialLinkedListAdapter.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds):
CommandingServiceBase(objectId, apid, serviceId,
numberOfParallelCommands, commandTimeoutSeconds) {}
Service2DeviceAccess::~Service2DeviceAccess() {}
ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
switch(static_cast<Subservice>(subservice)){
case Subservice::RAW_COMMANDING:
case Subservice::TOGGLE_WIRETAPPING:
return HasReturnvaluesIF::RETURN_OK;
default:
sif::error << "Invalid Subservice" << std::endl;
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
MessageQueueId_t* id, object_id_t* objectId) {
if(tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData,
&tcDataLen, SerializeIF::Endianness::BIG);
ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
return result;
}
ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
DeviceHandlerIF* possibleTarget =
objectManager->get<DeviceHandlerIF>(*objectId);
if(possibleTarget == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
uint32_t* state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)){
case Subservice::RAW_COMMANDING: {
return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
tcData, tcDataLen);
}
break;
case Subservice::TOGGLE_WIRETAPPING: {
return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
tcData, tcDataLen);
}
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t Service2DeviceAccess::prepareRawCommand(
CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
RawCommand RawCommand(tcData,tcDataLen);
// store command into the Inter Process Communication Store
store_address_t storeAddress;
ReturnValue_t result = IPCStore->addData(&storeAddress,
RawCommand.getCommand(), RawCommand.getCommandSize());
DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
storeAddress);
return result;
}
ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
CommandMessage *messageToSet, const uint8_t *tcData,
size_t tcDataLen) {
if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
return CommandingServiceBase::INVALID_TC;
}
WiretappingToggle command;
ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
command.getWiretappingMode());
return result;
}
ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t* state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool* isStep) {
switch(reply->getCommand()) {
case CommandMessage::REPLY_COMMAND_OK:
return HasReturnvaluesIF::RETURN_OK;
case CommandMessage::REPLY_REJECTED:
return reply->getReplyRejectedReason();
default:
return CommandingServiceBase::INVALID_REPLY;
}
}
// All device handlers set service 2 as default raw receiver for wiretapping
// so we have to handle those unrequested messages.
void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
switch(reply->getCommand()) {
case DeviceHandlerMessage::REPLY_RAW_COMMAND:
sendWiretappingTm(reply,
static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
break;
case DeviceHandlerMessage::REPLY_RAW_REPLY:
sendWiretappingTm(reply,
static_cast<uint8_t>(Subservice::RAW_REPLY));
break;
default:
sif::error << "Unknown message in Service2DeviceAccess::"
"handleUnrequestedReply with command ID " <<
reply->getCommand() << std::endl;
break;
}
//Must be reached by all cases to clear message
reply->clear();
}
void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
uint8_t subservice) {
// Raw Wiretapping
// Get Address of Data from Message
store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
const uint8_t* data = nullptr;
size_t size = 0;
ReturnValue_t result = IPCStore->getData(storeAddress, &data, &size);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
"handleUnrequestedReply with failure ID "<< result
<< std::endl;
return;
}
// Init our dummy packet and correct endianness of object ID before
// sending it back.
WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
data);
TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
sendTmPacket(subservice, TmPacket.data,size, reinterpret_cast<uint8_t*>(
&TmPacket.objectId), sizeof(TmPacket.objectId));
}
MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
return commandQueue->getId();
}

92
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@ -0,0 +1,92 @@
#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
#include <framework/tmtcservices/CommandingServiceBase.h>
/**
* @brief Raw Commanding and Wiretapping of devices.
* @details
* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
* Dissertation Baetz p. 115, 116, 165-167.
*
* This service provides the capability to communicate with devices in their
* native protocols with raw commands through the DeviceHandlerIF.
*
* This is a gateway service. It relays device commands to the software bus.
* This service is very closely tied to the CommandingServiceBase
* template class.
*
* There are 4 adaption points for component implementation through the
* CommandingServiceBase.
*
* This service employs custom subservices exclusively. This includes a
* wiretapping subservice to monitor all traffic between target devices and
* this service.
*
* - TC[2,128]: Raw Commanding
* - TC[2,129]: Toggle Wiretapping
* - TM[2,130]: Wiretapping Packet TM
* - TM[2,131]: Wiretapping Packet TC
* @ingroup pus_services
*/
class Service2DeviceAccess : public CommandingServiceBase,
public AcceptsDeviceResponsesIF
{
public:
Service2DeviceAccess(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
virtual ~Service2DeviceAccess();
protected:
//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
/**
* @brief Generates TM packets containing either the TC wiretapping
* packets or the TM wiretapping packets.
* Note that for service 2, all telemetry will be treated as an
* unrequested reply regardless of wiretapping mode.
* @param reply
*/
void handleUnrequestedReply(CommandMessage* reply) override;
MessageQueueId_t getDeviceQueue() override;
private:
/**
* Generates TM packets for Wiretapping Service
* @param reply
* @param subservice
*/
void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
const uint8_t* tcData, size_t tcDataLen);
enum class Subservice {
RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
};
};
#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */

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#include <framework/pus/Service5EventReporting.h>
#include <framework/pus/servicepackets/Service5Packets.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/events/EventManagerIF.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
Service5EventReporting::Service5EventReporting(object_id_t objectId,
uint16_t apid, uint8_t serviceId, size_t maxNumberReportsPerCycle):
PusServiceBase(objectId, apid, serviceId),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
eventQueue = QueueFactory::instance()->createMessageQueue();
}
Service5EventReporting::~Service5EventReporting(){}
ReturnValue_t Service5EventReporting::performService() {
EventMessage message;
ReturnValue_t status = RETURN_OK;
for(uint8_t counter = 0;
counter < maxNumberReportsPerCycle;
counter++)
{
// Receive messages even if reporting is disabled for now.
status = eventQueue->receiveMessage(&message);
if(status == MessageQueueIF::EMPTY) {
return HasReturnvaluesIF::RETURN_OK;
}
if(enableEventReport) {
status = generateEventReport(message);
if(status != HasReturnvaluesIF::RETURN_OK) {
return status;
}
}
}
sif::debug << "Service5EventReporting::generateEventReport:"
" Too many events" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service5EventReporting::generateEventReport(
EventMessage message)
{
EventReport report(message.getEventId(),message.getReporter(),
message.getParameter1(),message.getParameter2());
TmPacketStored tmPacket(PusServiceBase::apid, PusServiceBase::serviceId,
message.getSeverity(), packetSubCounter++, &report);
ReturnValue_t result = tmPacket.sendPacket(
requestQueue->getDefaultDestination(),requestQueue->getId());
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "Service5EventReporting::generateEventReport:"
" Could not send TM packet" << std::endl;
}
return result;
}
ReturnValue_t Service5EventReporting::handleRequest(uint8_t subservice) {
switch(subservice)
{
case Subservice::ENABLE: {
enableEventReport = true;
return HasReturnvaluesIF::RETURN_OK;
}
case Subservice::DISABLE: {
enableEventReport = false;
return HasReturnvaluesIF::RETURN_OK;
}
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
// In addition to the default PUSServiceBase initialization, this service needs
// to be registered to the event manager to listen for events.
ReturnValue_t Service5EventReporting::initialize() {
EventManagerIF* manager = objectManager->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == NULL) {
return RETURN_FAILED;
}
// register Service 5 as listener for events
ReturnValue_t result = manager->registerListener(eventQueue->getId(),true);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return PusServiceBase::initialize();
}

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#ifndef FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
#define FRAMEWORK_PUS_SERVICE5EVENTREPORTING_H_
#include <framework/tmtcservices/PusServiceBase.h>
#include <framework/events/EventMessage.h>
/**
* @brief Report on-board events like information or errors
* @details
* Full Documentation: ECSS-E70-41A p.79
* Implements the PusServiceBase template class.
* Documentation: Dissertation Baetz p.135,136
*
* This service provides for the reporting to the service user of information of
* operational significance.
* 1. reporting of failures or anomalies detected on-board;
* 2. reporting of autonomous on-board actions;
* 3. reporting of normal progress of operations and activities, e.g.
* detection of events which are not anomalous (such as payload events),
* reaching of predefined steps in an operation. Some reports can combine
* more than one of these events.
*
* Minimum capabilities of this service:
*
* - TM[5,1]: Normal/Progress Report
* - TM[5,2]: Error/Anomaly Report - Low Severity
* - TM[5,3]: Error/Anomaly Report - Medium Severity
* - TM[5,4]: Error/Anomaly Report - High Severity
*
* Events can be translated by using translator files located in
* /config/objects/ and /config/events/. Description to events can be added by
* adding a comment behind the event definition with [//!<] as leading string
*
* Additional capabilities of this service:
*
* - TC[5,5]: Enable Event Report Generation (Req. 6)
* - TC[5,6]: Disable Event Report Generation (Req. 5)
* @author R. Mueller
* @ingroup pus_services
*/
class Service5EventReporting: public PusServiceBase {
public:
Service5EventReporting(object_id_t objectId, uint16_t apid,
uint8_t serviceId, size_t maxNumberReportsPerCycle = 10);
virtual ~Service5EventReporting();
/***
* Check for events and generate event reports if required.
* @return
*/
ReturnValue_t performService() override;
/***
* Turn event generation on or off.
* @return
*/
ReturnValue_t handleRequest(uint8_t subservice) override;
/**
* The default PusServiceBase initialize has been overridden but is still
* executed. Registers this service as a listener for events at the
* EventManager.
* @return
*/
ReturnValue_t initialize() override;
enum Subservice: uint8_t {
NORMAL_REPORT = 1, //!< [EXPORT] : [REPLY] Generate normal report
ERROR_LOW_SEVERITY = 2, //!< [EXPORT] : [REPLY] Generate error report with low severity
ERROR_MED_SEVERITY = 3, //!< [EXPORT] : [REPLY] Generate error report with medium severity
ERROR_HIGH_SEVERITY = 4, //!< [EXPORT] : [REPLY] Generate error report with high severity
ENABLE = 5, //!< [EXPORT] : [COMMAND] Enable report generation
DISABLE = 6 //!< [EXPORT] : [COMMAND] Disable report generation
};
private:
uint16_t packetSubCounter = 0;
MessageQueueIF* eventQueue = nullptr;
bool enableEventReport = true;
const uint8_t maxNumberReportsPerCycle;
ReturnValue_t generateEventReport(EventMessage message);
};
#endif /* MISSION_PUS_SERVICE5EVENTREPORTING_H_ */

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#include <framework/pus/Service8FunctionManagement.h>
#include <framework/pus/servicepackets/Service8Packets.h>
#include <framework/action/ActionMessage.h>
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/action/HasActionsIF.h>
#include <framework/devicehandlers/DeviceHandlerIF.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds):
CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
commandTimeoutSeconds) {}
Service8FunctionManagement::~Service8FunctionManagement() {}
ReturnValue_t Service8FunctionManagement::isValidSubservice(
uint8_t subservice) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::DIRECT_COMMANDING:
return HasReturnvaluesIF::RETURN_OK;
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
MessageQueueId_t* id, object_id_t* objectId) {
if(tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData,
&tcDataLen, SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}
ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check HasActionIF property of target
HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
if(possibleTarget == nullptr){
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service8FunctionManagement::prepareCommand(
CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
size_t tcDataLen, uint32_t* state, object_id_t objectId) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
if(subservice == static_cast<uint8_t>(Subservice::DIRECT_COMMANDING)) {
result = prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
tcData, tcDataLen);
}
return result;
}
ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
// Create direct command instance by extracting data from Telecommand
DirectCommand command(tcData,tcDataLen);
// store additional parameters into the IPC Store
store_address_t parameterAddress;
ReturnValue_t result = IPCStore->addData(&parameterAddress,
command.getParameters(),command.getParametersSize());
// setCommand expects a Command Message, an Action ID and a store adress
// pointing to additional parameters
ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
return result;
}
ReturnValue_t Service8FunctionManagement::handleReply(
const CommandMessage* reply, Command_t previousCommand,
uint32_t* state, CommandMessage* optionalNextCommand,
object_id_t objectId, bool* isStep) {
Command_t replyId = reply->getCommand();
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
ActionId_t actionId = ActionMessage::getActionId(reply);
ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
switch(replyId) {
case ActionMessage::COMPLETION_SUCCESS: {
DirectReply completionReply(objectId, actionId,returnCode);
result = CommandingServiceBase::EXECUTION_COMPLETE;
break;
}
case ActionMessage::STEP_SUCCESS: {
*isStep = true;
result = HasReturnvaluesIF::RETURN_OK;
break;
}
case ActionMessage::DATA_REPLY: {
store_address_t storeId = ActionMessage::getStoreId(reply);
size_t size = 0;
const uint8_t * buffer = nullptr;
result = IPCStore->getData(storeId, &buffer, &size);
if(result != RETURN_OK) {
sif::error << "Service 8: Could not retrieve data for data reply";
return result;
}
DataReply dataReply(objectId,actionId,buffer,size);
sendTmPacket(static_cast<uint8_t>(
Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
result = IPCStore ->deleteData(storeId);
break;
}
case ActionMessage::STEP_FAILED:
*isStep = true;
/*No break, falls through*/
case ActionMessage::COMPLETION_FAILED:
result = ActionMessage::getReturnCode(reply);
break;
default:
result = INVALID_REPLY;
}
return result;
}

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#ifndef FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
#define FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
#include <framework/tmtcservices/CommandingServiceBase.h>
/**
* @brief Functional commanding.
* Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
* Dissertation Baetz p. 115, 116, 165-167
*
* This service provides the capability to perform functions of an
* application process and provides high-level commanding as opposed to the
* Raw Access provided by Service 2. Examples for these functions can include
* control and operation of payload or the AOCS subsystem.
* This service will be the primary means to control the spacecraft as it is
* considered safer than the Raw Access provided
* by Service 2 and is generally sufficient for most tasks.
*
* This is a gateway service. It relays device commands using the software bus.
* This service is very closely tied to the Commanding Service Base template
* class. There is constant interaction between this Service Base und a
* subclass like this service.
*
* Service Capability:
* - TC[8,128]: Direct Commanding
* - TM[8,130]: Direct Commanding Data Reply
*
* @ingroup pus_services
*/
class Service8FunctionManagement : public CommandingServiceBase
{
public:
Service8FunctionManagement(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
virtual ~Service8FunctionManagement();
protected:
/* CSB abstract functions implementation . See CSB documentation. */
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
private:
enum class Subservice {
DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
};
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareDirectCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
};
#endif /* FRAMEWORK_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */

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/**
* @defgroup spacepackets PUS Packet Definitions
* This group contains all implemented TM or TM packages that are sent to
* or sent by the OBC.They are exported later to display
* packet structures in Mission Information Base (MIB).
*/
#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
#define MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_
#include <framework/serialize/SerializeAdapter.h>
#include <framework/tmtcservices/VerificationCodes.h>
/**
* @brief FailureReport class to serialize a failure report
* @brief Subservice 1, 3, 5, 7
* @ingroup spacepackets
*/
class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
public:
FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
uint16_t packetSequenceControl_, uint8_t stepNumber_,
ReturnValue_t errorCode_, uint32_t errorParameter1_,
uint32_t errorParameter2_) :
packetId(packetId_), packetSequenceControl(packetSequenceControl_),
stepNumber(stepNumber_), errorCode(errorCode_),
errorParameter1(errorParameter1_), errorParameter2(errorParameter2_),
failureSubtype(failureSubtype_) {}
/**
* This function is called by the FSFW when calling the tm packet send
* function and supplying the SerializeIF* as parameter
* @param buffer Object content is serialized into the buffer
* @param size
* @param max_size
* @param bigEndian
* @return
*/
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, SerializeIF::Endianness streamEndianness
) const override {
ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (failureSubtype == TC_VERIFY::PROGRESS_FAILURE) {
result = SerializeAdapter::serialize(&stepNumber, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
result = SerializeAdapter::serialize(&errorCode, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&errorParameter1, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&errorParameter2, buffer, size,
maxSize, streamEndianness);
return result;
}
virtual size_t getSerializedSize() const {
size_t size = 0;
size += SerializeAdapter::getSerializedSize(&packetId);
size += sizeof(packetSequenceControl);
if(failureSubtype==TC_VERIFY::PROGRESS_FAILURE){
size += SerializeAdapter::getSerializedSize(&stepNumber);
}
size += SerializeAdapter::getSerializedSize(&errorCode);
size += SerializeAdapter::getSerializedSize(&errorParameter1);
size += SerializeAdapter::getSerializedSize(&errorParameter2);
return size;
}
/**
* Deserialization is not allowed for a report.
* @param buffer
* @param size
* @param bigEndian
* @return
*/
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
private:
uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
ReturnValue_t errorCode; //!< [EXPORT] : [COMMENT] Error code which can be looked up in generated error code file
uint32_t errorParameter1;
uint32_t errorParameter2;
const uint8_t failureSubtype; //!< [EXPORT] : [IGNORE]
};
/**
* @brief Subservices 2, 4, 6, 8
* @ingroup spacepackets
*/
class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
public:
SuccessReport(uint8_t subtype_, uint16_t packetId_,
uint16_t packetSequenceControl_,uint8_t stepNumber_) :
packetId(packetId_), packetSequenceControl(packetSequenceControl_),
stepNumber(stepNumber_), subtype(subtype_) {}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize, SerializeIF::Endianness streamEndianness
) const override {
ReturnValue_t result = SerializeAdapter::serialize(&packetId, buffer,
size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&packetSequenceControl, buffer,
size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
if (subtype == TC_VERIFY::PROGRESS_SUCCESS) {
result = SerializeAdapter::serialize(&stepNumber, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
}
return result;
}
virtual size_t getSerializedSize() const override {
size_t size = 0;
size += SerializeAdapter::getSerializedSize(&packetId);
size += sizeof(packetSequenceControl);
if(subtype == TC_VERIFY::PROGRESS_SUCCESS){
size += SerializeAdapter::getSerializedSize(&stepNumber);
}
return size;
}
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
private:
uint16_t packetId; //!< [EXPORT] : [COMMENT] Packet ID of respective Telecommand
uint16_t packetSequenceControl; //!< [EXPORT] : [COMMENT] Packet SSC of respective Telecommand
uint8_t stepNumber; //!< [EXPORT] : [OPTIONAL][SUBSERVICE] 6
const uint8_t subtype; //!< [EXPORT] : [IGNORE]
};
#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE1PACKETS_H_ */

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#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
#include <framework/action/ActionMessage.h>
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/serialize/SerialLinkedListAdapter.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
/**
* @brief Subservice 128
* @ingroup spacepackets
*/
class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
public:
RawCommand(const uint8_t* buffer, size_t size) {
// Deserialize Adapter to get correct endianness
SerializeAdapter::deSerialize(&objectId, &buffer, &size,
SerializeIF::Endianness::BIG);
commandBuffer = buffer;
// size is decremented by AutoSerializeAdapter,
// remaining size is data size
dataSize = size;
}
object_id_t getObjectId() const {
return objectId;
}
const uint8_t* getCommand() {
return commandBuffer;
}
size_t getCommandSize() const {
return dataSize;
}
private:
object_id_t objectId = 0;
const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
};
/**
* @brief Subservice 129: Command packet to set wiretapping mode
* @ingroup spacepackets
*/
class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
public:
static const size_t WIRETAPPING_COMMAND_SIZE = 5;
WiretappingToggle(){
setStart(&objectId);
objectId.setNext(&wiretappingMode);
}
uint8_t getWiretappingMode() const {
return wiretappingMode.entry;
}
private:
SerializeElement<object_id_t> objectId;
SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
};
/**
* @brief Subservices 130 and 131: TM packets
* @ingroup spacepackets
*/
class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
public:
object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
objectId(objectId), data(buffer) {
}
};
#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */

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#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
#include <framework/serialize/SerializeAdapter.h>
#include <framework/tmtcservices/VerificationCodes.h>
/**
* @brief Subservice 1, 2, 3, 4
* Structure of Event Report.
* It consists of:
* 1. Report ID(RID). This is the Event ID in the FSFW
* 2. Object ID of the reporter (e.g. subsystem)
* 2. Parameter 1
* 3. Parameter 2
*
* @ingroup spacepackets
*/
class EventReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
public:
EventReport(EventId_t reportId_, object_id_t objectId_, uint32_t parameter1_,
uint32_t parameter2_):
reportId(reportId_),objectId(objectId_), parameter1(parameter1_),
parameter2(parameter2_) {}
virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
size_t maxSize,
SerializeIF::Endianness streamEndianness) const override
{
ReturnValue_t result = SerializeAdapter::serialize(&reportId, buffer,
size, maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&objectId, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&parameter1, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = SerializeAdapter::serialize(&parameter2, buffer, size,
maxSize, streamEndianness);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return result;
}
virtual size_t getSerializedSize() const override {
uint32_t size = 0;
size += SerializeAdapter::getSerializedSize(&reportId);
size += SerializeAdapter::getSerializedSize(&objectId);
size += SerializeAdapter::getSerializedSize(&parameter1);
size += SerializeAdapter::getSerializedSize(&parameter2);
return size;
}
virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
SerializeIF::Endianness streamEndianness) override {
return HasReturnvaluesIF::RETURN_FAILED;
}
private:
EventId_t reportId;
object_id_t objectId;
uint32_t parameter1;
uint32_t parameter2;
};
#endif /* MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_ */

136
pus/servicepackets/Service8Packets.h Normal file
View File

@ -0,0 +1,136 @@
/**
* \file Service8Packets.h
*
* \brief Structure of a Direct Command.
* Normal reply (subservice 130) consists of
* 1. Target object ID
* 2. Action ID (taget device has specified functions with action IDs)
* 3. Return Code
* 4. Optional step number for step replies
*
* Data reply (subservice 132) consists of
* 1. Target Object ID
* 2. Action ID
* 3. Data
*
* \date 01.07.2019
* \author R. Mueller
*/
#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
#include <framework/action/ActionMessage.h>
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/serialize/SerialBufferAdapter.h>
#include <framework/serialize/SerializeElement.h>
#include <framework/serialize/SerialLinkedListAdapter.h>
#include <framework/serialize/SerialFixedArrayListAdapter.h>
/**
* \brief Subservice 128
* \ingroup spacepackets
*/
class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
public:
//typedef uint16_t typeOfMaxData;
//static const typeOfMaxData MAX_DATA = 256;
DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
size_t size = sizeof(objectId);
SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
SerializeIF::Endianness::BIG);
size = sizeof(actionId);
SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
SerializeIF::Endianness::BIG);
parameterBuffer = dataBuffer_;
parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
}
ActionId_t getActionId() const {
return actionId;
}
object_id_t getObjectId() const {
return objectId;
}
const uint8_t* getParameters() {
return parameterBuffer;
}
uint32_t getParametersSize() const {
return parametersSize;
}
private:
DirectCommand(const DirectCommand &command);
object_id_t objectId;
ActionId_t actionId;
uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
};
/**
* \brief Subservice 130
* \ingroup spacepackets
*/
class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
public:
typedef uint16_t typeOfMaxDataSize;
static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
DataReply(object_id_t objectId_, ActionId_t actionId_,
const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
setLinks();
}
private:
DataReply(const DataReply &reply);
void setLinks() {
setStart(&objectId);
objectId.setNext(&actionId);
actionId.setNext(&replyData);
}
SerializeElement<object_id_t> objectId;
SerializeElement<ActionId_t> actionId;
SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
};
/**
* \brief Subservice 132
* \ingroup spacepackets
*/
class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
public:
typedef uint16_t typeOfMaxDataSize;
static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
bool isStep_ = false, uint8_t step_ = 0):
isStep(isStep_), objectId(objectId_), actionId(actionId_),
returnCode(returnCode_),step(step_) {
setLinks();
}
private:
void setLinks() {
setStart(&objectId);
objectId.setNext(&actionId);
actionId.setNext(&returnCode);
if(isStep) {
returnCode.setNext(&step);
}
}
bool isDataReply; //!< [EXPORT] : [IGNORE]
bool isStep; //!< [EXPORT] : [IGNORE]
SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
};
#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */

3
returnvalues/FwClassIds.h
View File

@ -64,7 +64,8 @@ enum {
LOCAL_POOL_OWNER_IF, //LPIF 58
POOL_VARIABLE_IF, //PVA 59
HOUSEKEEPING_MANAGER, //HKM 60
PUS_PARSER, //PUSP 61
DLE_ENCODER, //DLEE 61
PUS_PARSER, //PUSP 62
FW_CLASS_ID_COUNT //is actually count + 1 !
};

39
tcdistribution/CCSDSDistributor.cpp
View File

@ -2,30 +2,37 @@
#include <framework/tcdistribution/CCSDSDistributor.h>
#include <framework/tmtcpacket/SpacePacketBase.h>
CCSDSDistributor::CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId ) :
TcDistributor( setObjectId ), default_apid( setDefaultApid ), tcStore(NULL) {
CCSDSDistributor::CCSDSDistributor(uint16_t setDefaultApid,
object_id_t setObjectId):
TcDistributor(setObjectId), defaultApid( setDefaultApid ) {
}
CCSDSDistributor::~CCSDSDistributor() {
CCSDSDistributor::~CCSDSDistributor() {}
}
iterator_t CCSDSDistributor::selectDestination() {
// debug << "CCSDSDistributor::selectDestination received: " << this->currentMessage.getStorageId().pool_index << ", " << this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* p_packet = NULL;
TcDistributor::TcMqMapIter CCSDSDistributor::selectDestination() {
// sif::debug << "CCSDSDistributor::selectDestination received: " <<
// this->currentMessage.getStorageId().pool_index << ", " <<
// this->currentMessage.getStorageId().packet_index << std::endl;
const uint8_t* packet = nullptr;
size_t size = 0;
//TODO check returncode?
this->tcStore->getData( this->currentMessage.getStorageId(), &p_packet, &size );
SpacePacketBase current_packet( p_packet );
// info << "CCSDSDistributor::selectDestination has packet with APID " << std::hex << current_packet.getAPID() << std::dec << std::endl;
iterator_t position = this->queueMap.find( current_packet.getAPID() );
ReturnValue_t result = this->tcStore->getData(currentMessage.getStorageId(),
&packet, &size );
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "CCSDSDistributor::selectDestination: Getting data from"
"store failed!" << std::endl;
}
SpacePacketBase currentPacket(packet);
// sif:: info << "CCSDSDistributor::selectDestination has packet with APID "
// << std::hex << currentPacket.getAPID() << std::dec << std::endl;
TcMqMapIter position = this->queueMap.find(currentPacket.getAPID());
if ( position != this->queueMap.end() ) {
return position;
} else {
//The APID was not found. Forward packet to main SW-APID anyway to create acceptance failure report.
return this->queueMap.find( this->default_apid );
//The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return this->queueMap.find( this->defaultApid );
}
}
MessageQueueId_t CCSDSDistributor::getRequestQueue() {

91
tcdistribution/CCSDSDistributor.h
View File

@ -1,58 +1,69 @@
#ifndef CCSDSDISTRIBUTOR_H_
#define CCSDSDISTRIBUTOR_H_
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/tcdistribution/CCSDSDistributorIF.h>
#include <framework/tcdistribution/TcDistributor.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
/**
* An instantiation of the CCSDSDistributorIF.
* It receives Space Packets, and selects a destination depending on the APID of the telecommands.
* @brief An instantiation of the CCSDSDistributorIF.
* @details
* It receives Space Packets, and selects a destination depending on the
* APID of the telecommands.
* The Secondary Header (with Service/Subservice) is ignored.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class CCSDSDistributor : public TcDistributor, public CCSDSDistributorIF, public AcceptsTelecommandsIF {
protected:
/**
* This implementation checks if an Application with fitting APID has registered and forwards the
* packet to the according message queue.
* If the packet is not found, it returns the queue to \c default_apid, where a Acceptance Failure
* message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
iterator_t selectDestination();
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t default_apid;
/**
* A reference to the TC storage must be maintained, as this class handles pure Space Packets and there
* exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore;
/**
* The callback here handles the generation of acceptance success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class CCSDSDistributor : public TcDistributor,
public CCSDSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The constructor sets the default APID and calls the TcDistributor ctor with a certain object id.
* \c tcStore is set in the \c initialize method.
* @param set_default_apid The default APID, where packets with unknown destination are sent to.
* @brief The constructor sets the default APID and calls the
* TcDistributor ctor with a certain object id.
* @details
* @c tcStore is set in the @c initialize method.
* @param setDefaultApid The default APID, where packets with unknown
* destination are sent to.
*/
CCSDSDistributor( uint16_t setDefaultApid, object_id_t setObjectId );
CCSDSDistributor(uint16_t setDefaultApid, object_id_t setObjectId);
/**
* The destructor is empty.
*/
~CCSDSDistributor();
MessageQueueId_t getRequestQueue();
ReturnValue_t registerApplication( uint16_t apid, MessageQueueId_t id );
ReturnValue_t registerApplication( AcceptsTelecommandsIF* application );
virtual ~CCSDSDistributor();
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerApplication( uint16_t apid,
MessageQueueId_t id) override;
ReturnValue_t registerApplication(
AcceptsTelecommandsIF* application) override;
uint16_t getIdentifier();
ReturnValue_t initialize();
ReturnValue_t initialize() override;
protected:
/**
* This implementation checks if an application with fitting APID has
* registered and forwards the packet to the according message queue.
* If the packet is not found, it returns the queue to @c defaultApid,
* where a Acceptance Failure message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
TcMqMapIter selectDestination() override;
/**
* The default APID, where packets with unknown APID are sent to.
*/
uint16_t defaultApid;
/**
* A reference to the TC storage must be maintained, as this class handles
* pure Space Packets and there exists no SpacePacketStored class.
*/
StorageManagerIF* tcStore = nullptr;
/**
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
};
#endif /* CCSDSDISTRIBUTOR_H_ */
#endif /* FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_ */

12
tcdistribution/PUSDistributor.cpp
View File

@ -12,13 +12,13 @@ PUSDistributor::PUSDistributor(uint16_t setApid, object_id_t setObjectId,
PUSDistributor::~PUSDistributor() {}
iterator_t PUSDistributor::selectDestination() {
// debug << "PUSDistributor::handlePacket received: " << this->current_packet_id.store_index << ", " << this->current_packet_id.packet_index << std::endl;
iterator_t queueMapIt = this->queueMap.end();
TcDistributor::TcMqMapIter PUSDistributor::selectDestination() {
TcMqMapIter queueMapIt = this->queueMap.end();
this->currentPacket.setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket.getWholeData() != NULL) {
tcStatus = checker.checkPacket(&currentPacket);
// info << "PUSDistributor::handlePacket: packetCheck returned with " << (int)tc_status << std::endl;
// sif::debug << "PUSDistributor::handlePacket: packetCheck returned with "
// << (int)tcStatus << std::endl;
uint32_t queue_id = currentPacket.getService();
queueMapIt = this->queueMap.find(queue_id);
} else {
@ -29,8 +29,8 @@ iterator_t PUSDistributor::selectDestination() {
}
if (tcStatus != RETURN_OK) {
sif::debug << "PUSDistributor::handlePacket: error with " << (int) tcStatus
<< ", 0x"<< std::hex << (int) tcStatus << std::endl;
sif::debug << "PUSDistributor::handlePacket: Error with " << tcStatus
<< ", 0x"<< std::hex << tcStatus << std::dec << std::endl;
return this->queueMap.end();
} else {
return queueMapIt;

52
tcdistribution/PUSDistributor.h
View File

@ -1,5 +1,5 @@
#ifndef PUSDISTRIBUTOR_H_
#define PUSDISTRIBUTOR_H_
#ifndef FRAMEWORK_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/tcdistribution/PUSDistributorIF.h>
@ -9,37 +9,42 @@
#include <framework/tmtcservices/VerificationReporter.h>
/**
* This class accepts PUS Telecommands and forwards them to Application services.
* In addition, the class performs a formal packet check and sends acceptance success
* or failure messages.
* \ingroup tc_distribution
* This class accepts PUS Telecommands and forwards them to Application
* services. In addition, the class performs a formal packet check and
* sends acceptance success or failure messages.
* @ingroup tc_distribution
*/
class PUSDistributor: public TcDistributor,
public PUSDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The ctor passes \c set_apid to the checker class and calls the TcDistribution ctor with a certain object id.
* The ctor passes @c set_apid to the checker class and calls the
* TcDistribution ctor with a certain object id.
* @param setApid The APID of this receiving Application.
* @param setObjectId Object ID of the distributor itself
* @param setPacketSource Object ID of the source of TC packets. Must implement CCSDSDistributorIF.
* @param setPacketSource Object ID of the source of TC packets.
* Must implement CCSDSDistributorIF.
*/
PUSDistributor(uint16_t setApid, object_id_t setObjectId, object_id_t setPacketSource);
PUSDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource);
/**
* The destructor is empty.
*/
virtual ~PUSDistributor();
ReturnValue_t registerService(AcceptsTelecommandsIF* service);
MessageQueueId_t getRequestQueue();
uint16_t getIdentifier();
ReturnValue_t initialize();
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t initialize() override;
uint16_t getIdentifier() override;
protected:
/**
* This attribute contains the class, that performs a formal packet check.
*/
TcPacketCheck checker;
/**
* With this class, verification messages are sent to the TC Verification service.
* With this class, verification messages are sent to the
* TC Verification service.
*/
VerificationReporter verifyChannel;
/**
@ -47,21 +52,26 @@ protected:
*/
TcPacketStored currentPacket;
/**
* With this variable, the current check status is stored to generate acceptance messages later.
* With this variable, the current check status is stored to generate
* acceptance messages later.
*/
ReturnValue_t tcStatus;
const object_id_t packetSource;
/**
* This method reads the packet service, checks if such a service is registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification messages.
* @return Iterator to map entry of found service id or iterator to \c map.end().
* This method reads the packet service, checks if such a service is
* registered and forwards the packet to the destination.
* It also initiates the formal packet check and sending of verification
* messages.
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
iterator_t selectDestination();
TcMqMapIter selectDestination() override;
/**
* The callback here handles the generation of acceptance success/failure messages.
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus);
};
#endif /* PUSDISTRIBUTOR_H_ */
#endif /* FRAMEWORK_TCDISTRIBUTION_PUSDISTRIBUTOR_H_ */

5
tcdistribution/TcDistributor.cpp
View File

@ -15,7 +15,6 @@ TcDistributor::~TcDistributor() {
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t status = RETURN_OK;
// debug << "TcDistributor: performing Operation." << std::endl;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
status = handlePacket();
@ -29,7 +28,7 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t TcDistributor::handlePacket() {
iterator_t queueMapIt = this->selectDestination();
TcMqMapIter queueMapIt = this->selectDestination();
ReturnValue_t returnValue = RETURN_FAILED;
if (queueMapIt != this->queueMap.end()) {
returnValue = this->tcQueue->sendMessage(queueMapIt->second,
@ -41,7 +40,7 @@ ReturnValue_t TcDistributor::handlePacket() {
void TcDistributor::print() {
sif::debug << "Distributor content is: " << std::endl << "ID\t| message queue id"
<< std::endl;
for (iterator_t it = this->queueMap.begin(); it != this->queueMap.end();
for (TcMqMapIter it = this->queueMap.begin(); it != this->queueMap.end();
it++) {
sif::debug << it->first << "\t| 0x" << std::hex << it->second << std::dec
<< std::endl;

124
tcdistribution/TcDistributor.h
View File

@ -1,5 +1,6 @@
#ifndef TCDISTRIBUTOR_H_
#define TCDISTRIBUTOR_H_
#ifndef FRAMEWORK_TMTCSERVICES_TCDISTRIBUTOR_H_
#define FRAMEWORK_TMTCSERVICES_TCDISTRIBUTOR_H_
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
@ -9,16 +10,12 @@
#include <framework/ipc/MessageQueueIF.h>
#include <map>
/**
* \defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands belong to this group.
* @defgroup tc_distribution Telecommand Distribution
* All classes associated with Routing and Distribution of Telecommands
* belong to this group.
*/
/**
* This typedef simplifies writing down the \c map iterator.
*/
typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
/**
* This is the base class to implement distributors for Space Packets.
@ -28,59 +25,15 @@ typedef std::map<uint32_t, MessageQueueId_t>::iterator iterator_t;
* message queue ids to some identifier. The process of unpacking the
* destination information from the packet is handled by the child class
* implementations.
* \ingroup tc_distribution
* @ingroup tc_distribution
*/
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
std::map<uint32_t, MessageQueueId_t> queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual iterator_t selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or \c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of operation
* after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns \c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt to send the TC.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
class TcDistributor : public SystemObject,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public:
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
static const uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static const ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE( 1 );
static const ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE( 2 );
@ -110,6 +63,57 @@ public:
* queueMap.
*/
void print();
protected:
/**
* This is the receiving queue for incoming Telecommands.
* The child classes must make its queue id public.
*/
MessageQueueIF* tcQueue;
/**
* The last received incoming packet information is stored in this
* member.
* As different child classes unpack the incoming packet differently
* (i.e. as a CCSDS Space Packet or as a PUS Telecommand Packet), it
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
TcMessageQueueMap queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual TcMqMapIter selectDestination() = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.
* @return The message queue return value or \c RETURN_FAILED, in case no
* destination was found.
*/
ReturnValue_t handlePacket();
/**
* This method gives the child class a chance to perform some kind of operation
* after the parent tried to forward the message.
* A typically application would be sending success/failure messages.
* The default implementation just returns \c RETURN_OK.
* @param queueStatus The status of the message queue after an attempt to send the TC.
* @return - \c RETURN_OK on success
* - \c RETURN_FAILED on failure
*/
virtual ReturnValue_t callbackAfterSending( ReturnValue_t queueStatus );
private:
/**
* This constant sets the maximum number of packets distributed per call.
*/
static const uint8_t DISTRIBUTER_MAX_PACKETS = 128;
};

10
tmtcservices/AcceptsTelecommandsIF.h
View File

@ -1,5 +1,5 @@
#ifndef ACCEPTSTELECOMMANDSIF_H_
#define ACCEPTSTELECOMMANDSIF_H_
#ifndef FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
#define FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_
#include <framework/ipc/MessageQueueSenderIF.h>
@ -26,9 +26,9 @@ public:
/**
* @brief Getter for the service id.
* @details Any receiving service (at least any PUS service) shall have a
* service id. If the receiver can handle Telecommands, but for
* service ID. If the receiver can handle Telecommands, but for
* some reason has no service id, it shall return 0.
* @return The service id or 0.
* @return The service ID or 0.
*/
virtual uint16_t getIdentifier() = 0;
/**
@ -40,4 +40,4 @@ public:
};
#endif /* ACCEPTSTELECOMMANDSIF_H_ */
#endif /* FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_ */

18
tmtcservices/CommandingServiceBase.cpp
View File

@ -8,18 +8,28 @@
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
object_id_t CommandingServiceBase::packetSource = objects::NO_OBJECT;
object_id_t CommandingServiceBase::packetDestination = objects::NO_OBJECT;
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth) :
uint16_t commandTimeoutSeconds, size_t queueDepth) :
SystemObject(setObjectId), apid(apid), service(service),
timeoutSeconds(commandTimeoutSeconds),
commandMap(numberOfParallelCommands), packetSource(setPacketSource),
packetDestination(setPacketDestination) {
commandMap(numberOfParallelCommands) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
}
void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
this->packetSource = packetSource;
}
void CommandingServiceBase::setPacketDestination(
object_id_t packetDestination) {
this->packetDestination = packetDestination;
}
CommandingServiceBase::~CommandingServiceBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);

32
tmtcservices/CommandingServiceBase.h
View File

@ -10,11 +10,15 @@
#include <framework/tmtcservices/VerificationReporter.h>
#include <framework/ipc/CommandMessage.h>
#include <framework/container/FixedMap.h>
#include <framework/container/StaticFIFO.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.
@ -33,6 +37,7 @@ 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);
@ -57,10 +62,24 @@ public:
*/
CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds, 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.
@ -199,7 +218,7 @@ protected:
uint32_t state;
Command_t command;
object_id_t objectId;
fsfw::StaticFIFO<store_address_t, 3> fifo;
FIFO<store_address_t, 3> fifo;
};
using CommandMapIter = FixedMap<MessageQueueId_t,
@ -229,9 +248,8 @@ protected:
uint32_t failureParameter1 = 0;
uint32_t failureParameter2 = 0;
object_id_t packetSource;
object_id_t packetDestination;
static object_id_t packetSource;
static object_id_t packetDestination;
/**
* Pointer to the task which executes this component,

2
tmtcservices/PusParser.cpp
View File

@ -64,7 +64,7 @@ ReturnValue_t PusParser::readMultiplePackets(const uint8_t *frame,
return HasReturnvaluesIF::RETURN_OK;
}
fsfw::FIFO<PusParser::indexSizePair>* PusParser::fifo(){
DynamicFIFO<PusParser::indexSizePair>* PusParser::fifo(){
return &indexSizePairFIFO;
}

7
tmtcservices/PusParser.h
View File

@ -1,8 +1,7 @@
#ifndef FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
#define FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
#include <framework/container/FIFO.h>
#include <framework/container/DynamicFIFO.h>
#include <utility>
#include <cstdint>
@ -55,7 +54,7 @@ public:
* by the parsePusPackets() function.
* @return
*/
fsfw::FIFO<indexSizePair>* fifo();
DynamicFIFO<indexSizePair>* fifo();
/**
* Retrieve the next index and packet size pair from the FIFO.
@ -69,7 +68,7 @@ private:
//! A FIFO is used to store information about multiple PUS packets
//! inside the receive buffer. The maximum number of entries is defined
//! by the first constructor argument.
fsfw::FIFO<indexSizePair> indexSizePairFIFO;
DynamicFIFO<indexSizePair> indexSizePairFIFO;
bool storeSplitPackets = false;

36
tmtcservices/PusServiceBase.cpp
View File

@ -41,9 +41,14 @@ void PusServiceBase::handleRequestQueue() {
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;
// if(status != MessageQueueIF::EMPTY) {
// sif::debug << "PusServiceBase::performOperation: Receiving from "
// << "MQ ID: " << std::hex << "0x" << std::setw(8)
// << std::setfill('0') << this->requestQueue->getId()
// << std::dec << " returned: " << status << std::setfill(' ')
// << std::endl;
// }
if (status == RETURN_OK) {
this->currentPacket.setStoreAddress(message.getStorageId());
//info << "Service " << (uint16_t) this->serviceId <<
@ -74,9 +79,8 @@ void PusServiceBase::handleRequestQueue() {
}
else {
sif::error << "PusServiceBase::performOperation: Service "
<< (uint16_t) this->serviceId
<< ": Error receiving packet. Code: " << std::hex << status
<< std::dec << std::endl;
<< this->serviceId << ": Error receiving packet. Code: "
<< std::hex << status << std::dec << std::endl;
}
}
}
@ -98,19 +102,17 @@ ReturnValue_t PusServiceBase::initialize() {
packetDestination);
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
packetSource);
if ((destService != nullptr) && (distributor != nullptr)) {
this->requestQueue->setDefaultDestination(
destService->getReportReceptionQueue());
distributor->registerService(this);
return RETURN_OK;
}
else {
if (destService == nullptr or distributor == nullptr) {
sif::error << "PusServiceBase::PusServiceBase: Service "
<< (uint32_t) this->serviceId << ": Configuration error."
<< " Make sure packetSource and packetDestination are defined "
"correctly" << std::endl;
return RETURN_FAILED;
<< this->serviceId << ": Configuration error. Make sure "
<< "packetSource and packetDestination are defined correctly"
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
this->requestQueue->setDefaultDestination(
destService->getReportReceptionQueue());
distributor->registerService(this);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {

58
tmtcservices/TmTcBridge.cpp
View File

@ -5,11 +5,13 @@
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/globalfunctions/arrayprinter.h>
TmTcBridge::TmTcBridge(object_id_t objectId,
object_id_t ccsdsPacketDistributor): SystemObject(objectId),
ccsdsPacketDistributor(ccsdsPacketDistributor)
TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId):
SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId),
tcDestination(tcDestination)
{
TmTcReceptionQueue = QueueFactory::instance()->
tmTcReceptionQueue = QueueFactory::instance()->
createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
}
@ -42,20 +44,27 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
}
ReturnValue_t TmTcBridge::initialize() {
tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if (tcStore == NULL) {
return RETURN_FAILED;
tcStore = objectManager->get<StorageManagerIF>(tcStoreId);
if (tcStore == nullptr) {
sif::error << "TmTcBridge::initialize: TC store invalid. Make sure"
"it is created and set up properly." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
if (tmStore == NULL) {
return RETURN_FAILED;
tmStore = objectManager->get<StorageManagerIF>(tmStoreId);
if (tmStore == nullptr) {
sif::error << "TmTcBridge::initialize: TM store invalid. Make sure"
"it is created and set up properly." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelecommandsIF* tcDistributor =
objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
if (tcDistributor == NULL) {
return RETURN_FAILED;
objectManager->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
sif::error << "TmTcBridge::initialize: TC Distributor invalid"
<< std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
return RETURN_OK;
}
@ -73,10 +82,7 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
}
ReturnValue_t TmTcBridge::handleTc() {
uint8_t * recvBuffer = nullptr;
size_t recvLen = 0;
ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
return result;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t TmTcBridge::handleTm() {
@ -97,8 +103,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() {
TmTcMessage message;
const uint8_t* data = nullptr;
size_t size = 0;
for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message);
result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message))
{
if(communicationLinkUp == false) {
result = storeDownlinkData(&message);
@ -183,10 +189,20 @@ void TmTcBridge::registerCommDisconnect() {
}
MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
return TmTcReceptionQueue->getId();
return tmTcReceptionQueue->getId();
}
void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
arrayprinter::print(data, dataLen);
}
uint16_t TmTcBridge::getIdentifier() {
// This is no PUS service, so we just return 0
return 0;
}
MessageQueueId_t TmTcBridge::getRequestQueue() {
// Default implementation: Relay TC messages to TC distributor directly.
return tmTcReceptionQueue->getDefaultDestination();
}

55
tmtcservices/TmTcBridge.h
View File

@ -1,16 +1,18 @@
#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
#include <framework/objectmanager/SystemObject.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/ipc/MessageQueueIF.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/container/FIFO.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/container/StaticFIFO.h>
class TmTcBridge : public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF,
public SystemObject {
@ -22,7 +24,8 @@ public:
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
TmTcBridge(object_id_t objectId, object_id_t ccsdsPacketDistributor);
TmTcBridge(object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId);
virtual ~TmTcBridge();
/**
@ -57,45 +60,41 @@ public:
*/
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/**
* Return TMTC Reception Queue
* @param virtualChannel
* @return
*/
MessageQueueId_t getReportReceptionQueue(
/** AcceptsTelemetryIF override */
virtual MessageQueueId_t getReportReceptionQueue(
uint8_t virtualChannel = 0) override;
/** AcceptsTelecommandsIF override */
virtual uint16_t getIdentifier() override;
virtual MessageQueueId_t getRequestQueue() override;
protected:
//! Cached for initialize function.
object_id_t tmStoreId = objects::NO_OBJECT;
object_id_t tcStoreId = objects::NO_OBJECT;
object_id_t tcDestination = objects::NO_OBJECT;
//! Used to send and receive TMTC messages.
//! TmTcMessage is used to transport messages between tasks.
MessageQueueIF* TmTcReceptionQueue = nullptr;
StorageManagerIF* tcStore = nullptr;
MessageQueueIF* tmTcReceptionQueue = nullptr;
StorageManagerIF* tmStore = nullptr;
object_id_t ccsdsPacketDistributor = 0;
//! Used to specify whether communication link is up
bool communicationLinkUp = false;
StorageManagerIF* tcStore = nullptr;
//! Used to specify whether communication link is up by default.
bool communicationLinkUp = true;
bool tmStored = false;
/**
* @brief Handle TC reception
* @details
* Default implementation provided, but is empty.
* Child handler should override this in most cases orsend TC to the
* TC distributor directly with the address of the reception queue by
* calling getReportRecptionQueue()
* In most cases, TC reception will be handled in a separate task anyway.
* @return
*/
virtual ReturnValue_t handleTc();
/**
* Implemented by child class. Perform receiving of Telecommand,
* for example by implementing specific drivers or wrappers,
* e.g. UART Communication or an ethernet stack
* @param recvBuffer [out] Received data
* @param size [out] Size of received data
* @return
*/
virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
/**
* Handle Telemetry. Default implementation provided.
* Calls sendTm()
@ -143,7 +142,7 @@ protected:
* This fifo can be used to store downlink data
* which can not be sent at the moment.
*/
fsfw::StaticFIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
};

64
tmtcservices/VerificationReporter.cpp
View File

@ -1,21 +1,22 @@
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
#include <framework/tmtcservices/PusVerificationReport.h>
#include <framework/tmtcservices/VerificationReporter.h>
object_id_t VerificationReporter::messageReceiver = 0;
#include <framework/ipc/MessageQueueIF.h>
#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
#include <framework/tmtcservices/PusVerificationReport.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/objectmanager/frameworkObjects.h>
object_id_t VerificationReporter::messageReceiver = objects::PUS_SERVICE_1;
VerificationReporter::VerificationReporter() :
acknowledgeQueue() {
acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
}
VerificationReporter::~VerificationReporter() {
//Default, empty
}
VerificationReporter::~VerificationReporter() {}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
TcPacketBase* current_packet, uint8_t set_step) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(set_report_id,
@ -23,33 +24,35 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error << "VerificationReporter::sendSuccessReport: Error writing "
"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
<< "to queue. Code: " << std::hex << status << std::dec
<< std::endl;
}
}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(set_report_id, ackFlags, tcPacketId,
tcSequenceControl, 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error << "VerificationReporter::sendSuccessReport: Error writing "
"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
<< "to queue. Code: " << std::hex << status << std::dec
<< std::endl;
}
}
void VerificationReporter::sendFailureReport(uint8_t report_id,
TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
uint32_t parameter1, uint32_t parameter2) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(report_id,
@ -60,9 +63,9 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendFailureReport Error writing "
<< "to queue. Code: " << std::hex << status << std::dec
<< std::endl;
}
}
@ -70,7 +73,7 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code, uint8_t step, uint32_t parameter1,
uint32_t parameter2) {
if (this->acknowledgeQueue == 0) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
PusVerificationMessage message(report_id, ackFlags, tcPacketId,
@ -78,20 +81,25 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
sif::error
<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
<< (uint16_t) status << std::endl;
sif::error << "VerificationReporter::sendFailureReport Error writing "
<< "to queue. Code: " << std::hex << status << std::dec
<< std::endl;
}
}
void VerificationReporter::initialize() {
if(messageReceiver == objects::NO_OBJECT) {
sif::warning << "VerificationReporter::initialize: Verification message"
" receiver object ID not set yet in Factory!" << std::endl;
return;
}
AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
messageReceiver);
if (temp != NULL) {
this->acknowledgeQueue = temp->getVerificationQueue();
} else {
sif::error
<< "VerificationReporter::VerificationReporter: Configuration error."
<< std::endl;
if (temp == nullptr) {
sif::error << "VerificationReporter::initialize: Message "
<< "receiver invalid. Make sure it is set up properly and "
<<"implementsAcceptsVerifyMessageIF" << std::endl;
}
this->acknowledgeQueue = temp->getVerificationQueue();
}

39
tmtcservices/VerificationReporter.h
View File

@ -1,5 +1,5 @@
#ifndef VERIFICATIONREPORTER_H_
#define VERIFICATIONREPORTER_H_
#ifndef FRAMEWORK_TMTCSERVICES_VERIFICATIONREPORTER_H_
#define FRAMEWORK_TMTCSERVICES_VERIFICATIONREPORTER_H_
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tmtcservices/PusVerificationReport.h>
@ -8,24 +8,43 @@ namespace Factory{
void setStaticFrameworkObjectIds();
}
/**
* @brief This helper object is used to forward verification messages
* which are generated by the Flight Software Framework.
* @details
* The messages can be relayed to an arbitrary object, for example a dedicated
* Verification Reporter. The destination is set by setting the static framework
* Id VerificationReporter::messageReceiver. The default verification reporter
* will be the PUS service 1, which sends verification messages according
* to the PUS standard.
*
*/
class VerificationReporter {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
VerificationReporter();
virtual ~VerificationReporter();
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet, uint8_t set_step = 0 );
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, uint8_t set_step = 0);
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet, ReturnValue_t error_code = 0,
uint8_t step = 0, uint32_t parameter1 = 0, uint32_t parameter2 = 0 );
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
uint8_t set_step = 0 );
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
uint16_t tcPacketId, uint16_t tcSequenceControl,
uint8_t set_step = 0);
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
ReturnValue_t error_code = 0,
uint8_t step = 0, uint32_t parameter1 = 0,
uint32_t parameter2 = 0 );
void sendFailureReport(uint8_t report_id,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl, ReturnValue_t error_code = 0, uint8_t step = 0,
uint8_t ackFlags, uint16_t tcPacketId, uint16_t tcSequenceControl,
ReturnValue_t error_code = 0, uint8_t step = 0,
uint32_t parameter1 = 0, uint32_t parameter2 = 0);
void initialize();
private:
static object_id_t messageReceiver;
MessageQueueId_t acknowledgeQueue;
};
#endif /* VERIFICATIONREPORTER_H_ */
#endif /* FRAMEWORK_TMTCSERVICES_VERIFICATIONREPORTER_H_ */