Merge remote-tracking branch 'upstream/development' into mueller/enhanced-controller

CHANGELOG

@@ -1,4 +1,4 @@
-## Changes from ASTP 0.0.1 to 0.0.2
+## Changes from ASTP 0.0.1 to 1.0.0
 
 
 ### FreeRTOS OSAL
@@ -6,6 +6,10 @@
 - vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
 a C file without issues
 
+### PUS Services
+
+- PUS Health Service added, which allows to command and retrieve health via PUS packets
+
 ### EnhancedControllerBase
 
 - New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF

defaultcfg/fsfwconfig/FSFWConfig.h

@@ -1,7 +1,6 @@
 #ifndef CONFIG_FSFWCONFIG_H_
 #define CONFIG_FSFWCONFIG_H_
 
-#include <FSFWVersion.h>
 #include <cstddef>
 #include <cstdint>
 
@@ -9,12 +8,12 @@
 //! Those can lead to code bloat.
 #define FSFW_CPP_OSTREAM_ENABLED 	1
 
-//! Reduced printout to further decrese code size
+//! Reduced printout to further decrease code size
 //! Be careful, this also turns off most diagnostic prinouts!
-#define FSFW_REDUCED_PRINTOUT		0
+#define FSFW_ENHANCED_PRINTOUT		0
 
-//! Can be used to enable debugging printouts for developing the FSFW
+//! Can be used to enable additional debugging printouts for developing the FSFW
-#define FSFW_DEBUGGING              0
+#define FSFW_PRINT_VERBOSITY_LEVEL   0
 
 //! Defines the FIFO depth of each commanding service base which
 //! also determines how many commands a CSB service can handle in one cycle
@@ -41,6 +40,9 @@
 //! will not be provided. This define should be set to 1 if this is the case.
 #define FSFW_NO_C99_IO 	            1
 
+//! Specify whether a special mode store is used for Subsystem components.
+#define FSFW_USE_MODESTORE          0
+
 namespace fsfwconfig {
 //! Default timestamp size. The default timestamp will be an eight byte CDC
 //! short timestamp.

pus/CService201HealthCommanding.cpp

@@ -0,0 +1,106 @@
+#include "CService201HealthCommanding.h"
+
+#include "../health/HasHealthIF.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include "../health/HealthMessage.h"
+#include "servicepackets/Service201Packets.h"
+
+CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
+        uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+        uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(objectId, apid, serviceId,
+		        numParallelCommands, commandTimeoutSeconds) {
+}
+
+CService201HealthCommanding::~CService201HealthCommanding() {
+}
+
+ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
+	switch(subservice) {
+	case(Subservice::COMMAND_SET_HEALTH):
+	case(Subservice::COMMAND_ANNOUNCE_HEALTH):
+	case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
+		return RETURN_OK;
+	default:
+		sif::error << "Invalid Subservice" << std::endl;
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
+        uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+        MessageQueueId_t *id, object_id_t *objectId) {
+    if(tcDataLen < sizeof(object_id_t)) {
+        return CommandingServiceBase::INVALID_TC;
+    }
+    SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
+            SerializeIF::Endianness::BIG);
+
+    return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
+        MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+    HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
+    if(destination == nullptr) {
+        return CommandingServiceBase::INVALID_OBJECT;
+    }
+
+    *messageQueueToSet = destination->getCommandQueue();
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CService201HealthCommanding::prepareCommand(
+        CommandMessage* message, uint8_t subservice, const uint8_t *tcData,
+		size_t tcDataLen, uint32_t *state, object_id_t objectId) {
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    switch(subservice) {
+    case(Subservice::COMMAND_SET_HEALTH): {
+        HealthSetCommand healthCommand;
+        result = healthCommand.deSerialize(&tcData, &tcDataLen,
+                SerializeIF::Endianness::BIG);
+        if (result != RETURN_OK) {
+            break;
+        }
+        HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
+                healthCommand.getHealth());
+        break;
+    }
+    case(Subservice::COMMAND_ANNOUNCE_HEALTH): {
+        HealthMessage::setHealthMessage(message,
+                HealthMessage::HEALTH_ANNOUNCE);
+        break;
+    }
+    case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
+        HealthMessage::setHealthMessage(message,
+                HealthMessage::HEALTH_ANNOUNCE_ALL);
+        break;
+    }
+    }
+    return result;
+}
+
+ReturnValue_t CService201HealthCommanding::handleReply
+		(const CommandMessage* reply, Command_t previousCommand,
+		uint32_t *state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool *isStep) {
+	Command_t replyId = reply->getCommand();
+	if (replyId == HealthMessage::REPLY_HEALTH_SET) {
+		return EXECUTION_COMPLETE;
+	}
+	else if(replyId == CommandMessageIF::REPLY_REJECTED) {
+		return reply->getReplyRejectedReason();
+	}
+	return CommandingServiceBase::INVALID_REPLY;
+}
+
+// Not used for now, health state already reported by event
+ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
+        const CommandMessage* reply) {
+	prepareHealthSetReply(reply);
+	uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
+	uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
+	HealthSetReply healthSetReply(health, oldHealth);
+	return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
+}
+

pus/CService201HealthCommanding.h

@@ -0,0 +1,63 @@
+#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
+#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
+
+#include "../tmtcservices/CommandingServiceBase.h"
+
+/**
+ * @brief   Custom PUS service to set health of all objects
+ *          implementing hasHealthIF.
+ *
+ * Examples: Device Handlers, Assemblies or Subsystems.
+ * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
+ * Dissertation Baetz p. 115, 116, 165-167.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * child class like this service
+ *
+ */
+class CService201HealthCommanding: public CommandingServiceBase {
+public:
+
+	CService201HealthCommanding(object_id_t objectId, uint16_t apid,
+	        uint8_t serviceId, uint8_t numParallelCommands = 4,
+	        uint16_t commandTimeoutSeconds = 60);
+	virtual~ CService201HealthCommanding();
+protected:
+	/* CSB abstract function implementations */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	/** Prepare health command */
+	ReturnValue_t prepareCommand(CommandMessage* message,
+			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+			uint32_t *state, object_id_t objectId) override;
+	/** Handle health reply */
+	ReturnValue_t handleReply(const CommandMessage* reply,
+			Command_t previousCommand, uint32_t *state,
+			CommandMessage* optionalNextCommand, object_id_t objectId,
+			bool *isStep) override;
+
+private:
+	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
+			const uint8_t* tcData, size_t tcDataLen);
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
+
+	ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
+
+	enum Subservice {
+	    //! [EXPORT] : [TC] Set health of target object
+		COMMAND_SET_HEALTH = 1,
+		//! [EXPORT] : [TM] Reply to health set command which also provides old health
+		REPLY_HEALTH_SET = 2,
+		//! [EXPORT] : [TC] Commands object to announce their health as an event
+		COMMAND_ANNOUNCE_HEALTH = 3,
+		//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
+		COMMAND_ANNOUNCE_HEALTH_ALL = 4
+	};
+};
+
+#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */