Updated FreeRTOS Osal
CommandingServiceBase is no longer a template
This commit is contained in:
parent
fd782b20c0
commit
cd7e47ccbb
@ -2,7 +2,9 @@
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#define FIXEDARRAYLIST_H_
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#include <framework/container/ArrayList.h>
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/**
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* \ingroup container
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*/
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template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
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class FixedArrayList: public ArrayList<T, count_t> {
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private:
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@ -5,7 +5,9 @@
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <utility>
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/**
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* \ingroup container
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*/
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template<typename key_t, typename T>
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class FixedMap: public SerializeIF {
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public:
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@ -4,7 +4,9 @@
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#include <framework/container/ArrayList.h>
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#include <cstring>
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#include <set>
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/**
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* \ingroup container
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*/
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template<typename key_t, typename T, typename KEY_COMPARE = std::less<key_t>>
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class FixedOrderedMultimap {
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public:
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@ -3,7 +3,9 @@
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#include <stddef.h>
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#include <stdint.h>
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/**
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* \ingroup container
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*/
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template<typename T>
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class LinkedElement {
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public:
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@ -10,6 +10,7 @@
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#include <framework/subsystem/SubsystemBase.h>
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#include <framework/thermal/ThermalComponentIF.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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object_id_t DeviceHandlerBase::powerSwitcherId = 0;
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object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
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@ -372,7 +373,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode) {
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void DeviceHandlerBase::replyReturnvalueToCommand(ReturnValue_t status,
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uint32_t parameter) {
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//This is actually the reply protocol for raw and misc dh commands.
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//This is actually the reply protocol for raw and misc DH commands.
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if (status == RETURN_OK) {
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CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, parameter);
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commandQueue->reply(&reply);
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@ -672,7 +673,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
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CommandMessage message;
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DeviceHandlerMessage::setDeviceHandlerRawReplayMessage(&message,
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DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
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getObjectId(), address, isCommand);
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// this->DeviceHandlerCommand = CommandMessage::CMD_NONE;
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@ -29,7 +29,15 @@ void setStaticFrameworkObjectIds();
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class StorageManagerIF;
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/**
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* This is the abstract base class for device handlers.
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* \defgroup devices Devices
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* Contains all devices and the DeviceHandlerBase class.
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*/
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/**
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* \brief This is the abstract base class for device handlers.
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*
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* Documentation: Dissertation Baetz p.138,139, p.141-149
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* SpaceWire Remote Memory Access Protocol (RMAP)
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*
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* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, the RMAP communication and the
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* communication with commanding objects.
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@ -41,6 +49,9 @@ class StorageManagerIF;
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* a default implementation is provided.
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*
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* Device handler instances should extend this class and implement the abstract functions.
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* Components and drivers can send so called cookies which are used for communication
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*
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* \ingroup devices
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*/
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class DeviceHandlerBase: public DeviceHandlerIF,
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public HasReturnvaluesIF,
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@ -68,6 +79,32 @@ public:
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virtual MessageQueueId_t getCommandQueue(void) const;
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/**
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* This function is a core component and is called periodically.
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* General sequence:
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* If the State is SEND_WRITE:
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* 1. Set the cookie state to COOKIE_UNUSED and read the command queue
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* 2. Handles Device State Modes by calling doStateMachine().
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* This function calls callChildStatemachine() which calls the abstract functions
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* doStartUp() and doShutDown()
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* 3. Check switch states by calling checkSwitchStates()
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* 4. Decrements counter for timeout of replies by calling decrementDeviceReplyMap()
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* 5. Performs FDIR check for failures
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* 6. Calls hkSwitcher.performOperation()
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* 7. If the device mode is MODE_OFF, return RETURN_OK. Otherwise, perform the Action property
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* and performs depending on value specified
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* by input value counter. The child class tells base class what to do by setting this value.
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* - SEND_WRITE: Send data or commands to device by calling doSendWrite()
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* Calls abstract funtions buildNomalDeviceCommand()
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* or buildTransitionDeviceCommand()
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* - GET_WRITE: Get ackknowledgement for sending by calling doGetWrite().
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* Calls abstract functions scanForReply() and interpretDeviceReply().
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* - SEND_READ: Request reading data from device by calling doSendRead()
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* - GET_READ: Access requested reading data by calling doGetRead()
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* @param counter Specifies which Action to perform
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* @return RETURN_OK for successful execution
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*/
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virtual ReturnValue_t performOperation(uint8_t counter);
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virtual ReturnValue_t initialize();
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@ -56,7 +56,7 @@ object_id_t DeviceHandlerMessage::getDeviceObjectId(
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return message->getParameter();
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}
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void DeviceHandlerMessage::setDeviceHandlerRawReplayMessage(
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void DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(
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CommandMessage* message, object_id_t deviceObjectid,
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store_address_t rawPacketStoreId, bool isCommand) {
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if (isCommand) {
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@ -71,7 +71,7 @@ public:
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static void setDeviceHandlerRawCommandMessage(CommandMessage* message,
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store_address_t rawPacketStoreId);
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static void setDeviceHandlerRawReplayMessage(CommandMessage* message,
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static void setDeviceHandlerRawReplyMessage(CommandMessage* message,
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object_id_t deviceObjectid, store_address_t rawPacketStoreId,
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bool isCommand);
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@ -51,7 +51,7 @@ EventSeverity_t EventMessage::getSeverity() {
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return EVENT::getSeverity(event);
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}
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void EventMessage::setSeverety(EventSeverity_t severity) {
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void EventMessage::setSeverity(EventSeverity_t severity) {
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Event event;
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memcpy(&event, getData(), sizeof(Event));
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event = (event & 0xFF00FFFF) + (severity << 16);
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@ -30,7 +30,7 @@ public:
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uint8_t getMessageId();
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void setMessageId(uint8_t id);
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EventSeverity_t getSeverity();
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void setSeverety(EventSeverity_t severity);
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void setSeverity(EventSeverity_t severity);
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EventId_t getEventId();
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void setEventId(EventId_t event);
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object_id_t getReporter();
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@ -3,20 +3,21 @@
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namespace SUBSYSTEM_ID {
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enum {
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MEMORY = 22,
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OBSW = 26,
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CDH = 28,
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TCS_1 = 59,
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PCDU_1 = 42,
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PCDU_2 = 43,
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HEATER = 50,
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T_SENSORS = 52,
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FDIR = 70,
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FDIR_1 = 71,
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FDIR_2 = 72,
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HK = 73,
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SYSTEM_MANAGER = 74,
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SYSTEM_MANAGER_1 = 75,
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SYSTEM_1 = 79,
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CDH = 28,
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TCS_1 = 59,
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PCDU_1 = 42,
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PCDU_2 = 43,
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HEATER = 50,
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T_SENSORS = 52,
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FDIR = 70,
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FDIR_1 = 71,
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FDIR_2 = 72,
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HK = 73,
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SYSTEM_MANAGER = 74,
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SYSTEM_MANAGER_1 = 75,
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SYSTEM_1 = 79,
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};
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}
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* No space left for more messages
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*/
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static const ReturnValue_t FULL = MAKE_RETURN_CODE(2);
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/**
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* Returned if a reply method was called without partner
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*/
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static const ReturnValue_t NO_REPLY_PARTNER = MAKE_RETURN_CODE(3);
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virtual ~MessageQueueIF() {}
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/**
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@ -28,6 +32,8 @@ public:
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* lastParnter information as destination. If there was no message received yet
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* (i.e. lastPartner is zero), an error code is returned.
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* @param message A pointer to a previously created message, which is sent.
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* \return RETURN_OK if ok
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* \return NO_REPLY_PARTNER Should return NO_REPLY_PARTNER if partner was found
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*/
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virtual ReturnValue_t reply( MessageQueueMessage* message ) = 0;
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*/
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static ReturnValue_t sendMessage(MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom =
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MessageQueueSenderIF::NO_QUEUE);
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MessageQueueSenderIF::NO_QUEUE, bool ignoreFault=false);
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private:
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MessageQueueSenderIF() {}
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};
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@ -1,80 +0,0 @@
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#ifdef LEON
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#include <bsp_flp/hw_prom/HwProm.h>
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#endif
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#include <framework/memory/LocalMemory.h>
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#include <framework/serialize/SerializeAdapter.h>
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#include <framework/ipc/QueueFactory.h>
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LocalMemory::LocalMemory(object_id_t setObjectId) :
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SystemObject(setObjectId), commandQueue(NULL), memoryHelper(this,
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NULL) {
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commandQueue = QueueFactory::instance()->createMessageQueue();
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}
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LocalMemory::~LocalMemory() {
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QueueFactory::instance()->deleteMessageQueue(commandQueue);
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}
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ReturnValue_t LocalMemory::performOperation(uint8_t opCode) {
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ReturnValue_t handleResult;
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CommandMessage message;
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for (ReturnValue_t result = commandQueue->receiveMessage(&message);
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result == HasReturnvaluesIF::RETURN_OK;
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result = commandQueue->receiveMessage(&message)) {
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handleResult = memoryHelper.handleMemoryCommand(&message);
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if (handleResult != HasReturnvaluesIF::RETURN_OK) {
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message.setToUnknownCommand();
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commandQueue->reply(&message);
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t LocalMemory::handleMemoryLoad(uint32_t address,
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const uint8_t* data, uint32_t size, uint8_t** dataPointer) {
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ReturnValue_t result = checkWriteAccess(address, size);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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uint32_t value = 0;
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for (uint32_t temp_address = address; temp_address < (address + size);
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temp_address += 4, data += 4) {
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value = (data[0] << 24) + (data[1] << 16) + (data[2] << 8) + data[3];
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*((uint32_t*) temp_address) = value;
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}
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}
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return result;
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}
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ReturnValue_t LocalMemory::handleMemoryDump(uint32_t address, uint32_t size,
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uint8_t** dataPointer, uint8_t* dumpTarget) {
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*dataPointer = (uint8_t*) address;
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return POINTS_TO_MEMORY;
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}
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ReturnValue_t LocalMemory::initialize() {
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return memoryHelper.initialize(commandQueue);
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}
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MessageQueueId_t LocalMemory::getCommandQueue() const {
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return commandQueue->getId();
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}
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ReturnValue_t LocalMemory::checkWriteAccess(uint32_t address, uint32_t size) {
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if ((address % 4) != 0) {
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return UNALIGNED_ACCESS;
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}
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if ((size % 4) != 0) {
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return INVALID_SIZE;
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}
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#ifdef LEON
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if (address < 0x40000000) {
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HwProm prom(false);
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if (prom.getPromWriteEnabled() != HwProm::WRITE_ENABLED) {
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return WRITE_PROTECTED;
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}
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}
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#endif
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -1,29 +0,0 @@
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#ifndef LOCALMEMORY_H_
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#define LOCALMEMORY_H_
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#include <framework/memory/HasMemoryIF.h>
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#include <framework/memory/MemoryHelper.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/ipc/MessageQueueIF.h>
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#include <list>
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class LocalMemory: public AcceptsMemoryMessagesIF,
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public ExecutableObjectIF,
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public SystemObject {
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private:
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MessageQueueIF* commandQueue;
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MemoryHelper memoryHelper;
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ReturnValue_t checkWriteAccess(uint32_t address, uint32_t size);
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public:
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LocalMemory(object_id_t setObjectId);
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~LocalMemory();
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ReturnValue_t performOperation(uint8_t opCode);
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ReturnValue_t initialize();
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MessageQueueId_t getCommandQueue() const;
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ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
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uint32_t size, uint8_t** dataPointer);
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ReturnValue_t handleMemoryDump(uint32_t address, uint32_t size,
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uint8_t** dataPointer, uint8_t* dumpTarget);
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};
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#endif /* LOCALMEMORY_H_ */
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#include "FixedTimeslotTask.h"
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uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
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const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
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FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
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TaskStackSize setStack, TaskPeriod overallPeriod,
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// TODO I guess we should have a way of checking if we are in an ISR and then use the "fromISR" versions of all calls
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MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
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lastPartner(0), defaultDestination(0) {
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defaultDestination(0),lastPartner(0) {
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handle = xQueueCreate(message_depth, max_message_size);
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if (handle == NULL) {
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//TODO
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;
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error << "MessageQueue creation failed" << std::endl;
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}
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}
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@ -32,8 +31,7 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
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if (this->lastPartner != 0) {
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return sendMessageFrom(this->lastPartner, message, this->getId());
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} else {
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//TODO: Good returnCode
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return HasReturnvaluesIF::RETURN_FAILED;
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return NO_REPLY_PARTNER;
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}
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}
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@ -45,8 +43,9 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
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}
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ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
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BaseType_t result = xQueueReceive(handle, message, 0);
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BaseType_t result = xQueueReceive(handle,reinterpret_cast<void*>(message->getBuffer()), 0);
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if (result == pdPASS){
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this->lastPartner = message->getSender();
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return MessageQueueIF::EMPTY;
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@ -75,16 +74,7 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
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ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
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MessageQueueMessage* message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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message->setSender(sentFrom);
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BaseType_t result = xQueueSendToBack((void * )sendTo, message, 0);
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if (result != pdPASS) {
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if (!ignoreFault) {
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//TODO errr reporter
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}
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return MessageQueueIF::FULL;
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}
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return HasReturnvaluesIF::RETURN_OK;
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return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
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}
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ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
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@ -99,4 +89,23 @@ MessageQueueId_t MessageQueue::getDefaultDestination() const {
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bool MessageQueue::isDefaultDestinationSet() const {
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return 0;
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}
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ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
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MessageQueueMessage *message, MessageQueueId_t sentFrom,
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bool ignoreFault) {
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message->setSender(sentFrom);
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BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
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if (result != pdPASS) {
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if (!ignoreFault) {
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InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
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objects::INTERNAL_ERROR_REPORTER);
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if (internalErrorReporter != NULL) {
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internalErrorReporter->queueMessageNotSent();
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}
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}
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return MessageQueueIF::FULL;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -28,6 +28,7 @@
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* \ingroup message_queue
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*/
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class MessageQueue : public MessageQueueIF {
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friend class MessageQueueSenderIF;
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public:
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/**
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* @brief The constructor initializes and configures the message queue.
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@ -136,6 +137,19 @@ public:
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MessageQueueId_t getDefaultDestination() const;
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bool isDefaultDestinationSet() const;
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protected:
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/**
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* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
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* \details This method takes the message provided, adds the sentFrom information and passes
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* it on to the destination provided with an operating system call. The OS's return
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* value is returned.
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* \param sendTo This parameter specifies the message queue id to send the message to.
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* \param message This is a pointer to a previously created message, which is sent.
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* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
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* This variable is set to zero by default.
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* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
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*/
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static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
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private:
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QueueHandle_t handle;
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MessageQueueId_t defaultDestination;
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@ -8,7 +8,10 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
|
||||
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
|
||||
setDeadlineMissedFunc) {
|
||||
|
||||
xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
|
||||
BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
|
||||
if(status != pdPASS){
|
||||
debug << "PeriodicTask Insufficient heap memory remaining. Status: " << status << std::endl;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
@ -7,9 +7,8 @@ QueueFactory* QueueFactory::factoryInstance = NULL;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom) {
|
||||
|
||||
return 0;
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
QueueFactory* QueueFactory::instance() {
|
||||
|
14
osal/FreeRTOS/README.md
Normal file
14
osal/FreeRTOS/README.md
Normal file
@ -0,0 +1,14 @@
|
||||
FreeRTOS Readme
|
||||
=
|
||||
|
||||
## Main.cpp Notices
|
||||
|
||||
### Tasks
|
||||
|
||||
A FreeRTOS application needs to start
|
||||
|
||||
> vTaskStartScheduler()
|
||||
|
||||
before creating Tasks.
|
||||
Keep this in mind for the mission dependent code!
|
||||
This has to be done before the Task Factory is used.
|
@ -4,7 +4,7 @@
|
||||
#include "PeriodicTask.h"
|
||||
#include "FixedTimeslotTask.h"
|
||||
|
||||
//TODO: Different variant than the lazy loading in QueueFactory. What's better and why?
|
||||
|
||||
TaskFactory* TaskFactory::factoryInstance = new TaskFactory();
|
||||
|
||||
TaskFactory::~TaskFactory() {
|
||||
@ -13,7 +13,9 @@ TaskFactory::~TaskFactory() {
|
||||
TaskFactory* TaskFactory::instance() {
|
||||
return TaskFactory::factoryInstance;
|
||||
}
|
||||
|
||||
/***
|
||||
* Keep in Mind that you need to call before this vTaskStartScheduler()!
|
||||
*/
|
||||
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
|
||||
TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||
TaskPeriod period_,
|
||||
@ -21,7 +23,9 @@ PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
|
||||
return (PeriodicTaskIF*) (new PeriodicTask(name_, taskPriority_, stackSize_,
|
||||
period_, deadLineMissedFunction_));
|
||||
}
|
||||
|
||||
/***
|
||||
* Keep in Mind that you need to call before this vTaskStartScheduler()!
|
||||
*/
|
||||
FixedTimeslotTaskIF* TaskFactory::createFixedTimeslotTask(TaskName name_,
|
||||
TaskPriority taskPriority_, TaskStackSize stackSize_,
|
||||
TaskPeriod period_,
|
||||
|
@ -1,32 +0,0 @@
|
||||
//entry point into "bsp"
|
||||
//TODO This can be done mission dependent and some low level calls before vTaskStartScheduler might be important
|
||||
//void init(void);
|
||||
//
|
||||
//#include <FreeRTOS.h>
|
||||
//#include <FreeRTOSConfig.h>
|
||||
//#include "task.h"
|
||||
//
|
||||
//
|
||||
//void initTask(void *parameters) {
|
||||
// init();
|
||||
//}
|
||||
//
|
||||
//int main(void) {
|
||||
//
|
||||
// if ( pdPASS
|
||||
// != xTaskCreate(initTask, "init", 512, NULL,
|
||||
// configMAX_PRIORITIES - 1, NULL)) {
|
||||
// //print_uart0("Could not create task1\r\n");
|
||||
// }
|
||||
//
|
||||
// vTaskStartScheduler();
|
||||
//
|
||||
// //Scheduler should never return
|
||||
//
|
||||
// //print_uart0("This is bad\n");
|
||||
//
|
||||
// for (;;)
|
||||
// ;
|
||||
//
|
||||
// return 0;
|
||||
//}
|
@ -53,9 +53,6 @@ void FixedTimeslotTask::taskFunctionality() {
|
||||
if (!started) {
|
||||
suspend();
|
||||
}
|
||||
// A local iterator for the Polling Sequence Table is created to find the start time for the first entry.
|
||||
std::list<FixedSequenceSlot*>::iterator it = pst.current;
|
||||
|
||||
//The start time for the first entry is read.
|
||||
uint64_t lastWakeTime = getCurrentMonotonicTimeMs();
|
||||
uint64_t interval = pst.getIntervalToNextSlotMs();
|
||||
|
@ -8,8 +8,7 @@
|
||||
|
||||
|
||||
MessageQueue::MessageQueue(size_t message_depth, size_t max_message_size) :
|
||||
id(0), lastPartner(0), defaultDestination(NO_QUEUE), internalErrorReporter(
|
||||
NULL) {
|
||||
id(0), lastPartner(0), defaultDestination(NO_QUEUE) {
|
||||
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
|
||||
mq_attr attributes;
|
||||
this->id = 0;
|
||||
@ -81,8 +80,7 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
||||
if (this->lastPartner != 0) {
|
||||
return sendMessageFrom(this->lastPartner, message, this->getId());
|
||||
} else {
|
||||
//TODO: Good returnCode
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
return NO_REPLY_PARTNER;
|
||||
}
|
||||
}
|
||||
|
||||
@ -198,19 +196,40 @@ void MessageQueue::setDefaultDestination(MessageQueueId_t defaultDestination) {
|
||||
ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
return sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
||||
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||
return this->defaultDestination;
|
||||
}
|
||||
|
||||
bool MessageQueue::isDefaultDestinationSet() const {
|
||||
return (defaultDestination != NO_QUEUE);
|
||||
}
|
||||
|
||||
uint16_t MessageQueue::queueCounter = 0;
|
||||
|
||||
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage *message, MessageQueueId_t sentFrom,
|
||||
bool ignoreFault) {
|
||||
message->setSender(sentFrom);
|
||||
int result = mq_send(sendTo,
|
||||
reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
|
||||
|
||||
//TODO: Check if we're in ISR.
|
||||
if (result != 0 && !ignoreFault) {
|
||||
if (internalErrorReporter == NULL) {
|
||||
internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
}
|
||||
if (internalErrorReporter != NULL) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
if (result != 0) {
|
||||
if(!ignoreFault){
|
||||
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
|
||||
objects::INTERNAL_ERROR_REPORTER);
|
||||
if (internalErrorReporter != NULL) {
|
||||
internalErrorReporter->queueMessageNotSent();
|
||||
}
|
||||
}
|
||||
switch(errno){
|
||||
case EAGAIN:
|
||||
@ -241,18 +260,3 @@ ReturnValue_t MessageQueue::sendMessageFrom(MessageQueueId_t sendTo,
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MessageQueue::sendToDefaultFrom(MessageQueueMessage* message,
|
||||
MessageQueueId_t sentFrom, bool ignoreFault) {
|
||||
return sendMessageFrom(defaultDestination, message, sentFrom, ignoreFault);
|
||||
}
|
||||
|
||||
MessageQueueId_t MessageQueue::getDefaultDestination() const {
|
||||
return this->defaultDestination;
|
||||
}
|
||||
|
||||
bool MessageQueue::isDefaultDestinationSet() const {
|
||||
return (defaultDestination != NO_QUEUE);
|
||||
}
|
||||
|
||||
uint16_t MessageQueue::queueCounter = 0;
|
||||
|
@ -21,6 +21,7 @@
|
||||
* \ingroup message_queue
|
||||
*/
|
||||
class MessageQueue : public MessageQueueIF {
|
||||
friend class MessageQueueSenderIF;
|
||||
public:
|
||||
/**
|
||||
* @brief The constructor initializes and configures the message queue.
|
||||
@ -101,9 +102,6 @@ public:
|
||||
MessageQueueId_t getId() const;
|
||||
/**
|
||||
* \brief With the sendMessage call, a queue message is sent to a receiving queue.
|
||||
* \details This method takes the message provided, adds the sentFrom information and passes
|
||||
* it on to the destination provided with an operating system call. The OS's return
|
||||
* value is returned.
|
||||
* \param sendTo This parameter specifies the message queue id to send the message to.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
@ -129,6 +127,19 @@ public:
|
||||
MessageQueueId_t getDefaultDestination() const;
|
||||
|
||||
bool isDefaultDestinationSet() const;
|
||||
protected:
|
||||
/**
|
||||
* Implementation to be called from any send Call within MessageQueue and MessageQueueSenderIF
|
||||
* \details This method takes the message provided, adds the sentFrom information and passes
|
||||
* it on to the destination provided with an operating system call. The OS's return
|
||||
* value is returned.
|
||||
* \param sendTo This parameter specifies the message queue id to send the message to.
|
||||
* \param message This is a pointer to a previously created message, which is sent.
|
||||
* \param sentFrom The sentFrom information can be set to inject the sender's queue id into the message.
|
||||
* This variable is set to zero by default.
|
||||
* \param ignoreFault If set to true, the internal software fault counter is not incremented if queue is full.
|
||||
*/
|
||||
static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,bool ignoreFault=false);
|
||||
private:
|
||||
/**
|
||||
* @brief The class stores the queue id it got assigned from the operating system in this attribute.
|
||||
@ -151,13 +162,6 @@ private:
|
||||
*/
|
||||
MessageQueueId_t defaultDestination;
|
||||
|
||||
/**
|
||||
* \brief This attribute stores a reference to the internal error reporter for reporting full queues.
|
||||
* \details In the event of a full destination queue, the reporter will be notified. The reference is set
|
||||
* by lazy loading
|
||||
*/
|
||||
InternalErrorReporterIF *internalErrorReporter;
|
||||
|
||||
/**
|
||||
* The name of the message queue, stored for unlinking
|
||||
*/
|
||||
|
@ -9,40 +9,8 @@ QueueFactory* QueueFactory::factoryInstance = NULL;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom) {
|
||||
message->setSender(sentFrom);
|
||||
int result = mq_send(sendTo,
|
||||
reinterpret_cast<const char*>(message->getBuffer()), message->messageSize,0);
|
||||
|
||||
//TODO: Check if we're in ISR.
|
||||
if (result != 0) {
|
||||
//TODO Translate error
|
||||
switch(errno){
|
||||
case EAGAIN:
|
||||
//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full.
|
||||
return MessageQueueIF::FULL;
|
||||
case EBADF:
|
||||
//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing.
|
||||
error << "MessageQueueSenderIF::sendMessage: Configuration error " << strerror(errno) << " in mq_send mqSendTo: " << sendTo << " sent from " << sentFrom << std::endl;
|
||||
/*NO BREAK*/
|
||||
case EINTR:
|
||||
//The call was interrupted by a signal.
|
||||
case EINVAL:
|
||||
/*
|
||||
* This value indicates one of the following:
|
||||
* * msg_ptr is NULL.
|
||||
* * msg_len is negative.
|
||||
* * msg_prio is greater than MQ_PRIO_MAX.
|
||||
* * msg_prio is less than 0.
|
||||
* * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and msg_prio is greater than the priority of the calling process.
|
||||
* */
|
||||
case EMSGSIZE:
|
||||
//The msg_len is greater than the msgsize associated with the specified queue.
|
||||
default:
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
|
||||
return MessageQueue::sendMessageFromMessageQueue(sendTo,message,sentFrom,ignoreFault);
|
||||
}
|
||||
|
||||
QueueFactory* QueueFactory::instance() {
|
||||
|
@ -14,8 +14,8 @@ ReturnValue_t InternalErrorCodes::translate(uint8_t code) {
|
||||
return TOO_LITTLE_WORKSPACE;
|
||||
case INTERNAL_ERROR_WORKSPACE_ALLOCATION:
|
||||
return WORKSPACE_ALLOCATION;
|
||||
case INTERNAL_ERROR_INTERRUPT_STACK_TOO_SMALL:
|
||||
return INTERRUPT_STACK_TOO_SMALL;
|
||||
// case INTERNAL_ERROR_INTERRUPT_STACK_TOO_SMALL:
|
||||
// return INTERRUPT_STACK_TOO_SMALL;
|
||||
case INTERNAL_ERROR_THREAD_EXITTED:
|
||||
return THREAD_EXITTED;
|
||||
case INTERNAL_ERROR_INCONSISTENT_MP_INFORMATION:
|
||||
|
@ -32,8 +32,7 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
|
||||
if (this->lastPartner != 0) {
|
||||
return sendMessage(this->lastPartner, message, this->getId());
|
||||
} else {
|
||||
//TODO: Good returnCode
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
return NO_REPLY_PARTNER;
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -6,7 +6,8 @@ QueueFactory* QueueFactory::factoryInstance = NULL;
|
||||
|
||||
|
||||
ReturnValue_t MessageQueueSenderIF::sendMessage(MessageQueueId_t sendTo,
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom) {
|
||||
MessageQueueMessage* message, MessageQueueId_t sentFrom,bool ignoreFault) {
|
||||
//TODO add ignoreFault functionality
|
||||
message->setSender(sentFrom);
|
||||
rtems_status_code result = rtems_message_queue_send(sendTo, message->getBuffer(),
|
||||
message->messageSize);
|
||||
|
@ -11,6 +11,9 @@
|
||||
#include <framework/serialize/SerializeIF.h>
|
||||
#include <utility>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
*/
|
||||
template<typename T, typename count_t = uint8_t>
|
||||
class SerialArrayListAdapter : public SerializeIF {
|
||||
public:
|
||||
|
@ -4,6 +4,9 @@
|
||||
#include <framework/serialize/SerializeIF.h>
|
||||
#include <framework/serialize/SerializeAdapter.h>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
*/
|
||||
template<typename T>
|
||||
class SerialBufferAdapter: public SerializeIF {
|
||||
public:
|
||||
|
@ -4,6 +4,9 @@
|
||||
#include <framework/container/FixedArrayList.h>
|
||||
#include <framework/serialize/SerialArrayListAdapter.h>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
*/
|
||||
template<typename T, uint32_t MAX_SIZE, typename count_t = uint8_t>
|
||||
class SerialFixedArrayListAdapter : public FixedArrayList<T, MAX_SIZE, count_t>, public SerializeIF {
|
||||
public:
|
||||
|
@ -12,6 +12,10 @@
|
||||
#include <framework/serialize/SerializeElement.h>
|
||||
#include <framework/serialize/SerializeIF.h>
|
||||
//This is where we need the SerializeAdapter!
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
*/
|
||||
template<typename T, typename count_t = uint8_t>
|
||||
class SerialLinkedListAdapter: public SinglyLinkedList<T>, public SerializeIF {
|
||||
public:
|
||||
|
@ -7,6 +7,9 @@
|
||||
#include <framework/serialize/SerializeIF.h>
|
||||
#include <string.h>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
*/
|
||||
template<typename T, int>
|
||||
class SerializeAdapter_ {
|
||||
public:
|
||||
|
@ -5,6 +5,9 @@
|
||||
#include <framework/serialize/SerializeAdapter.h>
|
||||
#include <utility>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
*/
|
||||
template<typename T>
|
||||
class SerializeElement : public SerializeIF, public LinkedElement<SerializeIF> {
|
||||
public:
|
||||
|
@ -3,6 +3,15 @@
|
||||
|
||||
#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
/**
|
||||
* \defgroup serialize Serialization
|
||||
* Contains serialisation services.
|
||||
*/
|
||||
|
||||
/**
|
||||
* Translation of objects into data streams.
|
||||
* \ingroup serialize
|
||||
*/
|
||||
class SerializeIF {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SERIALIZE_IF;
|
||||
|
@ -1,5 +1,3 @@
|
||||
*/
|
||||
|
||||
#include <framework/objectmanager/ObjectManagerIF.h>
|
||||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <framework/tmtcpacket/pus/TcPacketStored.h>
|
||||
|
@ -89,6 +89,9 @@ void TmPacketBase::initializeTmPacket(uint16_t apid, uint8_t service, uint8_t su
|
||||
//First, set to zero.
|
||||
memset(&tm_data->data_field, 0, sizeof(tm_data->data_field));
|
||||
//Set CCSDS_secondary header flag to 0, version number to 001 and ack to 0000
|
||||
// NOTE: In PUS-C, the PUS Version is 2 and specified for the first 4 bits.
|
||||
// The other 4 bits of the first byte are the spacecraft time reference status
|
||||
// To change to PUS-C, set 0b00100000
|
||||
tm_data->data_field.version_type_ack = 0b00010000;
|
||||
tm_data->data_field.service_type = service;
|
||||
tm_data->data_field.service_subtype = subservice;
|
||||
|
381
tmtcservices/CommandingServiceBase.cpp
Normal file
381
tmtcservices/CommandingServiceBase.cpp
Normal file
@ -0,0 +1,381 @@
|
||||
/*
|
||||
* CommandingServiceBase.cpp
|
||||
*
|
||||
* Created on: 28.08.2019
|
||||
* Author: gaisser
|
||||
*/
|
||||
|
||||
#include <framework/tmtcservices/CommandingServiceBase.h>
|
||||
|
||||
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
|
||||
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
|
||||
uint16_t commandTimeout_seconds, object_id_t setPacketSource,
|
||||
object_id_t setPacketDestination, size_t queueDepth) :
|
||||
SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
|
||||
commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
|
||||
NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
|
||||
numberOfParallelCommands), failureParameter1(0), failureParameter2(
|
||||
0), packetSource(setPacketSource), packetDestination(
|
||||
setPacketDestination),executingTask(NULL) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||
}
|
||||
|
||||
|
||||
CommandingServiceBase::~CommandingServiceBase() {
|
||||
QueueFactory::instance()->deleteMessageQueue(commandQueue);
|
||||
QueueFactory::instance()->deleteMessageQueue(requestQueue);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
|
||||
handleCommandQueue();
|
||||
handleRequestQueue();
|
||||
checkTimeout();
|
||||
doPeriodicOperation();
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
uint16_t CommandingServiceBase::getIdentifier() {
|
||||
return service;
|
||||
}
|
||||
|
||||
|
||||
MessageQueueId_t CommandingServiceBase::getRequestQueue() {
|
||||
return requestQueue->getId();
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t CommandingServiceBase::initialize() {
|
||||
ReturnValue_t result = SystemObject::initialize();
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
AcceptsTelemetryIF* packetForwarding =
|
||||
objectManager->get<AcceptsTelemetryIF>(packetDestination);
|
||||
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
|
||||
packetSource);
|
||||
if ((packetForwarding == NULL) && (distributor == NULL)) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
distributor->registerService(this);
|
||||
requestQueue->setDefaultDestination(
|
||||
packetForwarding->getReportReceptionQueue());
|
||||
|
||||
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
|
||||
|
||||
if ((IPCStore == NULL) || (TCStore == NULL)) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
|
||||
}
|
||||
|
||||
void CommandingServiceBase::handleCommandQueue() {
|
||||
CommandMessage reply, nextCommand;
|
||||
ReturnValue_t result, sendResult = RETURN_OK;
|
||||
bool isStep = false;
|
||||
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
|
||||
result = commandQueue->receiveMessage(&reply)) {
|
||||
isStep = false;
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
}
|
||||
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
}
|
||||
nextCommand.setCommand(CommandMessage::CMD_NONE);
|
||||
result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
|
||||
iter->objectId, &isStep);
|
||||
switch (result) {
|
||||
case EXECUTION_COMPLETE:
|
||||
case RETURN_OK:
|
||||
case NO_STEP_MESSAGE:
|
||||
iter->command = nextCommand.getCommand();
|
||||
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage(reply.getSender(),
|
||||
&nextCommand);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
if (isStep) {
|
||||
if (result != NO_STEP_MESSAGE) {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::PROGRESS_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, ++iter->step);
|
||||
}
|
||||
} else {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, 0);
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
} else {
|
||||
if (isStep) {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult,
|
||||
++iter->step, failureParameter1, failureParameter2);
|
||||
} else {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult, 0,
|
||||
failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
break;
|
||||
case INVALID_REPLY:
|
||||
//might be just an unrequested reply at a bad moment
|
||||
handleUnrequestedReply(&reply);
|
||||
break;
|
||||
default:
|
||||
if (isStep) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, ++iter->step, failureParameter1,
|
||||
failureParameter2);
|
||||
} else {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, 0, failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(&iter);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::handleRequestQueue() {
|
||||
TmTcMessage message;
|
||||
ReturnValue_t result;
|
||||
store_address_t address;
|
||||
TcPacketStored packet;
|
||||
MessageQueueId_t queue;
|
||||
object_id_t objectId;
|
||||
for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
|
||||
result = requestQueue->receiveMessage(&message)) {
|
||||
address = message.getStorageId();
|
||||
packet.setStoreAddress(address);
|
||||
|
||||
if ((packet.getSubService() == 0)
|
||||
|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
|
||||
continue;
|
||||
}
|
||||
result = getMessageQueueAndObject(packet.getSubService(),
|
||||
packet.getApplicationData(), packet.getApplicationDataSize(),
|
||||
&queue, &objectId);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, result);
|
||||
continue;
|
||||
}
|
||||
|
||||
//Is a command already active for the target object?
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
iter = commandMap.find(queue);
|
||||
|
||||
if (iter != commandMap.end()) {
|
||||
result = iter->fifo.insert(address);
|
||||
if (result != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
|
||||
}
|
||||
} else {
|
||||
CommandInfo newInfo; //Info will be set by startExecution if neccessary
|
||||
newInfo.objectId = objectId;
|
||||
result = commandMap.insert(queue, newInfo, &iter);
|
||||
if (result != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
|
||||
} else {
|
||||
startExecution(&packet, &iter);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
|
||||
uint32_t headerSize) {
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, data, dataLen, headerData, headerSize);
|
||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||
requestQueue->getDefaultDestination(), requestQueue->getId());
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
|
||||
uint8_t buffer[sizeof(object_id_t)];
|
||||
uint8_t* pBuffer = buffer;
|
||||
uint32_t size = 0;
|
||||
SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
|
||||
sizeof(object_id_t), true);
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, data, dataLen, buffer, size);
|
||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||
requestQueue->getDefaultDestination(), requestQueue->getId());
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
SerializeIF* content, SerializeIF* header) {
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, content, header);
|
||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||
requestQueue->getDefaultDestination(), requestQueue->getId());
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::startExecution(
|
||||
TcPacketStored *storedPacket,
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator *iter) {
|
||||
ReturnValue_t result, sendResult = RETURN_OK;
|
||||
CommandMessage message;
|
||||
(*iter)->subservice = storedPacket->getSubService();
|
||||
result = prepareCommand(&message, (*iter)->subservice,
|
||||
storedPacket->getApplicationData(),
|
||||
storedPacket->getApplicationDataSize(), &(*iter)->state,
|
||||
(*iter)->objectId);
|
||||
|
||||
switch (result) {
|
||||
case RETURN_OK:
|
||||
if (message.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
&message);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
Clock::getUptime(&(*iter)->uptimeOfStart);
|
||||
(*iter)->step = 0;
|
||||
// (*iter)->state = 0;
|
||||
(*iter)->subservice = storedPacket->getSubService();
|
||||
(*iter)->command = message.getCommand();
|
||||
(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||
(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||
(*iter)->tcInfo.tcSequenceControl =
|
||||
storedPacket->getPacketSequenceControl();
|
||||
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
break;
|
||||
case EXECUTION_COMPLETE:
|
||||
if (message.getCommand() != CommandMessage::CMD_NONE) {
|
||||
//Fire-and-forget command.
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
&message);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
|
||||
storedPacket);
|
||||
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
|
||||
checkAndExecuteFifo(iter);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, result);
|
||||
checkAndExecuteFifo(iter);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::rejectPacket(uint8_t report_id,
|
||||
TcPacketStored* packet, ReturnValue_t error_code) {
|
||||
verificationReporter.sendFailureReport(report_id, packet, error_code);
|
||||
packet->deletePacket();
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::acceptPacket(uint8_t reportId,
|
||||
TcPacketStored* packet) {
|
||||
verificationReporter.sendSuccessReport(reportId, packet);
|
||||
packet->deletePacket();
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::checkAndExecuteFifo(
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator *iter) {
|
||||
store_address_t address;
|
||||
if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
|
||||
commandMap.erase(iter);
|
||||
} else {
|
||||
TcPacketStored newPacket(address);
|
||||
startExecution(&newPacket, iter);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::handleUnrequestedReply(
|
||||
CommandMessage* reply) {
|
||||
reply->clearCommandMessage();
|
||||
}
|
||||
|
||||
|
||||
inline void CommandingServiceBase::doPeriodicOperation() {
|
||||
}
|
||||
|
||||
MessageQueueId_t CommandingServiceBase::getCommandQueue() {
|
||||
return commandQueue->getId();
|
||||
}
|
||||
|
||||
void CommandingServiceBase::checkTimeout() {
|
||||
uint32_t uptime;
|
||||
Clock::getUptime(&uptime);
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
|
||||
if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
TIMEOUT);
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
@ -20,7 +20,17 @@
|
||||
#include <framework/ipc/QueueFactory.h>
|
||||
#include <framework/timemanager/Clock.h>
|
||||
|
||||
template<typename STATE_T>
|
||||
/**
|
||||
* \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
|
||||
*
|
||||
* It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
|
||||
* Every class that inherits from this abstract class has to implement four adaption points:
|
||||
* - isValidSubservice
|
||||
* - getMessageQueueAndObject
|
||||
* - prepareCommand
|
||||
* - handleReply
|
||||
* \ingroup pus_services
|
||||
*/
|
||||
class CommandingServiceBase: public SystemObject,
|
||||
public AcceptsTelecommandsIF,
|
||||
public ExecutableObjectIF,
|
||||
@ -35,18 +45,52 @@ public:
|
||||
static const ReturnValue_t INVALID_OBJECT = MAKE_RETURN_CODE(6);
|
||||
static const ReturnValue_t INVALID_REPLY = MAKE_RETURN_CODE(7);
|
||||
|
||||
/**
|
||||
* Class constructor. Initializes two important MessageQueues:
|
||||
* commandQueue for command reception and requestQueue for device reception
|
||||
* @param setObjectId
|
||||
* @param apid
|
||||
* @param service
|
||||
* @param numberOfParallelCommands
|
||||
* @param commandTimeout_seconds
|
||||
* @param setPacketSource
|
||||
* @param setPacketDestination
|
||||
* @param queueDepth
|
||||
*/
|
||||
CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
|
||||
uint8_t service, uint8_t numberOfParallelCommands,
|
||||
uint16_t commandTimeout_seconds, object_id_t setPacketSource,
|
||||
object_id_t setPacketDestination, size_t queueDepth = 20);
|
||||
virtual ~CommandingServiceBase();
|
||||
|
||||
/***
|
||||
* This is the periodic called function
|
||||
* Handle request queue for external commands.
|
||||
* Handle command Queue for internal commands.
|
||||
* @param opCode is unused here at the moment
|
||||
* @return RETURN_OK
|
||||
*/
|
||||
virtual ReturnValue_t performOperation(uint8_t opCode);
|
||||
|
||||
virtual uint16_t getIdentifier();
|
||||
|
||||
/**
|
||||
* Returns the requestQueue MessageQueueId_t
|
||||
*
|
||||
* The requestQueue is the queue for external commands (TC)
|
||||
*
|
||||
* @return requestQueue messageQueueId_t
|
||||
*/
|
||||
virtual MessageQueueId_t getRequestQueue();
|
||||
|
||||
/**
|
||||
* Returns the commandQueue MessageQueueId_t
|
||||
*
|
||||
* Remember the CommandQueue is the queue for internal communication
|
||||
* @return commandQueue messageQueueId_t
|
||||
*/
|
||||
virtual MessageQueueId_t getCommandQueue();
|
||||
|
||||
virtual ReturnValue_t initialize();
|
||||
|
||||
/**
|
||||
@ -69,7 +113,7 @@ protected:
|
||||
uint32_t uptimeOfStart;
|
||||
uint8_t step;
|
||||
uint8_t subservice;
|
||||
STATE_T state;
|
||||
uint32_t state;
|
||||
Command_t command;
|
||||
object_id_t objectId;
|
||||
FIFO<store_address_t, 3> fifo;
|
||||
@ -107,21 +151,43 @@ protected:
|
||||
*/
|
||||
PeriodicTaskIF* executingTask;
|
||||
|
||||
/**
|
||||
* Send TM data from pointer to data. If a header is supplied it is added before data
|
||||
* @param subservice Number of subservice
|
||||
* @param data Pointer to the data in the Packet
|
||||
* @param dataLen Lenght of data in the Packet
|
||||
* @param headerData HeaderData will be placed before data
|
||||
* @param headerSize Size of HeaderData
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
|
||||
const uint8_t* headerData = NULL, uint32_t headerSize = 0);
|
||||
|
||||
/**
|
||||
* To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
|
||||
* @param subservice Number of subservice
|
||||
* @param objectId ObjectId is placed before data
|
||||
* @param data Data to append to the packet
|
||||
* @param dataLen Length of Data
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, object_id_t objectId,
|
||||
const uint8_t *data, uint32_t dataLen);
|
||||
|
||||
/**
|
||||
* To send packets has data which is in form of a SerializeIF or Adapters implementing it
|
||||
* @param subservice Number of subservice
|
||||
* @param content This is a pointer to the serialized packet
|
||||
* @param header Serialize IF header which will be placed before content
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, SerializeIF* content,
|
||||
SerializeIF* header = NULL);
|
||||
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
|
||||
|
||||
virtual ReturnValue_t prepareCommand(CommandMessage *message,
|
||||
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
|
||||
STATE_T *state, object_id_t objectId) = 0;
|
||||
uint32_t *state, object_id_t objectId) = 0;
|
||||
|
||||
virtual ReturnValue_t handleReply(const CommandMessage *reply,
|
||||
Command_t previousCommand, STATE_T *state,
|
||||
Command_t previousCommand, uint32_t *state,
|
||||
CommandMessage *optionalNextCommand, object_id_t objectId,
|
||||
bool *isStep) = 0;
|
||||
|
||||
@ -137,8 +203,26 @@ protected:
|
||||
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
|
||||
|
||||
private:
|
||||
/**
|
||||
* This method handles internal execution of a command,
|
||||
* once it has been started by @sa{startExecution()} in the Request Queue handler.
|
||||
* It handles replies generated by the devices and relayed by the specific service implementation.
|
||||
* This means that it determines further course of action depending on the return values specified
|
||||
* in the service implementation.
|
||||
* This includes the generation of TC verification messages:
|
||||
* - TM[1,5] Step Successs
|
||||
* - TM[1,6] Step Failure
|
||||
* - TM[1,7] Completion Success
|
||||
* - TM[1,8] Completion Failure
|
||||
*/
|
||||
void handleCommandQueue();
|
||||
|
||||
/**
|
||||
* Sequence of request queue handling:
|
||||
* isValidSubservice -> getMessageQueueAndObject -> startExecution
|
||||
* Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()}
|
||||
* or Start Failure Report TM[1,4] by using the TC Verification Service
|
||||
*/
|
||||
void handleRequestQueue();
|
||||
|
||||
void rejectPacket(uint8_t reportId, TcPacketStored* packet,
|
||||
@ -152,373 +236,4 @@ private:
|
||||
void checkTimeout();
|
||||
};
|
||||
|
||||
template<typename STATE_T>
|
||||
CommandingServiceBase<STATE_T>::CommandingServiceBase(object_id_t setObjectId,
|
||||
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
|
||||
uint16_t commandTimeout_seconds, object_id_t setPacketSource,
|
||||
object_id_t setPacketDestination, size_t queueDepth) :
|
||||
SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
|
||||
commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
|
||||
NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
|
||||
numberOfParallelCommands), failureParameter1(0), failureParameter2(
|
||||
0), packetSource(setPacketSource), packetDestination(
|
||||
setPacketDestination),executingTask(NULL) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||
requestQueue = QueueFactory::instance()->createMessageQueue(20); //TODO: Funny magic number.
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
CommandingServiceBase<STATE_T>::~CommandingServiceBase() {
|
||||
QueueFactory::instance()->deleteMessageQueue(commandQueue);
|
||||
QueueFactory::instance()->deleteMessageQueue(requestQueue);
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
ReturnValue_t CommandingServiceBase<STATE_T>::performOperation(uint8_t opCode) {
|
||||
handleCommandQueue();
|
||||
handleRequestQueue();
|
||||
checkTimeout();
|
||||
doPeriodicOperation();
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
uint16_t CommandingServiceBase<STATE_T>::getIdentifier() {
|
||||
return service;
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
MessageQueueId_t CommandingServiceBase<STATE_T>::getRequestQueue() {
|
||||
return requestQueue->getId();
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
ReturnValue_t CommandingServiceBase<STATE_T>::initialize() {
|
||||
ReturnValue_t result = SystemObject::initialize();
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
AcceptsTelemetryIF* packetForwarding =
|
||||
objectManager->get<AcceptsTelemetryIF>(packetDestination);
|
||||
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
|
||||
packetSource);
|
||||
if ((packetForwarding == NULL) && (distributor == NULL)) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
distributor->registerService(this);
|
||||
requestQueue->setDefaultDestination(
|
||||
packetForwarding->getReportReceptionQueue());
|
||||
|
||||
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
|
||||
|
||||
if ((IPCStore == NULL) || (TCStore == NULL)) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
|
||||
}
|
||||
|
||||
//Whole method works like this, but I don't like it. Leave it anyway.
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::handleCommandQueue() {
|
||||
CommandMessage reply, nextCommand;
|
||||
ReturnValue_t result, sendResult = RETURN_OK;
|
||||
bool isStep = false;
|
||||
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
|
||||
result = commandQueue->receiveMessage(&reply)) {
|
||||
isStep = false;
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase<STATE_T>::CommandInfo>::Iterator iter;
|
||||
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
}
|
||||
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
}
|
||||
nextCommand.setCommand(CommandMessage::CMD_NONE);
|
||||
result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
|
||||
iter->objectId, &isStep);
|
||||
switch (result) {
|
||||
case EXECUTION_COMPLETE:
|
||||
case RETURN_OK:
|
||||
case NO_STEP_MESSAGE:
|
||||
iter->command = nextCommand.getCommand();
|
||||
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage(reply.getSender(),
|
||||
&nextCommand);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
if (isStep) {
|
||||
if (result != NO_STEP_MESSAGE) {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::PROGRESS_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, ++iter->step);
|
||||
}
|
||||
} else {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, 0);
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
} else {
|
||||
if (isStep) {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult,
|
||||
++iter->step, failureParameter1, failureParameter2);
|
||||
} else {
|
||||
nextCommand.clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult, 0,
|
||||
failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
break;
|
||||
case INVALID_REPLY:
|
||||
//might be just an unrequested reply at a bad moment
|
||||
handleUnrequestedReply(&reply);
|
||||
break;
|
||||
default:
|
||||
if (isStep) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, ++iter->step, failureParameter1,
|
||||
failureParameter2);
|
||||
} else {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
result, 0, failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(&iter);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::handleRequestQueue() {
|
||||
TmTcMessage message;
|
||||
ReturnValue_t result;
|
||||
store_address_t address;
|
||||
TcPacketStored packet;
|
||||
MessageQueueId_t queue;
|
||||
object_id_t objectId;
|
||||
for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
|
||||
result = requestQueue->receiveMessage(&message)) {
|
||||
address = message.getStorageId();
|
||||
packet.setStoreAddress(address);
|
||||
|
||||
if ((packet.getSubService() == 0)
|
||||
|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
|
||||
continue;
|
||||
}
|
||||
result = getMessageQueueAndObject(packet.getSubService(),
|
||||
packet.getApplicationData(), packet.getApplicationDataSize(),
|
||||
&queue, &objectId);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, result);
|
||||
continue;
|
||||
}
|
||||
|
||||
//is a command already active for the target object?
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase<STATE_T>::CommandInfo>::Iterator iter;
|
||||
iter = commandMap.find(queue);
|
||||
|
||||
if (iter != commandMap.end()) {
|
||||
result = iter->fifo.insert(address);
|
||||
if (result != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
|
||||
}
|
||||
} else {
|
||||
CommandInfo newInfo; //Info will be set by startExecution if neccessary
|
||||
newInfo.objectId = objectId;
|
||||
result = commandMap.insert(queue, newInfo, &iter);
|
||||
if (result != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
|
||||
} else {
|
||||
startExecution(&packet, &iter);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::sendTmPacket(uint8_t subservice,
|
||||
const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
|
||||
uint32_t headerSize) {
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, data, dataLen, headerData, headerSize);
|
||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||
requestQueue->getDefaultDestination(), requestQueue->getId());
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::sendTmPacket(uint8_t subservice,
|
||||
object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
|
||||
uint8_t buffer[sizeof(object_id_t)];
|
||||
uint8_t* pBuffer = buffer;
|
||||
uint32_t size = 0;
|
||||
SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
|
||||
sizeof(object_id_t), true);
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, data, dataLen, buffer, size);
|
||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||
requestQueue->getDefaultDestination(), requestQueue->getId());
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::sendTmPacket(uint8_t subservice,
|
||||
SerializeIF* content, SerializeIF* header) {
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, content, header);
|
||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||
requestQueue->getDefaultDestination(), requestQueue->getId());
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::startExecution(
|
||||
TcPacketStored *storedPacket,
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase<STATE_T>::CommandInfo>::Iterator *iter) {
|
||||
ReturnValue_t result, sendResult = RETURN_OK;
|
||||
CommandMessage message;
|
||||
(*iter)->subservice = storedPacket->getSubService();
|
||||
result = prepareCommand(&message, (*iter)->subservice,
|
||||
storedPacket->getApplicationData(),
|
||||
storedPacket->getApplicationDataSize(), &(*iter)->state,
|
||||
(*iter)->objectId);
|
||||
|
||||
switch (result) {
|
||||
case RETURN_OK:
|
||||
if (message.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
&message);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
Clock::getUptime(&(*iter)->uptimeOfStart);
|
||||
(*iter)->step = 0;
|
||||
// (*iter)->state = 0;
|
||||
(*iter)->subservice = storedPacket->getSubService();
|
||||
(*iter)->command = message.getCommand();
|
||||
(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||
(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||
(*iter)->tcInfo.tcSequenceControl =
|
||||
storedPacket->getPacketSequenceControl();
|
||||
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
break;
|
||||
case EXECUTION_COMPLETE:
|
||||
if (message.getCommand() != CommandMessage::CMD_NONE) {
|
||||
//Fire-and-forget command.
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
&message);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
|
||||
storedPacket);
|
||||
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
|
||||
checkAndExecuteFifo(iter);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, result);
|
||||
checkAndExecuteFifo(iter);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::rejectPacket(uint8_t report_id,
|
||||
TcPacketStored* packet, ReturnValue_t error_code) {
|
||||
verificationReporter.sendFailureReport(report_id, packet, error_code);
|
||||
packet->deletePacket();
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::acceptPacket(uint8_t reportId,
|
||||
TcPacketStored* packet) {
|
||||
verificationReporter.sendSuccessReport(reportId, packet);
|
||||
packet->deletePacket();
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::checkAndExecuteFifo(
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase<STATE_T>::CommandInfo>::Iterator *iter) {
|
||||
store_address_t address;
|
||||
if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
|
||||
commandMap.erase(iter);
|
||||
} else {
|
||||
TcPacketStored newPacket(address);
|
||||
startExecution(&newPacket, iter);
|
||||
}
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::handleUnrequestedReply(
|
||||
CommandMessage* reply) {
|
||||
reply->clearCommandMessage();
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
inline void CommandingServiceBase<STATE_T>::doPeriodicOperation() {
|
||||
}
|
||||
|
||||
template<typename STATE_T>
|
||||
void CommandingServiceBase<STATE_T>::checkTimeout() {
|
||||
uint32_t uptime;
|
||||
Clock::getUptime(&uptime);
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase<STATE_T>::CommandInfo>::Iterator iter;
|
||||
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
|
||||
if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
TIMEOUT);
|
||||
checkAndExecuteFifo(&iter);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif /* COMMANDINGSERVICEBASE_H_ */
|
||||
|
@ -23,7 +23,7 @@ void setStaticFrameworkObjectIds();
|
||||
*/
|
||||
|
||||
/**
|
||||
* This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
|
||||
* \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
|
||||
* It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
|
||||
* from this abstract class has to implement handleRequest and performService. Services that are created with this
|
||||
* Base class have to handle any kind of request immediately on reception.
|
||||
@ -68,7 +68,7 @@ public:
|
||||
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
|
||||
* the TC requests afterwards.
|
||||
* performService is always executed afterwards.
|
||||
* @return - \c RETURN_OK if the periodic performService was successfull.
|
||||
* @return - \c RETURN_OK if the periodic performService was successful.
|
||||
* - \c RETURN_FAILED else.
|
||||
*/
|
||||
ReturnValue_t performOperation(uint8_t opCode);
|
||||
|
Loading…
Reference in New Issue
Block a user