Merge remote-tracking branch 'upstream/master' into mueller/feature/DHBupdate
This commit is contained in:
commit
f36da8a79c
15
framework.mk
15
framework.mk
@ -1,5 +1,5 @@
|
||||
# This file needs FRAMEWORK_PATH and API set correctly
|
||||
# Valid API settings: rtems, linux, freeRTOS
|
||||
# This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
|
||||
# Valid API settings: rtems, linux, freeRTOS, host
|
||||
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/action/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/container/*.cpp)
|
||||
@ -12,7 +12,6 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/devicehandlers/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/events/eventmatching/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/fdir/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/framework.mk/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/matching/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/globalfunctions/math/*.cpp)
|
||||
@ -26,14 +25,16 @@ CXXSRC += $(wildcard $(FRAMEWORK_PATH)/objectmanager/*.cpp)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/*.cpp)
|
||||
|
||||
# select the OS
|
||||
ifeq ($(OS),rtems)
|
||||
ifeq ($(OS_FSFW),rtems)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/rtems/*.cpp)
|
||||
else ifeq ($(OS),linux)
|
||||
else ifeq ($(OS_FSFW),linux)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/linux/*.cpp)
|
||||
else ifeq ($(OS),freeRTOS)
|
||||
else ifeq ($(OS_FSFW),freeRTOS)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/FreeRTOS/*.cpp)
|
||||
else ifeq ($(OS_FSFW),host)
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/osal/host/*.cpp)
|
||||
else
|
||||
$(error invalid OS specified, valid OS are rtems, linux, freeRTOS)
|
||||
$(error invalid OS specified, valid OS are rtems, linux, freeRTOS, host)
|
||||
endif
|
||||
|
||||
CXXSRC += $(wildcard $(FRAMEWORK_PATH)/parameters/*.cpp)
|
||||
|
||||
@ -120,3 +120,12 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
|
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setParameter(reason);
|
||||
setParameter2(initialCommand);
|
||||
}
|
||||
|
||||
ReturnValue_t CommandMessage::getReplyRejectedReason(
|
||||
Command_t *initialCommand) const {
|
||||
ReturnValue_t reason = getParameter();
|
||||
if(initialCommand != nullptr) {
|
||||
*initialCommand = getParameter2();
|
||||
}
|
||||
return reason;
|
||||
}
|
||||
|
||||
@ -124,6 +124,9 @@ public:
|
||||
*/
|
||||
void setToUnknownCommand();
|
||||
void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
|
||||
ReturnValue_t getReplyRejectedReason(
|
||||
Command_t *initialCommand = nullptr) const;
|
||||
|
||||
size_t getMinimumMessageSize() const;
|
||||
};
|
||||
|
||||
|
||||
@ -21,7 +21,8 @@ public:
|
||||
static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
|
||||
static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
|
||||
static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
|
||||
static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
|
||||
|
||||
static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
|
||||
static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
|
||||
|
||||
protected:
|
||||
|
||||
@ -125,19 +125,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
|
||||
* it. */
|
||||
TickType_t currentTickCount = xTaskGetTickCount();
|
||||
TickType_t timeToWake = xLastWakeTime + interval;
|
||||
// Tick count has overflown
|
||||
if(currentTickCount < xLastWakeTime) {
|
||||
// Time to wake has overflown as well. If the tick count
|
||||
// is larger than the time to wake, a deadline was missed.
|
||||
if(timeToWake < xLastWakeTime and
|
||||
currentTickCount > timeToWake) {
|
||||
// Time to wake has not overflown.
|
||||
if(timeToWake > xLastWakeTime) {
|
||||
/* If the current time has overflown exclusively or the current
|
||||
* tick count is simply larger than the time to wake, a deadline was
|
||||
* missed */
|
||||
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
// No tick count overflow. If the timeToWake has not overflown
|
||||
// and the current tick count is larger than the time to wake,
|
||||
// a deadline was missed.
|
||||
else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
|
||||
/* Time to wake has overflown. A deadline was missed if the current time
|
||||
* is larger than the time to wake */
|
||||
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,17 +1,19 @@
|
||||
#include "PeriodicTask.h"
|
||||
|
||||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <framework/tasks/ExecutableObjectIF.h>
|
||||
#include "PeriodicTask.h"
|
||||
|
||||
PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
void (*setDeadlineMissedFunc)()) :
|
||||
started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
|
||||
setDeadlineMissedFunc) {
|
||||
|
||||
BaseType_t status = xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
|
||||
setDeadlineMissedFunc)
|
||||
{
|
||||
BaseType_t status = xTaskCreate(taskEntryPoint, name,
|
||||
setStack, this, setPriority, &handle);
|
||||
if(status != pdPASS){
|
||||
sif::debug << "PeriodicTask Insufficient heap memory remaining. Status: "
|
||||
<< status << std::endl;
|
||||
sif::debug << "PeriodicTask Insufficient heap memory remaining. "
|
||||
"Status: " << status << std::endl;
|
||||
}
|
||||
|
||||
}
|
||||
@ -21,16 +23,19 @@ PeriodicTask::~PeriodicTask(void) {
|
||||
}
|
||||
|
||||
void PeriodicTask::taskEntryPoint(void* argument) {
|
||||
//The argument is re-interpreted as PeriodicTask. The Task object is global, so it is found from any place.
|
||||
// The argument is re-interpreted as PeriodicTask. The Task object is
|
||||
// global, so it is found from any place.
|
||||
PeriodicTask *originalTask(reinterpret_cast<PeriodicTask*>(argument));
|
||||
// Task should not start until explicitly requested
|
||||
// in FreeRTOS, tasks start as soon as they are created if the scheduler is running
|
||||
// but not if the scheduler is not running.
|
||||
// to be able to accommodate both cases we check a member which is set in #startTask()
|
||||
// if it is not set and we get here, the scheduler was started before #startTask() was called and we need to suspend
|
||||
// if it is set, the scheduler was not running before #startTask() was called and we can continue
|
||||
/* Task should not start until explicitly requested,
|
||||
* but in FreeRTOS, tasks start as soon as they are created if the scheduler
|
||||
* is running but not if the scheduler is not running.
|
||||
* To be able to accommodate both cases we check a member which is set in
|
||||
* #startTask(). If it is not set and we get here, the scheduler was started
|
||||
* before #startTask() was called and we need to suspend if it is set,
|
||||
* the scheduler was not running before #startTask() was called and we
|
||||
* can continue */
|
||||
|
||||
if (!originalTask->started) {
|
||||
if (not originalTask->started) {
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
@ -59,31 +64,72 @@ void PeriodicTask::taskFunctionality() {
|
||||
TickType_t xLastWakeTime;
|
||||
const TickType_t xPeriod = pdMS_TO_TICKS(this->period * 1000.);
|
||||
/* The xLastWakeTime variable needs to be initialized with the current tick
|
||||
count. Note that this is the only time the variable is written to explicitly.
|
||||
After this assignment, xLastWakeTime is updated automatically internally within
|
||||
vTaskDelayUntil(). */
|
||||
count. Note that this is the only time the variable is written to
|
||||
explicitly. After this assignment, xLastWakeTime is updated automatically
|
||||
internally within vTaskDelayUntil(). */
|
||||
xLastWakeTime = xTaskGetTickCount();
|
||||
/* Enter the loop that defines the task behavior. */
|
||||
for (;;) {
|
||||
for (ObjectList::iterator it = objectList.begin();
|
||||
it != objectList.end(); ++it) {
|
||||
(*it)->performOperation();
|
||||
for (auto const& object: objectList) {
|
||||
object->performOperation();
|
||||
}
|
||||
//TODO deadline missed check
|
||||
|
||||
checkMissedDeadline(xLastWakeTime, xPeriod);
|
||||
|
||||
vTaskDelayUntil(&xLastWakeTime, xPeriod);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
|
||||
ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
|
||||
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
|
||||
object);
|
||||
if (newObject == NULL) {
|
||||
if (newObject == nullptr) {
|
||||
sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
|
||||
"it implements ExecutableObjectIF!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
objectList.push_back(newObject);
|
||||
|
||||
if(setTaskIF) {
|
||||
newObject->setTaskIF(this);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t PeriodicTask::getPeriodMs() const {
|
||||
return period * 1000;
|
||||
}
|
||||
|
||||
void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
|
||||
const TickType_t interval) {
|
||||
/* Check whether deadline was missed while also taking overflows
|
||||
* into account. Drawing this on paper with a timeline helps to understand
|
||||
* it. */
|
||||
TickType_t currentTickCount = xTaskGetTickCount();
|
||||
TickType_t timeToWake = xLastWakeTime + interval;
|
||||
// Time to wake has not overflown.
|
||||
if(timeToWake > xLastWakeTime) {
|
||||
/* If the current time has overflown exclusively or the current
|
||||
* tick count is simply larger than the time to wake, a deadline was
|
||||
* missed */
|
||||
if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
/* Time to wake has overflown. A deadline was missed if the current time
|
||||
* is larger than the time to wake */
|
||||
else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
|
||||
handleMissedDeadline();
|
||||
}
|
||||
}
|
||||
|
||||
void PeriodicTask::handleMissedDeadline() {
|
||||
#ifdef DEBUG
|
||||
sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
|
||||
" missed deadline!\n" << std::flush;
|
||||
#endif
|
||||
if(deadlineMissedFunc != nullptr) {
|
||||
this->deadlineMissedFunc();
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,48 +1,49 @@
|
||||
#ifndef MULTIOBJECTTASK_H_
|
||||
#define MULTIOBJECTTASK_H_
|
||||
#ifndef FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
|
||||
#define FRAMEWORK_OSAL_FREERTOS_PERIODICTASK_H_
|
||||
|
||||
#include <framework/objectmanager/ObjectManagerIF.h>
|
||||
#include <framework/tasks/PeriodicTaskIF.h>
|
||||
#include <framework/tasks/Typedef.h>
|
||||
|
||||
#include <FreeRTOS.h>
|
||||
#include "task.h"
|
||||
#include <freertos/FreeRTOS.h>
|
||||
#include <freertos/task.h>
|
||||
|
||||
#include <vector>
|
||||
|
||||
class ExecutableObjectIF;
|
||||
|
||||
/**
|
||||
* @brief This class represents a specialized task for periodic activities of multiple objects.
|
||||
*
|
||||
* @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
|
||||
* multiple objects that implement the ExecutableObjectIF interface. The objects must be
|
||||
* added prior to starting the task.
|
||||
*
|
||||
* @brief This class represents a specialized task for
|
||||
* periodic activities of multiple objects.
|
||||
* @ingroup task_handling
|
||||
*/
|
||||
class PeriodicTask: public PeriodicTaskIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Standard constructor of the class.
|
||||
* @details The class is initialized without allocated objects. These need to be added
|
||||
* with #addObject.
|
||||
* In the underlying TaskBase class, a new operating system task is created.
|
||||
* In addition to the TaskBase parameters, the period, the pointer to the
|
||||
* aforementioned initialization function and an optional "deadline-missed"
|
||||
* function pointer is passed.
|
||||
* @param priority Sets the priority of a task. Values range from a low 0 to a high 99.
|
||||
* @param stack_size The stack size reserved by the operating system for the task.
|
||||
* @param setPeriod The length of the period with which the task's functionality will be
|
||||
* executed. It is expressed in clock ticks.
|
||||
* @param setDeadlineMissedFunc The function pointer to the deadline missed function
|
||||
* that shall be assigned.
|
||||
* Keep in Mind that you need to call before this vTaskStartScheduler()!
|
||||
* A lot of task parameters are set in "FreeRTOSConfig.h".
|
||||
* TODO: why does this need to be called before vTaskStartScheduler?
|
||||
* @details
|
||||
* The class is initialized without allocated objects.
|
||||
* These need to be added with #addComponent.
|
||||
* @param priority
|
||||
* Sets the priority of a task. Values depend on freeRTOS configuration,
|
||||
* high number means high priority.
|
||||
* @param stack_size
|
||||
* The stack size reserved by the operating system for the task.
|
||||
* @param setPeriod
|
||||
* The length of the period with which the task's
|
||||
* functionality will be executed. It is expressed in clock ticks.
|
||||
* @param setDeadlineMissedFunc
|
||||
* The function pointer to the deadline missed function that shall
|
||||
* be assigned.
|
||||
*/
|
||||
PeriodicTask(const char *name, TaskPriority setPriority, TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
PeriodicTask(const char *name, TaskPriority setPriority,
|
||||
TaskStackSize setStack, TaskPeriod setPeriod,
|
||||
void (*setDeadlineMissedFunc)());
|
||||
/**
|
||||
* @brief Currently, the executed object's lifetime is not coupled with the task object's
|
||||
* lifetime, so the destructor is empty.
|
||||
* @brief Currently, the executed object's lifetime is not coupled with
|
||||
* the task object's lifetime, so the destructor is empty.
|
||||
*/
|
||||
virtual ~PeriodicTask(void);
|
||||
|
||||
@ -53,58 +54,72 @@ public:
|
||||
* The address of the task object is passed as an argument
|
||||
* to the system call.
|
||||
*/
|
||||
ReturnValue_t startTask(void);
|
||||
ReturnValue_t startTask() override;
|
||||
/**
|
||||
* Adds an object to the list of objects to be executed.
|
||||
* The objects are executed in the order added.
|
||||
* @param object Id of the object to add.
|
||||
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
||||
* @return
|
||||
* -@c RETURN_OK on success
|
||||
* -@c RETURN_FAILED if the object could not be added.
|
||||
*/
|
||||
ReturnValue_t addComponent(object_id_t object);
|
||||
ReturnValue_t addComponent(object_id_t object,
|
||||
bool setTaskIF = true) override;
|
||||
|
||||
uint32_t getPeriodMs() const;
|
||||
uint32_t getPeriodMs() const override;
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms);
|
||||
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||
protected:
|
||||
bool started;
|
||||
TaskHandle_t handle;
|
||||
|
||||
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
|
||||
//! Typedef for the List of objects.
|
||||
typedef std::vector<ExecutableObjectIF*> ObjectList;
|
||||
/**
|
||||
* @brief This attribute holds a list of objects to be executed.
|
||||
*/
|
||||
ObjectList objectList;
|
||||
/**
|
||||
* @brief The period of the task.
|
||||
* @details The period determines the frequency of the task's execution. It is expressed in clock ticks.
|
||||
* @details
|
||||
* The period determines the frequency of the task's execution.
|
||||
* It is expressed in clock ticks.
|
||||
*/
|
||||
TaskPeriod period;
|
||||
/**
|
||||
* @brief The pointer to the deadline-missed function.
|
||||
* @details This pointer stores the function that is executed if the task's deadline is missed.
|
||||
* So, each may react individually on a timing failure. The pointer may be NULL,
|
||||
* then nothing happens on missing the deadline. The deadline is equal to the next execution
|
||||
* of the periodic task.
|
||||
* @details
|
||||
* This pointer stores the function that is executed if the task's deadline
|
||||
* is missed so each may react individually on a timing failure.
|
||||
* The pointer may be NULL, then nothing happens on missing the deadline.
|
||||
* The deadline is equal to the next execution of the periodic task.
|
||||
*/
|
||||
void (*deadlineMissedFunc)(void);
|
||||
/**
|
||||
* @brief This is the function executed in the new task's context.
|
||||
* @details It converts the argument back to the thread object type and copies the class instance
|
||||
* to the task context. The taskFunctionality method is called afterwards.
|
||||
* @details
|
||||
* It converts the argument back to the thread object type and copies the
|
||||
* class instance to the task context. The taskFunctionality method is
|
||||
* called afterwards.
|
||||
* @param A pointer to the task object itself is passed as argument.
|
||||
*/
|
||||
|
||||
static void taskEntryPoint(void* argument);
|
||||
/**
|
||||
* @brief The function containing the actual functionality of the task.
|
||||
* @details The method sets and starts
|
||||
* the task's period, then enters a loop that is repeated as long as the isRunning
|
||||
* attribute is true. Within the loop, all performOperation methods of the added
|
||||
* objects are called. Afterwards the checkAndRestartPeriod system call blocks the task
|
||||
* until the next period.
|
||||
* @details
|
||||
* The method sets and starts the task's period, then enters a loop that is
|
||||
* repeated as long as the isRunning attribute is true. Within the loop,
|
||||
* all performOperation methods of the added objects are called.
|
||||
* Afterwards the checkAndRestartPeriod system call blocks the task until
|
||||
* the next period.
|
||||
* On missing the deadline, the deadlineMissedFunction is executed.
|
||||
*/
|
||||
void taskFunctionality(void);
|
||||
|
||||
void checkMissedDeadline(const TickType_t xLastWakeTime,
|
||||
const TickType_t interval);
|
||||
void handleMissedDeadline();
|
||||
};
|
||||
|
||||
#endif /* MULTIOBJECTTASK_H_ */
|
||||
#endif /* PERIODICTASK_H_ */
|
||||
|
||||
@ -21,13 +21,18 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
|
||||
ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
|
||||
bool addTaskIF) {
|
||||
ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
|
||||
object);
|
||||
if (newObject == NULL) {
|
||||
if (newObject == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
objectList.push_back(newObject);
|
||||
|
||||
if(setTaskIF) {
|
||||
newObject->setTaskIF(this);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
||||
@ -39,11 +39,12 @@ public:
|
||||
* @param object Id of the object to add.
|
||||
* @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
|
||||
*/
|
||||
ReturnValue_t addComponent(object_id_t object);
|
||||
ReturnValue_t addComponent(object_id_t object,
|
||||
bool addTaskIF = true) override;
|
||||
|
||||
uint32_t getPeriodMs() const;
|
||||
uint32_t getPeriodMs() const override;
|
||||
|
||||
ReturnValue_t sleepFor(uint32_t ms);
|
||||
ReturnValue_t sleepFor(uint32_t ms) override;
|
||||
|
||||
private:
|
||||
typedef std::vector<ExecutableObjectIF*> ObjectList; //!< Typedef for the List of objects.
|
||||
|
||||
@ -1,18 +1,13 @@
|
||||
/**
|
||||
* @file SerialArrayListAdapter.h
|
||||
* @brief This file defines the SerialArrayListAdapter class.
|
||||
* @date 22.07.2014
|
||||
* @author baetz
|
||||
*/
|
||||
#ifndef SERIALARRAYLISTADAPTER_H_
|
||||
#define SERIALARRAYLISTADAPTER_H_
|
||||
#ifndef FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
|
||||
#define FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_
|
||||
|
||||
#include <framework/container/ArrayList.h>
|
||||
#include <framework/serialize/SerializeIF.h>
|
||||
#include <utility>
|
||||
|
||||
/**
|
||||
* \ingroup serialize
|
||||
* @ingroup serialize
|
||||
* @author baetz
|
||||
*/
|
||||
template<typename T, typename count_t = uint8_t>
|
||||
class SerialArrayListAdapter : public SerializeIF {
|
||||
@ -25,14 +20,15 @@ public:
|
||||
return serialize(adaptee, buffer, size, maxSize, streamEndianness);
|
||||
}
|
||||
|
||||
static ReturnValue_t serialize(const ArrayList<T, count_t>* list, uint8_t** buffer, size_t* size,
|
||||
size_t maxSize, Endianness streamEndianness) {
|
||||
static ReturnValue_t serialize(const ArrayList<T, count_t>* list,
|
||||
uint8_t** buffer, size_t* size, size_t maxSize,
|
||||
Endianness streamEndianness) {
|
||||
ReturnValue_t result = SerializeAdapter::serialize(&list->size,
|
||||
buffer, size, maxSize, streamEndianness);
|
||||
count_t i = 0;
|
||||
while ((result == HasReturnvaluesIF::RETURN_OK) && (i < list->size)) {
|
||||
result = SerializeAdapter::serialize(&list->entries[i], buffer, size,
|
||||
maxSize, streamEndianness);
|
||||
result = SerializeAdapter::serialize(&list->entries[i], buffer,
|
||||
size, maxSize, streamEndianness);
|
||||
++i;
|
||||
}
|
||||
return result;
|
||||
@ -58,11 +54,15 @@ public:
|
||||
return deSerialize(adaptee, buffer, size, streamEndianness);
|
||||
}
|
||||
|
||||
static ReturnValue_t deSerialize(ArrayList<T, count_t>* list, const uint8_t** buffer, size_t* size,
|
||||
static ReturnValue_t deSerialize(ArrayList<T, count_t>* list,
|
||||
const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) {
|
||||
count_t tempSize = 0;
|
||||
ReturnValue_t result = SerializeAdapter::deSerialize(&tempSize,
|
||||
buffer, size, streamEndianness);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
if (tempSize > list->maxSize()) {
|
||||
return SerializeIF::TOO_MANY_ELEMENTS;
|
||||
}
|
||||
@ -82,4 +82,4 @@ private:
|
||||
|
||||
|
||||
|
||||
#endif /* SERIALARRAYLISTADAPTER_H_ */
|
||||
#endif /* FRAMEWORK_SERIALIZE_SERIALARRAYLISTADAPTER_H_ */
|
||||
|
||||
@ -1,11 +1,58 @@
|
||||
#include <framework/timemanager/Clock.h>
|
||||
#include <framework/serviceinterface/ServiceInterfaceBuffer.h>
|
||||
#include <cstring>
|
||||
#include <inttypes.h>
|
||||
|
||||
// to be implemented by bsp
|
||||
extern "C" void printChar(const char*);
|
||||
extern "C" void printChar(const char*, bool errStream);
|
||||
|
||||
#ifndef UT699
|
||||
|
||||
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string setMessage,
|
||||
bool addCrToPreamble, bool buffered , bool errStream, uint16_t port):
|
||||
isActive(true), logMessage(setMessage),
|
||||
addCrToPreamble(addCrToPreamble), buffered(buffered),
|
||||
errStream(errStream) {
|
||||
if(buffered) {
|
||||
// Set pointers if the stream is buffered.
|
||||
setp( buf, buf + BUF_SIZE );
|
||||
}
|
||||
preamble.reserve(MAX_PREAMBLE_SIZE);
|
||||
preamble.resize(MAX_PREAMBLE_SIZE);
|
||||
}
|
||||
|
||||
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
|
||||
char array[BUF_SIZE];
|
||||
uint32_t length = end - begin;
|
||||
if (length > sizeof(array)) {
|
||||
length = sizeof(array);
|
||||
}
|
||||
memcpy(array, begin, length);
|
||||
|
||||
for(; begin != end; begin++){
|
||||
if(errStream) {
|
||||
printChar(begin, true);
|
||||
}
|
||||
else {
|
||||
printChar(begin, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
int ServiceInterfaceBuffer::overflow(int c) {
|
||||
if(not buffered and this->isActive) {
|
||||
if (c != Traits::eof()) {
|
||||
if(errStream) {
|
||||
printChar(reinterpret_cast<const char*>(&c), true);
|
||||
}
|
||||
else {
|
||||
printChar(reinterpret_cast<const char*>(&c), false);
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
// Handle output
|
||||
putChars(pbase(), pptr());
|
||||
if (c != Traits::eof()) {
|
||||
@ -20,52 +67,70 @@ int ServiceInterfaceBuffer::overflow(int c) {
|
||||
}
|
||||
|
||||
int ServiceInterfaceBuffer::sync(void) {
|
||||
if (this->isActive) {
|
||||
Clock::TimeOfDay_t loggerTime;
|
||||
Clock::getDateAndTime(&loggerTime);
|
||||
char preamble[96] = { 0 };
|
||||
sprintf(preamble, "%s: | %lu:%02lu:%02lu.%03lu | ",
|
||||
this->log_message.c_str(), (unsigned long) loggerTime.hour,
|
||||
(unsigned long) loggerTime.minute,
|
||||
(unsigned long) loggerTime.second,
|
||||
(unsigned long) loggerTime.usecond /1000);
|
||||
// Write log_message and time
|
||||
this->putChars(preamble, preamble + sizeof(preamble));
|
||||
if(not this->isActive and not buffered) {
|
||||
if(not buffered) {
|
||||
setp(buf, buf + BUF_SIZE - 1);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
if(not buffered) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
size_t preambleSize = 0;
|
||||
std::string* preamble = getPreamble(&preambleSize);
|
||||
// Write logMessage and time
|
||||
this->putChars(preamble->data(), preamble->data() + preambleSize);
|
||||
// Handle output
|
||||
this->putChars(pbase(), pptr());
|
||||
}
|
||||
// This tells that buffer is empty again
|
||||
setp(buf, buf + BUF_SIZE - 1);
|
||||
return 0;
|
||||
}
|
||||
|
||||
#ifndef UT699
|
||||
|
||||
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
|
||||
this->log_message = set_message;
|
||||
this->isActive = true;
|
||||
setp( buf, buf + BUF_SIZE );
|
||||
bool ServiceInterfaceBuffer::isBuffered() const {
|
||||
return buffered;
|
||||
}
|
||||
|
||||
void ServiceInterfaceBuffer::putChars(char const* begin, char const* end) {
|
||||
char array[BUF_SIZE];
|
||||
uint32_t length = end - begin;
|
||||
if (length > sizeof(array)) {
|
||||
length = sizeof(array);
|
||||
std::string* ServiceInterfaceBuffer::getPreamble(size_t * preambleSize) {
|
||||
Clock::TimeOfDay_t loggerTime;
|
||||
Clock::getDateAndTime(&loggerTime);
|
||||
size_t currentSize = 0;
|
||||
char* parsePosition = &preamble[0];
|
||||
if(addCrToPreamble) {
|
||||
preamble[0] = '\r';
|
||||
currentSize += 1;
|
||||
parsePosition += 1;
|
||||
}
|
||||
memcpy(array, begin, length);
|
||||
|
||||
for( ; begin != end; begin++){
|
||||
printChar(begin);
|
||||
int32_t charCount = sprintf(parsePosition,
|
||||
"%s: | %02" SCNu32 ":%02" SCNu32 ":%02" SCNu32 ".%03" SCNu32 " | ",
|
||||
this->logMessage.c_str(), loggerTime.hour,
|
||||
loggerTime.minute,
|
||||
loggerTime.second,
|
||||
loggerTime.usecond /1000);
|
||||
if(charCount < 0) {
|
||||
printf("ServiceInterfaceBuffer: Failure parsing preamble\r\n");
|
||||
return &preamble;
|
||||
}
|
||||
if(charCount > MAX_PREAMBLE_SIZE) {
|
||||
printf("ServiceInterfaceBuffer: Char count too large for maximum "
|
||||
"preamble size");
|
||||
return &preamble;
|
||||
}
|
||||
currentSize += charCount;
|
||||
if(preambleSize != nullptr) {
|
||||
*preambleSize = currentSize;
|
||||
}
|
||||
return &preamble;
|
||||
}
|
||||
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef UT699
|
||||
#include <framework/osal/rtems/Interrupt.h>
|
||||
|
||||
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message, uint16_t port) {
|
||||
ServiceInterfaceBuffer::ServiceInterfaceBuffer(std::string set_message,
|
||||
uint16_t port) {
|
||||
this->log_message = set_message;
|
||||
this->isActive = true;
|
||||
setp( buf, buf + BUF_SIZE );
|
||||
|
||||
@ -1,51 +1,71 @@
|
||||
#ifndef FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
|
||||
#define FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACEBUFFER_H_
|
||||
|
||||
#include <framework/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <iostream>
|
||||
#include <iosfwd>
|
||||
#include <sstream>
|
||||
#include <cstdio>
|
||||
#include <iomanip>
|
||||
|
||||
#ifndef UT699
|
||||
class ServiceInterfaceBuffer: public std::basic_streambuf<char,
|
||||
std::char_traits<char> > {
|
||||
|
||||
/**
|
||||
* @brief This is the underlying stream buffer which implements the
|
||||
* streambuf class and overloads the overflow() and sync() methods
|
||||
* @details
|
||||
* This class is used to modify the output of the stream, for example by adding.
|
||||
* It also calls the char printing function which is implemented in the
|
||||
* board supply package (BSP).
|
||||
*/
|
||||
class ServiceInterfaceBuffer:
|
||||
public std::streambuf {
|
||||
friend class ServiceInterfaceStream;
|
||||
public:
|
||||
ServiceInterfaceBuffer(std::string set_message, uint16_t port);
|
||||
static constexpr uint8_t MAX_PREAMBLE_SIZE = 40;
|
||||
|
||||
ServiceInterfaceBuffer(std::string setMessage, bool addCrToPreamble,
|
||||
bool buffered, bool errStream, uint16_t port);
|
||||
|
||||
protected:
|
||||
bool isActive;
|
||||
// This is called when buffer becomes full. If
|
||||
// buffer is not used, then this is called every
|
||||
// time when characters are put to stream.
|
||||
virtual int overflow(int c = Traits::eof());
|
||||
//! This is called when buffer becomes full. If
|
||||
//! buffer is not used, then this is called every
|
||||
//! time when characters are put to stream.
|
||||
int overflow(int c = Traits::eof()) override;
|
||||
|
||||
// This function is called when stream is flushed,
|
||||
// for example when std::endl is put to stream.
|
||||
virtual int sync(void);
|
||||
//! This function is called when stream is flushed,
|
||||
//! for example when std::endl is put to stream.
|
||||
int sync(void) override;
|
||||
|
||||
bool isBuffered() const;
|
||||
private:
|
||||
// For additional message information
|
||||
std::string log_message;
|
||||
//! For additional message information
|
||||
std::string logMessage;
|
||||
std::string preamble;
|
||||
// For EOF detection
|
||||
typedef std::char_traits<char> Traits;
|
||||
|
||||
// Work in buffer mode. It is also possible to work without buffer.
|
||||
//! This is useful for some terminal programs which do not have
|
||||
//! implicit carriage return with newline characters.
|
||||
bool addCrToPreamble;
|
||||
|
||||
//! Specifies whether the stream operates in buffered or unbuffered mode.
|
||||
bool buffered;
|
||||
//! This specifies to print to stderr and work in unbuffered mode.
|
||||
bool errStream;
|
||||
|
||||
//! Needed for buffered mode.
|
||||
static size_t const BUF_SIZE = 128;
|
||||
char buf[BUF_SIZE];
|
||||
|
||||
// In this function, the characters are parsed.
|
||||
//! In this function, the characters are parsed.
|
||||
void putChars(char const* begin, char const* end);
|
||||
|
||||
std::string* getPreamble(size_t * preambleSize = nullptr);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef UT699
|
||||
class ServiceInterfaceBuffer: public std::basic_streambuf<char,
|
||||
std::char_traits<char> > {
|
||||
|
||||
@ -1,11 +1,32 @@
|
||||
#include <framework/serviceinterface/ServiceInterfaceStream.h>
|
||||
|
||||
ServiceInterfaceStream::ServiceInterfaceStream(std::string setMessage,
|
||||
bool addCrToPreamble, bool buffered, bool errStream, uint16_t port) :
|
||||
std::ostream(&streambuf),
|
||||
streambuf(setMessage, addCrToPreamble, buffered, errStream, port) {}
|
||||
|
||||
void ServiceInterfaceStream::setActive( bool myActive) {
|
||||
this->buf.isActive = myActive;
|
||||
this->streambuf.isActive = myActive;
|
||||
}
|
||||
|
||||
ServiceInterfaceStream::ServiceInterfaceStream(std::string set_message,
|
||||
uint16_t port) :
|
||||
std::basic_ostream<char, std::char_traits<char> >(&buf), buf(
|
||||
set_message, port) {
|
||||
std::string* ServiceInterfaceStream::getPreamble() {
|
||||
return streambuf.getPreamble();
|
||||
}
|
||||
|
||||
void ServiceInterfaceStream::print(std::string error,
|
||||
bool withPreamble, bool withNewline, bool flush) {
|
||||
if(not streambuf.isBuffered() and withPreamble) {
|
||||
*this << getPreamble() << error;
|
||||
}
|
||||
else {
|
||||
*this << error;
|
||||
}
|
||||
|
||||
if(withNewline) {
|
||||
*this << "\n";
|
||||
}
|
||||
// if mode is non-buffered, no need to flush.
|
||||
if(flush and streambuf.isBuffered()) {
|
||||
this->flush();
|
||||
}
|
||||
}
|
||||
|
||||
@ -3,28 +3,56 @@
|
||||
|
||||
#include <framework/serviceinterface/ServiceInterfaceBuffer.h>
|
||||
#include <iostream>
|
||||
#include <iosfwd>
|
||||
#include <sstream>
|
||||
#include <cstdio>
|
||||
|
||||
// Unfortunately, there must be a forward declaration of log_fe
|
||||
// (MUST be defined in main), to let the system know where to write to.
|
||||
namespace sif {
|
||||
extern std::ostream debug;
|
||||
extern std::ostream info;
|
||||
extern std::ostream warning;
|
||||
extern std::ostream error;
|
||||
}
|
||||
|
||||
|
||||
class ServiceInterfaceStream : public std::basic_ostream< char, std::char_traits< char > > {
|
||||
protected:
|
||||
ServiceInterfaceBuffer buf;
|
||||
/**
|
||||
* Generic service interface stream which can be used like std::cout or
|
||||
* std::cerr but has additional capability. Add preamble and timestamp
|
||||
* to output. Can be run in buffered or unbuffered mode.
|
||||
*/
|
||||
class ServiceInterfaceStream : public std::ostream {
|
||||
public:
|
||||
ServiceInterfaceStream( std::string set_message, uint16_t port = 1234 );
|
||||
/**
|
||||
* This constructor is used by specifying the preamble message.
|
||||
* Optionally, the output can be directed to stderr and a CR character
|
||||
* can be prepended to the preamble.
|
||||
* @param setMessage message of preamble.
|
||||
* @param addCrToPreamble Useful for applications like Puttty.
|
||||
* @param buffered specify whether to use buffered mode.
|
||||
* @param errStream specify which output stream to use (stderr or stdout).
|
||||
*/
|
||||
ServiceInterfaceStream(std::string setMessage,
|
||||
bool addCrToPreamble = false, bool buffered = true,
|
||||
bool errStream = false, uint16_t port = 1234);
|
||||
|
||||
//! An inactive stream will not print anything.
|
||||
void setActive( bool );
|
||||
|
||||
/**
|
||||
* This can be used to retrieve the preamble in case it should be printed in
|
||||
* the unbuffered mode.
|
||||
* @return Preamle consisting of log message and timestamp.
|
||||
*/
|
||||
std::string* getPreamble();
|
||||
|
||||
/**
|
||||
* This prints an error with a preamble. Useful if using the unbuffered
|
||||
* mode. Flushes in default mode (prints immediately).
|
||||
*/
|
||||
void print(std::string error, bool withPreamble = true,
|
||||
bool withNewline = true, bool flush = true);
|
||||
|
||||
protected:
|
||||
ServiceInterfaceBuffer streambuf;
|
||||
};
|
||||
|
||||
|
||||
// Forward declaration of interface streams. These should be instantiated in
|
||||
// main. They can then be used like std::cout or std::cerr.
|
||||
namespace sif {
|
||||
extern ServiceInterfaceStream debug;
|
||||
extern ServiceInterfaceStream info;
|
||||
extern ServiceInterfaceStream warning;
|
||||
extern ServiceInterfaceStream error;
|
||||
}
|
||||
|
||||
#endif /* FRAMEWORK_SERVICEINTERFACE_SERVICEINTERFACESTREAM_H_ */
|
||||
|
||||
@ -1,9 +1,11 @@
|
||||
#ifndef PERIODICTASKIF_H_
|
||||
#define PERIODICTASKIF_H_
|
||||
#ifndef FRAMEWORK_TASK_PERIODICTASKIF_H_
|
||||
#define FRAMEWORK_TASK_PERIODICTASKIF_H_
|
||||
|
||||
#include <framework/objectmanager/SystemObjectIF.h>
|
||||
#include <framework/timemanager/Clock.h>
|
||||
#include <cstddef>
|
||||
class ExecutableObjectIF;
|
||||
|
||||
/**
|
||||
* New version of TaskIF
|
||||
* Follows RAII principles, i.e. there's no create or delete method.
|
||||
@ -17,11 +19,27 @@ public:
|
||||
*/
|
||||
virtual ~PeriodicTaskIF() { }
|
||||
/**
|
||||
* @brief With the startTask method, a created task can be started for the first time.
|
||||
* @brief With the startTask method, a created task can be started
|
||||
* for the first time.
|
||||
*/
|
||||
virtual ReturnValue_t startTask() = 0;
|
||||
|
||||
virtual ReturnValue_t addComponent(object_id_t object) {return HasReturnvaluesIF::RETURN_FAILED;};
|
||||
/**
|
||||
* Add a component (object) to a periodic task. The pointer to the
|
||||
* task can be set optionally
|
||||
* @param object
|
||||
* Add an object to the task. The most important case is to add an
|
||||
* executable object with a function which will be called regularly
|
||||
* (see ExecutableObjectIF)
|
||||
* @param setTaskIF
|
||||
* Can be used to specify whether the task object pointer is passed
|
||||
* to the component.
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t addComponent(object_id_t object,
|
||||
bool setTaskIF = true) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
};
|
||||
|
||||
virtual ReturnValue_t sleepFor(uint32_t ms) = 0;
|
||||
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
#include <framework/timemanager/CCSDSTime.h>
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
#include <math.h>
|
||||
|
||||
CCSDSTime::CCSDSTime() {
|
||||
@ -154,14 +155,16 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
|
||||
if (length < 19) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
// Newlib nano can't parse uint8, see SCNu8 documentation and https://sourceware.org/newlib/README
|
||||
// Suggestion: use uint16 all the time. This should work on all systems.
|
||||
#ifdef NEWLIB_NANO_NO_C99_IO
|
||||
uint16_t year;
|
||||
uint8_t month;
|
||||
uint16_t month;
|
||||
uint16_t day;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
uint16_t hour;
|
||||
uint16_t minute;
|
||||
float second;
|
||||
//try Code A (yyyy-mm-dd)
|
||||
int count = sscanf((char *) from, "%4hi-%2hhi-%2hiT%2hhi:%2hhi:%fZ", &year,
|
||||
int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu16 "-%2" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year,
|
||||
&month, &day, &hour, &minute, &second);
|
||||
if (count == 6) {
|
||||
to->year = year;
|
||||
@ -175,8 +178,51 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
|
||||
}
|
||||
|
||||
// try Code B (yyyy-ddd)
|
||||
count = sscanf((char *) from, "%4hi-%3hiT%2hhi:%2hhi:%fZ", &year, &day,
|
||||
count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu16 ":%2" SCNu16 ":%fZ", &year, &day,
|
||||
&hour, &minute, &second);
|
||||
if (count == 5) {
|
||||
uint8_t tempDay;
|
||||
ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year,
|
||||
reinterpret_cast<uint8_t *>(&month), reinterpret_cast<uint8_t *>(&tempDay));
|
||||
if (result != RETURN_OK) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
to->year = year;
|
||||
to->month = month;
|
||||
to->day = tempDay;
|
||||
to->hour = hour;
|
||||
to->minute = minute;
|
||||
to->second = second;
|
||||
to->usecond = (second - floor(second)) * 1000000;
|
||||
return RETURN_OK;
|
||||
}
|
||||
// Warning: Compiler/Linker fails ambiguously if library does not implement
|
||||
// C99 I/O
|
||||
#else
|
||||
uint16_t year;
|
||||
uint8_t month;
|
||||
uint16_t day;
|
||||
uint8_t hour;
|
||||
uint8_t minute;
|
||||
float second;
|
||||
//try Code A (yyyy-mm-dd)
|
||||
int count = sscanf((char *) from, "%4" SCNu16 "-%2" SCNu8 "-%2" SCNu16
|
||||
"T%2" SCNu8 ":%2" SCNu8 ":%fZ", &year, &month, &day,
|
||||
&hour, &minute, &second);
|
||||
if (count == 6) {
|
||||
to->year = year;
|
||||
to->month = month;
|
||||
to->day = day;
|
||||
to->hour = hour;
|
||||
to->minute = minute;
|
||||
to->second = second;
|
||||
to->usecond = (second - floor(second)) * 1000000;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
//try Code B (yyyy-ddd)
|
||||
count = sscanf((char *) from, "%4" SCNu16 "-%3" SCNu16 "T%2" SCNu8
|
||||
":%2" SCNu8 ":%fZ", &year, &day, &hour, &minute, &second);
|
||||
if (count == 5) {
|
||||
uint8_t tempDay;
|
||||
ReturnValue_t result = CCSDSTime::convertDaysOfYear(day, year, &month,
|
||||
@ -193,6 +239,7 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
|
||||
to->usecond = (second - floor(second)) * 1000000;
|
||||
return RETURN_OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
return UNSUPPORTED_TIME_FORMAT;
|
||||
}
|
||||
|
||||
@ -1,22 +1,21 @@
|
||||
/*
|
||||
* CommandingServiceBase.cpp
|
||||
*
|
||||
* Created on: 28.08.2019
|
||||
* Author: gaisser
|
||||
*/
|
||||
#include <framework/tcdistribution/PUSDistributorIF.h>
|
||||
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
|
||||
#include <framework/objectmanager/ObjectManagerIF.h>
|
||||
|
||||
#include <framework/tmtcservices/CommandingServiceBase.h>
|
||||
#include <framework/tmtcservices/TmTcMessage.h>
|
||||
#include <framework/ipc/QueueFactory.h>
|
||||
#include <framework/tmtcpacket/pus/TcPacketStored.h>
|
||||
#include <framework/tmtcpacket/pus/TmPacketStored.h>
|
||||
|
||||
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
|
||||
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
|
||||
uint16_t commandTimeout_seconds, object_id_t setPacketSource,
|
||||
uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
|
||||
object_id_t setPacketDestination, size_t queueDepth) :
|
||||
SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
|
||||
commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
|
||||
NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
|
||||
numberOfParallelCommands), failureParameter1(0), failureParameter2(
|
||||
0), packetSource(setPacketSource), packetDestination(
|
||||
setPacketDestination),executingTask(NULL) {
|
||||
SystemObject(setObjectId), apid(apid), service(service),
|
||||
timeoutSeconds(commandTimeoutSeconds),
|
||||
commandMap(numberOfParallelCommands), packetSource(setPacketSource),
|
||||
packetDestination(setPacketDestination) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||
}
|
||||
@ -57,8 +56,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
|
||||
objectManager->get<AcceptsTelemetryIF>(packetDestination);
|
||||
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
|
||||
packetSource);
|
||||
if ((packetForwarding == NULL) && (distributor == NULL)) {
|
||||
return RETURN_FAILED;
|
||||
if (packetForwarding == nullptr or distributor == nullptr) {
|
||||
sif::error << "CommandingServiceBase::intialize: Packet source or "
|
||||
"packet destination invalid!" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
distributor->registerService(this);
|
||||
@ -68,8 +69,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
|
||||
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
|
||||
TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
|
||||
|
||||
if ((IPCStore == NULL) || (TCStore == NULL)) {
|
||||
return RETURN_FAILED;
|
||||
if (IPCStore == nullptr or TCStore == nullptr) {
|
||||
sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
|
||||
"not initialized yet!" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
@ -77,73 +80,53 @@ ReturnValue_t CommandingServiceBase::initialize() {
|
||||
}
|
||||
|
||||
void CommandingServiceBase::handleCommandQueue() {
|
||||
CommandMessage reply, nextCommand;
|
||||
ReturnValue_t result, sendResult = RETURN_OK;
|
||||
bool isStep = false;
|
||||
CommandMessage reply;
|
||||
ReturnValue_t result = RETURN_FAILED;
|
||||
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
|
||||
result = commandQueue->receiveMessage(&reply)) {
|
||||
isStep = false;
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
handleCommandMessage(&reply);
|
||||
}
|
||||
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
|
||||
handleUnrequestedReply(&reply);
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
|
||||
bool isStep = false;
|
||||
CommandMessage nextCommand;
|
||||
CommandMapIter iter = commandMap.find(reply->getSender());
|
||||
|
||||
// handle unrequested reply first
|
||||
if (reply->getSender() == MessageQueueIF::NO_QUEUE or
|
||||
iter == commandMap.end()) {
|
||||
handleUnrequestedReply(reply);
|
||||
return;
|
||||
}
|
||||
nextCommand.setCommand(CommandMessage::CMD_NONE);
|
||||
result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
|
||||
iter->objectId, &isStep);
|
||||
|
||||
|
||||
// Implemented by child class, specifies what to do with reply.
|
||||
ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
|
||||
&nextCommand, iter->objectId, &isStep);
|
||||
|
||||
/* If the child implementation does not implement special handling for
|
||||
* rejected replies (RETURN_FAILED is returned), a failure verification
|
||||
* will be generated with the reason as the return code and the initial
|
||||
* command as failure parameter 1 */
|
||||
if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
|
||||
result == RETURN_FAILED) {
|
||||
result = reply->getReplyRejectedReason();
|
||||
failureParameter1 = iter->command;
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
// handle result of reply handler implemented by developer.
|
||||
handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
|
||||
break;
|
||||
case INVALID_REPLY:
|
||||
//might be just an unrequested reply at a bad moment
|
||||
handleUnrequestedReply(&reply);
|
||||
handleUnrequestedReply(reply);
|
||||
break;
|
||||
default:
|
||||
if (isStep) {
|
||||
@ -160,13 +143,62 @@ void CommandingServiceBase::handleCommandQueue() {
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(&iter);
|
||||
checkAndExecuteFifo(iter);
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
|
||||
CommandMapIter iter, CommandMessage* nextCommand,
|
||||
CommandMessage* reply, bool& isStep) {
|
||||
iter->command = nextCommand->getCommand();
|
||||
|
||||
// In case a new command is to be sent immediately, this is performed here.
|
||||
// If no new command is sent, only analyse reply result by initializing
|
||||
// sendResult as RETURN_OK
|
||||
ReturnValue_t sendResult = RETURN_OK;
|
||||
if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage(reply->getSender(),
|
||||
nextCommand);
|
||||
}
|
||||
|
||||
if (sendResult == RETURN_OK) {
|
||||
if (isStep and result != NO_STEP_MESSAGE) {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::PROGRESS_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, ++iter->step);
|
||||
}
|
||||
else {
|
||||
verificationReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, 0);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
}
|
||||
else {
|
||||
if (isStep) {
|
||||
nextCommand->clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult,
|
||||
++iter->step, failureParameter1, failureParameter2);
|
||||
} else {
|
||||
nextCommand->clearCommandMessage();
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE,
|
||||
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
|
||||
iter->tcInfo.tcSequenceControl, sendResult, 0,
|
||||
failureParameter1, failureParameter2);
|
||||
}
|
||||
failureParameter1 = 0;
|
||||
failureParameter2 = 0;
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
}
|
||||
|
||||
void CommandingServiceBase::handleRequestQueue() {
|
||||
TmTcMessage message;
|
||||
@ -181,7 +213,7 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
packet.setStoreAddress(address);
|
||||
|
||||
if ((packet.getSubService() == 0)
|
||||
|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
|
||||
or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
|
||||
continue;
|
||||
}
|
||||
@ -194,8 +226,7 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
}
|
||||
|
||||
//Is a command already active for the target object?
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
CommandMapIter iter;
|
||||
iter = commandMap.find(queue);
|
||||
|
||||
if (iter != commandMap.end()) {
|
||||
@ -210,7 +241,7 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
if (result != RETURN_OK) {
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
|
||||
} else {
|
||||
startExecution(&packet, &iter);
|
||||
startExecution(&packet, iter);
|
||||
}
|
||||
}
|
||||
|
||||
@ -218,9 +249,9 @@ void CommandingServiceBase::handleRequestQueue() {
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
const uint8_t* data, uint32_t dataLen, const uint8_t* headerData,
|
||||
uint32_t headerSize) {
|
||||
ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
const uint8_t* data, size_t dataLen, const uint8_t* headerData,
|
||||
size_t headerSize) {
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, data, dataLen, headerData, headerSize);
|
||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||
@ -228,11 +259,12 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
object_id_t objectId, const uint8_t *data, uint32_t dataLen) {
|
||||
ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
object_id_t objectId, const uint8_t *data, size_t dataLen) {
|
||||
uint8_t buffer[sizeof(object_id_t)];
|
||||
uint8_t* pBuffer = buffer;
|
||||
size_t size = 0;
|
||||
@ -245,11 +277,11 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
SerializeIF* content, SerializeIF* header) {
|
||||
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
|
||||
this->tmPacketCounter, content, header);
|
||||
@ -258,49 +290,48 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
this->tmPacketCounter++;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
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,
|
||||
void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
|
||||
CommandMapIter iter) {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
CommandMessage command;
|
||||
iter->subservice = storedPacket->getSubService();
|
||||
result = prepareCommand(&command, iter->subservice,
|
||||
storedPacket->getApplicationData(),
|
||||
storedPacket->getApplicationDataSize(), &(*iter)->state,
|
||||
(*iter)->objectId);
|
||||
storedPacket->getApplicationDataSize(), &iter->state,
|
||||
iter->objectId);
|
||||
|
||||
ReturnValue_t sendResult = RETURN_OK;
|
||||
switch (result) {
|
||||
case RETURN_OK:
|
||||
if (message.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
&message);
|
||||
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
||||
sendResult = commandQueue->sendMessage(iter.value->first,
|
||||
&command);
|
||||
}
|
||||
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 =
|
||||
Clock::getUptime(&iter->uptimeOfStart);
|
||||
iter->step = 0;
|
||||
iter->subservice = storedPacket->getSubService();
|
||||
iter->command = command.getCommand();
|
||||
iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||
iter->tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||
iter->tcInfo.tcSequenceControl =
|
||||
storedPacket->getPacketSequenceControl();
|
||||
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
command.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
break;
|
||||
case EXECUTION_COMPLETE:
|
||||
if (message.getCommand() != CommandMessage::CMD_NONE) {
|
||||
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
||||
//Fire-and-forget command.
|
||||
sendResult = commandQueue->sendMessage((*iter).value->first,
|
||||
&message);
|
||||
sendResult = commandQueue->sendMessage(iter.value->first,
|
||||
&command);
|
||||
}
|
||||
if (sendResult == RETURN_OK) {
|
||||
verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
|
||||
@ -308,7 +339,7 @@ void CommandingServiceBase::startExecution(
|
||||
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
|
||||
checkAndExecuteFifo(iter);
|
||||
} else {
|
||||
message.clearCommandMessage();
|
||||
command.clearCommandMessage();
|
||||
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
@ -335,12 +366,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::checkAndExecuteFifo(
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator *iter) {
|
||||
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
|
||||
store_address_t address;
|
||||
if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
|
||||
commandMap.erase(iter);
|
||||
if (iter->fifo.retrieve(&address) != RETURN_OK) {
|
||||
commandMap.erase(&iter);
|
||||
} else {
|
||||
TcPacketStored newPacket(address);
|
||||
startExecution(&newPacket, iter);
|
||||
@ -348,8 +377,7 @@ void CommandingServiceBase::checkAndExecuteFifo(
|
||||
}
|
||||
|
||||
|
||||
void CommandingServiceBase::handleUnrequestedReply(
|
||||
CommandMessage* reply) {
|
||||
void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
|
||||
reply->clearCommandMessage();
|
||||
}
|
||||
|
||||
@ -364,18 +392,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
|
||||
void CommandingServiceBase::checkTimeout() {
|
||||
uint32_t uptime;
|
||||
Clock::getUptime(&uptime);
|
||||
typename FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator iter;
|
||||
CommandMapIter iter;
|
||||
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
|
||||
if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
|
||||
if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
|
||||
verificationReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
|
||||
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
|
||||
TIMEOUT);
|
||||
checkAndExecuteFifo(&iter);
|
||||
checkAndExecuteFifo(iter);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
|
||||
executingTask = task_;
|
||||
}
|
||||
|
||||
@ -1,35 +1,33 @@
|
||||
#ifndef COMMANDINGSERVICEBASE_H_
|
||||
#define COMMANDINGSERVICEBASE_H_
|
||||
#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
|
||||
#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
|
||||
|
||||
#include <framework/container/FixedMap.h>
|
||||
#include <framework/container/FIFO.h>
|
||||
#include <framework/ipc/CommandMessage.h>
|
||||
#include <framework/objectmanager/ObjectManagerIF.h>
|
||||
#include <framework/objectmanager/SystemObject.h>
|
||||
#include <framework/serialize/SerializeAdapter.h>
|
||||
#include <framework/storagemanager/StorageManagerIF.h>
|
||||
#include <framework/tasks/ExecutableObjectIF.h>
|
||||
#include <framework/tcdistribution/PUSDistributorIF.h>
|
||||
#include <framework/tmtcpacket/pus/TcPacketStored.h>
|
||||
#include <framework/tmtcpacket/pus/TmPacketStored.h>
|
||||
#include <framework/ipc/MessageQueueIF.h>
|
||||
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
|
||||
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
|
||||
#include <framework/tmtcservices/TmTcMessage.h>
|
||||
|
||||
#include <framework/tmtcservices/VerificationReporter.h>
|
||||
#include <framework/internalError/InternalErrorReporterIF.h>
|
||||
#include <framework/ipc/QueueFactory.h>
|
||||
#include <framework/timemanager/Clock.h>
|
||||
#include <framework/ipc/CommandMessage.h>
|
||||
#include <framework/container/FixedMap.h>
|
||||
#include <framework/container/FIFO.h>
|
||||
#include <framework/serialize/SerializeIF.h>
|
||||
|
||||
class TcPacketStored;
|
||||
|
||||
/**
|
||||
* \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
|
||||
* @brief This class is the basis for all PUS Services, which have to
|
||||
* relay Telecommands to software bus.
|
||||
*
|
||||
* It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
|
||||
* Every class that inherits from this abstract class has to implement four adaption points:
|
||||
* It manages Telecommand reception and the generation of Verification Reports
|
||||
* similar to PusServiceBase. This class is used if a telecommand can't be
|
||||
* handled immediately and must be relayed to the internal software bus.
|
||||
* - isValidSubservice
|
||||
* - getMessageQueueAndObject
|
||||
* - prepareCommand
|
||||
* - handleReply
|
||||
* \ingroup pus_services
|
||||
* @author gaisser
|
||||
* @ingroup pus_services
|
||||
*/
|
||||
class CommandingServiceBase: public SystemObject,
|
||||
public AcceptsTelecommandsIF,
|
||||
@ -59,7 +57,7 @@ public:
|
||||
*/
|
||||
CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
|
||||
uint8_t service, uint8_t numberOfParallelCommands,
|
||||
uint16_t commandTimeout_seconds, object_id_t setPacketSource,
|
||||
uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
|
||||
object_id_t setPacketDestination, size_t queueDepth = 20);
|
||||
virtual ~CommandingServiceBase();
|
||||
|
||||
@ -99,9 +97,7 @@ public:
|
||||
* Used to setup the reference of the task, that executes this component
|
||||
* @param task_ Pointer to the taskIF of this task
|
||||
*/
|
||||
virtual void setTaskIF(PeriodicTaskIF* task_){
|
||||
executingTask = task_;
|
||||
};
|
||||
virtual void setTaskIF(PeriodicTaskIF* task_);
|
||||
|
||||
protected:
|
||||
/**
|
||||
@ -113,8 +109,9 @@ protected:
|
||||
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
|
||||
|
||||
/**
|
||||
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
|
||||
* The target message queue ID can then be acquired by using the target interface.
|
||||
* Once a TC Request is valid, the existence of the destination and its
|
||||
* target interface is checked and retrieved. The target message queue ID
|
||||
* can then be acquired by using the target interface.
|
||||
* @param subservice
|
||||
* @param tcData Application Data of TC Packet
|
||||
* @param tcDataLen
|
||||
@ -125,48 +122,69 @@ protected:
|
||||
* - @c CSB or implementation specific return codes
|
||||
*/
|
||||
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
|
||||
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
|
||||
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
|
||||
object_id_t *objectId) = 0;
|
||||
|
||||
/**
|
||||
* After the Message Queue and Object ID are determined,
|
||||
* the command is prepared by using an implementation specific CommandMessage type
|
||||
* which is sent to the target object.
|
||||
* It contains all necessary information for the device to execute telecommands.
|
||||
* @param message[out] message to be sent to the object
|
||||
* @param subservice[in] Subservice of the current communication
|
||||
* @param tcData Additional data of the command
|
||||
* @param tcDataLen Length of the additional data
|
||||
* @param state[out] Setable state of the communication
|
||||
* After the Message Queue and Object ID are determined, the command is
|
||||
* prepared by using an implementation specific CommandMessage type
|
||||
* which is sent to the target object. It contains all necessary information
|
||||
* for the device to execute telecommands.
|
||||
* @param message [out] message which can be set and is sent to the object
|
||||
* @param subservice Subservice of the current communication
|
||||
* @param tcData Application data of command
|
||||
* @param tcDataLen Application data length
|
||||
* @param state [out/in] Setable state of the communication.
|
||||
* communication
|
||||
* @param objectId Target object ID
|
||||
* @return - @c RETURN_OK on success
|
||||
* - @c EXECUTION_COMPLETE if exectuin is finished
|
||||
* - any other return code will be part of (1,4) start failure
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t prepareCommand(CommandMessage* message,
|
||||
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
|
||||
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
||||
uint32_t *state, object_id_t objectId) = 0;
|
||||
|
||||
/**
|
||||
* This function is responsible for the communication between the Command Service Base
|
||||
* and the respective PUS Commanding Service once the execution has started.
|
||||
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
|
||||
* There are different translations of these replies to specify how the Command Service proceeds.
|
||||
* @param reply Command Message which contains information about the command
|
||||
* @param previousCommand Command_t of last command
|
||||
* @param state state of the communication
|
||||
* @param optionalNextCommand[out] An optional next command which can be set in this function
|
||||
* This function is implemented by child services to specify how replies
|
||||
* to a command from another software component are handled.
|
||||
* @param reply
|
||||
* This is the reply in form of a generic read-only command message.
|
||||
* @param previousCommand
|
||||
* Command_t of related command
|
||||
* @param state [out/in]
|
||||
* Additional parameter which can be used to pass state information.
|
||||
* State of the communication
|
||||
* @param optionalNextCommand [out]
|
||||
* An optional next command which can be set in this function
|
||||
* @param objectId Source object ID
|
||||
* @param isStep Flag value to mark steps of command execution
|
||||
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
|
||||
* - @c INVALID_REPLY can handle unrequested replies
|
||||
* - Anything else triggers a TC verification failure
|
||||
* @return
|
||||
* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
|
||||
* generate TC verification success
|
||||
* - @c INVALID_REPLY calls handleUnrequestedReply
|
||||
* - Anything else triggers a TC verification failure. If RETURN_FAILED
|
||||
* is returned and the command ID is CommandMessage::REPLY_REJECTED,
|
||||
* a failure verification message with the reason as the error parameter
|
||||
* and the initial command as failure parameter 1.
|
||||
*/
|
||||
virtual ReturnValue_t handleReply(const CommandMessage* reply,
|
||||
Command_t previousCommand, uint32_t *state,
|
||||
CommandMessage* optionalNextCommand, object_id_t objectId,
|
||||
bool *isStep) = 0;
|
||||
|
||||
/**
|
||||
* This function can be overidden to handle unrequested reply,
|
||||
* when the reply sender ID is unknown or is not found is the command map.
|
||||
* The default implementation will clear the command message and all
|
||||
* its contents.
|
||||
* @param reply
|
||||
* Reply which is non-const so the default implementation can clear the
|
||||
* message.
|
||||
*/
|
||||
virtual void handleUnrequestedReply(CommandMessage* reply);
|
||||
|
||||
virtual void doPeriodicOperation();
|
||||
|
||||
|
||||
struct CommandInfo {
|
||||
struct tcInfo {
|
||||
uint8_t ackFlags;
|
||||
@ -182,84 +200,92 @@ protected:
|
||||
FIFO<store_address_t, 3> fifo;
|
||||
};
|
||||
|
||||
using CommandMapIter = FixedMap<MessageQueueId_t,
|
||||
CommandingServiceBase::CommandInfo>::Iterator;
|
||||
|
||||
const uint16_t apid;
|
||||
|
||||
const uint8_t service;
|
||||
|
||||
const uint16_t timeout_seconds;
|
||||
const uint16_t timeoutSeconds;
|
||||
|
||||
uint8_t tmPacketCounter;
|
||||
uint8_t tmPacketCounter = 0;
|
||||
|
||||
StorageManagerIF *IPCStore;
|
||||
StorageManagerIF *IPCStore = nullptr;
|
||||
|
||||
StorageManagerIF *TCStore;
|
||||
StorageManagerIF *TCStore = nullptr;
|
||||
|
||||
MessageQueueIF* commandQueue;
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
MessageQueueIF* requestQueue;
|
||||
MessageQueueIF* requestQueue = nullptr;
|
||||
|
||||
VerificationReporter verificationReporter;
|
||||
|
||||
FixedMap<MessageQueueId_t, CommandInfo> commandMap;
|
||||
|
||||
uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
|
||||
uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
|
||||
/* May be set be children to return a more precise failure condition. */
|
||||
uint32_t failureParameter1 = 0;
|
||||
uint32_t failureParameter2 = 0;
|
||||
|
||||
object_id_t packetSource;
|
||||
|
||||
object_id_t packetDestination;
|
||||
|
||||
/**
|
||||
* Pointer to the task which executes this component, is invalid before setTaskIF was called.
|
||||
* Pointer to the task which executes this component,
|
||||
* is invalid before setTaskIF was called.
|
||||
*/
|
||||
PeriodicTaskIF* executingTask;
|
||||
PeriodicTaskIF* executingTask = nullptr;
|
||||
|
||||
/**
|
||||
* Send TM data from pointer to data. If a header is supplied it is added before data
|
||||
* @brief Send TM data from pointer to data.
|
||||
* If a header is supplied it is added before data
|
||||
* @param subservice Number of subservice
|
||||
* @param data Pointer to the data in the Packet
|
||||
* @param dataLen Lenght of data in the Packet
|
||||
* @param headerData HeaderData will be placed before data
|
||||
* @param headerSize Size of HeaderData
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen,
|
||||
const uint8_t* headerData = NULL, uint32_t headerSize = 0);
|
||||
ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
|
||||
size_t dataLen, const uint8_t* headerData = nullptr,
|
||||
size_t headerSize = 0);
|
||||
|
||||
/**
|
||||
* To send TM packets of objects that still need to be serialized and consist of an object ID with appended data
|
||||
* @brief To send TM packets of objects that still need to be serialized
|
||||
* and consist of an object ID with appended data.
|
||||
* @param subservice Number of subservice
|
||||
* @param objectId ObjectId is placed before data
|
||||
* @param data Data to append to the packet
|
||||
* @param dataLen Length of Data
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, object_id_t objectId,
|
||||
const uint8_t *data, uint32_t dataLen);
|
||||
ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
|
||||
const uint8_t *data, size_t dataLen);
|
||||
|
||||
/**
|
||||
* To send packets has data which is in form of a SerializeIF or Adapters implementing it
|
||||
* @brief To send packets which are contained inside a class implementing
|
||||
* SerializeIF.
|
||||
* @param subservice Number of subservice
|
||||
* @param content This is a pointer to the serialized packet
|
||||
* @param header Serialize IF header which will be placed before content
|
||||
*/
|
||||
void sendTmPacket(uint8_t subservice, SerializeIF* content,
|
||||
SerializeIF* header = NULL);
|
||||
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
|
||||
SerializeIF* header = nullptr);
|
||||
|
||||
virtual void handleUnrequestedReply(CommandMessage *reply);
|
||||
|
||||
virtual void doPeriodicOperation();
|
||||
|
||||
void checkAndExecuteFifo(
|
||||
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
|
||||
void checkAndExecuteFifo(CommandMapIter iter);
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* This method handles internal execution of a command,
|
||||
* once it has been started by @sa{startExecution()} in the Request Queue handler.
|
||||
* It handles replies generated by the devices and relayed by the specific service implementation.
|
||||
* This means that it determines further course of action depending on the return values specified
|
||||
* in the service implementation.
|
||||
* once it has been started by @sa{startExecution()} in the request
|
||||
* queue handler.
|
||||
* It handles replies generated by the devices and relayed by the specific
|
||||
* service implementation. This means that it determines further course of
|
||||
* action depending on the return values specified in the service
|
||||
* implementation.
|
||||
* This includes the generation of TC verification messages. Note that
|
||||
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
|
||||
* the static framework object ID @c VerificationReporter::messageReceiver
|
||||
* needs to be set.
|
||||
* - TM[1,5] Step Successs
|
||||
* - TM[1,6] Step Failure
|
||||
* - TM[1,7] Completion Success
|
||||
@ -280,8 +306,11 @@ private:
|
||||
|
||||
void acceptPacket(uint8_t reportId, TcPacketStored* packet);
|
||||
|
||||
void startExecution(TcPacketStored *storedPacket,
|
||||
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
|
||||
void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
|
||||
|
||||
void handleCommandMessage(CommandMessage* reply);
|
||||
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
|
||||
CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
|
||||
|
||||
void checkTimeout();
|
||||
};
|
||||
|
||||
@ -9,10 +9,11 @@
|
||||
object_id_t PusServiceBase::packetSource = 0;
|
||||
object_id_t PusServiceBase::packetDestination = 0;
|
||||
|
||||
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) :
|
||||
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1(
|
||||
0), errorParameter2(0), requestQueue(NULL) {
|
||||
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
|
||||
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
|
||||
uint8_t setServiceId) :
|
||||
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
|
||||
requestQueue = QueueFactory::instance()->
|
||||
createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
|
||||
}
|
||||
|
||||
PusServiceBase::~PusServiceBase() {
|
||||
@ -20,50 +21,64 @@ PusServiceBase::~PusServiceBase() {
|
||||
}
|
||||
|
||||
ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
|
||||
handleRequestQueue();
|
||||
ReturnValue_t result = this->performService();
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "PusService " << (uint16_t) this->serviceId
|
||||
<< ": performService returned with " << (int16_t) result
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
|
||||
this->taskHandle = taskHandle;
|
||||
}
|
||||
|
||||
void PusServiceBase::handleRequestQueue() {
|
||||
TmTcMessage message;
|
||||
ReturnValue_t result = RETURN_FAILED;
|
||||
for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
|
||||
ReturnValue_t status = this->requestQueue->receiveMessage(&message);
|
||||
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
|
||||
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
|
||||
// << std::hex << this->requestQueue.getId()
|
||||
// << std::dec << " returned: " << status << std::endl;
|
||||
if (status == RETURN_OK) {
|
||||
this->currentPacket.setStoreAddress(message.getStorageId());
|
||||
// info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
|
||||
//info << "Service " << (uint16_t) this->serviceId <<
|
||||
// ": new packet!" << std::endl;
|
||||
|
||||
ReturnValue_t return_code = this->handleRequest();
|
||||
// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
|
||||
if (return_code == RETURN_OK) {
|
||||
result = this->handleRequest(currentPacket.getSubService());
|
||||
|
||||
// debug << "Service " << (uint16_t)this->serviceId <<
|
||||
// ": handleRequest returned: " << (int)return_code << std::endl;
|
||||
if (result == RETURN_OK) {
|
||||
this->verifyReporter.sendSuccessReport(
|
||||
TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
this->verifyReporter.sendFailureReport(
|
||||
TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
|
||||
return_code, 0, errorParameter1, errorParameter2);
|
||||
result, 0, errorParameter1, errorParameter2);
|
||||
}
|
||||
this->currentPacket.deletePacket();
|
||||
errorParameter1 = 0;
|
||||
errorParameter2 = 0;
|
||||
} else if (status == MessageQueueIF::EMPTY) {
|
||||
}
|
||||
else if (status == MessageQueueIF::EMPTY) {
|
||||
status = RETURN_OK;
|
||||
// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
|
||||
// debug << "PusService " << (uint16_t)this->serviceId <<
|
||||
// ": no new packet." << std::endl;
|
||||
break;
|
||||
} else {
|
||||
|
||||
}
|
||||
else {
|
||||
sif::error << "PusServiceBase::performOperation: Service "
|
||||
<< (uint16_t) this->serviceId
|
||||
<< ": Error receiving packet. Code: " << std::hex << status
|
||||
<< std::dec << std::endl;
|
||||
}
|
||||
}
|
||||
ReturnValue_t return_code = this->performService();
|
||||
if (return_code == RETURN_OK) {
|
||||
return RETURN_OK;
|
||||
} else {
|
||||
|
||||
sif::error << "PusService " << (uint16_t) this->serviceId
|
||||
<< ": performService returned with " << (int16_t) return_code
|
||||
<< std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
uint16_t PusServiceBase::getIdentifier() {
|
||||
@ -79,19 +94,28 @@ ReturnValue_t PusServiceBase::initialize() {
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>(
|
||||
AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
|
||||
packetDestination);
|
||||
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
|
||||
packetSource);
|
||||
if ((dest_service != NULL) && (distributor != NULL)) {
|
||||
if ((destService != nullptr) && (distributor != nullptr)) {
|
||||
this->requestQueue->setDefaultDestination(
|
||||
dest_service->getReportReceptionQueue());
|
||||
destService->getReportReceptionQueue());
|
||||
distributor->registerService(this);
|
||||
return RETURN_OK;
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
sif::error << "PusServiceBase::PusServiceBase: Service "
|
||||
<< (uint32_t) this->serviceId << ": Configuration error."
|
||||
<< " Make sure packetSource and packetDestination are defined correctly" << std::endl;
|
||||
<< " Make sure packetSource and packetDestination are defined "
|
||||
"correctly" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
|
||||
// If task parameters, for example task frequency are required, this
|
||||
// function should be overriden and the system object task IF can
|
||||
// be used to get those parameters.
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
#ifndef PUSSERVICEBASE_H_
|
||||
#define PUSSERVICEBASE_H_
|
||||
#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
|
||||
#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
|
||||
|
||||
#include <framework/objectmanager/ObjectManagerIF.h>
|
||||
#include <framework/objectmanager/SystemObject.h>
|
||||
@ -9,7 +9,6 @@
|
||||
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
|
||||
#include <framework/tmtcservices/VerificationCodes.h>
|
||||
#include <framework/tmtcservices/VerificationReporter.h>
|
||||
#include <framework/internalError/InternalErrorReporterIF.h>
|
||||
#include <framework/ipc/MessageQueueIF.h>
|
||||
|
||||
namespace Factory{
|
||||
@ -17,72 +16,100 @@ void setStaticFrameworkObjectIds();
|
||||
}
|
||||
|
||||
/**
|
||||
* \defgroup pus_services PUS Service Framework
|
||||
* @defgroup pus_services PUS Service Framework
|
||||
* These group contains all implementations of PUS Services in the OBSW.
|
||||
* Most of the Services are directly taken from the ECSS PUS Standard.
|
||||
*/
|
||||
|
||||
/**
|
||||
* \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
|
||||
* It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
|
||||
* from this abstract class has to implement handleRequest and performService. Services that are created with this
|
||||
* @brief This class is the basis for all PUS Services,
|
||||
* which can immediately process Telecommand Packets.
|
||||
* @details
|
||||
* It manages Telecommand reception and the generation of Verification Reports.
|
||||
* Every class that inherits from this abstract class has to implement
|
||||
* handleRequest and performService. Services that are created with this
|
||||
* Base class have to handle any kind of request immediately on reception.
|
||||
* All PUS Services are System Objects, so an Object ID needs to be specified on construction.
|
||||
* \ingroup pus_services
|
||||
* All PUS Services are System Objects, so an Object ID needs to be specified
|
||||
* on construction.
|
||||
* @ingroup pus_services
|
||||
*/
|
||||
class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF {
|
||||
class PusServiceBase : public ExecutableObjectIF,
|
||||
public AcceptsTelecommandsIF,
|
||||
public SystemObject,
|
||||
public HasReturnvaluesIF {
|
||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||
public:
|
||||
/**
|
||||
* The constructor for the class.
|
||||
* The passed values are set, but inter-object initialization is done in the initialize method.
|
||||
* @param setObjectId The system object identifier of this Service instance.
|
||||
* @param set_apid The APID the Service is instantiated for.
|
||||
* @param set_service_id The Service Identifier as specified in ECSS PUS.
|
||||
* @brief The passed values are set, but inter-object initialization is
|
||||
* done in the initialize method.
|
||||
* @param setObjectId
|
||||
* The system object identifier of this Service instance.
|
||||
* @param setApid
|
||||
* The APID the Service is instantiated for.
|
||||
* @param setServiceId
|
||||
* The Service Identifier as specified in ECSS PUS.
|
||||
*/
|
||||
PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
|
||||
PusServiceBase( object_id_t setObjectId, uint16_t setApid,
|
||||
uint8_t setServiceId);
|
||||
/**
|
||||
* The destructor is empty.
|
||||
*/
|
||||
virtual ~PusServiceBase();
|
||||
/**
|
||||
* @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
|
||||
* @brief The handleRequest method shall handle any kind of Telecommand
|
||||
* Request immediately.
|
||||
* @details
|
||||
* Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
|
||||
* They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
|
||||
* Success or Failure Reports are generated automatically after execution of this method.
|
||||
* Implemetations can take the Telecommand in currentPacket and perform
|
||||
* any kind of operation.
|
||||
* They may send additional "Start Success (1,3)" messages with the
|
||||
* verifyReporter, but Completion Success or Failure Reports are generated
|
||||
* automatically after execution of this method.
|
||||
*
|
||||
* If a Telecommand can not be executed within one call cycle,
|
||||
* this Base class is not the right parent.
|
||||
*
|
||||
* The child class may add additional error information by setting #errorParameters which are
|
||||
* attached to the generated verification message.
|
||||
* The child class may add additional error information by setting
|
||||
* #errorParameters which aren attached to the generated verification
|
||||
* message.
|
||||
*
|
||||
* Subservice checking should be implemented in this method.
|
||||
*
|
||||
* @return The returned status_code is directly taken as main error code in the Verification Report.
|
||||
* @return The returned status_code is directly taken as main error code
|
||||
* in the Verification Report.
|
||||
* On success, RETURN_OK shall be returned.
|
||||
*/
|
||||
virtual ReturnValue_t handleRequest() = 0;
|
||||
virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
|
||||
/**
|
||||
* In performService, implementations can handle periodic, non-TC-triggered activities.
|
||||
* In performService, implementations can handle periodic,
|
||||
* non-TC-triggered activities.
|
||||
* The performService method is always called.
|
||||
* @return A success or failure code that does not trigger any kind of verification message.
|
||||
* @return Currently, everything other that RETURN_OK only triggers
|
||||
* diagnostic output.
|
||||
*/
|
||||
virtual ReturnValue_t performService() = 0;
|
||||
/**
|
||||
* This method implements the typical activity of a simple PUS Service.
|
||||
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
|
||||
* It checks for new requests, and, if found, calls handleRequest, sends
|
||||
* completion verification messages and deletes
|
||||
* the TC requests afterwards.
|
||||
* performService is always executed afterwards.
|
||||
* @return \c RETURN_OK if the periodic performService was successful.
|
||||
* \c RETURN_FAILED else.
|
||||
* @return @c RETURN_OK if the periodic performService was successful.
|
||||
* @c RETURN_FAILED else.
|
||||
*/
|
||||
ReturnValue_t performOperation(uint8_t opCode);
|
||||
virtual uint16_t getIdentifier();
|
||||
MessageQueueId_t getRequestQueue();
|
||||
virtual ReturnValue_t initialize();
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
virtual uint16_t getIdentifier() override;
|
||||
MessageQueueId_t getRequestQueue() override;
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
|
||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||
protected:
|
||||
/**
|
||||
* @brief Handle to the underlying task
|
||||
* @details
|
||||
* Will be set by setTaskIF(), which is called on task creation.
|
||||
*/
|
||||
PeriodicTaskIF* taskHandle = nullptr;
|
||||
/**
|
||||
* The APID of this instance of the Service.
|
||||
*/
|
||||
@ -94,19 +121,19 @@ protected:
|
||||
/**
|
||||
* One of two error parameters for additional error information.
|
||||
*/
|
||||
uint32_t errorParameter1;
|
||||
uint32_t errorParameter1 = 0;
|
||||
/**
|
||||
* One of two error parameters for additional error information.
|
||||
*/
|
||||
uint32_t errorParameter2;
|
||||
uint32_t errorParameter2 = 0;
|
||||
/**
|
||||
* This is a complete instance of the Telecommand reception queue of the class.
|
||||
* It is initialized on construction of the class.
|
||||
* This is a complete instance of the telecommand reception queue
|
||||
* of the class. It is initialized on construction of the class.
|
||||
*/
|
||||
MessageQueueIF* requestQueue;
|
||||
MessageQueueIF* requestQueue = nullptr;
|
||||
/**
|
||||
* An instance of the VerificationReporter class, that simplifies sending any kind of
|
||||
* Verification Message to the TC Verification Service.
|
||||
* An instance of the VerificationReporter class, that simplifies
|
||||
* sending any kind of verification message to the TC Verification Service.
|
||||
*/
|
||||
VerificationReporter verifyReporter;
|
||||
/**
|
||||
@ -121,9 +148,12 @@ protected:
|
||||
private:
|
||||
/**
|
||||
* This constant sets the maximum number of packets accepted per call.
|
||||
* Remember that one packet must be completely handled in one #handleRequest call.
|
||||
* Remember that one packet must be completely handled in one
|
||||
* #handleRequest call.
|
||||
*/
|
||||
static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
|
||||
|
||||
void handleRequestQueue();
|
||||
};
|
||||
|
||||
#endif /* PUSSERVICEBASE_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user