ipc/MessageQueueIF.h

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

objectmanager/frameworkObjects.h

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

osal/linux/MessageQueue.cpp

@@ -330,13 +330,16 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			//MQ_NONBLOCK flag was set in its attributes, and the
 			//specified queue is full.
 			return MessageQueueIF::FULL;
-		case EBADF:
+		case EBADF: {
 			//mq_des doesn't represent a valid message queue descriptor,
 			//or mq_des wasn't opened for writing.
-			sif::error << "MessageQueue::sendMessage: Configuration error "
+			sif::error << "MessageQueue::sendMessage: Configuration error, MQ"
-			           << strerror(errno) << " in mq_send mqSendTo: " << sendTo
+					<< " destination invalid."  << std::endl;
-					   << " sent from " << sentFrom << std::endl;
+			sif::error << strerror(errno) << " in "
-			/*NO BREAK*/
+					<<"mq_send to: " << sendTo << " sent from "
+					<< sentFrom << std::endl;
+			return DESTINVATION_INVALID;
+		}
 		case EINTR:
 			//The call was interrupted by a signal.
 		case EINVAL:

tmtcservices/VerificationReporter.cpp

@@ -1,17 +1,18 @@
-#include <framework/serviceinterface/ServiceInterfaceStream.h>
-#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
-#include <framework/tmtcservices/PusVerificationReport.h>
 #include <framework/tmtcservices/VerificationReporter.h>
 
-object_id_t VerificationReporter::messageReceiver = 0;
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/tmtcservices/AcceptsVerifyMessageIF.h>
+#include <framework/tmtcservices/PusVerificationReport.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/objectmanager/frameworkObjects.h>
+
+object_id_t VerificationReporter::messageReceiver = objects::PUS_SERVICE_1;
 
 VerificationReporter::VerificationReporter() :
-		acknowledgeQueue() {
+		acknowledgeQueue(MessageQueueIF::NO_QUEUE) {
 }
 
-VerificationReporter::~VerificationReporter() {
+VerificationReporter::~VerificationReporter() {}
-	//Default, empty
-}
 
 void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 		TcPacketBase* current_packet, uint8_t set_step) {
@@ -26,7 +27,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
-				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
@@ -42,7 +44,8 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
 			&message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
 		sif::error << "VerificationReporter::sendSuccessReport: Error writing "
-				"to queue. Code: " << std::hex << (uint16_t) status << std::endl;
+				<< "to queue. Code: " << std::hex << status << std::dec
+				<< std::endl;
 	}
 }
 
@@ -60,9 +63,9 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
+		sif::error << "VerificationReporter::sendFailureReport Error writing "
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
+				<< "to queue. Code: " << std::hex << status << std::dec
-				<< (uint16_t) status << std::endl;
+				<< std::endl;
 	}
 }
 
@@ -78,20 +81,25 @@ void VerificationReporter::sendFailureReport(uint8_t report_id,
 	ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
 	        &message);
 	if (status != HasReturnvaluesIF::RETURN_OK) {
-		sif::error
+		sif::error << "VerificationReporter::sendFailureReport Error writing "
-				<< "VerificationReporter::sendFailureReport Error writing to queue. Code: "
+				<< "to queue. Code: " << std::hex << status << std::dec
-				<< (uint16_t) status << std::endl;
+				<< std::endl;
 	}
 }
 
 void VerificationReporter::initialize() {
+	if(messageReceiver == objects::NO_OBJECT) {
+		sif::warning << "VerificationReporter::initialize: Verification message"
+				" receiver object ID not set yet in Factory!" << std::endl;
+		return;
+	}
 	AcceptsVerifyMessageIF* temp = objectManager->get<AcceptsVerifyMessageIF>(
 			messageReceiver);
-	if (temp != NULL) {
+	if (temp == nullptr) {
-		this->acknowledgeQueue = temp->getVerificationQueue();
+		sif::error << "VerificationReporter::initialize: Message "
-	} else {
+				<< "receiver invalid. Make sure it is set up properly and "
-		sif::error
+				<<"implementsAcceptsVerifyMessageIF" << std::endl;
-				<< "VerificationReporter::VerificationReporter: Configuration error."
+
-				<< std::endl;
 	}
+	this->acknowledgeQueue = temp->getVerificationQueue();
 }

tmtcservices/VerificationReporter.h

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