2020-07-08 18:49:10 +02:00
5 changed files with 334 additions and 5 deletions
--- a/pus/Service2DeviceAccess.cpp
+++ b/pus/Service2DeviceAccess.cpp
@ -11,14 +11,14 @@
 #include <framework/serviceinterface/ServiceInterfaceStream.h>

 Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
-        uint16_t apid, uint8_t serviceId, object_id_t tcSource,
-        object_id_t tmDestination, uint8_t numberOfParallelCommands,
+        uint16_t apid, uint8_t serviceId, uint8_t numberOfParallelCommands,
        uint16_t commandTimeoutSeconds):
        CommandingServiceBase(objectId, apid, serviceId,
 	        numberOfParallelCommands, commandTimeoutSeconds) {}

 Service2DeviceAccess::~Service2DeviceAccess() {}

+
 ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
 	switch(static_cast<Subservice>(subservice)){
 	case Subservice::RAW_COMMANDING:
@ -41,7 +41,6 @@ ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(

 	ReturnValue_t result = checkInterfaceAndAcquireMessageQueue(id,objectId);
 	return result;
-
 }

 ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
@ -55,6 +54,7 @@ ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
 	return HasReturnvaluesIF::RETURN_OK;
 }

+
 ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
 		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
 		uint32_t* state, object_id_t objectId) {
@ -100,6 +100,7 @@ ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
 	return result;
 }

+
 ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
 		Command_t previousCommand, uint32_t* state,
 		CommandMessage* optionalNextCommand, object_id_t objectId,
--- a/pus/Service2DeviceAccess.h
+++ b/pus/Service2DeviceAccess.h
@ -36,8 +36,7 @@ class Service2DeviceAccess : public CommandingServiceBase,
 {
 public:
 	Service2DeviceAccess(object_id_t objectId, uint16_t apid,
-	        uint8_t serviceId, object_id_t tcSource,
-	        object_id_t tmDestination, uint8_t numberOfParallelCommands = 4,
+	        uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
 	        uint16_t commandTimeoutSeconds = 60);
 	virtual ~Service2DeviceAccess();

--- a/pus/Service8FunctionManagement.cpp
+++ b/pus/Service8FunctionManagement.cpp
@ -0,0 +1,129 @@
+#include <framework/pus/Service8FunctionManagement.h>
+#include <framework/pus/servicepackets/Service8Packets.h>
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/action/HasActionsIF.h>
+#include <framework/devicehandlers/DeviceHandlerIF.h>
+#include <framework/serialize/SerializeAdapter.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+
+Service8FunctionManagement::Service8FunctionManagement(object_id_t object_id,
+		uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
+		uint16_t commandTimeoutSeconds):
+		CommandingServiceBase(object_id, apid, serviceId, numParallelCommands,
+		commandTimeoutSeconds) {}
+
+Service8FunctionManagement::~Service8FunctionManagement() {}
+
+
+ReturnValue_t Service8FunctionManagement::isValidSubservice(
+		uint8_t subservice) {
+	switch(static_cast<Subservice>(subservice)) {
+	case Subservice::DIRECT_COMMANDING:
+		return HasReturnvaluesIF::RETURN_OK;
+	default:
+		return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
+	}
+}
+
+ReturnValue_t Service8FunctionManagement::getMessageQueueAndObject(
+		uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
+		MessageQueueId_t* id, object_id_t* objectId) {
+	if(tcDataLen < sizeof(object_id_t)) {
+		return CommandingServiceBase::INVALID_TC;
+	}
+	SerializeAdapter::deSerialize(objectId, &tcData,
+			&tcDataLen, SerializeIF::Endianness::BIG);
+
+	return checkInterfaceAndAcquireMessageQueue(id,objectId);
+}
+
+ReturnValue_t Service8FunctionManagement::checkInterfaceAndAcquireMessageQueue(
+		MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
+	// check HasActionIF property of target
+	HasActionsIF* possibleTarget = objectManager->get<HasActionsIF>(*objectId);
+	if(possibleTarget == nullptr){
+		return CommandingServiceBase::INVALID_OBJECT;
+	}
+	*messageQueueToSet = possibleTarget->getCommandQueue();
+	return HasReturnvaluesIF::RETURN_OK;
+}
+
+
+ReturnValue_t Service8FunctionManagement::prepareCommand(
+		CommandMessage* message, uint8_t subservice, const uint8_t* tcData,
+		size_t tcDataLen, uint32_t* state, object_id_t objectId) {
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	if(subservice == static_cast<uint8_t>(Subservice::DIRECT_COMMANDING)) {
+		result = prepareDirectCommand(dynamic_cast<CommandMessage*>(message),
+				tcData, tcDataLen);
+	}
+	return result;
+}
+
+ReturnValue_t Service8FunctionManagement::prepareDirectCommand(
+		CommandMessage *message, const uint8_t *tcData, size_t tcDataLen) {
+	// Create direct command instance by extracting data from Telecommand
+	DirectCommand command(tcData,tcDataLen);
+
+	// store additional parameters into the Inter Process Communication Store
+	store_address_t parameterAddress;
+	ReturnValue_t result = IPCStore->addData(&parameterAddress,
+			command.getParameters(),command.getParametersSize());
+
+	// setCommand expects a Command Message, an Action ID and a store adress
+	// pointing to additional parameters
+	ActionMessage::setCommand(message,command.getActionId(),parameterAddress);
+	return result;
+}
+
+
+ReturnValue_t Service8FunctionManagement::handleReply(
+		const CommandMessage* reply, Command_t previousCommand,
+		uint32_t* state, CommandMessage* optionalNextCommand,
+		object_id_t objectId, bool* isStep) {
+	Command_t replyId = reply->getCommand();
+	ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
+	ActionId_t actionId = ActionMessage::getActionId(reply);
+	ReturnValue_t returnCode = ActionMessage::getReturnCode(reply);
+
+	switch(replyId)  {
+	case ActionMessage::COMPLETION_SUCCESS: {
+		DirectReply completionReply(objectId, actionId,returnCode);
+		result = CommandingServiceBase::EXECUTION_COMPLETE;
+		break;
+	}
+	case ActionMessage::STEP_SUCCESS: {
+		*isStep = true;
+		result = HasReturnvaluesIF::RETURN_OK;
+		break;
+	}
+	case ActionMessage::DATA_REPLY: {
+		store_address_t storeId = ActionMessage::getStoreId(reply);
+		size_t size = 0;
+		const uint8_t * buffer = nullptr;
+		result = IPCStore->getData(storeId, &buffer, &size);
+		if(result != RETURN_OK) {
+			sif::error << "Service 8: Could not retrieve data for data reply";
+			return result;
+		}
+		DataReply dataReply(objectId,actionId,buffer,size);
+		sendTmPacket(static_cast<uint8_t>(
+				Subservice::DIRECT_COMMANDING_DATA_REPLY), &dataReply);
+		result = IPCStore ->deleteData(storeId);
+		break;
+	}
+	case ActionMessage::STEP_FAILED:
+		*isStep = true;
+		/*No break, falls through*/
+	case ActionMessage::COMPLETION_FAILED:
+		result = ActionMessage::getReturnCode(reply);
+		break;
+	default:
+		result = INVALID_REPLY;
+	}
+	return result;
+}
+
+
--- a/pus/Service8FunctionManagement.h
+++ b/pus/Service8FunctionManagement.h
@ -0,0 +1,64 @@
+#ifndef MISSION_SERVICE8FUNCTIONMANAGEMENT_H_
+#define MISSION_SERVICE8FUNCTIONMANAGEMENT_H_
+
+#include <framework/tmtcservices/CommandingServiceBase.h>
+
+/**
+ * @brief Functional commanding.
+ * Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
+ * Dissertation Baetz p. 115, 116, 165-167
+ *
+ * This service provides the capability to perform functions of an
+ * application process and provides high-level commanding as opposed to the
+ * Raw Access provided by Service 2. Examples for these functions can include
+ * control and operation of payload or the AOCS subsystem.
+ * This service will be the primary means to control the spacecraft as it is
+ * considered safer than the Raw Access provided
+ * by Service 2 and is generally sufficient for most tasks.
+ *
+ * This is a gateway service. It relays device commands using the software bus.
+ * This service is very closely tied to the Commanding Service Base template
+ * class. There is constant interaction between this Service Base und a
+ * subclass like this service.
+ *
+ * Service Capability:
+ * 	 - TC[8,128]: Direct Commanding
+ *   - TM[8,130]: Direct Commanding Data Reply
+ *
+ * @ingroup pus_services
+ */
+class Service8FunctionManagement : public CommandingServiceBase
+{
+public:
+	Service8FunctionManagement(object_id_t objectId, uint16_t apid,
+			uint8_t serviceId, uint8_t numParallelCommands = 4,
+			uint16_t commandTimeoutSeconds = 60);
+	virtual ~Service8FunctionManagement();
+
+protected:
+	/* CSB abstract functions implementation . See CSB documentation. */
+	ReturnValue_t isValidSubservice(uint8_t subservice) override;
+	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
+			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
+			object_id_t *objectId) override;
+	ReturnValue_t prepareCommand(CommandMessage* message,
+				uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
+				uint32_t *state, object_id_t objectId) override;
+	ReturnValue_t handleReply(const CommandMessage* reply,
+				Command_t previousCommand, uint32_t *state,
+				CommandMessage* optionalNextCommand, object_id_t objectId,
+				bool *isStep) override;
+
+private:
+	enum class Subservice {
+		DIRECT_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Functional commanding
+		DIRECT_COMMANDING_DATA_REPLY = 130, //!< [EXPORT] : [REPLY] Data reply
+	};
+
+	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
+	        MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
+	ReturnValue_t prepareDirectCommand(CommandMessage* message,
+			const uint8_t* tcData, size_t tcDataLen);
+};
+
+#endif /* MISSION_DEVICE2DEVICECOMMANDING_H_ */
--- a/pus/servicepackets/Service8Packets.h
+++ b/pus/servicepackets/Service8Packets.h
@ -0,0 +1,136 @@
+/**
+ * \file Service8Packets.h
+ *
+ * \brief Structure of a Direct Command.
+ * Normal reply (subservice 130) consists of
+ *   1. Target object ID
+ *   2. Action ID (taget device has specified functions with action IDs)
+ *   3. Return Code
+ *   4. Optional step number for step replies
+ *
+ * Data reply (subservice 132) consists of
+ *   1. Target Object ID
+ *   2. Action ID
+ *   3. Data
+ *
+ *  \date 01.07.2019
+ *  \author R. Mueller
+ */
+
+#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_
+
+#include <framework/action/ActionMessage.h>
+#include <framework/objectmanager/SystemObjectIF.h>
+#include <framework/serialize/SerialBufferAdapter.h>
+#include <framework/serialize/SerializeElement.h>
+#include <framework/serialize/SerialLinkedListAdapter.h>
+#include <framework/serialize/SerialFixedArrayListAdapter.h>
+
+
+/**
+ * \brief Subservice 128
+ * \ingroup spacepackets
+ */
+class DirectCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 128
+public:
+	//typedef uint16_t typeOfMaxData;
+	//static const typeOfMaxData MAX_DATA = 256;
+	DirectCommand(const uint8_t* dataBuffer_, uint32_t size_) {
+		size_t size = sizeof(objectId);
+		SerializeAdapter::deSerialize(&objectId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		size = sizeof(actionId);
+		SerializeAdapter::deSerialize(&actionId,&dataBuffer_,&size,
+		        SerializeIF::Endianness::BIG);
+		parameterBuffer = dataBuffer_;
+		parametersSize = size_ - sizeof(objectId) - sizeof(actionId);
+	}
+	ActionId_t getActionId() const {
+		return actionId;
+	}
+
+	object_id_t getObjectId() const {
+		return objectId;
+	}
+
+	const uint8_t*  getParameters() {
+		return parameterBuffer;
+	}
+
+	uint32_t getParametersSize() const {
+		return parametersSize;
+	}
+
+private:
+	DirectCommand(const DirectCommand &command);
+	object_id_t objectId;
+	ActionId_t actionId;
+	uint32_t parametersSize; //!< [EXPORT] : [IGNORE]
+	const uint8_t * parameterBuffer; //!< [EXPORT] : [MAXSIZE] 65535 Bytes
+
+};
+
+
+/**
+ * \brief Subservice 130
+ * \ingroup spacepackets
+ */
+class DataReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+	DataReply(object_id_t objectId_, ActionId_t actionId_,
+		const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
+		objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
+		setLinks();
+	}
+
+private:
+	DataReply(const DataReply &reply);
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&replyData);
+	}
+	SerializeElement<object_id_t> objectId;
+	SerializeElement<ActionId_t> actionId;
+	SerializeElement<SerialBufferAdapter<uint16_t>> replyData;
+};
+
+
+/**
+ * \brief Subservice 132
+ * \ingroup spacepackets
+ */
+class DirectReply: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 132
+public:
+	typedef uint16_t typeOfMaxDataSize;
+	static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
+
+	DirectReply(object_id_t objectId_, ActionId_t actionId_, ReturnValue_t returnCode_,
+			bool isStep_ = false, uint8_t step_ = 0):
+			isStep(isStep_), objectId(objectId_), actionId(actionId_),
+			returnCode(returnCode_),step(step_)  {
+		setLinks();
+	}
+private:
+
+	void setLinks() {
+		setStart(&objectId);
+		objectId.setNext(&actionId);
+		actionId.setNext(&returnCode);
+		if(isStep) {
+			returnCode.setNext(&step);
+		}
+	}
+	bool isDataReply; //!< [EXPORT] : [IGNORE]
+	bool isStep; //!< [EXPORT] : [IGNORE]
+	SerializeElement<object_id_t> objectId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ActionId_t> actionId; //!< [EXPORT] : [IGNORE]
+	SerializeElement<ReturnValue_t> returnCode; //!< [EXPORT] : [IGNORE]
+	SerializeElement<uint8_t> step; //!< [EXPORT] : [OPTIONAL] [IGNORE]
+
+};
+
+#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE8PACKETS_H_ */