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A lot of new features and tweaks #12

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muellerr merged 17 commits from mueller_framework into front_branch 2020-07-08 18:49:10 +02:00
Conversation 0 Commits 17 Files Changed 47 +334 -5
5 changed files with 334 additions and 5 deletions
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7
pus/Service2DeviceAccess.cpp
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@ -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,

3
pus/Service2DeviceAccess.h
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@ -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();

129
pus/Service8FunctionManagement.cpp Normal file
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@ -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;
}

64
pus/Service8FunctionManagement.h Normal file
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@ -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_ */

136
pus/servicepackets/Service8Packets.h Normal file
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@ -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_ */