216 lines
9.1 KiB
C
216 lines
9.1 KiB
C
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#ifndef CCSDSHANDLER_H_
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#define CCSDSHANDLER_H_
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/parameters/ParameterHelper.h"
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/**
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* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
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* programmable logic of the Q7S.
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*
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* @author J. Meier
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*/
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class CCSDSHandler: public SystemObject,
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public ExecutableObjectIF,
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public HasModesIF,
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public AcceptsTelemetryIF,
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public HasReturnvaluesIF,
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public ReceivesParameterMessagesIF {
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public:
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static const uint32_t LINK_UP_DELAY_MS = 2000; //!< The maximum time it takes to reconfigure the CCSDS Board.
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static const uint32_t MAX_FRAME_SIZE = 1024;
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static const Submode_t SUBMODE_ACTIVE = 1; //!< Submode where the TM part of the board is on.
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static const Submode_t SUBMODE_PASSIVE = 0; //!< Submode where the TM part of the board is off.
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CCSDS_BOARD;
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static const Event CCSDS_BOARD_RESET_FAILED = MAKE_EVENT(0, SEVERITY::LOW); //!> Resetting the communication channel failed. Severity LOW, par1: returnCode, par2: 0
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static const Event CCSDS_BOARD_SWITCHED = MAKE_EVENT(1, SEVERITY::INFO); //!> Switched active CCSDS-Board. Par1: objectId of now active board, Par2: objectId of now passive board.
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static const ActionId_t SET_DATA_RATE_RATIO = 1;
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static const float SENDS_PER_SECOND = 2.5;
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static const uint32_t MINIMUM_BYTES_PER_SECOND =
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(VCGeneration::IDLE_PACKET_SIZE
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/ (VCGeneration::DEFAULT_IDLE_INTERVAL / 1000)) + 1; //!< +1 to be on the safe side.
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static const float DEFAULT_RATES[BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD];
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static const uint32_t DEFAULT_BYTES_PER_SECOND = 1300;
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HealthDevice tmPartHealth; //!< A helper device to dedicatetly set the telemetry part to not healthy.
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/**
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* Main Constructor of the class.
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* Initializes all attributes with default values. Sets the frame buffer to zero.
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* Creates all TM Virtual Channels (with \c new). Initialization of communication partners
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* is done in the #initialize routine.
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* @param setObjectId Object identifier of the class.
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* @param setSwitchId1 Switch id of the first switch of the board.
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* @param setSwitchId2 Switch id of the second switch of the board.
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* @param set_channel RMAP channel identifier. This is forwarded to the #boardHandler class.
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* @param set_scid Configured SpaceCraft Identifier. Is forwarded to #boardHandler and #dataLinkLayer class.
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*/
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CCSDSHandler(object_id_t setObjectId, uint8_t setSwitchId1,
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uint8_t setSwitchId2, object_id_t setChannel, uint16_t setSCID,
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BoardHandler::DataPoolIds setPool);
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/**
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* The destructor deletes all TM Virtual Channels.
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*/
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~CCSDSHandler();
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/**
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* Main executing method of the CCSDS Board handling.
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* The method coordinates reading and writing of buffers and registers on the CCSDS Board
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* as well as checking communication states and looking for frames. The state machine is
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* executed here as well. To ensure a smooth communication without much delay, the last read
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* and write calls are checked in the beginning and new requests as well as the state machine
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* are issued in the end.
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* @return Always returns #RETURN_OK.
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*/
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ReturnValue_t performOperation(void);
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ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
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uint32_t size, uint8_t** dataPointer);
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ReturnValue_t handleMemoryDump(uint32_t address, uint32_t size,
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uint8_t** dataPointer, uint8_t* dumpTarget);
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/**
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* Initialization routine of the class.
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* It initializes connections to the power unit and to the Telemetry store which is set for
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* every TM Virtual Channel.
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* @return
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*/
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ReturnValue_t initialize();
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MessageQueueId_t getCommandQueue() const;
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/**
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* Method to configure the TC Virtual Channels in the TC Data Link Layer.
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* The call is forwarded to the #dataLinkLayer class.
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* @param virtualChannelId VCID to add.
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* @param object Pointer to the Virtual Channel object that is added.
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* @return See the #dataLinkLayer class.
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*/
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ReturnValue_t addVirtualChannel(uint8_t virtualChannelId,
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VirtualChannelReceptionIF* object);
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Mode_t getMode() const;
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Submode_t getSubmode() const;
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void setParentQueue(MessageQueueId_t parentQueueId);
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MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
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ReturnValue_t setHealth(HealthState health);
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HasHealthIF::HealthState getHealth();
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ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
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ParameterWrapper *parameterWrapper,
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const ParameterWrapper *newValues, uint16_t startAtIndex);
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void triggerEvent(Event event, uint32_t parameter1 = 0,
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uint32_t parameter2 = 0);
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protected:
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MessageQueue commandQueue; //!< Queue to receive control commands.
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VCGeneration* virtualChannels[BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD];//!< An array of VCGeneration classes which each manage on TM Virtual Channel.
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uint32_t rateLimitOverload[BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD];//!< Used to smooth data rate in case large packets are sent.
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/**
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* This method reads the command queue and initializes a state transition if a command of this type was found.
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*/
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void readCommandQueue(void);
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/**
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* This method flushes all pending messages in the TM queue by calling the \c flush method of
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* all #virtualChannels.
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* This is necessary to avoid doubled TM packets if the TM sender issues its messages to both the
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* nominal and redundant CCSDS Board.
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*/
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void flushTmChannels();
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/**
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* This is a helper method to print the current content of the frame buffers.
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*/
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void printFrameBuffer(void);
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/**
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* This is an important method which triggers searching for and handling found frames.
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* It first calls the boardHandler method to find a frame in the received data. If a
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* well-formed frame was found it calls the #dataLinkLayer class to process the frame
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*/
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void searchFrame();
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/**
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* Calls the packet processing routine of each TM Virtual Channel.
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* This triggers reception of incoming packets from the OBSW and forwarding to the CCSDS Board.
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* There are different sending strategies for forwarding the packets to the board.
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* @return Returns #RETURN_OK or the status of the failed virtual channel method.
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*/
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ReturnValue_t packetProcessing(void);
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/**
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* With this method the successful forwarding of Telemetry to the TM Virtual Channels is checked.
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* The method calls the check routine of each virtual channel.
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* @return Returns #RETURN_OK or the status of the failed virtual channel method.
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*/
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ReturnValue_t packetProcessingCheck(void);
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode);
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void startTransition(Mode_t mode, Submode_t submode);
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void getMode(Mode_t *mode, Submode_t *submode);
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void setToExternalControl();
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void announceMode(bool recursive);
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private:
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enum CcsdsState_t {
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STATE_IDLE,
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STATE_TURN_ON,
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STATE_TURN_OFF,
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STATE_DO_PASSIVATE_OFF,
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STATE_TURN_SWITCH_OFF,
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STATE_WAIT_ON,
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STATE_WAIT_LINK,
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STATE_WAIT_OFF,
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STATE_INITIALIZE_BOARD,
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STATE_SELECT_SUBMODE,
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STATE_WAIT_SUBMODE_ACTIVE,
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STATE_DO_PASSIVATE,
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STATE_WAIT_SUBMODE_PASSIVE,
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STATE_HANDLE_STARTUP,
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};
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CcsdsState_t state;
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enum CommState {
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SEND_WRITE, GET_WRITE, SEND_READ, GET_READ
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};
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CommState commState;
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Mode_t mode;
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Submode_t submode;
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BoardHandler boardHandler;//!< The class that handles the low-level communication with the board.
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DataLinkLayer dataLinkLayer;//!< The class that manages the TC Data Link Layer protocols.
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uint8_t frameBuffer[MAX_FRAME_SIZE]; //!< The main buffer to store single frames in.
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uint16_t frameLength; //!< Indicates the current length of the found frame.
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object_id_t channelId; //!< Defines the id of the RMAP Channel to use.
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MemoryHelper memoryHelper; //!< Helps handling memory messages.
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bool pendingWrite; //!< Attribute to manage remote Memory write.
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bool pendingRead; //!< Attribute to manage remote Memory read.
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ModeHelper modeHelper; //!< Helps handling mode messages.
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HealthHelper healthHelper; //!< Helps setting the health information correctly.
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ParameterHelper parameterHelper;
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PowerSwitcher powerSwitcher; //!< Helps switching switches on and off.
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bool switchOffWasReported; //!< To avoid reporting SWITCH_WENT_OFF multiple times.
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CCSDSBoardFailureIsolation fdir;
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class DataRateSet: public ControllerSet {
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public:
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DataRateSet();
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virtual ~DataRateSet();
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void setToDefault();
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PoolVector<float, BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD> dataRate;
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PoolVector<float, BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD> dataRates;
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};
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DataRateSet rateSet;
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void setMode(Mode_t newMode, Submode_t newSubmode); //!< Method to safely setMode and inform everyone interested about it.
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/**
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* State machine of the Handler.
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* Is responsible for handling mode transitions and for informing the modeHelper.
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* In addition, it watches the SpW link and changes the Mode in case a link down or a link up is detected.
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*/
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void doStateMachine();
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void executeAllWriteCommands();
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void handleAllWriteReplies();
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void executeAllReadCommands();
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void handleAllReadReplies();
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};
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#endif /* CCSDSHANDLER_H_ */
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