eive-obsw/mission/tmtc/CCSDSHandler.h

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2021-09-19 12:27:48 +02:00
#ifndef CCSDSHANDLER_H_
#define CCSDSHANDLER_H_
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/parameters/ParameterHelper.h"
/**
* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
* programmable logic of the Q7S.
*
* @author J. Meier
*/
class CCSDSHandler: public SystemObject,
public ExecutableObjectIF,
public HasModesIF,
public AcceptsTelemetryIF,
public HasReturnvaluesIF,
public ReceivesParameterMessagesIF {
public:
static const uint32_t LINK_UP_DELAY_MS = 2000; //!< The maximum time it takes to reconfigure the CCSDS Board.
static const uint32_t MAX_FRAME_SIZE = 1024;
static const Submode_t SUBMODE_ACTIVE = 1; //!< Submode where the TM part of the board is on.
static const Submode_t SUBMODE_PASSIVE = 0; //!< Submode where the TM part of the board is off.
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CCSDS_BOARD;
static const Event CCSDS_BOARD_RESET_FAILED = MAKE_EVENT(0, SEVERITY::LOW); //!> Resetting the communication channel failed. Severity LOW, par1: returnCode, par2: 0
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.
static const ActionId_t SET_DATA_RATE_RATIO = 1;
static const float SENDS_PER_SECOND = 2.5;
static const uint32_t MINIMUM_BYTES_PER_SECOND =
(VCGeneration::IDLE_PACKET_SIZE
/ (VCGeneration::DEFAULT_IDLE_INTERVAL / 1000)) + 1; //!< +1 to be on the safe side.
static const float DEFAULT_RATES[BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD];
static const uint32_t DEFAULT_BYTES_PER_SECOND = 1300;
HealthDevice tmPartHealth; //!< A helper device to dedicatetly set the telemetry part to not healthy.
/**
* Main Constructor of the class.
* Initializes all attributes with default values. Sets the frame buffer to zero.
* Creates all TM Virtual Channels (with \c new). Initialization of communication partners
* is done in the #initialize routine.
* @param setObjectId Object identifier of the class.
* @param setSwitchId1 Switch id of the first switch of the board.
* @param setSwitchId2 Switch id of the second switch of the board.
* @param set_channel RMAP channel identifier. This is forwarded to the #boardHandler class.
* @param set_scid Configured SpaceCraft Identifier. Is forwarded to #boardHandler and #dataLinkLayer class.
*/
CCSDSHandler(object_id_t setObjectId, uint8_t setSwitchId1,
uint8_t setSwitchId2, object_id_t setChannel, uint16_t setSCID,
BoardHandler::DataPoolIds setPool);
/**
* The destructor deletes all TM Virtual Channels.
*/
~CCSDSHandler();
/**
* Main executing method of the CCSDS Board handling.
* The method coordinates reading and writing of buffers and registers on the CCSDS Board
* as well as checking communication states and looking for frames. The state machine is
* executed here as well. To ensure a smooth communication without much delay, the last read
* and write calls are checked in the beginning and new requests as well as the state machine
* are issued in the end.
* @return Always returns #RETURN_OK.
*/
ReturnValue_t performOperation(void);
ReturnValue_t handleMemoryLoad(uint32_t address, const uint8_t* data,
uint32_t size, uint8_t** dataPointer);
ReturnValue_t handleMemoryDump(uint32_t address, uint32_t size,
uint8_t** dataPointer, uint8_t* dumpTarget);
/**
* Initialization routine of the class.
* It initializes connections to the power unit and to the Telemetry store which is set for
* every TM Virtual Channel.
* @return
*/
ReturnValue_t initialize();
MessageQueueId_t getCommandQueue() const;
/**
* Method to configure the TC Virtual Channels in the TC Data Link Layer.
* The call is forwarded to the #dataLinkLayer class.
* @param virtualChannelId VCID to add.
* @param object Pointer to the Virtual Channel object that is added.
* @return See the #dataLinkLayer class.
*/
ReturnValue_t addVirtualChannel(uint8_t virtualChannelId,
VirtualChannelReceptionIF* object);
Mode_t getMode() const;
Submode_t getSubmode() const;
void setParentQueue(MessageQueueId_t parentQueueId);
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
ReturnValue_t setHealth(HealthState health);
HasHealthIF::HealthState getHealth();
ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
void triggerEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0);
protected:
MessageQueue commandQueue; //!< Queue to receive control commands.
VCGeneration* virtualChannels[BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD];//!< An array of VCGeneration classes which each manage on TM Virtual Channel.
uint32_t rateLimitOverload[BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD];//!< Used to smooth data rate in case large packets are sent.
/**
* This method reads the command queue and initializes a state transition if a command of this type was found.
*/
void readCommandQueue(void);
/**
* This method flushes all pending messages in the TM queue by calling the \c flush method of
* all #virtualChannels.
* This is necessary to avoid doubled TM packets if the TM sender issues its messages to both the
* nominal and redundant CCSDS Board.
*/
void flushTmChannels();
/**
* This is a helper method to print the current content of the frame buffers.
*/
void printFrameBuffer(void);
/**
* This is an important method which triggers searching for and handling found frames.
* It first calls the boardHandler method to find a frame in the received data. If a
* well-formed frame was found it calls the #dataLinkLayer class to process the frame
*/
void searchFrame();
/**
* Calls the packet processing routine of each TM Virtual Channel.
* This triggers reception of incoming packets from the OBSW and forwarding to the CCSDS Board.
* There are different sending strategies for forwarding the packets to the board.
* @return Returns #RETURN_OK or the status of the failed virtual channel method.
*/
ReturnValue_t packetProcessing(void);
/**
* With this method the successful forwarding of Telemetry to the TM Virtual Channels is checked.
* The method calls the check routine of each virtual channel.
* @return Returns #RETURN_OK or the status of the failed virtual channel method.
*/
ReturnValue_t packetProcessingCheck(void);
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
void startTransition(Mode_t mode, Submode_t submode);
void getMode(Mode_t *mode, Submode_t *submode);
void setToExternalControl();
void announceMode(bool recursive);
private:
enum CcsdsState_t {
STATE_IDLE,
STATE_TURN_ON,
STATE_TURN_OFF,
STATE_DO_PASSIVATE_OFF,
STATE_TURN_SWITCH_OFF,
STATE_WAIT_ON,
STATE_WAIT_LINK,
STATE_WAIT_OFF,
STATE_INITIALIZE_BOARD,
STATE_SELECT_SUBMODE,
STATE_WAIT_SUBMODE_ACTIVE,
STATE_DO_PASSIVATE,
STATE_WAIT_SUBMODE_PASSIVE,
STATE_HANDLE_STARTUP,
};
CcsdsState_t state;
enum CommState {
SEND_WRITE, GET_WRITE, SEND_READ, GET_READ
};
CommState commState;
Mode_t mode;
Submode_t submode;
BoardHandler boardHandler;//!< The class that handles the low-level communication with the board.
DataLinkLayer dataLinkLayer;//!< The class that manages the TC Data Link Layer protocols.
uint8_t frameBuffer[MAX_FRAME_SIZE]; //!< The main buffer to store single frames in.
uint16_t frameLength; //!< Indicates the current length of the found frame.
object_id_t channelId; //!< Defines the id of the RMAP Channel to use.
MemoryHelper memoryHelper; //!< Helps handling memory messages.
bool pendingWrite; //!< Attribute to manage remote Memory write.
bool pendingRead; //!< Attribute to manage remote Memory read.
ModeHelper modeHelper; //!< Helps handling mode messages.
HealthHelper healthHelper; //!< Helps setting the health information correctly.
ParameterHelper parameterHelper;
PowerSwitcher powerSwitcher; //!< Helps switching switches on and off.
bool switchOffWasReported; //!< To avoid reporting SWITCH_WENT_OFF multiple times.
CCSDSBoardFailureIsolation fdir;
class DataRateSet: public ControllerSet {
public:
DataRateSet();
virtual ~DataRateSet();
void setToDefault();
PoolVector<float, BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD> dataRate;
PoolVector<float, BoardHandler::USED_VIRTUAL_CHANNELS_PER_BOARD> dataRates;
};
DataRateSet rateSet;
void setMode(Mode_t newMode, Submode_t newSubmode); //!< Method to safely setMode and inform everyone interested about it.
/**
* State machine of the Handler.
* Is responsible for handling mode transitions and for informing the modeHelper.
* In addition, it watches the SpW link and changes the Mode in case a link down or a link up is detected.
*/
void doStateMachine();
void executeAllWriteCommands();
void handleAllWriteReplies();
void executeAllReadCommands();
void handleAllReadReplies();
};
#endif /* CCSDSHANDLER_H_ */