extended p60 dock test task
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111
gomspace/include/port.h
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111
gomspace/include/port.h
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#ifndef LIBGSCSP_INCLUDE_GS_CSP_PORT_H
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#define LIBGSCSP_INCLUDE_GS_CSP_PORT_H
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/* Copyright (c) 2013-2017 GomSpace A/S. All rights reserved. */
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/**
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@file
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Port definitions for standard CSP and GomSpace services.
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*/
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#include <csp/csp_types.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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Port definitions for standard CSP and GomSpace services.
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*/
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typedef enum {
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/**
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CSP Management Protocol - standard CSP service.
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*/
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GS_CSP_CMP = CSP_CMP, // 0
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/**
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Ping - standard CSP service.
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*/
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GS_CSP_PING = CSP_PING, // 1
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/**
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Show process status - standard CSP service.
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*/
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GS_CSP_PS = CSP_PS, // 2
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/**
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Show memory free - standard CSP service.
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*/
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GS_CSP_MEM_FREE = CSP_MEMFREE, // 3
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GS_CSP_MEMFREE = GS_CSP_MEM_FREE,
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/**
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Reboot/reset request - standard CSP service.
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*/
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GS_CSP_REBOOT = CSP_REBOOT, // 4
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/**
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Show number of free CSP buffers - standard CSP service.
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*/
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GS_CSP_BUF_FREE = CSP_BUF_FREE, // 5
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/**
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Show uptime (time since last reset) - standard CSP service.
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*/
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GS_CSP_UPTIME = CSP_UPTIME, // 6
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/**
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Parameter service (libparam)
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*/
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GS_CSP_PORT_RPARAM = 7,
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/**
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File Transfer Service (libftp)
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*/
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GS_CSP_PORT_FTP = 9,
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/**
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Remote log service (liblog)
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*/
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GS_CSP_PORT_RLOG = 11,
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/**
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Remote GOSH service (librgosh)
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*/
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GS_CSP_PORT_RGOSH = 12,
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/**
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AIS command port (libais).
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*/
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GS_CSP_PORT_AIS = 13,
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/**
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ADS-B command port (libadsb).
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*/
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GS_CSP_PORT_ADSB = 14,
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/**
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GomSpace Sensor Bus (libgssb).
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*/
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GS_CSP_PORT_GSSB = 16,
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/**
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Flight Planner (libfp).
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*/
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GS_CSP_PORT_FP = 18,
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/**
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ADCS (libadcs).
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*/
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GS_CSP_PORT_ADCS = 20,
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/**
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House Keeping (libhk).
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*/
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GS_CSP_PORT_HK = 21,
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/**
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G(omSpace) script service (libgosh)
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*/
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GS_CSP_PORT_GSCRIPT = 22,
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/**
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Remote shell (libgosh).
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Executes shell commands (linux server only).
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Requires CSP_O_RDP.
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*/
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GS_CSP_PORT_REMOTE_SHELL = 27,
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/**
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House keeping beacon port (libhk).
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Default port for sending beacons from satellite to ground (configurable).
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*/
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GS_CSP_PORT_HK_BEACON = 30,
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} gs_csp_port_t;
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#ifdef __cplusplus
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}
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#endif
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#endif
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141
gomspace/include/rparam.h
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gomspace/include/rparam.h
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#ifndef GS_PARAM_INTERNAL_RPARAM_H
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#define GS_PARAM_INTERNAL_RPARAM_H
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/* Copyright (c) 2013-2018 GomSpace A/S. All rights reserved. */
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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Max query payload in a single message (bytes).
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*/
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#define GS_RPARAM_QUERY_MAX_PAYLOAD 180
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/**
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Macro for calculating total query message size, header + payload.
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*/
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#define RPARAM_QUERY_LENGTH(query, payload_size) (sizeof(*query) - sizeof(query->payload) + payload_size)
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/**
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R(emote) parameter request codes.
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*/
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typedef enum {
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/**
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Get one or more parameters.
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*/
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RPARAM_GET = 0x00,
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/**
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Reply to a request.
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*/
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RPARAM_REPLY = 0x55,
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/**
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Set one or more parameters.
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*/
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RPARAM_SET = 0xFF,
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// RPARAM_SET_TO_FILE = 0xEE,
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/**
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Download table specification.
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*/
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RPARAM_TABLE = 0x44,
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/**
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Copy memory slot to memory slot.
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@version 4.x: Not supported.
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*/
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RPARAM_COPY = 0x77,
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/**
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Load from file (slot) to memory (slot).
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@version 4.x: Only load from primary store - file (slot) is ignored.
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*/
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RPARAM_LOAD = 0x88,
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/**
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Load from file (slot) to memory (slot).
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@version 4.x: load by name(s).
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*/
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RPARAM_LOAD_FROM_STORE = 0x89,
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/**
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Save from memory (slot) to file (slot).
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@version 4.x: Only save to primary store - file (slot) is ignored.
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*/
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RPARAM_SAVE = 0x99,
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/**
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Save from memory (slot) to file (slot).
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@version 4.x: save by name(s).
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*/
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RPARAM_SAVE_TO_STORE = 0x9a,
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// RPARAM_CLEAR = 0xAA, - completely removed
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} gs_rparam_action_t;
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/**
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R(emote) parameter reply/completion codes.
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*/
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typedef enum {
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RPARAM_SET_OK = 1,
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RPARAM_LOAD_OK = 2,
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RPARAM_SAVE_OK = 3,
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RPARAM_COPY_OK = 4,
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// RPARAM_CLEAR_OK = 5,
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RPARAM_ERROR = 0xFF,
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} gs_rparam_reply_t;
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/**
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Payload - save/load to/from stores
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@version 4
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*/
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typedef struct __attribute__ ((packed)) {
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char table[25 + 1];
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char store[25 + 1];
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char slot[25 + 1];
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} gs_rparam_query_payload_store_t;
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/**
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Payload.
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*/
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typedef union __attribute__ ((packed)) {
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uint16_t addr[0]; //! action = RPARAM_GET
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uint8_t packed[0]; //! action = RPARAM_REPLY | RPARAM_SET
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struct { //! action = RPARAM_COPY | RPARAM_LOAD | RPARM_SAVE
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uint8_t from;
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uint8_t to;
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} copy;
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} gs_rparam_query_payload_t;
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/**
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Protocol between client and server.
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@version 4.x: layout (size) has not changed - only naming of certain fields.
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*/
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typedef struct __attribute__ ((packed)) {
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/**
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Request (gs_rparam_action_t) or Reply (gs_rparam_reply_t).
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*/
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uint8_t action;
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/**
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Table id.
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Name changed in 4.0 from \a mem.
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*/
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uint8_t table_id;
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/**
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Length/size of \a payload in bytes.
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*/
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uint16_t length;
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/**
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Fletcher's checksum.
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*/
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uint16_t checksum;
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/**
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Sequence number when split over multiple frames (messages).
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*/
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uint16_t seq;
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/**
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Total number of frames.
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*/
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uint16_t total;
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/**
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Payload.
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*/
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gs_rparam_query_payload_t payload;
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} gs_rparam_query_t;
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#ifdef __cplusplus
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}
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#endif
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#endif
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@ -9,6 +9,7 @@
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#include <csp/drivers/can_socketcan.h>
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#include "P60DockTestTask.h"
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#include "gomspace/include/rparam.h"
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P60DockTestTask::P60DockTestTask(object_id_t objectId_):
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SystemObject(objectId_){
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@ -73,6 +74,74 @@ ReturnValue_t P60DockTestTask::sendPacket(void){
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}
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ReturnValue_t P60DockTestTask::getParameterTable(unit8_t tableId){
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gs_rparam_query_t * query;
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csp_packet_t * request = csp_buffer_get(RPARAM_QUERY_LENGTH(query, 0));
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if (request == NULL) {
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sif::error << "Failed to get buffer for csp packet" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, node, GS_CSP_PORT_RPARAM, timeout_ms, CSP_O_CRC32);
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if (!conn) {
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csp_buffer_free(request);
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sif::error << "CSP connection failure" << sif::error << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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query = (gs_rparam_query_t *) request->data;
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query->action = RPARAM_GET;
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query->table_id = table_id;
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query->length = 0; // == get full table
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query->checksum = csp_hton16(checksum);
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query->seq = 0;
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query->total = 0;
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request->length = RPARAM_QUERY_LENGTH(query, 0);
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if (!csp_send(conn, request, timeout_ms)) {
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csp_buffer_free(request);
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csp_close(conn);
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sif::error << "CSP failed to send packet" << sif::error;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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csp_packet_t * reply;
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unsigned int total_bytes = 0;
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while ((reply = csp_read(conn, timeout_ms)) != NULL) {
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/* We have a reply */
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query = (void *) reply->data;
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const uint16_t qlength = csp_ntoh16(query->length);
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total_bytes += qlength;
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const uint16_t seq = csp_ntoh16(query->seq);
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const uint16_t total = csp_ntoh16(query->total);
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if (query->action == RPARAM_REPLY) {
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error = gs_param_deserialize(tinst, query->payload.packed, qlength, F_FROM_BIG_ENDIAN);
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}
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csp_buffer_free(reply);
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if (error || (seq >= total)) {
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break;
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}
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}
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if (reply == NULL) {
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error = GS_ERROR_TIMEOUT;
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}
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if ((error == GS_OK) && (expected_bytes != total_bytes)) {
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log_warning("%s: expected %u != received %u bytes", __FUNCTION__, expected_bytes, total_bytes);
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error = GS_ERROR_DATA;
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}
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csp_close(conn);
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return error;
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}
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ReturnValue_t P60DockTestTask::initializeCSPStack(void){
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/* Init CSP and CSP buffer system */
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if (csp_init(cspAddress) != CSP_ERR_NONE
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@ -39,6 +39,7 @@ private:
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ReturnValue_t sendPacket(void);
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ReturnValue_t initializeCSPStack(void);
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ReturnValue_t getParameterTable(unit8_t tableId);
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};
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