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wip CspComIF

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This commit is contained in:
Jakob Meier 2020-12-14 08:42:48 +01:00
parent 3dbe63dbdb
commit bf7ab7195c
9 changed files with 727 additions and 42 deletions
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167
bsp_linux/comIF/CspComIF.cpp Normal file
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@ -0,0 +1,167 @@
#include "CspComIF.h"
#include <bsp_linux/comIF/cookies/CspCookie.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <csp/drivers/can_socketcan.h>
#include <fsfw/serialize/SerializeAdapter.h>
CspComIF::CspComIF(object_id_t objectId) :
SystemObject(objectId) {
}
CspComIF::~CspComIF() {
}
ReturnValue_t CspComIF::initializeInterface(CookieIF *cookie) {
if(cookie == nullptr) {
return NULLPOINTER;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
if(cspCookie == nullptr) {
return NULLPOINTER;
}
char* canInterface = cspCookie->getCanIf();
int bitrate = cspCookie->getBitrate();
/* Define the memory to allocate for the CSP stack */
int buf_count = 10;
int buf_size = 300;
/* Init CSP and CSP buffer system */
if (csp_init(cspClientAddress) != CSP_ERR_NONE
|| csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
sif::error << "Failed to init CSP\r\n" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
int promisc = 0; // Set filter mode on
csp_iface_t *csp_if_ptr = &csp_if;
csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
/* Set default route and start router */
uint8_t address = CSP_DEFAULT_ROUTE;
uint8_t netmask = 0;
uint8_t mac = CSP_NODE_MAC;
int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
if(result != CSP_ERR_NONE){
sif::error << "Failed to add can interface to router table"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Start the route task */
unsigned int task_stack_size = 500;
unsigned int priority = 0;
result = csp_route_start_task(task_stack_size, priority);
if(result != CSP_ERR_NONE){
sif::error << "Failed to start csp route task" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
uint8_t cspAddress = cspCookie->getCspAddress();
uint16_t maxReplyLength = cspCookie->getMaxReplyLength();
if(cspDeviceMap.find(cspAddress) != cspDeviceMap.end()){
/* Insert device information in CSP map */
cspDeviceMap.emplace(cspAddress, vectorBuffer(maxReplyLength));
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) {
int result;
if(cookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*> (cookie);
if(cspCookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
/* Extract csp port and bytes to query from command buffer */
uint8_t cspPort;
uint16_t querySize;
SerializeAdapter::deSerialize(&cspPort, &sendData, &sendLen,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&querySize, &sendData, &sendLen,
SerializeIF::Endianness::BIG);
uint8_t cspAddress = cspCookie->getCspAddress();
if(cspPort == csp_reserved_ports_e::CSP_PING){
uint32_t timeout = 1000; // ms
unsigned int pingSize = 100; // 100 bytes
uint32_t replyTime = csp_ping(cspAddress, timeout, pingSize,
CSP_O_NONE);
sif::info << "Ping address: " << cspAddress << ", reply after "
<< replyTime << " ms" << std::endl;
/* Store reply time in reply buffer * */
uint8_t* replyBuffer = cspDeviceMap[cspAddress].data();
memcpy(replyBuffer, &replyTime, sizeof(replyTime));
}
else if(cspPort == csp_reserved_ports_e::CSP_REBOOT){
csp_reboot(cspCookie->getCspAddress());
}
else{
/* No CSP fixed port was selected. Send data to the specified port and
* wait for querySize number of bytes */
result = cspTransfer(cspAddress, cspPort, sendData, sendLen,
querySize);
if(result != HasReturnvaluesIF::RETURN_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
rememberQuerySize = querySize;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::getSendSuccess(CookieIF *cookie) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::readReceivedMessage(CookieIF *cookie,
uint8_t** buffer, size_t* size) {
if(cookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
CspCookie* cspCookie = dynamic_cast<CspCookie*> (cookie);
if(cspCookie == NULL){
return HasReturnvaluesIF::RETURN_FAILED;
}
uint8_t cspAddress = cspCookie->getCspAddress();
*buffer = cspDeviceMap[cspAddress].data();
*size = rememberQuerySize;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
const uint8_t* cmdBuffer, int cmdBufferLen, uint16_t querySize) {
uint32_t timeout_ms = 1000;
uint8_t* replyBuffer = cspDeviceMap[cspAddress].data();
uint8_t tmpCmdBuffer[cmdBufferLen];
memcpy(tmpCmdBuffer, cmdBuffer, cmdBufferLen);
csp_conn_t * conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0,
CSP_O_NONE);
querySize = 12;
int receivedBytes = csp_transaction_persistent(conn, timeout_ms,
tmpCmdBuffer, cmdBufferLen, replyBuffer, querySize);
if(receivedBytes != querySize){
sif::error << "CSP transfer failed to receive all requested bytes "
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
csp_close(conn);
return HasReturnvaluesIF::RETURN_OK;
}

66
bsp_linux/comIF/CspComIF.h Normal file
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@ -0,0 +1,66 @@
#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
#define BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <csp/csp.h>
#include <vector>
#include <unordered_map>
/**
* @brief This class is serves as the communication interface to devices
* supporting the CSP protocol. For now as physical interface only
* CAN is supported by this CSP implementation.
* @author Jakob Meier
*/
class CspComIF: public DeviceCommunicationIF, public SystemObject {
public:
CspComIF(object_id_t objectId);
virtual ~CspComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **readData, size_t *readLen) override;
private:
/**
* @brief This function initiates the CSP transfer.
*
* @param cspAddress The CSP address of the target device.
* @param cspPort The port of the target device.
* @param timeout The timeout to wait for csp_send and csp_read
* functions. Specifies how long the functions wait
* for a successful operation.
* @param cmdBuffer The data to send.
* @param cmpBuffer The number of bytes to send.
* @param querySize The size of the requested message.
*/
ReturnValue_t cspTransfer(uint8_t cspAddress, uint8_t cspPort,
const uint8_t* cmdBuffer, int cmdBufferLen, uint16_t querySize);
typedef uint8_t node_t;
using vectorBuffer = std::vector<uint8_t>;
using VectorBufferMap = std::unordered_map<node_t, vectorBuffer>;
using vectorBufferIter = VectorBufferMap::iterator;
/* In this map assigns reply buffers to a CSP device */
VectorBufferMap cspDeviceMap;
uint16_t rememberQuerySize = 0;
/* This is the CSP address of the OBC. */
node_t cspClientAddress = 1;
/* Interface struct for csp protocol stack */
csp_iface_t csp_if;
};
#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOMIF_H_ */

24
bsp_linux/comIF/cookies/CspCookie.cpp Normal file
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@ -0,0 +1,24 @@
#include "CspCookie.h"
CspCookie::CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_) :
maxReplyLength(maxReplyLength_), cspAddress(cspAddress_) {
}
CspCookie::~CspCookie() {
}
uint16_t CspCookie::getMaxReplyLength(){
return maxReplyLength;
}
uint8_t CspCookie::getCspAddress(){
return cspAddress;
}
char* CspCookie::getCanIf(){
return canInterface;
}
int CspCookie::getBitrate(){
return bitrate;
}

31
bsp_linux/comIF/cookies/CspCookie.h Normal file
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@ -0,0 +1,31 @@
#ifndef BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_
#define BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <stdint.h>
/**
* @brief This is the cookie for devices supporting the CSP (CubeSat Space
* Protocol).
* @author J. Meier
*/
class CspCookie: public CookieIF {
public:
CspCookie(uint16_t maxReplyLength_, uint8_t cspAddress_);
virtual ~CspCookie();
uint16_t getMaxReplyLength();
uint8_t getCspAddress();
char* getCanIf();
int getBitrate();
private:
uint16_t maxReplyLength;
char canInterface[5] = "can0";
uint8_t cspAddress;
int bitrate = 1000;
};
#endif /* BSP_LINUX_COMIF_COOKIES_CSPCOOKIE_H_ */

11
mission/core/GenericFactory.cpp
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@ -21,8 +21,8 @@
#include <fsfw/timemanager/TimeStamper.h>
#include <mission/utility/TmFunnel.h>
#include <mission/devices/P60DockHandler.h>
#include <bsp_linux/comIF/cookies/P60DockCookie.h>
#include <bsp_linux/comIF/P60DockComIF.h>
#include <bsp_linux/comIF/cookies/CspCookie.h>
#include <bsp_linux/comIF/CspComIF.h>
#if ADD_TEST_CODE == 1
//#include <test/testtasks/TestTask.h>
@ -86,14 +86,15 @@ void ObjectFactory::produceGenericObjects() {
apid::EIVE_OBSW, pus::PUS_SERVICE_200);
/* Cookies */
P60DockCookie* p60DockCookie = new P60DockCookie(addresses::P60DOCK);
CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
addresses::P60DOCK);
/* Communication interfaces */
new P60DockComIF(objects::P60_DOCK_COM_IF);
new CspComIF(objects::P60_DOCK_COM_IF);
/* Device Handler */
new P60DockHandler(objects::P60DOCK_HANDLER, objects::P60_DOCK_COM_IF,
p60DockCookie);
p60DockCspCookie);
/* Test Device Handler */
#if ADD_TEST_CODE == 1

84
mission/devices/P60DockHandler.cpp
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@ -1,8 +1,5 @@
#include <csp/csp.h>
#include <csp/interfaces/csp_if_can.h>
#include <mission/devices/P60DockHandler.h>
#include "bsp_linux/comIF/cookies/P60DockCookie.h"
#include "bsp_linux/comIF/P60DockComIF.h"
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie):DeviceHandlerBase(objectId, comIF, comCookie) {
@ -10,10 +7,6 @@ P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF,
if(comCookie == NULL){
sif::error << "P60DockHandler invalid com cookie" << std::endl;
}
p60DockCookie = dynamic_cast<P60DockCookie*> (comCookie);
if(p60DockCookie == NULL){
sif::error << "P60DockHandler failed to get P60DockCookie" << std::endl;
}
}
P60DockHandler::~P60DockHandler() {
@ -41,15 +34,39 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
size_t commandDataLen) {
switch(deviceCommand) {
case(PING): {
p60DockCookie->setPingMessage();
break;
}
case(READ_MODULE_CFG):{
p60DockCookie->setReadModuleCfgMessage();
case(PARAM_SET):{
break;
}
case(READ_HK):{
p60DockCookie->setReadHkMessage();
case(PARAM_GET):{
/* Unpack the received action message */
GetParamMessageUnpacker getParamMessage(commandData, commandDataLen);
uint8_t tableId = getParamMessage.getTableId();
uint16_t address = getParamMessage.getAddress();
uint16_t length = EndianConverter::convertLittleEndian<uint16_t>(
sizeof(address));
uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
uint16_t seq = 0;
uint16_t total = 0;
uint16_t querySize = getParamMessage.getQuerySize();
/* Generate the CSP command to send to the P60 Dock */
CspGetParamCommand getParamCmd(querySize, PARAM_GET, tableId, length,
checksum, seq, total, address);
size_t cspPacketLen = 0;
uint8_t* buffer = cspPacket;
getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
SerializeIF::Endianness::BIG);
if(cspPacketLen > MAX_PACKET_LEN){
sif::error << "P60DockHandler: Received invalid get parameter "
"command" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
rawPacket = cspPacket;
rawPacketLen = cspPacketLen;
rememberRequestedSize = querySize;
rememberCommandId = PARAM_GET;
break;
}
default:
@ -60,44 +77,51 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
void P60DockHandler::fillCommandAndReplyMap(){
this->insertInCommandAndReplyMap(PING, 3);
this->insertInCommandAndReplyMap(READ_MODULE_CFG, 3);
this->insertInCommandAndReplyMap(READ_HK, 3);
this->insertInCommandAndReplyMap(PARAM_SET, 3);
this->insertInCommandAndReplyMap(PARAM_GET, 3);
}
ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
MessageType_t messageType = p60DockCookie->getMessageType();
switch(messageType) {
switch(rememberCommandId) {
case(PING):
*foundId = PING;
*foundLen = 4;
*foundLen = rememberRequestedSize;
rememberCommandId = NONE;
break;
case(READ_MODULE_CFG): {
*foundId = READ_MODULE_CFG;
*foundLen = moduleCfgTableSize;
break;
}
case(READ_HK): {
*foundId = READ_HK;
*foundLen = hkTableSize;
case(PARAM_GET): {
*foundId = PARAM_GET;
*foundLen = rememberRequestedSize + CspGetParamReply::GS_HDR_LENGTH;
rememberCommandId = NONE;
break;
}
default:
return IGNORE_REPLY_DATA;
}
p60DockCookie->resetMessageType();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch(id) {
case(READ_MODULE_CFG): {
case(PING): {
handleDeviceTM((SerializeIF*)packet, id, true, true);
break;
}
case(READ_HK): {
handleDeviceTM((SerializeIF*)packet, id, true, true);
case(PARAM_GET): {
uint16_t payloadLength = *(packet + 2);
uint8_t tempPayloadBuffer[payloadLength];
CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
uint8_t action = cspGetParamReply.getAction();
uint8_t tableId = cspGetParamReply.getTableId();
uint16_t length = cspGetParamReply.getLength();
uint16_t address = cspGetParamReply.getAddress();
size_t size = CspGetParamReply::GS_HDR_LENGTH + payloadLength;
cspGetParamReply.deSerialize(&packet, &size,
SerializeIF::Endianness::LITTLE);
ParamReply paramReply(action, tableId, address, length, tempPayloadBuffer,
payloadLength);
handleDeviceTM(&paramReply, id, true, true);
break;
}
default:

22
mission/devices/P60DockHandler.h
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@ -4,6 +4,13 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <bsp_linux/comIF/cookies/P60DockCookie.h>
namespace P60Dock{
/* The maximum size of a reply from the P60 dock. Maximum size is reached
* when retrieving the full parameter configuration table. 412 bytes of
* payload data and 12 bytes of CSP header data. */
static const uint16_t MAX_REPLY_LENGTH = 424;
}
class P60DockHandler: public DeviceHandlerBase {
public:
P60DockHandler(object_id_t objectId, object_id_t comIF,
@ -26,15 +33,16 @@ protected:
private:
static const uint8_t MAX_PACKET_LEN = 36;
/* Device commands are derived from the rparam.h of the gomspace lib */
static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t READ_MODULE_CFG = 0x71; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t READ_HK = 0x72; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending
static const DeviceCommandId_t PARAM_GET = 0x00; //!< [EXPORT] : [COMMAND]
static const DeviceCommandId_t PARAM_SET = 0xFF; //!< [EXPORT] : [COMMAND]
uint16_t moduleCfgTableSize = 412;
uint8_t calibrationTableSize = 174;
uint8_t hkTableSize = 188;
P60DockCookie* p60DockCookie;
uint8_t rememberRequestedSize = 0;
uint8_t rememberCommandId = NONE;
uint8_t cspPacket[MAX_PACKET_LEN];
};
#endif /* MISSION_DEVICES_P60DOCKHANDLER_H_ */

332
mission/devices/devicedefinitions/GomSpacePackets.h Normal file
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@ -0,0 +1,332 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_
#include "fsfw/serialize/SerialBufferAdapter.h"
#include "fsfw/serialize/SerializeElement.h"
#include "fsfw/serialize/SerialLinkedListAdapter.h"
namespace GOMSPACE{
static const uint16_t IGNORE_CHECKSUM = 0x0bb0;
/* CSP port to ping gomspace devices. */
static const uint8_t PING_PORT = 1;
static const uint8_t REBOOT_PORT = 4;
/* CSP port of gomspace devices to request or set parameters */
static const uint8_t PARAM_PORT = 7;
}
/**
* @brief A serial linked list adapter implementation to generate ping
* messages for gomspace devices.
*
* @details A ping request simply sends back the received data provided by the
* data buffer. cspPort and querySize are only informations required
* by the CspComI and other than the data array not physically
* transmitted to the target device.
*/
class CspPing : public SerialLinkedListAdapter<SerializeIF> {
public:
/**
* @brief Constructor
*
* @param querySize_ The size of bytes replied by the ping request.
* Amounts to the number of bytes send.
* @param parameters_ Pointer to data which should be sent to the device.
* All data will be sent back by the ping target.
* @param paramterCount_ Number of bytes to send with the ping request.
*/
CspPing(uint16_t querySize_, const uint8_t* parameters_,
uint8_t parameterCount_) :
querySize(querySize_), data(parameters_, parameterCount_) {
setLinks();
}
private:
CspPing(const CspPing &command);
void setLinks() {
setStart(&cspPort);
cspPort.setNext(&querySize);
querySize.setNext(&data);
}
SerializeElement<uint8_t> cspPort = GOMSPACE::PING_PORT;
SerializeElement<uint16_t> querySize;
SerializeElement<SerialBufferAdapter<uint8_t>> data;
};
/**
* @brief A serial linked list adapter implementation of the gs_rparam_query_t
* struct defined in rparam.h. Can be used to build the message to set
* a parameter in gomspace devices.
*
* @note cspPort and querySize will not be sent with the CSP packet to the
* gomspace device but are required for the CspComIF to get the port
* and the size to query.
*/
class CspSetParamCommand : public SerialLinkedListAdapter<SerializeIF> {
public:
CspSetParamCommand(uint8_t action_, uint8_t tableId_,
uint16_t addresslength_, uint16_t checksum_, uint16_t seq_,
uint16_t total_, uint16_t addr_, const uint8_t* parameters_,
uint8_t parameterCount_) :
action(action_), tableId(tableId_), addresslength(addresslength_), checksum(
checksum_), seq(seq_), total(total_), addr(addr_), parameters(
parameters_, parameterCount_) {
setLinks();
}
private:
CspSetParamCommand(const CspSetParamCommand &command);
void setLinks() {
setStart(&cspPort);
cspPort.setNext(&querySize);
querySize.setNext(&action);
action.setNext(&tableId);
tableId.setNext(&addresslength);
addresslength.setNext(&checksum);
checksum.setNext(&seq);
seq.setNext(&addr);
addr.setNext(&parameters);
}
SerializeElement<uint8_t> cspPort = GOMSPACE::PARAM_PORT;
/* Only parameters are set. No data will be queried with this command */
SerializeElement<uint16_t> querySize = 0;
SerializeElement<uint8_t> action;
SerializeElement<uint8_t> tableId;
SerializeElement<uint16_t> addresslength;
SerializeElement<uint16_t> checksum;
SerializeElement<uint16_t> seq;
SerializeElement<uint16_t> total;
SerializeElement<uint16_t> addr;
SerializeElement<SerialBufferAdapter<uint8_t>> parameters;
};
/**
* @brief This class can be used to generate a get param command for the
* gomspace devices which will be sent to the device communication
* interface object.
*
* @note cspPort and querySize only serve as information for the CspComIF
* and will not be transmitted physically to the target device.
*/
class CspGetParamCommand : public SerialLinkedListAdapter<SerializeIF> {
public:
CspGetParamCommand(uint16_t querySize_, uint8_t action_, uint8_t tableId_,
uint16_t addresslength_, uint16_t checksum_, uint16_t seq_,
uint16_t total_, uint16_t addr_) :
querySize(querySize_), action(action_), tableId(tableId_), addresslength(
addresslength_), checksum(checksum_), seq(seq_), total(
total_), addr(addr_) {
fixedValuesInit();
setLinks();
}
private:
CspGetParamCommand(const CspGetParamCommand &command);
void setLinks() {
setStart(&cspPort);
cspPort.setNext(&querySize);
querySize.setNext(&action);
action.setNext(&tableId);
tableId.setNext(&addresslength);
addresslength.setNext(&checksum);
checksum.setNext(&seq);
seq.setNext(&total);
total.setNext(&addr);
}
void fixedValuesInit(){
cspPort.entry = GOMSPACE::PARAM_PORT;
}
SerializeElement<uint8_t> cspPort;
SerializeElement<uint16_t> querySize; // size of bytes to query
/* Following information will also be physically transmitted to the target
* device*/
SerializeElement<uint8_t> action;
SerializeElement<uint8_t> tableId;
SerializeElement<uint16_t> addresslength; // size of address
SerializeElement<uint16_t> checksum;
SerializeElement<uint16_t> seq;
SerializeElement<uint16_t> total;
SerializeElement<uint16_t> addr;
};
/**
* @brief This class can be used to deserialize replies from gomspace devices
* and extract the relevant data.
*/
class CspGetParamReply : public SerialLinkedListAdapter<SerializeIF> {
public:
/* The size of the header of a gomspace CSP packet. */
static const uint8_t GS_HDR_LENGTH = 12;
/**
* @brief Constructor
*
* @param payloadBuffer Pointer to a buffer to store the payload data of
* the CSP packet.
* @param payloadBufferSz The size of the payload buffer where the payload
* data will be stored.
*/
CspGetParamReply(uint8_t* payloadBuffer_, uint8_t payloadBufferSz_) :
payload(payloadBuffer_, payloadBufferSz_) {
setLinks();
}
uint8_t getAction(){
return action;
}
uint8_t getTableId(){
return tableId;
}
uint16_t getLength(){
return length;
}
uint16_t getAddress(){
return addr;
}
private:
CspGetParamReply(const CspGetParamReply &reply);
void setLinks() {
setStart(&action);
action.setNext(&tableId);
seq.setNext(&addr);
addr.setNext(&payload);
}
SerializeElement<uint8_t> action;
SerializeElement<uint8_t> tableId;
SerializeElement<uint16_t> length; //length of payload data
SerializeElement<uint16_t> checksum;
SerializeElement<uint16_t> seq;
SerializeElement<uint16_t> total;
SerializeElement<uint16_t> addr;
SerializeElement<SerialBufferAdapter<uint8_t>> payload;
};
/**
* @brief This class generates telemetry packets containing data from
* CSP get-parameter-replies.
*/
class ParamReply : public SerialLinkedListAdapter<SerializeIF> {
public:
/**
* @brief Constructor
*
* @param payloadBuffer Pointer to a buffer to store the payload data of
* the CSP packet.
* @param payloadBufferSz The size of the payload buffer where the payload
* data will be stored.
*/
ParamReply(uint8_t action_, uint8_t tableId_, uint16_t addr_,
uint16_t length_, uint8_t* payloadBuffer_, uint8_t payloadBufferSz_) :
payload(payloadBuffer_, payloadBufferSz_) {
setLinks();
}
private:
ParamReply(const CspGetParamReply &reply);
void setLinks() {
setStart(&action);
action.setNext(&tableId);
tableId.setNext(&addr);
addr.setNext(&length);
length.setNext(&payload);
}
SerializeElement<uint8_t> action;
SerializeElement<uint8_t> tableId;
SerializeElement<uint16_t> addr;
SerializeElement<uint16_t> length;
SerializeElement<SerialBufferAdapter<uint8_t>> payload;
};
/**
* @brief This class helps to unpack information from an action messages
* to set a parameter in gomspace devices. The action message can be
* for example received from the PUS Service 8.
*/
class SetParamMessageUnpacker: public SerialLinkedListAdapter<SerializeIF> {
public:
SetParamMessageUnpacker(const uint8_t* commandData, size_t commandDataLen) {
SerializeAdapter::deSerialize(&tableId, &commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&address, &commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
parameterBuffer = commandData;
parameterCount = commandDataLen;
}
uint8_t getTableId() const {
return tableId;
}
uint16_t getAddress() const {
return address;
}
const uint8_t* getParameters() {
return parameterBuffer;
}
uint8_t getParameterCount(){
return parameterCount;
}
private:
SetParamMessageUnpacker(const SetParamMessageUnpacker &message);
uint8_t tableId;
uint16_t address;
/* Parameter buffer holds the values of the parameters to set while the
* address points to the location of a parameter. */
const uint8_t * parameterBuffer;
uint8_t parameterCount;
};
/**
* @brief This class helps to unpack information from an action message
* to get a parameter from gomspace devices. The action message can be
* for example received from the PUS Service 8.
*/
class GetParamMessageUnpacker: public SerialLinkedListAdapter<SerializeIF> {
public:
GetParamMessageUnpacker(const uint8_t* commandData, size_t commandDataLen) {
SerializeAdapter::deSerialize(&tableId, &commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&address, &commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&querySize, &commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
}
uint8_t getTableId() const {
return tableId;
}
uint16_t getAddress() const {
return address;
}
uint8_t getQuerySize(){
return querySize;
}
private:
GetParamMessageUnpacker(const GetParamMessageUnpacker &message);
uint8_t tableId;
uint16_t address; //The memory address offset within the table
uint8_t querySize; //defines number of bytes to query
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ */

32
mission/devices/devicedefinitions/P60DockHandlerDefinitions.h
View File

@ -53,6 +53,38 @@
// SerializeElement<SerialFixedArrayListAdapter<dataBufferType, FN_MAXNAME, typeOfMaxData>> filename;
//};
/**
* @brief A serial linked list adapter implementation of the gs_rparam_query_t struct
* defined in rparam.h
*/
class GetParamCommand: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 130
public:
typedef uint16_t typeOfMaxDataSize;
static const uint16_t MAX_DATA_LENGTH = sizeof(typeOfMaxDataSize);
GetParamCommand(uint8_t objectId_, ActionId_t actionId_,
const uint8_t * replyDataBuffer_ = NULL, uint16_t replyDataSize_ = 0):
objectId(objectId_), actionId(actionId_), replyData(replyDataBuffer_,replyDataSize_){
setLinks();
}
private:
GetParamCommand(const GetParamCommand &reply);
void setLinks() {
setStart(&action);
action.setNext(&tableId);
tableId.setNext(&length);
lenght.setNext(&checksum);
checksum.setNext(&seq);
checksum.setNext(&addr);
}
SerializeElement<uint8_t> cspPort = 7;
SerializeElement<uint8_t> action;
SerializeElement<uint8_t> tableId;
SerializeElement<uint16_t> length;
SerializeElement<uint16_t> checksum;
SerializeElement<uint16_t> seq;
SerializeElement<uint16_t> total;
SerializeElement<uint16_t> addr;
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_P60DOCKHANDLERDEFINITIONS_H_ */