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Merge remote-tracking branch 'origin/develop' into flipped-tmtctest-preproc-define
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This commit is contained in:
Robin Müller
2022-01-19 18:10:12 +01:00
parent 947134bfd1 328b9d95af
commit c88371b37a
206 changed files with 29214 additions and 30589 deletions
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406
mission/tmtc/CCSDSHandler.cpp
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@ -1,303 +1,301 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/events/EventManagerIF.h"
#include "CCSDSHandler.h"
#include <linux/obc/PdecHandler.h>
#include "CCSDSHandler.h"
#include "fsfw/events/EventManagerIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData) :
SystemObject(objectId), ptmeId(ptmeId), tcDestination(tcDestination), parameterHelper(this), actionHelper(
this, nullptr), txRateSetterIF(txRateSetterIF), gpioIF(gpioIF), enTxClock(
enTxClock), enTxData(enTxData) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 2);
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock,
gpioId_t enTxData)
: SystemObject(objectId),
ptmeId(ptmeId),
tcDestination(tcDestination),
parameterHelper(this),
actionHelper(this, nullptr),
txRateSetterIF(txRateSetterIF),
gpioIF(gpioIF),
enTxClock(enTxClock),
enTxData(enTxData) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 2);
}
CCSDSHandler::~CCSDSHandler() {
}
CCSDSHandler::~CCSDSHandler() {}
ReturnValue_t CCSDSHandler::performOperation(uint8_t operationCode) {
checkEvents();
readCommandQueue();
handleTelemetry();
handleTelecommands();
checkTxTimer();
return RETURN_OK;
checkEvents();
readCommandQueue();
handleTelemetry();
handleTelecommands();
checkTxTimer();
return RETURN_OK;
}
void CCSDSHandler::handleTelemetry() {
VirtualChannelMapIter iter;
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
iter->second->performOperation();
}
VirtualChannelMapIter iter;
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
iter->second->performOperation();
}
}
void CCSDSHandler::handleTelecommands() {
}
void CCSDSHandler::handleTelecommands() {}
ReturnValue_t CCSDSHandler::initialize() {
ReturnValue_t result = RETURN_OK;
PtmeIF* ptme = ObjectManager::instance()->get<PtmeIF>(ptmeId);
if (ptme == nullptr) {
sif::warning << "Invalid PTME object" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
ReturnValue_t result = RETURN_OK;
PtmeIF* ptme = ObjectManager::instance()->get<PtmeIF>(ptmeId);
if (ptme == nullptr) {
sif::warning << "Invalid PTME object" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelecommandsIF* tcDistributor =
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
AcceptsTelecommandsIF* tcDistributor =
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CCSDSHandler::initialize: Invalid TC Distributor object" << std::endl;
sif::error << "CCSDSHandler::initialize: Invalid TC Distributor object" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return ObjectManagerIF::CHILD_INIT_FAILED;
}
tcDistributorQueueId = tcDistributor->getRequestQueue();
tcDistributorQueueId = tcDistributor->getRequestQueue();
result = parameterHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = parameterHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
result = actionHelper.initialize(commandQueue);
if (result != RETURN_OK) {
return result;
}
VirtualChannelMapIter iter;
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
result = iter->second->initialize();
if (result != RETURN_OK) {
return result;
return result;
}
iter->second->setPtmeObject(ptme);
}
VirtualChannelMapIter iter;
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
result = iter->second->initialize();
if (result != RETURN_OK) {
return result;
}
iter->second->setPtmeObject(ptme);
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == nullptr) {
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CCSDSHandler::initialize: Invalid event manager" << std::endl;
sif::error << "CCSDSHandler::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = manager->registerListener(eventQueue->getId());
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CCSDSHandler::initialize: Failed to register CCSDS handler as event "
"listener" << std::endl;
sif::warning << "CCSDSHandler::initialize: Failed to register CCSDS handler as event "
"listener"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
event::getEventId(PdecHandler::BIT_LOCK_PDEC));
if (result != HasReturnvaluesIF::RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(PdecHandler::CARRIER_LOCK),
event::getEventId(PdecHandler::BIT_LOCK_PDEC));
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CCSDSHandler::initialize: Failed to subscribe to events from PDEC "
"handler" << std::endl;
sif::error << "CCSDSHandler::initialize: Failed to subscribe to events from PDEC "
"handler"
<< std::endl;
#endif
return result;
}
return result;
return result;
}
return result;
}
void CCSDSHandler::readCommandQueue(void) {
CommandMessage commandMessage;
ReturnValue_t result = RETURN_FAILED;
CommandMessage commandMessage;
ReturnValue_t result = RETURN_FAILED;
result = commandQueue->receiveMessage(&commandMessage);
result = commandQueue->receiveMessage(&commandMessage);
if (result == RETURN_OK) {
result = parameterHelper.handleParameterMessage(&commandMessage);
if (result == RETURN_OK) {
result = parameterHelper.handleParameterMessage(&commandMessage);
if (result == RETURN_OK) {
return;
}
result = actionHelper.handleActionMessage(&commandMessage);
if (result == RETURN_OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND,
commandMessage.getCommand());
commandQueue->reply(&reply);
return;
return;
}
result = actionHelper.handleActionMessage(&commandMessage);
if (result == RETURN_OK) {
return;
}
CommandMessage reply;
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
commandQueue->reply(&reply);
return;
}
}
MessageQueueId_t CCSDSHandler::getCommandQueue() const {
return commandQueue->getId();
}
MessageQueueId_t CCSDSHandler::getCommandQueue() const { return commandQueue->getId(); }
void CCSDSHandler::addVirtualChannel(VcId_t vcId, VirtualChannel* virtualChannel) {
if (vcId > common::NUMBER_OF_VIRTUAL_CHANNELS) {
sif::warning << "CCSDSHandler::addVirtualChannel: Invalid virtual channel ID" << std::endl;
return;
}
if (vcId > common::NUMBER_OF_VIRTUAL_CHANNELS) {
sif::warning << "CCSDSHandler::addVirtualChannel: Invalid virtual channel ID" << std::endl;
return;
}
if (virtualChannel == nullptr) {
sif::warning << "CCSDSHandler::addVirtualChannel: Invalid virtual channel interface" << std::endl;
return;
}
if (virtualChannel == nullptr) {
sif::warning << "CCSDSHandler::addVirtualChannel: Invalid virtual channel interface"
<< std::endl;
return;
}
auto status = virtualChannelMap.emplace(vcId, virtualChannel);
if (status.second == false) {
sif::warning << "CCSDSHandler::addVirtualChannel: Failed to add virtual channel to "
"virtual channel map" << std::endl;
return;
}
auto status = virtualChannelMap.emplace(vcId, virtualChannel);
if (status.second == false) {
sif::warning << "CCSDSHandler::addVirtualChannel: Failed to add virtual channel to "
"virtual channel map"
<< std::endl;
return;
}
}
MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) {
if (virtualChannel < common::NUMBER_OF_VIRTUAL_CHANNELS) {
VirtualChannelMapIter iter = virtualChannelMap.find(virtualChannel);
if (iter != virtualChannelMap.end()) {
return iter->second->getReportReceptionQueue();
}
else {
sif::warning << "CCSDSHandler::getReportReceptionQueue: Virtual channel with ID "
<< static_cast<unsigned int>(virtualChannel) << " not in virtual channel map"
<< std::endl;
return MessageQueueIF::NO_QUEUE;
}
} else {
sif::debug << "CCSDSHandler::getReportReceptionQueue: Invalid virtual channel requested";
}
return MessageQueueIF::NO_QUEUE;
if (virtualChannel < common::NUMBER_OF_VIRTUAL_CHANNELS) {
VirtualChannelMapIter iter = virtualChannelMap.find(virtualChannel);
if (iter != virtualChannelMap.end()) {
return iter->second->getReportReceptionQueue();
} else {
sif::warning << "CCSDSHandler::getReportReceptionQueue: Virtual channel with ID "
<< static_cast<unsigned int>(virtualChannel) << " not in virtual channel map"
<< std::endl;
return MessageQueueIF::NO_QUEUE;
}
} else {
sif::debug << "CCSDSHandler::getReportReceptionQueue: Invalid virtual channel requested";
}
return MessageQueueIF::NO_QUEUE;
}
ReturnValue_t CCSDSHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex) {
return RETURN_OK;
ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) {
return RETURN_OK;
}
uint16_t CCSDSHandler::getIdentifier() {
return 0;
}
uint16_t CCSDSHandler::getIdentifier() { return 0; }
MessageQueueId_t CCSDSHandler::getRequestQueue() {
// Forward packets directly to TC distributor
return tcDistributorQueueId;
// Forward packets directly to TC distributor
return tcDistributorQueueId;
}
ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
switch(actionId) {
ReturnValue_t CCSDSHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
switch (actionId) {
case SET_LOW_RATE: {
txRateSetterIF->setRate(BitRates::RATE_400KHZ);
return EXECUTION_FINISHED;
txRateSetterIF->setRate(BitRates::RATE_400KHZ);
return EXECUTION_FINISHED;
}
case SET_HIGH_RATE: {
txRateSetterIF->setRate(BitRates::RATE_2000KHZ);
return EXECUTION_FINISHED;
txRateSetterIF->setRate(BitRates::RATE_2000KHZ);
return EXECUTION_FINISHED;
}
case EN_TRANSMITTER: {
enableTransmit();
return EXECUTION_FINISHED;
enableTransmit();
return EXECUTION_FINISHED;
}
case DIS_TRANSMITTER: {
disableTransmit();
return EXECUTION_FINISHED;
disableTransmit();
return EXECUTION_FINISHED;
}
default:
return COMMAND_NOT_IMPLEMENTED;
}
return COMMAND_NOT_IMPLEMENTED;
}
}
void CCSDSHandler::checkEvents() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event);
result == RETURN_OK; result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message"
<< std::endl;
break;
}
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message"
<< std::endl;
break;
}
}
}
void CCSDSHandler::handleEvent(EventMessage* eventMessage) {
Event event = eventMessage->getEvent();
switch(event){
Event event = eventMessage->getEvent();
switch (event) {
case PdecHandler::BIT_LOCK_PDEC: {
handleBitLockEvent();
break;
handleBitLockEvent();
break;
}
case PdecHandler::CARRIER_LOCK: {
handleCarrierLockEvent();
break;
handleCarrierLockEvent();
break;
}
default:
sif::debug << "CCSDSHandler::handleEvent: Did not subscribe to this event"
<< std::endl;
break;
}
sif::debug << "CCSDSHandler::handleEvent: Did not subscribe to this event" << std::endl;
break;
}
}
void CCSDSHandler::handleBitLockEvent() {
if(transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
enableTransmit();
if (transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
enableTransmit();
}
void CCSDSHandler::handleCarrierLockEvent() {
if (!enableTxWhenCarrierLock) {
return;
}
enableTransmit();
if (!enableTxWhenCarrierLock) {
return;
}
enableTransmit();
}
void CCSDSHandler::forwardLinkstate() {
VirtualChannelMapIter iter;
for(iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
iter->second->setLinkState(linkState);
}
VirtualChannelMapIter iter;
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
iter->second->setLinkState(linkState);
}
}
void CCSDSHandler::enableTransmit() {
if(transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
transmitterCountdown.setTimeout(TRANSMITTER_TIMEOUT);
if (transmitterCountdown.isBusy()) {
// Transmitter already enabled
return;
}
transmitterCountdown.setTimeout(TRANSMITTER_TIMEOUT);
#if BOARD_TE0720 == 0
gpioIF->pullHigh(enTxClock);
gpioIF->pullHigh(enTxData);
gpioIF->pullHigh(enTxClock);
gpioIF->pullHigh(enTxData);
#endif /* BOARD_TE0720 == 0 */
linkState = UP;
// Set link state of all virtual channels to link up
forwardLinkstate();
linkState = UP;
// Set link state of all virtual channels to link up
forwardLinkstate();
}
void CCSDSHandler::checkTxTimer() {
if(linkState == DOWN) {
return;
}
if (transmitterCountdown.hasTimedOut()) {
disableTransmit();
}
if (linkState == DOWN) {
return;
}
if (transmitterCountdown.hasTimedOut()) {
disableTransmit();
}
}
void CCSDSHandler::disableTransmit() {
#if BOARD_TE0720 == 0
gpioIF->pullLow(enTxClock);
gpioIF->pullLow(enTxData);
gpioIF->pullLow(enTxClock);
gpioIF->pullLow(enTxData);
#endif /* BOARD_TE0720 == 0 */
linkState = DOWN;
forwardLinkstate();
transmitterCountdown.setTimeout(0);
linkState = DOWN;
forwardLinkstate();
transmitterCountdown.setTimeout(0);
}

222
mission/tmtc/CCSDSHandler.h
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@ -1,22 +1,23 @@
#ifndef CCSDSHANDLER_H_
#define CCSDSHANDLER_H_
#include <unordered_map>
#include "OBSWConfig.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/parameters/ParameterHelper.h"
#include "VirtualChannel.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/timemanager/Countdown.h"
#include "fsfw/events/EventMessage.h"
#include "linux/obc/TxRateSetterIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/parameters/ParameterHelper.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/timemanager/Countdown.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "VirtualChannel.h"
#include <unordered_map>
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "linux/obc/TxRateSetterIF.h"
/**
* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
@ -24,70 +25,69 @@
*
* @author J. Meier
*/
class CCSDSHandler: public SystemObject,
public ExecutableObjectIF,
public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
public HasReturnvaluesIF,
public ReceivesParameterMessagesIF,
public HasActionsIF {
public:
class CCSDSHandler : public SystemObject,
public ExecutableObjectIF,
public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
public HasReturnvaluesIF,
public ReceivesParameterMessagesIF,
public HasActionsIF {
public:
using VcId_t = uint8_t;
using VcId_t = uint8_t;
/**
* @brief Constructor
*
* @param objectId Object ID of the CCSDS handler
* @param ptmeId Object ID of the PTME object providing access to the PTME IP Core.
* @param tcDestination Object ID of object handling received TC space packets
* @param txRateSetter Object providing the functionality to switch the input bitrate of
* the S-Band transceiver.
* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
* @param enTxClock GPIO ID of RS485 tx clock enable
* @param enTxData GPIO ID of RS485 tx data enable
*/
CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock,
gpioId_t enTxData);
/**
* @brief Constructor
*
* @param objectId Object ID of the CCSDS handler
* @param ptmeId Object ID of the PTME object providing access to the PTME IP Core.
* @param tcDestination Object ID of object handling received TC space packets
* @param txRateSetter Object providing the functionality to switch the input bitrate of
* the S-Band transceiver.
* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
* @param enTxClock GPIO ID of RS485 tx clock enable
* @param enTxData GPIO ID of RS485 tx data enable
*/
CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
TxRateSetterIF* txRateSetterIF, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData);
~CCSDSHandler();
~CCSDSHandler();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t initialize();
MessageQueueId_t getCommandQueue() const;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t initialize();
MessageQueueId_t getCommandQueue() const;
/**
* @brief Function to add a virtual channel
*
* @param virtualChannelId ID of the virtual channel to add
* @param virtualChannel Pointer to virtual channel object
*/
void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
/**
* @brief Function to add a virtual channel
*
* @param virtualChannelId ID of the virtual channel to add
* @param virtualChannel Pointer to virtual channel object
*/
void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex);
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper *parameterWrapper, const ParameterWrapper *newValues,
uint16_t startAtIndex);
uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
private:
static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
static const ActionId_t SET_LOW_RATE = 0;
static const ActionId_t SET_HIGH_RATE = 1;
static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DIS_TRANSMITTER = 3;
static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
static const ActionId_t SET_LOW_RATE = 0;
static const ActionId_t SET_HIGH_RATE = 1;
static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DIS_TRANSMITTER = 3;
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
// syrlinks must not be transmitting more than 15 minutes (according to datasheet)
@ -97,72 +97,72 @@ private:
static const uint32_t TRANSMITTER_TIMEOUT = 86400000; // 1 day
#endif /* OBSW_SYRLINKS_DOWNLINK == 0 */
static const bool UP = true;
static const bool DOWN = false;
static const bool UP = true;
static const bool DOWN = false;
using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
using VirtualChannelMapIter = VirtualChannelMap::iterator;
using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
using VirtualChannelMapIter = VirtualChannelMap::iterator;
VirtualChannelMap virtualChannelMap;
VirtualChannelMap virtualChannelMap;
// Object ID of PTME object
object_id_t ptmeId;
// Object ID of PTME object
object_id_t ptmeId;
object_id_t tcDestination;
object_id_t tcDestination;
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* eventQueue = nullptr;
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* eventQueue = nullptr;
ParameterHelper parameterHelper;
ParameterHelper parameterHelper;
ActionHelper actionHelper;
ActionHelper actionHelper;
MessageQueueId_t tcDistributorQueueId;
MessageQueueId_t tcDistributorQueueId;
TxRateSetterIF* txRateSetterIF = nullptr;
TxRateSetterIF* txRateSetterIF = nullptr;
GpioIF* gpioIF = nullptr;
gpioId_t enTxClock = gpio::NO_GPIO;
gpioId_t enTxData = gpio::NO_GPIO;
GpioIF* gpioIF = nullptr;
gpioId_t enTxClock = gpio::NO_GPIO;
gpioId_t enTxData = gpio::NO_GPIO;
// Countdown to disable transmitter after 15 minutes
Countdown transmitterCountdown;
// Countdown to disable transmitter after 15 minutes
Countdown transmitterCountdown;
// When true transmitting is started as soon as carrier lock has been detected
bool enableTxWhenCarrierLock = false;
// When true transmitting is started as soon as carrier lock has been detected
bool enableTxWhenCarrierLock = false;
bool linkState = DOWN;
bool linkState = DOWN;
void readCommandQueue(void);
void handleTelemetry();
void handleTelecommands();
void checkEvents();
void handleEvent(EventMessage* eventMessage);
void readCommandQueue(void);
void handleTelemetry();
void handleTelecommands();
void checkEvents();
void handleEvent(EventMessage* eventMessage);
void handleBitLockEvent();
void handleCarrierLockEvent();
void handleBitLockEvent();
void handleCarrierLockEvent();
/**
* @brief Forward link state to virtual channels.
*/
void forwardLinkstate();
/**
* @brief Forward link state to virtual channels.
*/
void forwardLinkstate();
/**
* @brief Starts transmit timer and enables transmitter.
*/
void enableTransmit();
/**
* @brief Starts transmit timer and enables transmitter.
*/
void enableTransmit();
/**
* @brief Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
* timer has expired.
*/
void checkTxTimer();
/**
* @brief Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
* timer has expired.
*/
void checkTxTimer();
/**
* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
* RS485 transceiver chips to high.
*/
void disableTransmit();
/**
* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
* RS485 transceiver chips to high.
*/
void disableTransmit();
};
#endif /* CCSDSHANDLER_H_ */

90
mission/tmtc/VirtualChannel.cpp
View File

@ -1,69 +1,65 @@
#include "CCSDSHandler.h"
#include "VirtualChannel.h"
#include "CCSDSHandler.h"
#include "OBSWConfig.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
VirtualChannel::VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth) :
vcId(vcId) {
tmQueue = QueueFactory::instance()->createMessageQueue(tmQueueDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE);
VirtualChannel::VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth) : vcId(vcId) {
tmQueue = QueueFactory::instance()->createMessageQueue(tmQueueDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE);
}
ReturnValue_t VirtualChannel::initialize() {
tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
if(tmStore == nullptr) {
sif::error << "VirtualChannel::initialize: Failed to get tm store" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
if (tmStore == nullptr) {
sif::error << "VirtualChannel::initialize: Failed to get tm store" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t VirtualChannel::performOperation() {
ReturnValue_t result = RETURN_OK;
TmTcMessage message;
ReturnValue_t result = RETURN_OK;
TmTcMessage message;
while(tmQueue->receiveMessage(&message) == RETURN_OK) {
store_address_t storeId = message.getStorageId();
const uint8_t* data = nullptr;
size_t size = 0;
result = tmStore->getData(storeId, &data, &size);
if (result != RETURN_OK) {
sif::warning << "VirtualChannel::performOperation: Failed to read data from IPC store"
<< std::endl;
tmStore->deleteData(storeId);
return result;
}
while (tmQueue->receiveMessage(&message) == RETURN_OK) {
store_address_t storeId = message.getStorageId();
const uint8_t* data = nullptr;
size_t size = 0;
result = tmStore->getData(storeId, &data, &size);
if (result != RETURN_OK) {
sif::warning << "VirtualChannel::performOperation: Failed to read data from IPC store"
<< std::endl;
tmStore->deleteData(storeId);
return result;
}
if (linkIsUp) {
result = ptme->writeToVc(vcId, data, size);
}
if (linkIsUp) {
result = ptme->writeToVc(vcId, data, size);
}
tmStore->deleteData(storeId);
tmStore->deleteData(storeId);
if (result != RETURN_OK) {
return result;
}
}
return result;
if (result != RETURN_OK) {
return result;
}
}
return result;
}
MessageQueueId_t VirtualChannel::getReportReceptionQueue(uint8_t virtualChannel) {
return tmQueue->getId();
return tmQueue->getId();
}
void VirtualChannel::setPtmeObject(PtmeIF* ptme_) {
if (ptme_ == nullptr) {
sif::warning << "VirtualChannel::setPtmeObject: Invalid ptme object" << std::endl;
return;
}
ptme = ptme_;
if (ptme_ == nullptr) {
sif::warning << "VirtualChannel::setPtmeObject: Invalid ptme object" << std::endl;
return;
}
ptme = ptme_;
}
void VirtualChannel::setLinkState(bool linkIsUp_) {
linkIsUp = linkIsUp_;
}
void VirtualChannel::setLinkState(bool linkIsUp_) { linkIsUp = linkIsUp_; }

66
mission/tmtc/VirtualChannel.h
View File

@ -1,12 +1,13 @@
#ifndef VIRTUALCHANNEL_H_
#define VIRTUALCHANNEL_H_
#include "OBSWConfig.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <fsfw/ipc/MessageQueueIF.h>
#include <linux/obc/PtmeIF.h>
#include "OBSWConfig.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
class StorageManagerIF;
/**
@ -15,42 +16,41 @@ class StorageManagerIF;
*
* @author J. Meier
*/
class VirtualChannel: public AcceptsTelemetryIF, public HasReturnvaluesIF {
public:
/**
* @brief Constructor
*
* @param vcId The virtual channel id assigned to this object
* @param tmQueueDepth Queue depth of queue receiving telemetry from other objects
*/
VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth);
class VirtualChannel : public AcceptsTelemetryIF, public HasReturnvaluesIF {
public:
/**
* @brief Constructor
*
* @param vcId The virtual channel id assigned to this object
* @param tmQueueDepth Queue depth of queue receiving telemetry from other objects
*/
VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth);
ReturnValue_t initialize();
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
ReturnValue_t performOperation();
ReturnValue_t initialize();
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
ReturnValue_t performOperation();
/**
* @brief Sets the PTME object which handles access to the PTME IP Core.
*
* @param ptme Pointer to ptme object
*/
void setPtmeObject(PtmeIF* ptme_);
/**
* @brief Sets the PTME object which handles access to the PTME IP Core.
*
* @param ptme Pointer to ptme object
*/
void setPtmeObject(PtmeIF* ptme_);
/**
* @brief Can be used by the owner to set the link state. Packets will be discarded if link
* to ground station is down.
*/
void setLinkState(bool linkIsUp_);
/**
* @brief Can be used by the owner to set the link state. Packets will be discarded if link
* to ground station is down.
*/
void setLinkState(bool linkIsUp_);
private:
private:
PtmeIF* ptme = nullptr;
MessageQueueIF* tmQueue = nullptr;
uint8_t vcId;
PtmeIF* ptme = nullptr;
MessageQueueIF* tmQueue = nullptr;
uint8_t vcId;
bool linkIsUp = false;
bool linkIsUp = false;
StorageManagerIF* tmStore = nullptr;
StorageManagerIF* tmStore = nullptr;
};
#endif /* VIRTUALCHANNEL_H_ */