bsp_linux/comIF/CspComIF.cpp

@@ -86,7 +86,6 @@ ReturnValue_t CspComIF::sendMessage(CookieIF *cookie,
 	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
@@ -168,6 +167,7 @@ ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort,
 	} else {
 		if(result != 1){
 			sif::error << "CSP transfer failed" << std::endl;
+			return HasReturnvaluesIF::RETURN_FAILED;
 		}
 	}
 

mission/devices/P60DockHandler.cpp

@@ -34,6 +34,22 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
 		size_t commandDataLen) {
 	switch(deviceCommand) {
 	case(PING): {
+		PingMessageUnpacker pingMessageUnpacker(commandData, commandDataLen);
+		const uint8_t* pingData = pingMessageUnpacker.getPingData();
+		uint8_t pingDataSz = pingMessageUnpacker.getPingDataSz();
+		CspPingCommand cspPingCommand(pingDataSz, pingData);
+		size_t cspPacketLen = 0;
+		uint8_t* buffer = cspPacket;
+		cspPingCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
+				SerializeIF::Endianness::BIG);
+		if(cspPacketLen > MAX_PACKET_LEN){
+			sif::error << "P60DockHandler: Received invalid ping message"
+					<< std::endl;
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		rawPacket = cspPacket;
+		rawPacketLen = cspPacketLen;
+		rememberCommandId = PING;
 		break;
 	}
 	case(PARAM_SET):{
@@ -63,16 +79,16 @@ ReturnValue_t P60DockHandler::buildCommandFromCommand(
 		}
 		rawPacket = cspPacket;
 		rawPacketLen = cspPacketLen;
+		rememberRequestedSize = querySize;
+		rememberCommandId = PARAM_SET;
 		break;
 	}
 	case(PARAM_GET):{
 		/* Unpack the received action message */
 		GetParamMessageUnpacker getParamMessage(commandData, commandDataLen);
 		uint8_t tableId = getParamMessage.getTableId();
-		uint16_t address = EndianConverter::convertLittleEndian<uint16_t>(
-				getParamMessage.getAddress());
-		uint16_t length = EndianConverter::convertLittleEndian<uint16_t>(
-				sizeof(address));
+		uint16_t address = getParamMessage.getAddress();
+		uint16_t length = sizeof(address);
 		uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
 		uint16_t seq = 0;
 		uint16_t total = 0;
@@ -113,7 +129,7 @@ ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
 	switch(rememberCommandId) {
 	case(PING):
 			*foundId = PING;
-			*foundLen = rememberRequestedSize;
+			*foundLen = PING_REPLY_SIZE;
 			rememberCommandId = NONE;
 		break;
 	case(PARAM_GET): {
@@ -122,6 +138,12 @@ ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
 			rememberCommandId = NONE;
 		break;
 	}
+	case(PARAM_SET): {
+			*foundId = PARAM_SET;
+			*foundLen = rememberRequestedSize;
+			rememberCommandId = NONE;
+		break;
+	}
 	default:
 		return IGNORE_REPLY_DATA;
 	}
@@ -132,13 +154,15 @@ ReturnValue_t P60DockHandler::interpretDeviceReply(DeviceCommandId_t id,
         const uint8_t *packet) {
 	switch(id) {
 	case(PING): {
-			handleDeviceTM((SerializeIF*)packet, id, true, true);
+		PingReply pingReply(*packet, *(packet + 1));
+		handleDeviceTM(&pingReply, id, true, true);
 		break;
 	}
 	case(PARAM_GET): {
 		// -2 to subtract address size from gomspace parameter reply packet
 		uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2;
 		uint8_t tempPayloadBuffer[payloadLength];
+		/* Extract information from received data */
 		CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
 		size_t size = CspGetParamReply::GS_HDR_LENGTH + payloadLength;
 		cspGetParamReply.deSerialize(&packet, &size,
@@ -146,11 +170,20 @@ ReturnValue_t P60DockHandler::interpretDeviceReply(DeviceCommandId_t id,
 		uint8_t action = cspGetParamReply.getAction();
 		uint8_t tableId = cspGetParamReply.getTableId();
 		uint16_t address = cspGetParamReply.getAddress();
+		/* Pack relevant information into a tm reply packet */
 		ParamReply paramReply(action, tableId, address, payloadLength,
 				tempPayloadBuffer);
 		handleDeviceTM(&paramReply, id, true);
 		break;
 	}
+	case(PARAM_SET): {
+		/* When setting a parameter, the p60dock sends back the state of the
+		 * operation */
+		if(*packet != PARAM_SET_OK){
+			return HasReturnvaluesIF::RETURN_FAILED;
+		}
+		break;
+	}
 	default:
 		break;
 	}

mission/devices/P60DockHandler.h

@@ -34,6 +34,8 @@ protected:
 private:
 
 	static const uint8_t MAX_PACKET_LEN = 36;
+	static const uint8_t PARAM_SET_OK = 1;
+	static const uint8_t PING_REPLY_SIZE = 2;
 	/* Device commands are derived from the rparam.h of the gomspace lib */
 	static const DeviceCommandId_t PING = 0x1; //!< [EXPORT] : [COMMAND]
 	static const DeviceCommandId_t NONE = 0x2; // Set when no command is pending

mission/devices/devicedefinitions/GomSpacePackets.h

@@ -6,7 +6,7 @@
 #include "fsfw/serialize/SerialLinkedListAdapter.h"
 
 namespace GOMSPACE{
-	static const uint16_t IGNORE_CHECKSUM = 0xb00b;
+	static const uint16_t IGNORE_CHECKSUM = 0xbb0;
 	/* CSP port to ping gomspace devices. */
 	static const uint8_t PING_PORT = 1;
 	static const uint8_t REBOOT_PORT = 4;
@@ -16,14 +16,15 @@ namespace GOMSPACE{
 
 /**
  * @brief	A serial linked list adapter implementation to generate ping
- * 			messages for gomspace devices.
+ * 			commands for devices supporting the CSP protocol. This command can
+ * 			be sent to the CspComIF which will send out the ping request.
  *
  * @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> {
+class CspPingCommand : public SerialLinkedListAdapter<SerializeIF> {
 public:
 	/**
 	 * @brief	Constructor
@@ -32,16 +33,14 @@ public:
 	 * 						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_) {
+	CspPingCommand(uint16_t querySize_, const uint8_t* parameters_) :
+			querySize(querySize_), data(parameters_, querySize_) {
 		setLinks();
 	}
 
 private:
-	CspPing(const CspPing &command);
+	CspPingCommand(const CspPingCommand &command);
 	void setLinks() {
 		setStart(&cspPort);
 		cspPort.setNext(&querySize);
@@ -258,6 +257,28 @@ private:
 };
 
 
+/**
+ * @brief	This class generates telemetry packets containing data from
+ * 			CSP get-parameter-replies.
+ */
+class PingReply : public SerialLinkedListAdapter<SerializeIF> {
+public:
+	PingReply(uint8_t action_, uint8_t replyTime_) :
+			action(action_), replyTime(replyTime_) {
+		setLinks();
+	}
+
+private:
+	PingReply(const PingReply &reply);
+	void setLinks() {
+		setStart(&action);
+		action.setNext(&replyTime);
+	}
+	SerializeElement<uint8_t> action;
+	SerializeElement<uint32_t> replyTime;
+};
+
+
 /**
  * @brief	This class helps to unpack information from an action messages
  * 			to set a parameter in gomspace devices. The action message can be
@@ -340,4 +361,40 @@ private:
 };
 
 
+/**
+ * @brief	This class helps to extract the information of a message received
+ * 			from an other software component (e.g. the service 8) to generate
+ * 			a ping request for gomspace devices.
+ */
+class PingMessageUnpacker: public SerialLinkedListAdapter<SerializeIF> {
+public:
+
+	PingMessageUnpacker(const uint8_t* commandData, size_t commandDataLen) {
+		SerializeAdapter::deSerialize(&action, &commandData, &commandDataLen,
+		        SerializeIF::Endianness::BIG);
+		pingData = commandData;
+		pingDataSz = commandDataLen;
+	}
+
+	uint8_t getAction() const {
+		return action;
+	}
+
+	const uint8_t*  getPingData() {
+		return pingData;
+	}
+
+	uint8_t getPingDataSz(){
+		return pingDataSz;
+	}
+
+
+private:
+	PingMessageUnpacker(const PingMessageUnpacker &message);
+	uint8_t action;
+	const uint8_t * pingData;
+	uint8_t pingDataSz;
+};
+
+
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GOMSPACEPACKETS_H_ */