bsp_q7s/core/ObjectFactory.cpp

@@ -91,7 +91,7 @@
 #include "mission/system/AcsBoardAssembly.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
-#include "mission/utility/TmFunnel.h"
+#include "mission/tmtc/TmFunnel.h"
 
 ResetArgs resetArgsGnss0;
 ResetArgs resetArgsGnss1;

bsp_te0720_1cfa/ObjectFactory.cpp

@@ -27,7 +27,7 @@
 #include "linux/obc/PtmeConfig.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/Tmp1075Handler.h"
-#include "mission/utility/TmFunnel.h"
+#include "mission/tmtc/TmFunnel.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
 #include "objects/systemObjectList.h"

linux/obc/PdecHandler.cpp

@@ -190,15 +190,22 @@ bool PdecHandler::newTcReceived() {
 
 void PdecHandler::checkLocks() {
   uint32_t clcw = getClcw();
-  if (!(clcw & NO_RF_MASK) && (lastClcw & NO_RF_MASK)) {
+  if (not (clcw & NO_RF_MASK) && not carrierLock) {
-    // Rf available changed from 0 to 1
     triggerEvent(CARRIER_LOCK);
+    carrierLock = true;
   }
-  if (!(clcw & NO_BITLOCK_MASK) && (lastClcw & NO_BITLOCK_MASK)) {
+  else if ((clcw & NO_RF_MASK) && carrierLock) {
-    // Bit lock changed from 0 to 1
+    carrierLock = false;
+    triggerEvent(LOST_CARRIER_LOCK_PDEC);
+  }
+  if (not (clcw & NO_BITLOCK_MASK) && not bitLock) {
     triggerEvent(BIT_LOCK_PDEC);
+    bitLock = true;
+  }
+  else if ((clcw & NO_BITLOCK_MASK) && bitLock) {
+    bitLock = false;
+    triggerEvent(LOST_BIT_LOCK_PDEC);
   }
-  lastClcw = clcw;
 }
 
 bool PdecHandler::checkFrameAna(uint32_t pdecFar) {

linux/obc/PdecHandler.h

@@ -73,6 +73,10 @@ class PdecHandler : public SystemObject,
   static const Event CARRIER_LOCK = MAKE_EVENT(3, severity::INFO);
   //! [EXPORT] : [COMMENT] Bit lock detected (data valid)
   static const Event BIT_LOCK_PDEC = MAKE_EVENT(4, severity::INFO);
+  //! [EXPORT] : [COMMENT] Lost carrier lock
+  static const Event LOST_CARRIER_LOCK_PDEC = MAKE_EVENT(5, severity::INFO);
+  //! [EXPORT] : [COMMENT] Lost bit lock
+  static const Event LOST_BIT_LOCK_PDEC = MAKE_EVENT(6, severity::INFO);
 
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;
@@ -391,6 +395,9 @@ class PdecHandler : public SystemObject,
 
   // Used to check carrier and bit lock changes (default set to no rf and no bitlock)
   uint32_t lastClcw = 0xC000;
+
+  bool carrierLock = false;
+  bool bitLock = false;
 };
 
 #endif /* LINUX_OBC_PDECHANDLER_H_ */

mission/core/GenericFactory.cpp

@@ -16,7 +16,7 @@
 #include <fsfw/tcdistribution/CCSDSDistributor.h>
 #include <fsfw/tcdistribution/PUSDistributor.h>
 #include <fsfw/timemanager/TimeStamper.h>
-#include <mission/utility/TmFunnel.h>
+#include <mission/tmtc/TmFunnel.h>
 
 #include "OBSWConfig.h"
 #include "eive/definitions.h"

mission/devices/devicedefinitions/SyrlinksDefinitions.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_DEVICEDEFINITIONS_SYRLINKSDEFINITIONS_H_
 
 #include <commonSubsystemIds.h>
+#include "fsfw/devicehandlers/DeviceHandlerBase.h"
 
 namespace syrlinks {
 

mission/tmtc/CCSDSHandler.cpp

@@ -10,6 +10,8 @@
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
 
+#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
+
 CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
                            PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock,
                            gpioId_t enTxData, uint32_t transmitterTimeout)
@@ -22,11 +24,14 @@ CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t
       gpioIF(gpioIF),
       enTxClock(enTxClock),
       enTxData(enTxData),
-      transmitterTimeout(transmitterTimeout) {
+      transmitterTimeout(transmitterTimeout),
+      commandActionHelper(this) {
   commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   eventQueue =
       QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  commandActionHelperQueue =
+        QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
 }
 
 CCSDSHandler::~CCSDSHandler() {}
@@ -120,6 +125,10 @@ ReturnValue_t CCSDSHandler::initialize() {
     return ObjectManagerIF::CHILD_INIT_FAILED;
   }
 
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+
 #if OBSW_SYRLINKS_SIMULATED == 1
   ptmeConfig->invertTxClock(true);
 #endif /* OBSW_SYRLINKS_SIMULATED == 1*/
@@ -148,8 +157,73 @@ void CCSDSHandler::readCommandQueue(void) {
   }
 }
 
+void CCSDSHandler::readCommandActionHelperQueue() {
+  CommandMessage message;
+  for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message);
+       result == RETURN_OK; result = commandActionHelperQueue->receiveMessage(&message)) {
+    result = commandActionHelper.handleReply(&message);
+    if (result == RETURN_OK) {
+      continue;
+    }
+  }
+}
+
 MessageQueueId_t CCSDSHandler::getCommandQueue() const { return commandQueue->getId(); }
 
+MessageQueueIF* CCSDSHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
+
+void CCSDSHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
+
+void CCSDSHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
+                                          ReturnValue_t returnCode) {
+  switch (actionId) {
+    case syrlinks::SET_TX_MODE_MODULATION: {
+      sif::warning << "CCSDSHandler::stepFailedReceived: Failed to set enable transmitter"
+                   << std::endl;
+      break;
+    }
+    default:
+      sif::debug << "CCSDSHandler::stepFailedReceived: Received unexpected action reply"
+                 << std::endl;
+      break;
+  }
+}
+
+void CCSDSHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+  return;
+}
+
+void CCSDSHandler::completionSuccessfulReceived(ActionId_t actionId) {
+  switch (actionId) {
+    case syrlinks::SET_TX_MODE_MODULATION: {
+      triggerEvent(TRANSMITTER_ENABLED);
+      transmitterCountdown.setTimeout(transmitterTimeout);
+      linkState = UP;
+      // Set link state of all virtual channels to link up
+      forwardLinkstate();
+      break;
+    }
+    default:
+      sif::debug << "CCSDSHandler::completionSuccessfulReceived: Received unexpected action reply"
+                 << std::endl;
+      break;
+  }
+}
+
+void CCSDSHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
+  switch (actionId) {
+    case syrlinks::SET_TX_MODE_MODULATION: {
+      sif::warning << "CCSDSHandler::completionFailedReceived: Failed to set enable transmitter"
+                   << std::endl;
+      break;
+    }
+    default:
+      sif::debug << "CCSDSHandler::completionFailedReceived: Received unexpected action reply"
+                 << std::endl;
+      break;
+  }
+}
+
 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;
@@ -312,14 +386,10 @@ void CCSDSHandler::enableTransmit() {
     // Transmitter already enabled
     return;
   }
-  transmitterCountdown.setTimeout(transmitterTimeout);
 #ifndef TE0720_1CFA
   gpioIF->pullHigh(enTxClock);
   gpioIF->pullHigh(enTxData);
 #endif /* BOARD_TE0720 == 0 */
-  linkState = UP;
-  // Set link state of all virtual channels to link up
-  forwardLinkstate();
 }
 
 void CCSDSHandler::checkTxTimer() {

mission/tmtc/CCSDSHandler.h

@@ -17,6 +17,8 @@
 #include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
 #include "linux/obc/PtmeConfig.h"
 
 /**
@@ -34,7 +36,8 @@ class CCSDSHandler : public SystemObject,
                      public AcceptsTelecommandsIF,
                      public HasReturnvaluesIF,
                      public ReceivesParameterMessagesIF,
-                     public HasActionsIF {
+                     public HasActionsIF,
+                     public CommandsActionsIF {
  public:
   using VcId_t = uint8_t;
 
@@ -79,8 +82,19 @@ class CCSDSHandler : public SystemObject,
   virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                       const uint8_t* data, size_t size);
 
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
+
  private:
   static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
+  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
+
+  //! [EXPORT] : [COMMENT] Syrlinks transmitter is enabled
+  static const Event TRANSMITTER_ENABLED = MAKE_EVENT(1, severity::LOW);
 
   static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
 
@@ -120,6 +134,7 @@ class CCSDSHandler : public SystemObject,
 
   MessageQueueIF* commandQueue = nullptr;
   MessageQueueIF* eventQueue = nullptr;
+  MessageQueueIF* commandActionHelperQueue = nullptr;
 
   ParameterHelper parameterHelper;
 
@@ -140,12 +155,15 @@ class CCSDSHandler : public SystemObject,
   // Countdown to disable transmitter after 15 minutes
   Countdown transmitterCountdown;
 
+  CommandActionHelper commandActionHelper;
+
   // When true transmitting is started as soon as carrier lock has been detected
   bool enableTxWhenCarrierLock = false;
 
   bool linkState = DOWN;
 
   void readCommandQueue(void);
+  void readCommandActionHelperQueue(void);
   void handleTelemetry();
   void handleTelecommands();
   void checkEvents();

mission/tmtc/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(${LIB_EIVE_MISSION} PRIVATE
 	CCSDSHandler.cpp
  	VirtualChannel.cpp
+ 	TmFunnel.cpp
 )
 
 

mission/utility/CMakeLists.txt

@@ -1,5 +1,4 @@
 target_sources(${LIB_EIVE_MISSION} PRIVATE
-	TmFunnel.cpp
 	Timestamp.cpp
 	ProgressPrinter.cpp
 	Filenaming.cpp

mission/utility/TmFunnel.cpp

@@ -1,114 +0,0 @@
-#include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
-#include <fsfw/tmtcpacket/pus/tm.h>
-#include <mission/utility/TmFunnel.h>
-
-#include "OBSWConfig.h"
-
-object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
-object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
-
-TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth, uint8_t reportReceptionVc)
-    : SystemObject(objectId), messageDepth(messageDepth), reportReceptionVc(reportReceptionVc) {
-  auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
-  tmQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-  storageQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
-}
-
-TmFunnel::~TmFunnel() {}
-
-MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
-  return tmQueue->getId();
-}
-
-ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
-  TmTcMessage currentMessage;
-  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
-  while (status == HasReturnvaluesIF::RETURN_OK) {
-    status = handlePacket(&currentMessage);
-    if (status != HasReturnvaluesIF::RETURN_OK) {
-      break;
-    }
-    status = tmQueue->receiveMessage(&currentMessage);
-  }
-
-  if (status == MessageQueueIF::EMPTY) {
-    return HasReturnvaluesIF::RETURN_OK;
-  } else {
-    return status;
-  }
-}
-
-ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) {
-  uint8_t* packetData = nullptr;
-  size_t size = 0;
-  ReturnValue_t result = tmStore->modifyData(message->getStorageId(), &packetData, &size);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    return result;
-  }
-  TmPacketPusC packet(packetData);
-  packet.setPacketSequenceCount(this->sourceSequenceCount);
-  sourceSequenceCount++;
-  sourceSequenceCount = sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT;
-  packet.setErrorControl();
-
-  result = tmQueue->sendToDefault(message);
-  if (result != HasReturnvaluesIF::RETURN_OK) {
-    tmStore->deleteData(message->getStorageId());
-    sif::error << "TmFunnel::handlePacket: Error sending to downlink "
-                  "handler"
-               << std::endl;
-    return result;
-  }
-
-  if (storageDestination != objects::NO_OBJECT) {
-    result = storageQueue->sendToDefault(message);
-    if (result != HasReturnvaluesIF::RETURN_OK) {
-      tmStore->deleteData(message->getStorageId());
-      sif::error << "TmFunnel::handlePacket: Error sending to storage "
-                    "handler"
-                 << std::endl;
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t TmFunnel::initialize() {
-  tmStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-  if (tmStore == nullptr) {
-    sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
-    sif::error << "Make sure the tm store is set up properly"
-                  " and implements StorageManagerIF"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  AcceptsTelemetryIF* tmTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
-  if (tmTarget == nullptr) {
-    sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
-    sif::error << "Make sure the downlink destination object is set up "
-                  "properly and implements AcceptsTelemetryIF"
-               << std::endl;
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue(reportReceptionVc));
-
-  // Storage destination is optional.
-  if (storageDestination == objects::NO_OBJECT) {
-    return SystemObject::initialize();
-  }
-
-  AcceptsTelemetryIF* storageTarget =
-      ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
-  if (storageTarget != nullptr) {
-    storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue());
-  }
-
-  return SystemObject::initialize();
-}

mission/utility/TmFunnel.h

@@ -1,49 +0,0 @@
-#ifndef MISSION_UTILITY_TMFUNNEL_H_
-#define MISSION_UTILITY_TMFUNNEL_H_
-
-#include <fsfw/ipc/MessageQueueIF.h>
-#include <fsfw/objectmanager/SystemObject.h>
-#include <fsfw/tasks/ExecutableObjectIF.h>
-#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
-#include <fsfw/tmtcservices/TmTcMessage.h>
-
-namespace Factory {
-void setStaticFrameworkObjectIds();
-}
-
-/**
- * @brief       TM Recipient.
- * @details
- * Main telemetry receiver. All generated telemetry is funneled into
- * this object.
- * @ingroup     utility
- * @author      J. Meier
- */
-class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
- public:
-  TmFunnel(object_id_t objectId, uint32_t messageDepth = 20, uint8_t reportReceptionVc = 0);
-  virtual ~TmFunnel();
-
-  virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
-  virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
-  virtual ReturnValue_t initialize() override;
-
- protected:
-  static object_id_t downlinkDestination;
-  static object_id_t storageDestination;
-
- private:
-  uint32_t messageDepth = 0;
-  uint8_t reportReceptionVc = 0;
-  uint16_t sourceSequenceCount = 0;
-  MessageQueueIF* tmQueue = nullptr;
-  MessageQueueIF* storageQueue = nullptr;
-
-  StorageManagerIF* tmStore = nullptr;
-
-  ReturnValue_t handlePacket(TmTcMessage* message);
-};
-
-#endif /* MISSION_UTILITY_TMFUNNEL_H_ */