IMTQ Updates #306
@ -105,7 +105,7 @@ set(OBSW_ADD_ACS_CTRL
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${INIT_VAL}
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CACHE STRING "Add ACS controller")
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set(OBSW_ADD_RTD_DEVICES
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1
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${INIT_VAL}
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CACHE STRING "Add RTD devices")
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set(OBSW_ADD_RAD_SENSORS
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${INIT_VAL}
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@ -54,10 +54,6 @@ void Factory::setStaticFrameworkObjectIds() {
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CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
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CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
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TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
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// No storage object for now.
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TmFunnel::storageDestination = objects::NO_OBJECT;
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VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
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}
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@ -16,8 +16,6 @@ enum sourceObjects : uint32_t {
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PUS_SERVICE_23 = 0x51002300,
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PUS_SERVICE_201 = 0x51020100,
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TM_FUNNEL = 0x52000002,
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/* Test Task */
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TEST_TASK = 0x42694269,
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@ -98,10 +98,10 @@ ResetArgs RESET_ARGS_GNSS;
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
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PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
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CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
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CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
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CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
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#if OBSW_Q7S_EM == 1
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DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
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@ -109,14 +109,6 @@ void Factory::setStaticFrameworkObjectIds() {
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DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
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#endif /* OBSW_Q7S_EM == 1 */
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#if OBSW_TM_TO_PTME == 1
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TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
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#else
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TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
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#endif /* OBSW_TM_TO_PTME == 1 */
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// No storage object for now.
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TmFunnel::storageDestination = objects::NO_OBJECT;
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LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;
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VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
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@ -43,13 +43,14 @@ void ObjectFactory::produce(void* args) {
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// createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
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// createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
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// createTmpComponents();
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// createSolarArrayDeploymentComponents();
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createRadSensorComponent(gpioComIF);
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#if OBSW_ADD_ACS_BOARD == 1
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createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
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#endif
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createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
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createSolarArrayDeploymentComponents();
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createPayloadComponents(gpioComIF);
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#if OBSW_ADD_MGT == 1
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@ -71,6 +72,10 @@ void ObjectFactory::produce(void* args) {
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#if OBSW_ADD_TEST_CODE == 1
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createTestComponents(gpioComIF);
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if OBSW_ADD_SCEX_DEVICE == 1
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createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), true,
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std::nullopt);
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#endif
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createMiscComponents();
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createAcsController();
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@ -128,7 +128,10 @@ enum commonObjects : uint32_t {
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TCS_BOARD_ASS = 0x73000003,
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RW_ASS = 0x73000004,
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CFDP_HANDLER = 0x73000005,
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CFDP_DISTRIBUTOR = 0x73000006
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CFDP_DISTRIBUTOR = 0x73000006,
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TM_FUNNEL = 0x73000100,
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PUS_TM_FUNNEL = 0x73000101,
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CFDP_TM_FUNNEL = 0x73000102,
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};
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}
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@ -12,6 +12,7 @@ target_sources(
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AcuDummy.cpp
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PduDummy.cpp
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P60DockDummy.cpp
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SaDeploymentDummy.cpp
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GyroAdisDummy.cpp
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GyroL3GD20Dummy.cpp
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MgmLIS3MDLDummy.cpp
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7
dummies/SaDeploymentDummy.cpp
Normal file
7
dummies/SaDeploymentDummy.cpp
Normal file
@ -0,0 +1,7 @@
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#include "SaDeploymentDummy.h"
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SaDeplDummy::SaDeplDummy(object_id_t objectId) : SystemObject(objectId) {}
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SaDeplDummy::~SaDeplDummy() = default;
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ReturnValue_t SaDeplDummy::performOperation(uint8_t opCode) { return returnvalue::OK; }
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19
dummies/SaDeploymentDummy.h
Normal file
19
dummies/SaDeploymentDummy.h
Normal file
@ -0,0 +1,19 @@
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#ifndef DUMMIES_SADEPLOYMENT_H_
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#define DUMMIES_SADEPLOYMENT_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include "SaDeploymentDummy.h"
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class SaDeplDummy : public SystemObject, public ExecutableObjectIF {
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public:
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SaDeplDummy(object_id_t objectId);
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virtual ~SaDeplDummy();
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ReturnValue_t performOperation(uint8_t opCode) override;
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protected:
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};
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#endif /* DUMMIES_SADEPLOYMENT_H_ */
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@ -14,6 +14,7 @@
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#include <dummies/PduDummy.h>
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#include <dummies/PlPcduDummy.h>
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#include <dummies/RwDummy.h>
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#include <dummies/SaDeploymentDummy.h>
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#include <dummies/StarTrackerDummy.h>
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#include <dummies/SusDummy.h>
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#include <dummies/SyrlinksDummy.h>
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@ -35,6 +36,7 @@ void dummy::createDummies(DummyCfg cfg) {
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new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
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new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
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new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
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new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
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new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
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new SyrlinksDummy(objects::SYRLINKS_HK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit 73454c629c042de8efe7aa4fa6dcbf1e184b0961
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Subproject commit 754b71a35fc27208d7c679ea58783cacda973996
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@ -40,7 +40,6 @@ enum sourceObjects : uint32_t {
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PUS_SERVICE_6 = 0x51000500,
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CCSDS_IP_CORE_BRIDGE = 0x73500000,
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TM_FUNNEL = 0x73000100,
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/* 0x49 ('I') for Communication Interfaces **/
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ARDUINO_COM_IF = 0x49000000,
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@ -22,6 +22,8 @@
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#include <fsfw/tcdistribution/PusDistributor.h>
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#include <fsfw/timemanager/CdsShortTimeStamper.h>
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#include <fsfw_hal/host/HostFilesystem.h>
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#include <mission/tmtc/CfdpTmFunnel.h>
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#include <mission/tmtc/PusTmFunnel.h>
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#include <mission/tmtc/TmFunnel.h>
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#include "OBSWConfig.h"
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@ -94,6 +96,26 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
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new PoolManager(objects::IPC_STORE, poolCfg);
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}
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#if OBSW_ADD_TCPIP_BRIDGE == 1
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#if OBSW_USE_TMTC_TCP_BRIDGE == 0
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auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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sif::info << "Created UDP server for TMTC commanding with listener port "
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<< udpBridge->getUdpPort() << std::endl;
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#else
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auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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// TCP is stream based. Use packet ID as start marker when parsing for space packets
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tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
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sif::info << "Created TCP server for TMTC commanding with listener port "
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<< tcpServer->getTcpPort() << std::endl;
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#if OBSW_TCP_SERVER_WIRETAPPING == 1
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tcpServer->enableWiretapping(true);
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#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
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#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
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tmtcBridge->setMaxNumberOfPacketsStored(300);
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#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
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auto* ccsdsDistrib =
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new CcsdsDistributor(config::EIVE_PUS_APID, objects::CCSDS_PACKET_DISTRIBUTOR);
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new PusDistributor(config::EIVE_PUS_APID, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib);
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@ -102,12 +124,16 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
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#if OBSW_TM_TO_PTME == 1
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vc = config::LIVE_TM;
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#endif
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auto* cfdpFunnel =
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new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, config::EIVE_CFDP_APID, *tmtcBridge, *tmStore, vc);
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auto* pusFunnel =
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new PusTmFunnel(objects::PUS_TM_FUNNEL, *tmtcBridge, *timeStamper, *tmStore, vc);
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// Every TM packet goes through this funnel
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auto* funnel = new TmFunnel(objects::TM_FUNNEL, *timeStamper, 50, vc);
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new TmFunnel(objects::TM_FUNNEL, *pusFunnel, *cfdpFunnel);
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// PUS service stack
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new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_1, objects::TM_FUNNEL, 20);
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pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 20);
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new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_2, 3, 10);
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new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, config::EIVE_PUS_APID,
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@ -131,25 +157,6 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
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pus::PUS_SERVICE_200, 8);
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new CService201HealthCommanding(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID,
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pus::PUS_SERVICE_201);
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#if OBSW_ADD_TCPIP_BRIDGE == 1
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#if OBSW_USE_TMTC_TCP_BRIDGE == 0
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auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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sif::info << "Created UDP server for TMTC commanding with listener port "
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<< udpBridge->getUdpPort() << std::endl;
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#else
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auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
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auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
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||||
// TCP is stream based. Use packet ID as start marker when parsing for space packets
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tcpServer->setSpacePacketParsingOptions({common::PUS_PACKET_ID, common::CFDP_PACKET_ID});
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sif::info << "Created TCP server for TMTC commanding with listener port "
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<< tcpServer->getTcpPort() << std::endl;
|
||||
#if OBSW_TCP_SERVER_WIRETAPPING == 1
|
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tcpServer->enableWiretapping(true);
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#endif /* OBSW_TCP_SERVER_WIRETAPPING == 1 */
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#endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
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tmtcBridge->setMaxNumberOfPacketsStored(300);
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||||
#endif /* OBSW_ADD_TCPIP_BRIDGE == 1 */
|
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|
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#if OBSW_ADD_CFDP_COMPONENTS == 1
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using namespace cfdp;
|
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@ -158,7 +165,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) {
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new CfdpDistributor(distribCfg);
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|
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auto* msgQueue = QueueFactory::instance()->createMessageQueue(32);
|
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FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *funnel, *tcStore, *tmStore, *msgQueue);
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FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *cfdpFunnel, *tcStore, *tmStore,
|
||||
*msgQueue);
|
||||
cfdp::IndicationCfg indicationCfg;
|
||||
UnsignedByteField<uint16_t> apid(config::EIVE_LOCAL_CFDP_ENTITY_ID);
|
||||
cfdp::EntityId localId(apid);
|
||||
|
@ -180,9 +180,9 @@ void CCSDSHandler::addVirtualChannel(VcId_t vcId, VirtualChannel* virtualChannel
|
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}
|
||||
}
|
||||
|
||||
MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) {
|
||||
MessageQueueId_t CCSDSHandler::getReportReceptionQueue(uint8_t virtualChannel) const {
|
||||
if (virtualChannel < common::NUMBER_OF_VIRTUAL_CHANNELS) {
|
||||
VirtualChannelMapIter iter = virtualChannelMap.find(virtualChannel);
|
||||
auto iter = virtualChannelMap.find(virtualChannel);
|
||||
if (iter != virtualChannelMap.end()) {
|
||||
return iter->second->getReportReceptionQueue();
|
||||
} else {
|
||||
|
@ -67,7 +67,7 @@ class CCSDSHandler : public SystemObject,
|
||||
*/
|
||||
void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
|
||||
|
||||
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
|
||||
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
|
||||
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
|
||||
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
|
||||
uint16_t startAtIndex);
|
||||
|
@ -1,2 +1,3 @@
|
||||
target_sources(${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp
|
||||
TmFunnel.cpp)
|
||||
target_sources(
|
||||
${LIB_EIVE_MISSION} PRIVATE CCSDSHandler.cpp VirtualChannel.cpp TmFunnel.cpp
|
||||
CfdpTmFunnel.cpp PusTmFunnel.cpp)
|
||||
|
85
mission/tmtc/CfdpTmFunnel.cpp
Normal file
85
mission/tmtc/CfdpTmFunnel.cpp
Normal file
@ -0,0 +1,85 @@
|
||||
#include "CfdpTmFunnel.h"
|
||||
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/tmtcpacket/ccsds/SpacePacketCreator.h"
|
||||
#include "fsfw/tmtcservices/TmTcMessage.h"
|
||||
|
||||
CfdpTmFunnel::CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
|
||||
const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore,
|
||||
uint8_t vc)
|
||||
: SystemObject(objectId), cfdpInCcsdsApid(cfdpInCcsdsApid), tmStore(tmStore) {
|
||||
msgQueue = QueueFactory::instance()->createMessageQueue(5);
|
||||
msgQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue(vc));
|
||||
}
|
||||
|
||||
const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
|
||||
|
||||
MessageQueueId_t CfdpTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
|
||||
return msgQueue->getId();
|
||||
}
|
||||
|
||||
ReturnValue_t CfdpTmFunnel::performOperation(uint8_t) {
|
||||
TmTcMessage currentMessage;
|
||||
ReturnValue_t status = msgQueue->receiveMessage(¤tMessage);
|
||||
while (status == returnvalue::OK) {
|
||||
status = handlePacket(currentMessage);
|
||||
if (status != returnvalue::OK) {
|
||||
sif::warning << "CfdpTmFunnel packet handling failed" << std::endl;
|
||||
break;
|
||||
}
|
||||
status = msgQueue->receiveMessage(¤tMessage);
|
||||
}
|
||||
|
||||
if (status == MessageQueueIF::EMPTY) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t CfdpTmFunnel::initialize() { return returnvalue::OK; }
|
||||
|
||||
ReturnValue_t CfdpTmFunnel::handlePacket(TmTcMessage& msg) {
|
||||
const uint8_t* cfdpPacket = nullptr;
|
||||
size_t cfdpPacketLen = 0;
|
||||
ReturnValue_t result = tmStore.getData(msg.getStorageId(), &cfdpPacket, &cfdpPacketLen);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
auto spacePacketHeader =
|
||||
SpacePacketCreator(ccsds::PacketType::TM, false, cfdpInCcsdsApid,
|
||||
ccsds::SequenceFlags::UNSEGMENTED, sourceSequenceCount++, 0);
|
||||
sourceSequenceCount = sourceSequenceCount & ccsds::LIMIT_SEQUENCE_COUNT;
|
||||
spacePacketHeader.setCcsdsLenFromTotalDataFieldLen(cfdpPacketLen);
|
||||
uint8_t* newPacketData = nullptr;
|
||||
store_address_t newStoreId{};
|
||||
result =
|
||||
tmStore.getFreeElement(&newStoreId, spacePacketHeader.getFullPacketLen(), &newPacketData);
|
||||
if (result != returnvalue::OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CfdpTmFunnel::handlePacket: Error getting TM store element of size "
|
||||
<< spacePacketHeader.getFullPacketLen() << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
size_t serSize = 0;
|
||||
result =
|
||||
spacePacketHeader.serializeBe(&newPacketData, &serSize, spacePacketHeader.getFullPacketLen());
|
||||
if (result != returnvalue::OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "CfdpTmFunnel::handlePacket: Error serializing packet" << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
std::memcpy(newPacketData, cfdpPacket, cfdpPacketLen);
|
||||
// Delete old packet
|
||||
tmStore.deleteData(msg.getStorageId());
|
||||
msg.setStorageId(newStoreId);
|
||||
result = msgQueue->sendToDefault(&msg);
|
||||
if (result != returnvalue::OK) {
|
||||
tmStore.deleteData(msg.getStorageId());
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "CfdpTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
|
||||
#endif
|
||||
}
|
||||
return result;
|
||||
}
|
28
mission/tmtc/CfdpTmFunnel.h
Normal file
28
mission/tmtc/CfdpTmFunnel.h
Normal file
@ -0,0 +1,28 @@
|
||||
#ifndef FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
|
||||
#define FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
|
||||
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/storagemanager/StorageManagerIF.h"
|
||||
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
|
||||
#include "fsfw/tmtcservices/TmTcMessage.h"
|
||||
|
||||
class CfdpTmFunnel : public AcceptsTelemetryIF, public SystemObject {
|
||||
public:
|
||||
CfdpTmFunnel(object_id_t objectId, uint16_t cfdpInCcsdsApid,
|
||||
const AcceptsTelemetryIF& downlinkDestination, StorageManagerIF& tmStore,
|
||||
uint8_t vc);
|
||||
[[nodiscard]] const char* getName() const override;
|
||||
[[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
|
||||
|
||||
ReturnValue_t performOperation(uint8_t opCode);
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
private:
|
||||
ReturnValue_t handlePacket(TmTcMessage& msg);
|
||||
|
||||
uint16_t sourceSequenceCount = 0;
|
||||
uint16_t cfdpInCcsdsApid;
|
||||
MessageQueueIF* msgQueue;
|
||||
StorageManagerIF& tmStore;
|
||||
};
|
||||
#endif // FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
|
69
mission/tmtc/PusTmFunnel.cpp
Normal file
69
mission/tmtc/PusTmFunnel.cpp
Normal file
@ -0,0 +1,69 @@
|
||||
#include "PusTmFunnel.h"
|
||||
|
||||
#include "fsfw/ipc/QueueFactory.h"
|
||||
#include "fsfw/objectmanager.h"
|
||||
#include "fsfw/tmtcpacket/pus/tm/PusTmZcWriter.h"
|
||||
|
||||
PusTmFunnel::PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
|
||||
TimeReaderIF &timeReader, StorageManagerIF &tmStore, uint8_t vcId,
|
||||
uint32_t messageDepth)
|
||||
: SystemObject(objectId), timeReader(timeReader), tmStore(tmStore) {
|
||||
tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
|
||||
MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
tmQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue(vcId));
|
||||
}
|
||||
|
||||
PusTmFunnel::~PusTmFunnel() = default;
|
||||
|
||||
MessageQueueId_t PusTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
|
||||
return tmQueue->getId();
|
||||
}
|
||||
|
||||
ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
|
||||
TmTcMessage currentMessage;
|
||||
ReturnValue_t status = tmQueue->receiveMessage(¤tMessage);
|
||||
while (status == returnvalue::OK) {
|
||||
status = handlePacket(currentMessage);
|
||||
if (status != returnvalue::OK) {
|
||||
sif::warning << "TmFunnel packet handling failed" << std::endl;
|
||||
break;
|
||||
}
|
||||
status = tmQueue->receiveMessage(¤tMessage);
|
||||
}
|
||||
|
||||
if (status == MessageQueueIF::EMPTY) {
|
||||
return returnvalue::OK;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage &message) {
|
||||
uint8_t *packetData = nullptr;
|
||||
size_t size = 0;
|
||||
ReturnValue_t result = tmStore.modifyData(message.getStorageId(), &packetData, &size);
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
PusTmZeroCopyWriter packet(timeReader, packetData, size);
|
||||
result = packet.parseDataWithoutCrcCheck();
|
||||
if (result != returnvalue::OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "PusTmFunnel::handlePacket: Error parsing received PUS packet" << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
packet.setSequenceCount(sourceSequenceCount++);
|
||||
sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
|
||||
packet.updateErrorControl();
|
||||
|
||||
result = tmQueue->sendToDefault(&message);
|
||||
if (result != returnvalue::OK) {
|
||||
tmStore.deleteData(message.getStorageId());
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "PusTmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
|
||||
#endif
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
const char *PusTmFunnel::getName() const { return "PUS TM Funnel"; }
|
42
mission/tmtc/PusTmFunnel.h
Normal file
42
mission/tmtc/PusTmFunnel.h
Normal file
@ -0,0 +1,42 @@
|
||||
#ifndef FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
|
||||
#define FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_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>
|
||||
|
||||
#include "fsfw/timemanager/TimeReaderIF.h"
|
||||
|
||||
/**
|
||||
* @brief TM Recipient.
|
||||
* @details
|
||||
* TODO: Add support for TM storage by using the (or a) LIVE flag provided by the CCSDS or Syrlinks
|
||||
* handler. If we are in LIVE TM mode, forward TM to downlink destination directly. Otherwise,
|
||||
* forward to TM storage backend which stores TMs into files.
|
||||
* Main telemetry receiver. All generated telemetry is funneled into
|
||||
* this object.
|
||||
* @ingroup utility
|
||||
* @author J. Meier, R. Mueller
|
||||
*/
|
||||
class PusTmFunnel : public AcceptsTelemetryIF, public SystemObject {
|
||||
public:
|
||||
explicit PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
|
||||
TimeReaderIF &timeReader, StorageManagerIF &tmStore, uint8_t vdId,
|
||||
uint32_t messageDepth = 20);
|
||||
[[nodiscard]] const char *getName() const override;
|
||||
~PusTmFunnel() override;
|
||||
|
||||
[[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
|
||||
ReturnValue_t performOperation(uint8_t operationCode);
|
||||
|
||||
private:
|
||||
uint16_t sourceSequenceCount = 0;
|
||||
TimeReaderIF &timeReader;
|
||||
StorageManagerIF &tmStore;
|
||||
MessageQueueIF *tmQueue = nullptr;
|
||||
ReturnValue_t handlePacket(TmTcMessage &message);
|
||||
};
|
||||
|
||||
#endif // FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
|
@ -1,125 +1,16 @@
|
||||
#include "TmFunnel.h"
|
||||
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
#include <fsfw/objectmanager/ObjectManager.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/timemanager/CdsShortTimeStamper.h>
|
||||
#include <fsfw/tmtcpacket/pus/tm.h>
|
||||
#include <mission/tmtc/TmFunnel.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
TmFunnel::TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel)
|
||||
: SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel) {}
|
||||
|
||||
object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
|
||||
object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
|
||||
|
||||
TmFunnel::TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth,
|
||||
uint8_t reportReceptionVc)
|
||||
: SystemObject(objectId),
|
||||
timeReader(timeReader),
|
||||
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();
|
||||
}
|
||||
TmFunnel::~TmFunnel() = default;
|
||||
|
||||
ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
|
||||
TmTcMessage currentMessage;
|
||||
ReturnValue_t status = tmQueue->receiveMessage(¤tMessage);
|
||||
while (status == returnvalue::OK) {
|
||||
status = handlePacket(¤tMessage);
|
||||
if (status != returnvalue::OK) {
|
||||
break;
|
||||
}
|
||||
status = tmQueue->receiveMessage(¤tMessage);
|
||||
}
|
||||
|
||||
if (status == MessageQueueIF::EMPTY) {
|
||||
return returnvalue::OK;
|
||||
} else {
|
||||
return status;
|
||||
}
|
||||
pusFunnel.performOperation(operationCode);
|
||||
cfdpFunnel.performOperation(operationCode);
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
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 != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
PusTmZeroCopyWriter packet(timeReader, packetData, size);
|
||||
result = packet.parseDataWithoutCrcCheck();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
}
|
||||
packet.setSequenceCount(sourceSequenceCount++);
|
||||
sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
|
||||
packet.updateErrorControl();
|
||||
|
||||
result = tmQueue->sendToDefault(message);
|
||||
if (result != returnvalue::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 != returnvalue::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(0));
|
||||
}
|
||||
|
||||
return SystemObject::initialize();
|
||||
}
|
||||
|
||||
const char* TmFunnel::getName() const { return "TM Funnel"; }
|
||||
ReturnValue_t TmFunnel::initialize() { return returnvalue::OK; }
|
||||
|
@ -4,13 +4,12 @@
|
||||
#include <fsfw/ipc/MessageQueueIF.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||
#include <fsfw/timemanager/CdsShortTimeStamper.h>
|
||||
#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
|
||||
#include <fsfw/tmtcservices/TmTcMessage.h>
|
||||
|
||||
namespace Factory {
|
||||
void setStaticFrameworkObjectIds();
|
||||
}
|
||||
#include "CfdpTmFunnel.h"
|
||||
#include "PusTmFunnel.h"
|
||||
#include "fsfw/timemanager/TimeReaderIF.h"
|
||||
|
||||
/**
|
||||
* @brief TM Recipient.
|
||||
@ -18,36 +17,19 @@ void setStaticFrameworkObjectIds();
|
||||
* Main telemetry receiver. All generated telemetry is funneled into
|
||||
* this object.
|
||||
* @ingroup utility
|
||||
* @author J. Meier
|
||||
* @author J. Meier, R. Mueller
|
||||
*/
|
||||
class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
|
||||
friend void(Factory::setStaticFrameworkObjectIds)();
|
||||
|
||||
class TmFunnel : public ExecutableObjectIF, public SystemObject {
|
||||
public:
|
||||
TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth = 20,
|
||||
uint8_t reportReceptionVc = 0);
|
||||
virtual ~TmFunnel();
|
||||
TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel);
|
||||
~TmFunnel() override;
|
||||
|
||||
const char* getName() const override;
|
||||
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
|
||||
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
ReturnValue_t performOperation(uint8_t operationCode) override;
|
||||
ReturnValue_t initialize() override;
|
||||
|
||||
protected:
|
||||
static object_id_t downlinkDestination;
|
||||
static object_id_t storageDestination;
|
||||
|
||||
private:
|
||||
CdsShortTimeStamper& timeReader;
|
||||
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);
|
||||
PusTmFunnel& pusFunnel;
|
||||
CfdpTmFunnel& cfdpFunnel;
|
||||
};
|
||||
|
||||
#endif /* MISSION_UTILITY_TMFUNNEL_H_ */
|
||||
|
@ -53,7 +53,7 @@ ReturnValue_t VirtualChannel::performOperation() {
|
||||
return result;
|
||||
}
|
||||
|
||||
MessageQueueId_t VirtualChannel::getReportReceptionQueue(uint8_t virtualChannel) {
|
||||
MessageQueueId_t VirtualChannel::getReportReceptionQueue(uint8_t virtualChannel) const {
|
||||
return tmQueue->getId();
|
||||
}
|
||||
|
||||
|
@ -27,7 +27,7 @@ class VirtualChannel : public AcceptsTelemetryIF {
|
||||
VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth, object_id_t ownerId);
|
||||
|
||||
ReturnValue_t initialize();
|
||||
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
|
||||
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
|
||||
ReturnValue_t performOperation();
|
||||
|
||||
/**
|
||||
|
@ -19,5 +19,5 @@ if [[ -d "eive-obsw" ]]; then
|
||||
export PATH=$PATH:"$(pwd)/eive-obsw/scripts"
|
||||
cd "eive-obsw"
|
||||
fi
|
||||
export CONSOLE_PREFIX="[Q7S ENV]"
|
||||
export CONSOLE_PREFIX="[Q7S ENV EM]"
|
||||
/bin/bash
|
||||
|
@ -2,13 +2,10 @@
|
||||
# This is a helper script to install the compiles EIVE OBSW files
|
||||
# into the yocto repository to re-generate the mission root filesystem
|
||||
build_dir=cmake-build-release-q7s
|
||||
em_install="0"
|
||||
if [ ! -z ${1} ]; then
|
||||
if [[ "${1}" == "em" ]]; then
|
||||
echo "-I- Installing EM binaries"
|
||||
em_install="1"
|
||||
build_dir=cmake-build-release-q7s-em
|
||||
fi
|
||||
if [ ! -z ${1} && "${1}" == "em" ] || [[ ${EIVE_Q7S_EM} == "1" ]]; then
|
||||
echo "-I- Installing EM binaries"
|
||||
em_install="1"
|
||||
build_dir=cmake-build-release-q7s-em
|
||||
fi
|
||||
|
||||
init_dir=$(pwd)
|
||||
@ -84,17 +81,17 @@ else
|
||||
echo "-I- Installed EIVE OBSW into yocto repository successfully"
|
||||
fi
|
||||
|
||||
if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
|
||||
echo "-W- No EIVE Watchdog found to intall to yocto"
|
||||
else
|
||||
cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
|
||||
echo "-I- Executing: ${cp_cmd}"
|
||||
eval ${cp_cmd}
|
||||
cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
|
||||
echo "-I- Executing: ${cp_ver_cmd}"
|
||||
eval ${cp_ver_cmd}
|
||||
echo "-I- Installed EIVE watchdog into yocto repository successfully"
|
||||
fi
|
||||
#if [ ! -f ${build_dir}/${watchdog_bin_name} ]; then
|
||||
# echo "-W- No EIVE Watchdog found to intall to yocto"
|
||||
#else
|
||||
# cp_cmd="cp $(pwd)/${build_dir}/${watchdog_bin_name} ${yocto_root}/${yocto_watchdog_path}/${watchdog_target_name}"
|
||||
# echo "-I- Executing: ${cp_cmd}"
|
||||
# eval ${cp_cmd}
|
||||
# cp_ver_cmd="cp $(pwd)/${obsw_version_filename} ${yocto_root}/${yocto_watchdog_path}"
|
||||
# echo "-I- Executing: ${cp_ver_cmd}"
|
||||
# eval ${cp_ver_cmd}
|
||||
# echo "-I- Installed EIVE watchdog into yocto repository successfully"
|
||||
#fi
|
||||
|
||||
if [ -f $(pwd)/${obsw_version_filename} ]; then
|
||||
rm $(pwd)/${obsw_version_filename}
|
||||
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit 1dfc2fca2f58f8d226fab01c87eb529ba7ec8376
|
||||
Subproject commit c13f4a8575f99c0e9f17b1868e7abfbe28fa5648
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