fsfw/tmtcservices/PusServiceBase.h

#ifndef PUSSERVICEBASE_H_
#define PUSSERVICEBASE_H_

#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/VerificationCodes.h>
#include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h>
#include <framework/ipc/MessageQueueIF.h>

namespace Factory{
void setStaticFrameworkObjectIds();
}

/**
 * \defgroup pus_services PUS Service Framework
 * These group contains all implementations of PUS Services in the OBSW.
 * Most of the Services are directly taken from the ECSS PUS Standard.
 */

/**
 * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
 * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
 * from this abstract class has to implement handleRequest and performService. Services that are created with this
 * Base class have to handle any kind of request immediately on reception.
 * All PUS Services are System Objects, so an Object ID needs to be specified on construction.
 * \ingroup pus_services
 */
class PusServiceBase : public ExecutableObjectIF,
        public AcceptsTelecommandsIF,
        public SystemObject,
        public HasReturnvaluesIF {
	friend void (Factory::setStaticFrameworkObjectIds)();
public:
	/**
	 * The constructor for the class.
	 * The passed values are set, but inter-object initialization is done in the initialize method.
	 * @param setObjectId		The system object identifier of this Service instance.
	 * @param set_apid			The APID the Service is instantiated for.
	 * @param set_service_id	The Service Identifier as specified in ECSS PUS.
	 */
	PusServiceBase(	object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
	/**
	 * The destructor is empty.
	 */
	virtual ~PusServiceBase();
	/**
	 * @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
	 * @details
	 * Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
	 * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
	 * Success or Failure Reports are generated automatically after execution of this method.
	 *
	 * If a Telecommand can not be executed within one call cycle,
	 * this Base class is not the right parent.
	 *
	 * The child class may add additional error information by setting #errorParameters which are
	 * attached to the generated verification message.
	 *
	 * Subservice checking should be implemented in this method.
	 *
	 * @return	The returned status_code is directly taken as main error code in the Verification Report.
	 * 			On success, RETURN_OK shall be returned.
	 */
	virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
	/**
	 * In performService, implementations can handle periodic, non-TC-triggered activities.
	 * The performService method is always called.
	 * @return	A success or failure code that does not trigger any kind of verification message.
	 */
	virtual ReturnValue_t performService() = 0;
	/**
	 * This method implements the typical activity of a simple PUS Service.
	 * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
	 * the TC requests afterwards.
	 * performService is always executed afterwards.
	 * @return	\c RETURN_OK if the periodic performService was successful.
	 * 			\c RETURN_FAILED else.
	 */
	ReturnValue_t performOperation(uint8_t opCode);
	virtual uint16_t getIdentifier();
	MessageQueueId_t getRequestQueue();
	virtual ReturnValue_t initialize();
protected:
	/**
	 * The APID of this instance of the Service.
	 */
	uint16_t apid;
	/**
	 * The Service Identifier.
	 */
	uint8_t serviceId;
	/**
	 * One of two error parameters for additional error information.
	 */
	uint32_t errorParameter1;
	/**
	 * One of two error parameters for additional error information.
	 */
	// shouldn't this be uint32_t ? The PUS Verification Message structure param2 has the size 4
	uint32_t errorParameter2;
	/**
	 * This is a complete instance of the Telecommand reception queue of the class.
	 * It is initialized on construction of the class.
	 */
	MessageQueueIF* requestQueue;
	/**
	 * An instance of the VerificationReporter class, that simplifies sending any kind of
	 * Verification Message to the TC Verification Service.
	 */
	VerificationReporter verifyReporter;
	/**
	 * The current Telecommand to be processed.
	 * It is deleted after handleRequest was executed.
	 */
	TcPacketStored currentPacket;

	static object_id_t packetSource;

	static object_id_t packetDestination;
private:
	/**
	 * This constant sets the maximum number of packets accepted per call.
	 * Remember that one packet must be completely handled in one #handleRequest call.
	 */
	static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
};

#endif /* PUSSERVICEBASE_H_ */