Merge pull request 'Increase configurability of PusServiceBase' (#169) from psb-update into develop

Reviewed-on: #169
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -41,6 +41,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Assert that `FixedArrayList` is larger than 0 at compile time.
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
 - Health functions are virtual now.
+- PUS Service Base request queue depth and maximum number of handled packets per cycle is now
+  configurable.
 
 # [v6.0.0] 2023-02-10
 

src/fsfw/globalfunctions/math/QuaternionOperations.cpp

@@ -155,8 +155,7 @@ double QuaternionOperations::getAngle(const double* quaternion, bool abs) {
 }
 
 void QuaternionOperations::rotationFromQuaternions(const double qNew[4], const double qOld[4],
-                                                         const double timeDelta,
+                                                   const double timeDelta, double rotRate[3]) {
-                                                         double rotRate[3]) {
   double qOldInv[4] = {0, 0, 0, 0};
   double qDelta[4] = {0, 0, 0, 0};
 

src/fsfw/globalfunctions/math/QuaternionOperations.h

@@ -26,7 +26,7 @@ class QuaternionOperations {
   static void slerp(const double q1[4], const double q2[4], const double weight, double q[4]);
 
   static void rotationFromQuaternions(const double qNew[4], const double qOld[4],
-                                            const double timeDelta, double rotRate[3]);
+                                      const double timeDelta, double rotRate[3]);
 
   /**
    * returns angle in ]-Pi;Pi] or [0;Pi] if abs == true

src/fsfw/pus/Service11TelecommandScheduling.tpp

@@ -150,7 +150,7 @@ inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::handleResetCom
 template <size_t MAX_NUM_TCS>
 inline ReturnValue_t Service11TelecommandScheduling<MAX_NUM_TCS>::doInsertActivity(
     const uint8_t *data, size_t size) {
-  if(telecommandMap.full()) {
+  if (telecommandMap.full()) {
     return MAP_IS_FULL;
   }
   uint32_t timestamp = 0;

src/fsfw/tmtcservices/PusServiceBase.cpp

@@ -40,7 +40,7 @@ void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle_) { this->taskHandle =
 void PusServiceBase::handleRequestQueue() {
   TmTcMessage message;
   ReturnValue_t result;
-  for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
+  for (uint8_t count = 0; count < psbParams.maxPacketsPerCycle; count++) {
     ReturnValue_t status = psbParams.reqQueue->receiveMessage(&message);
     if (status == MessageQueueIF::EMPTY) {
       break;
@@ -98,7 +98,7 @@ ReturnValue_t PusServiceBase::initialize() {
   }
   if (psbParams.reqQueue == nullptr) {
     ownedQueue = true;
-    psbParams.reqQueue = QueueFactory::instance()->createMessageQueue(PSB_DEFAULT_QUEUE_DEPTH);
+    psbParams.reqQueue = QueueFactory::instance()->createMessageQueue(psbParams.requestQueueDepth);
   } else {
     ownedQueue = false;
   }

src/fsfw/tmtcservices/PusServiceBase.h

@@ -20,6 +20,14 @@ class StorageManagerIF;
  * Configuration parameters for the PUS Service Base
  */
 struct PsbParams {
+  static constexpr uint8_t PSB_DEFAULT_QUEUE_DEPTH = 10;
+  /**
+   * This constant sets the maximum number of packets accepted per call.
+   * Remember that one packet must be completely handled in one
+   * #handleRequest call.
+   */
+  static constexpr uint8_t MAX_PACKETS_PER_CYCLE = 10;
+
   PsbParams() = default;
   PsbParams(uint16_t apid, AcceptsTelemetryIF* tmReceiver) : apid(apid), tmReceiver(tmReceiver) {}
   PsbParams(const char* name, uint16_t apid, AcceptsTelemetryIF* tmReceiver)
@@ -32,6 +40,9 @@ struct PsbParams {
   object_id_t objectId = objects::NO_OBJECT;
   uint16_t apid = 0;
   uint8_t serviceId = 0;
+  uint32_t requestQueueDepth = PSB_DEFAULT_QUEUE_DEPTH;
+  uint32_t maxPacketsPerCycle = MAX_PACKETS_PER_CYCLE;
+
   /**
    * The default destination ID for generated telemetry. If this is not set, @initialize of PSB
    * will attempt to find a suitable object with the object ID @PusServiceBase::packetDestination
@@ -100,14 +111,6 @@ class PusServiceBase : public ExecutableObjectIF,
   friend void Factory::setStaticFrameworkObjectIds();
 
  public:
-  /**
-   * This constant sets the maximum number of packets accepted per call.
-   * Remember that one packet must be completely handled in one
-   * #handleRequest call.
-   */
-  static constexpr uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
-  static constexpr uint8_t PSB_DEFAULT_QUEUE_DEPTH = 10;
-
   /**
    * @brief	The passed values are set, but inter-object initialization is
    * 			done in the initialize method.