From 1cacceddad5a918b078dbd6f493d4c3f7f59646e Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 1 Feb 2023 17:33:24 +0100 Subject: [PATCH] beatufil --- src/fsfw/health/HealthTable.h | 2 +- src/fsfw/pus/CMakeLists.txt | 2 +- ...nding.cpp => CServiceHealthCommanding.cpp} | 88 ++++++++++++------- ...ommanding.h => CServiceHealthCommanding.h} | 28 ++++-- 4 files changed, 79 insertions(+), 41 deletions(-) rename src/fsfw/pus/{CService201HealthCommanding.cpp => CServiceHealthCommanding.cpp} (56%) rename src/fsfw/pus/{CService201HealthCommanding.h => CServiceHealthCommanding.h} (75%) diff --git a/src/fsfw/health/HealthTable.h b/src/fsfw/health/HealthTable.h index 9b0722df..7b42dfba 100644 --- a/src/fsfw/health/HealthTable.h +++ b/src/fsfw/health/HealthTable.h @@ -8,7 +8,7 @@ #include "HealthTableIF.h" class HealthTable : public HealthTableIF, public SystemObject { - friend class CService201HealthCommanding; + friend class CServiceHealthCommanding; public: explicit HealthTable(object_id_t objectid); diff --git a/src/fsfw/pus/CMakeLists.txt b/src/fsfw/pus/CMakeLists.txt index 35b35bea..7c5b340c 100644 --- a/src/fsfw/pus/CMakeLists.txt +++ b/src/fsfw/pus/CMakeLists.txt @@ -9,4 +9,4 @@ target_sources( Service17Test.cpp Service20ParameterManagement.cpp CService200ModeCommanding.cpp - CService201HealthCommanding.cpp) + CServiceHealthCommanding.cpp) diff --git a/src/fsfw/pus/CService201HealthCommanding.cpp b/src/fsfw/pus/CServiceHealthCommanding.cpp similarity index 56% rename from src/fsfw/pus/CService201HealthCommanding.cpp rename to src/fsfw/pus/CServiceHealthCommanding.cpp index af261caf..9a2af7bc 100644 --- a/src/fsfw/pus/CService201HealthCommanding.cpp +++ b/src/fsfw/pus/CServiceHealthCommanding.cpp @@ -1,6 +1,5 @@ -#include "fsfw/pus/CService201HealthCommanding.h" - #include +#include #include "fsfw/health/HasHealthIF.h" #include "fsfw/health/HealthMessage.h" @@ -8,15 +7,13 @@ #include "fsfw/pus/servicepackets/Service201Packets.h" #include "fsfw/serviceinterface/ServiceInterface.h" -CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid, - uint8_t serviceId, HealthTable &table, - uint8_t numParallelCommands, - uint16_t commandTimeoutSeconds) - : CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands, - commandTimeoutSeconds), - healthTable(table) {} +CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args) + : CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service, + args.numParallelCommands, args.commandTimeoutSeconds), + healthTable(args.table), + maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {} -ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) { +ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) { switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): case (Subservice::COMMAND_ANNOUNCE_HEALTH): @@ -30,24 +27,31 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) } } -ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice, - const uint8_t *tcData, - size_t tcDataLen, - MessageQueueId_t *id, - object_id_t *objectId) { - if (subservice == Subservice::COMMAND_SET_HEALTH and - subservice == Subservice::COMMAND_ANNOUNCE_HEALTH) { - if (tcDataLen < sizeof(object_id_t)) { - return CommandingServiceBase::INVALID_TC; - } - SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); +ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice, + const uint8_t *tcData, + size_t tcDataLen, + MessageQueueId_t *id, + object_id_t *objectId) { + switch (subservice) { + case (Subservice::COMMAND_SET_HEALTH): + case (Subservice::COMMAND_ANNOUNCE_HEALTH): { + if (tcDataLen < sizeof(object_id_t)) { + return CommandingServiceBase::INVALID_TC; + } + SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG); - return checkInterfaceAndAcquireMessageQueue(id, objectId); + return checkInterfaceAndAcquireMessageQueue(id, objectId); + } + case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { + return returnvalue::OK; + } + default: { + return returnvalue::FAILED; + } } - return returnvalue::OK; } -ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( +ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue( MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) { auto *destination = ObjectManager::instance()->get(*objectId); if (destination == nullptr) { @@ -58,10 +62,9 @@ ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue( return returnvalue::OK; } -ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message, - uint8_t subservice, const uint8_t *tcData, - size_t tcDataLen, uint32_t *state, - object_id_t objectId) { +ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice, + const uint8_t *tcData, size_t tcDataLen, + uint32_t *state, object_id_t objectId) { ReturnValue_t result = returnvalue::OK; switch (subservice) { case (Subservice::COMMAND_SET_HEALTH): { @@ -80,6 +83,11 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag } case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): { ReturnValue_t result = iterateHealthTable(true); + if (result == returnvalue::OK) { + reportAllHealth = true; + return EXECUTION_COMPLETE; + } + return result; while (true) { ReturnValue_t result = iterateHealthTable(false); if (result != returnvalue::OK) { @@ -97,10 +105,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag return result; } -ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply, - Command_t previousCommand, uint32_t *state, - CommandMessage *optionalNextCommand, - object_id_t objectId, bool *isStep) { +ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply, + Command_t previousCommand, uint32_t *state, + CommandMessage *optionalNextCommand, + object_id_t objectId, bool *isStep) { Command_t replyId = reply->getCommand(); if (replyId == HealthMessage::REPLY_HEALTH_SET) { return EXECUTION_COMPLETE; @@ -110,8 +118,20 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep return CommandingServiceBase::INVALID_REPLY; } +void CServiceHealthCommanding::doPeriodicOperation() { + if (reportAllHealth) { + for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) { + ReturnValue_t result = iterateHealthTable(true); + if (result != returnvalue::OK) { + reportAllHealth = false; + break; + } + } + } +} + // Not used for now, health state already reported by event -[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply( +[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply( const CommandMessage *reply) { auto health = static_cast(HealthMessage::getHealth(reply)); auto oldHealth = static_cast(HealthMessage::getOldHealth(reply)); @@ -119,7 +139,7 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply); } -ReturnValue_t CService201HealthCommanding::iterateHealthTable(bool reset) { +ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) { std::pair pair; ReturnValue_t result = healthTable.iterate(&pair, reset); diff --git a/src/fsfw/pus/CService201HealthCommanding.h b/src/fsfw/pus/CServiceHealthCommanding.h similarity index 75% rename from src/fsfw/pus/CService201HealthCommanding.h rename to src/fsfw/pus/CServiceHealthCommanding.h index 8cef5599..18f6c140 100644 --- a/src/fsfw/pus/CService201HealthCommanding.h +++ b/src/fsfw/pus/CServiceHealthCommanding.h @@ -5,6 +5,22 @@ #include "fsfw/tmtcservices/CommandingServiceBase.h" +struct HealthServiceCfg { + HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable, + uint16_t maxNumHealthInfoPerCycle) + : objectId(objectId), + apid(apid), + table(healthTable), + maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {} + object_id_t objectId; + uint16_t apid; + HealthTable &table; + uint16_t maxNumHealthInfoPerCycle; + uint8_t service = 201; + uint8_t numParallelCommands = 4; + uint16_t commandTimeoutSeconds = 60; +}; + /** * @brief Custom PUS service to set health of all objects * implementing hasHealthIF. @@ -19,12 +35,10 @@ * child class like this service * */ -class CService201HealthCommanding : public CommandingServiceBase { +class CServiceHealthCommanding : public CommandingServiceBase { public: - CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId, - HealthTable &table, uint8_t numParallelCommands = 4, - uint16_t commandTimeoutSeconds = 60); - ~CService201HealthCommanding() override = default; + CServiceHealthCommanding(HealthServiceCfg args); + ~CServiceHealthCommanding() override = default; protected: /* CSB abstract function implementations */ @@ -40,8 +54,12 @@ class CService201HealthCommanding : public CommandingServiceBase { CommandMessage *optionalNextCommand, object_id_t objectId, bool *isStep) override; + void doPeriodicOperation() override; + private: HealthTable &healthTable; + uint16_t maxNumHealthInfoPerCycle = 0; + bool reportAllHealth = false; ReturnValue_t iterateHealthTable(bool reset); static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet, const object_id_t *objectId);