eive/fsfw
eive/fsfw
15
1
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests Releases 1 Wiki Activity

Service 200: Add mode announcement support

Browse Source
This commit is contained in:
Robin Müller 2022-10-10 11:06:58 +02:00
parent 221df7ece6
commit 1d6ccfe5ab
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
11 changed files with 85 additions and 73 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -1604,12 +1604,12 @@ const HasModesIF& DeviceHandlerBase::getModeIF() const { return *this; }
ModeTreeChildIF& DeviceHandlerBase::getModeTreeChildIF() { return *this; }
ReturnValue_t DeviceHandlerBase::finishAction(bool success, DeviceCommandId_t action,
ReturnValue_t result) {
auto commandIter = deviceCommandMap.find(action);
if (commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE;
}
commandIter->second.isExecuting = false;
actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
return returnvalue::OK;
ReturnValue_t result) {
auto commandIter = deviceCommandMap.find(action);
if (commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE;
}
commandIter->second.isExecuting = false;
actionHelper.finish(success, commandIter->second.sendReplyTo, action, result);
return returnvalue::OK;
}

18
src/fsfw/globalfunctions/DleParser.cpp
View File

@ -11,8 +11,7 @@ DleParser::DleParser(SimpleRingBuffer& decodeRingBuf, DleEncoder& decoder, BufPa
: decodeRingBuf(decodeRingBuf),
decoder(decoder),
encodedBuf(encodedBuf),
decodedBuf(decodedBuf) {
}
decodedBuf(decodedBuf) {}
ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
if (data == nullptr or len == 0) {
@ -24,7 +23,7 @@ ReturnValue_t DleParser::passData(const uint8_t* data, size_t len) {
ReturnValue_t DleParser::parseRingBuf(size_t& readSize) {
ctx.setType(DleParser::ContextType::NONE);
size_t availableData = decodeRingBuf.getAvailableReadData();
if(availableData == 0) {
if (availableData == 0) {
return NO_PACKET_FOUND;
}
if (availableData > encodedBuf.second) {
@ -106,7 +105,7 @@ void DleParser::defaultFoundPacketHandler(uint8_t* packet, size_t len, void* arg
}
void DleParser::defaultErrorHandler() {
if(ctx.getType() != DleParser::ContextType::ERROR) {
if (ctx.getType() != DleParser::ContextType::ERROR) {
errorPrinter("No error");
return;
}
@ -126,7 +125,8 @@ void DleParser::defaultErrorHandler() {
case (ErrorTypes::ENCODED_BUF_TOO_SMALL):
case (ErrorTypes::DECODING_BUF_TOO_SMALL): {
char opt[64];
snprintf(opt, sizeof(opt), ": Too small for packet with length %zu", ctx.decodedPacket.second);
snprintf(opt, sizeof(opt), ": Too small for packet with length %zu",
ctx.decodedPacket.second);
if (ctx.error.first == ErrorTypes::ENCODED_BUF_TOO_SMALL) {
errorPrinter("Encoded buf too small", opt);
} else {
@ -168,10 +168,6 @@ ReturnValue_t DleParser::confirmBytesRead(size_t bytesRead) {
return decodeRingBuf.deleteData(bytesRead);
}
const DleParser::Context& DleParser::getContext() {
return ctx;
}
const DleParser::Context& DleParser::getContext() { return ctx; }
void DleParser::reset() {
decodeRingBuf.clear();
}
void DleParser::reset() { decodeRingBuf.clear(); }

10
src/fsfw/modes/ModeMessage.cpp
View File

@ -24,3 +24,13 @@ void ModeMessage::setCantReachMode(CommandMessage* message, ReturnValue_t reason
message->setParameter(reason);
message->setParameter2(0);
}
void ModeMessage::setModeAnnounceMessage(CommandMessage& message, bool recursive) {
Command_t cmd;
if (recursive) {
cmd = CMD_MODE_ANNOUNCE_RECURSIVELY;
} else {
cmd = CMD_MODE_ANNOUNCE;
}
message.setCommand(cmd);
}

60
src/fsfw/modes/ModeMessage.h
View File

@ -1,43 +1,42 @@
#ifndef FSFW_MODES_MODEMESSAGE_H_
#define FSFW_MODES_MODEMESSAGE_H_
#include "../ipc/CommandMessage.h"
#include "fsfw/ipc/CommandMessage.h"
typedef uint32_t Mode_t;
typedef uint8_t Submode_t;
class ModeMessage {
private:
ModeMessage();
public:
static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
static const Command_t CMD_MODE_COMMAND =
MAKE_COMMAND_ID(0x01); //!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
//! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
//! as this will break the subsystem mode machine!!
static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(
0xF1); //!> Command to set the specified Mode, regardless of external control flag, replies
//! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
//! replies, as this will break the subsystem mode machine!!
static const Command_t REPLY_MODE_REPLY =
MAKE_COMMAND_ID(0x02); //!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
static const Command_t REPLY_MODE_INFO =
MAKE_COMMAND_ID(0x03); //!> Unrequested info about the current mode (used for composites to
//! inform their container of a changed mode)
static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(
0x04); //!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
static const Command_t REPLY_WRONG_MODE_REPLY =
MAKE_COMMAND_ID(0x05); //!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
//! and a transition started but was aborted; the parameters contain
//! the mode that was reached
static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(
0x06); //!> Command to read the current mode and reply with a REPLY_MODE_REPLY
static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(
0x07); //!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY =
MAKE_COMMAND_ID(0x08); //!> Command to trigger an ModeInfo Event and to send this command to
//! every child. This command does NOT have a reply.
//!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY,
//! REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies,
//! as this will break the subsystem mode machine!!
static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);
//!> Command to set the specified Mode, regardless of external control flag, replies
//! are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any
//! replies, as this will break the subsystem mode machine!!
static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);
//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);
//!> Unrequested info about the current mode (used for composites to
//! inform their container of a changed mode)
static const Command_t REPLY_MODE_INFO = MAKE_COMMAND_ID(0x03);
//!> Reply in case a mode command can't be executed. Par1: returnCode, Par2: 0
static const Command_t REPLY_CANT_REACH_MODE = MAKE_COMMAND_ID(0x04);
//!> Reply to a CMD_MODE_COMMAND, indicating that a mode was commanded
//! and a transition started but was aborted; the parameters contain
//! the mode that was reached
static const Command_t REPLY_WRONG_MODE_REPLY = MAKE_COMMAND_ID(0x05);
//!> Command to read the current mode and reply with a REPLY_MODE_REPLY
static const Command_t CMD_MODE_READ = MAKE_COMMAND_ID(0x06);
//!> Command to trigger an ModeInfo Event. This command does NOT have a reply.
static const Command_t CMD_MODE_ANNOUNCE = MAKE_COMMAND_ID(0x07);
//!> Command to trigger an ModeInfo Event and to send this command to
//! every child. This command does NOT have a reply.
static const Command_t CMD_MODE_ANNOUNCE_RECURSIVELY = MAKE_COMMAND_ID(0x08);
ModeMessage() = delete;
static Mode_t getMode(const CommandMessage* message);
static Submode_t getSubmode(const CommandMessage* message);
@ -45,6 +44,7 @@ class ModeMessage {
static void setModeMessage(CommandMessage* message, Command_t command, Mode_t mode,
Submode_t submode);
static void setModeAnnounceMessage(CommandMessage& message, bool recursive);
static void setCantReachMode(CommandMessage* message, ReturnValue_t reason);
static void clear(CommandMessage* message);
};

25
src/fsfw/pus/CService200ModeCommanding.cpp
View File

@ -54,15 +54,26 @@ ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
ReturnValue_t CService200ModeCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) {
ModePacket modeCommandPacket;
ReturnValue_t result =
modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
return result;
ReturnValue_t result = returnvalue::OK;
if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE or
subservice == Subservice::COMMAND_MODE_ANNOUNCE_RECURSIVELY) {
bool recursive = true;
if (subservice == Subservice::COMMAND_MODE_ANNCOUNCE) {
recursive = false;
}
ModeMessage::setModeAnnounceMessage(*message, recursive);
} else {
ModePacket modeCommandPacket;
ReturnValue_t result =
modeCommandPacket.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
return result;
}
ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
modeCommandPacket.getSubmode());
}
ModeMessage::setModeMessage(message, ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
modeCommandPacket.getSubmode());
return result;
}

6
src/fsfw/pus/servicepackets/Service200Packets.h
View File

@ -1,9 +1,9 @@
#ifndef FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#define FSFW_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#include "../../modes/ModeMessage.h"
#include "../../serialize/SerialLinkedListAdapter.h"
#include "../../serialize/SerializeIF.h"
#include "fsfw/modes/ModeMessage.h"
#include "fsfw/serialize/SerialLinkedListAdapter.h"
#include "fsfw/serialize/SerializeIF.h"
/**
* @brief Subservice 1, 2, 3, 4, 5

3
src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -1,4 +1,5 @@
#include "UartComIF.h"
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
@ -458,5 +459,3 @@ ReturnValue_t UartComIF::flushUartTxAndRxBuf(CookieIF* cookie) {
}
return returnvalue::FAILED;
}

5
src/fsfw_hal/linux/uart/UartComIF.h
View File

@ -1,15 +1,14 @@
#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_
#include "UartCookie.h"
#include "helper.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <unordered_map>
#include <vector>
#include "UartCookie.h"
#include "helper.h"
/**
* @brief This is the communication interface to access serial ports on linux based operating

4
src/fsfw_hal/linux/uart/UartCookie.h
View File

@ -1,14 +1,12 @@
#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#include "helper.h"
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <string>
#include "helper.h"
/**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.

6
src/fsfw_hal/linux/uart/helper.cpp
View File

@ -1,8 +1,9 @@
#include "helper.h"
#include "fsfw/serviceinterface.h"
#include <sys/ioctl.h>
#include "fsfw/serviceinterface.h"
void uart::setMode(struct termios& options, UartModes mode) {
if (mode == UartModes::NON_CANONICAL) {
/* Disable canonical mode */
@ -145,6 +146,5 @@ void uart::setBaudrate(struct termios& options, UartBaudRate baud) {
}
int uart::readCountersAndErrors(int serialPort, serial_icounter_struct& icounter) {
return ioctl(serialPort, TIOCGICOUNT, &icounter);
return ioctl(serialPort, TIOCGICOUNT, &icounter);
}

5
src/fsfw_hal/linux/uart/helper.h
View File

@ -1,8 +1,8 @@
#ifndef FSFW_HAL_LINUX_UART_HELPER_H_
#define FSFW_HAL_LINUX_UART_HELPER_H_
#include <termios.h>
#include <linux/serial.h>
#include <termios.h>
enum class Parity { NONE, EVEN, ODD };
@ -56,7 +56,6 @@ void setBaudrate(struct termios& options, UartBaudRate baud);
int readCountersAndErrors(int serialPort, serial_icounter_struct& icounter);
}
} // namespace uart
#endif /* FSFW_HAL_LINUX_UART_HELPER_H_ */