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Merge branch 'source/develop' into mueller/master

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This commit is contained in:
Robin Müller 2021-02-09 15:48:55 +01:00
commit 4154c06825
21 changed files with 411 additions and 343 deletions
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5
CHANGELOG
View File

@ -81,4 +81,7 @@ now
For the fsfw, this can be done by checking the processor define FSFW_CPP_OSTREAM_ENABLED from FSFWConfig.h.
For mission code, developers need to replace sif:: calls by the printf counterparts, but only if the CPP stream are excluded.
If this is not the case, everything should work as usual.
-
### PUS Parameter Service 20
Added PUS parameter service 20 (only custom subservices available).

10
action/CMakeLists.txt
View File

@ -1,7 +1,7 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ActionHelper.cpp
ActionMessage.cpp
CommandActionHelper.cpp
SimpleActionHelper.cpp
PRIVATE
ActionHelper.cpp
ActionMessage.cpp
CommandActionHelper.cpp
SimpleActionHelper.cpp
)

6
container/CMakeLists.txt
View File

@ -1,5 +1,5 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
SharedRingBuffer.cpp
SimpleRingBuffer.cpp
PRIVATE
SharedRingBuffer.cpp
SimpleRingBuffer.cpp
)

6
controller/CMakeLists.txt
View File

@ -1,4 +1,4 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
ControllerBase.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
ControllerBase.cpp
ExtendedControllerBase.cpp
)

3
controller/ExtendedControllerBase.cpp
View File

@ -8,6 +8,9 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId,
actionHelper(this, commandQueue) {
}
ExtendedControllerBase::~ExtendedControllerBase() {
}
ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t *data, size_t size) {
// needs to be overriden and implemented by child class.

11
controller/ExtendedControllerBase.h
View File

@ -22,13 +22,14 @@ class ExtendedControllerBase: public ControllerBase,
public:
ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
size_t commandQueueDepth = 3);
virtual ~ExtendedControllerBase();
/** SystemObjectIF overrides */
/* SystemObjectIF overrides */
virtual ReturnValue_t initialize() override;
virtual MessageQueueId_t getCommandQueue() const override;
/** ExecutableObjectIF overrides */
/* ExecutableObjectIF overrides */
virtual ReturnValue_t performOperation(uint8_t opCode) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
@ -49,15 +50,15 @@ protected:
*/
virtual void performControlOperation() = 0;
/** Handle the four messages mentioned above */
/* Handle the four messages mentioned above */
void handleQueue() override;
/** HasActionsIF overrides */
/* HasActionsIF overrides */
virtual ReturnValue_t executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data,
size_t size) override;
/** HasLocalDatapoolIF overrides */
/* HasLocalDatapoolIF overrides */
virtual LocalDataPoolManager* getHkManagerHandle() override;
virtual object_id_t getObjectId() const override;
virtual ReturnValue_t initializeLocalDataPool(

1
datapool/PoolDataSetBase.cpp
View File

@ -1,5 +1,6 @@
#include "PoolDataSetBase.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include <cstring>
PoolDataSetBase::PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount):

14
datapool/PoolDataSetBase.h
View File

@ -39,8 +39,12 @@ public:
* supply a pointer to this dataset to PoolVariable
* initializations to register pool variables.
*/
PoolDataSetBase(PoolVariableIF** registeredVariablesArray,
const size_t maxFillCount);
PoolDataSetBase(PoolVariableIF** registeredVariablesArray, const size_t maxFillCount);
/* Forbidden for now */
PoolDataSetBase(const PoolDataSetBase& otherSet) = delete;
const PoolDataSetBase& operator=(const PoolDataSetBase& otherSet) = delete;
virtual~ PoolDataSetBase();
/**
@ -63,8 +67,7 @@ public:
* - @c SET_WAS_ALREADY_READ if read() is called twice without calling
* commit() in between
*/
virtual ReturnValue_t read(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
virtual ReturnValue_t read(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t lockTimeout = 20) override;
/**
* @brief The commit call initializes writing back the registered variables.
@ -84,8 +87,7 @@ public:
* - @c COMMITING_WITHOUT_READING if set was not read yet and
* contains non write-only variables
*/
virtual ReturnValue_t commit(
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
virtual ReturnValue_t commit(MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING,
uint32_t lockTimeout = 20) override;
/**

2
datapoollocal/HasLocalDataPoolIF.h
View File

@ -80,7 +80,7 @@ public:
* @param storeId If a snapshot was requested, data will be located inside
* the IPC store with this store ID.
*/
virtual void handleChangedPoolVariable(lp_id_t poolId,
virtual void handleChangedPoolVariable(gp_id_t globPoolId,
store_address_t storeId = storeId::INVALID_STORE_ADDRESS) {
return;
}

84
datapoollocal/LocalDataPoolManager.cpp
View File

@ -102,7 +102,7 @@ ReturnValue_t LocalDataPoolManager::performHkOperation() {
switch(receiver.reportingType) {
case(ReportingType::PERIODIC): {
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
// Periodic packets shall only be generated from datasets.
/* Periodic packets shall only be generated from datasets */
continue;
}
performPeriodicHkGeneration(receiver);
@ -156,19 +156,17 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
LocalPoolObjectBase* poolObj = HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner,
receiver.dataId.localPoolId);
//LocalPoolObjectBase* poolObj = owner->getPoolObjectHandle(receiver.dataId.localPoolId);
if(poolObj == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"handleNotificationUpdate", POOLOBJECT_NOT_FOUND);
return POOLOBJECT_NOT_FOUND;
}
if(poolObj->hasChanged()) {
// prepare and send update notification.
/* Prepare and send update notification. */
CommandMessage notification;
HousekeepingMessage::setUpdateNotificationVariableCommand(&notification,
receiver.dataId.localPoolId);
ReturnValue_t result = hkQueue->sendMessage(
receiver.destinationQueue, &notification);
gp_id_t(owner->getObjectId(), receiver.dataId.localPoolId));
ReturnValue_t result = hkQueue->sendMessage(receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
@ -185,10 +183,10 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
return DATASET_NOT_FOUND;
}
if(dataSet->hasChanged()) {
// prepare and send update notification
/* Prepare and send update notification */
CommandMessage notification;
HousekeepingMessage::setUpdateNotificationSetCommand(
&notification, receiver.dataId.sid);
HousekeepingMessage::setUpdateNotificationSetCommand(&notification,
receiver.dataId.sid);
ReturnValue_t result = hkQueue->sendMessage(
receiver.destinationQueue, &notification);
if(result != HasReturnvaluesIF::RETURN_OK) {
@ -198,8 +196,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
}
}
if(toReset != nullptr) {
handleChangeResetLogic(receiver.dataType,
receiver.dataId, toReset);
handleChangeResetLogic(receiver.dataType, receiver.dataId, toReset);
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -207,7 +204,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationUpdate(HkReceiver& receive
ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
HkReceiver& receiver, ReturnValue_t& status) {
MarkChangedIF* toReset = nullptr;
// check whether data has changed and send messages in case it has.
/* Check whether data has changed and send messages in case it has */
if(receiver.dataType == DataType::LOCAL_POOL_VARIABLE) {
LocalPoolObjectBase* poolObj = HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner,
receiver.dataId.localPoolId);
@ -221,14 +218,14 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
return HasReturnvaluesIF::RETURN_OK;
}
// prepare and send update snapshot.
/* Prepare and send update snapshot */
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
CCSDSTime::convertToCcsds(&cds, &now);
HousekeepingSnapshot updatePacket(reinterpret_cast<uint8_t*>(&cds),
sizeof(cds), HasLocalDpIFManagerAttorney::getPoolObjectHandle(owner,
receiver.dataId.localPoolId));
HousekeepingSnapshot updatePacket(reinterpret_cast<uint8_t*>(&cds), sizeof(cds),
HasLocalDpIFManagerAttorney::getPoolObjectHandle(
owner,receiver.dataId.localPoolId));
store_address_t storeId;
ReturnValue_t result = addUpdateToStore(updatePacket, storeId);
@ -238,7 +235,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
CommandMessage notification;
HousekeepingMessage::setUpdateSnapshotVariableCommand(&notification,
receiver.dataId.localPoolId, storeId);
gp_id_t(owner->getObjectId(), receiver.dataId.localPoolId), storeId);
result = hkQueue->sendMessage(receiver.destinationQueue,
&notification);
if (result != HasReturnvaluesIF::RETURN_OK) {
@ -259,7 +256,7 @@ ReturnValue_t LocalDataPoolManager::handleNotificationSnapshot(
return HasReturnvaluesIF::RETURN_OK;
}
// prepare and send update snapshot.
/* Prepare and send update snapshot */
timeval now;
Clock::getClock_timeval(&now);
CCSDSTime::CDS_short cds;
@ -309,7 +306,7 @@ ReturnValue_t LocalDataPoolManager::addUpdateToStore(
void LocalDataPoolManager::handleChangeResetLogic(
DataType type, DataId dataId, MarkChangedIF* toReset) {
if(hkUpdateResetList == nullptr) {
// config error!
/* Config error */
return;
}
HkUpdateResetList& listRef = *hkUpdateResetList;
@ -326,16 +323,16 @@ void LocalDataPoolManager::handleChangeResetLogic(
continue;
}
// only one update recipient, we can reset changes status immediately.
/* Only one update recipient, we can reset changes status immediately */
if(changeInfo.updateCounter <= 1) {
toReset->setChanged(false);
}
// All recipients have been notified, reset the changed flag.
/* All recipients have been notified, reset the changed flag */
if(changeInfo.currentUpdateCounter <= 1) {
toReset->setChanged(false);
changeInfo.currentUpdateCounter = 0;
}
// Not all recipiens have been notified yet, decrement.
/* Not all recipiens have been notified yet, decrement */
else {
changeInfo.currentUpdateCounter--;
}
@ -371,7 +368,6 @@ ReturnValue_t LocalDataPoolManager::subscribeForPeriodicPacket(sid_t sid,
hkReceiver.destinationQueue = hkReceiverObject->getHkQueue();
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
//LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
if(dataSet != nullptr) {
LocalPoolDataSetAttorney::setReportingEnabled(*dataSet, enableReporting);
LocalPoolDataSetAttorney::setDiagnostic(*dataSet, isDiagnostics);
@ -557,15 +553,14 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
dataSet, true);
}
// Notification handling.
/* Notification handling */
case(HousekeepingMessage::UPDATE_NOTIFICATION_SET): {
owner->handleChangedDataset(sid);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_NOTIFICATION_VARIABLE): {
lp_id_t locPoolId = HousekeepingMessage::
getUpdateNotificationVariableCommand(message);
owner->handleChangedPoolVariable(locPoolId);
gp_id_t globPoolId = HousekeepingMessage::getUpdateNotificationVariableCommand(message);
owner->handleChangedPoolVariable(globPoolId);
return HasReturnvaluesIF::RETURN_OK;
}
case(HousekeepingMessage::UPDATE_SNAPSHOT_SET): {
@ -576,9 +571,9 @@ ReturnValue_t LocalDataPoolManager::handleHousekeepingMessage(
}
case(HousekeepingMessage::UPDATE_SNAPSHOT_VARIABLE): {
store_address_t storeId;
lp_id_t localPoolId = HousekeepingMessage::
getUpdateSnapshotVariableCommand(message, &storeId);
owner->handleChangedPoolVariable(localPoolId, storeId);
gp_id_t globPoolId = HousekeepingMessage::getUpdateSnapshotVariableCommand(message,
&storeId);
owner->handleChangedPoolVariable(globPoolId, storeId);
return HasReturnvaluesIF::RETURN_OK;
}
@ -693,7 +688,6 @@ void LocalDataPoolManager::setNonDiagnosticIntervalFactor(
void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
sid_t sid = receiver.dataId.sid;
//LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
if(dataSet == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_WARNING,
@ -710,24 +704,23 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
LocalPoolDataSetAttorney::getPeriodicHelper(*dataSet);
if(periodicHelper == nullptr) {
// Configuration error.
/* Configuration error */
return;
}
if(periodicHelper->checkOpNecessary()) {
if(not periodicHelper->checkOpNecessary()) {
return;
}
ReturnValue_t result = generateHousekeepingPacket(
sid, dataSet, true);
if(result != HasReturnvaluesIF::RETURN_OK) {
// configuration error
/* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalDataPoolManager::performHkOperation: "
<< "HK generation failed." << std::endl;
sif::warning << "LocalDataPoolManager::performHkOperation: HK generation failed." <<
std::endl;
#else
sif::printWarning("LocalDataPoolManager::performHkOperation: "
"HK generation failed.\n");
sif::printWarning("LocalDataPoolManager::performHkOperation: HK generation failed.\n");
#endif
}
}
@ -735,7 +728,6 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
bool enable, bool isDiagnostics) {
//LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
if((LocalPoolDataSetAttorney::isDiagnostics(*dataSet) and not isDiagnostics) or
(not LocalPoolDataSetAttorney::isDiagnostics(*dataSet) and isDiagnostics)) {
@ -753,7 +745,6 @@ ReturnValue_t LocalDataPoolManager::togglePeriodicGeneration(sid_t sid,
ReturnValue_t LocalDataPoolManager::changeCollectionInterval(sid_t sid,
float newCollectionInterval, bool isDiagnostics) {
//LocalPoolDataSetBase* dataSet = owner->getDataSetHandle(sid);
LocalPoolDataSetBase* dataSet = HasLocalDpIFManagerAttorney::getDataSetHandle(owner, sid);
bool targetIsDiagnostics = LocalPoolDataSetAttorney::isDiagnostics(*dataSet);
if((targetIsDiagnostics and not isDiagnostics) or
@ -848,7 +839,6 @@ MutexIF* LocalDataPoolManager::getLocalPoolMutex() {
object_id_t LocalDataPoolManager::getCreatorObjectId() const {
return owner->getObjectId();
//return owner->getObjectId();
}
void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
@ -883,26 +873,30 @@ void LocalDataPoolManager::printWarningOrError(sif::OutputTypes outputType,
}
if(outputType == sif::OutputTypes::OUT_WARNING) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "LocalDataPoolManager::" << functionName
<< ": Object ID " << std::setw(8) << std::setfill('0')
<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
<< std::hex << owner->getObjectId() << " | " << errorPrint
<< std::dec << std::setfill(' ') << std::endl;
#else
sif::printWarning("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
functionName, owner->getObjectId(), errorPrint);
#endif
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
}
else if(outputType == sif::OutputTypes::OUT_ERROR) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "LocalDataPoolManager::" << functionName
<< ": Object ID " << std::setw(8) << std::setfill('0')
<< ": Object ID 0x" << std::setw(8) << std::setfill('0')
<< std::hex << owner->getObjectId() << " | " << errorPrint
<< std::dec << std::setfill(' ') << std::endl;
#else
sif::printError("LocalDataPoolManager::%s: Object ID 0x%08x | %s\n",
functionName, owner->getObjectId(), errorPrint);
#endif
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
}
}

13
datapoollocal/LocalPoolDataSetBase.cpp
View File

@ -51,6 +51,7 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(sid_t sid,
AccessPoolManagerIF* accessor = HasLocalDpIFUserAttorney::getAccessorHandle(hkOwner);
if(accessor != nullptr) {
mutexIfSingleDataCreator = accessor->getLocalPoolMutex();
poolManager = accessor->getPoolManagerHandle();
}
}
@ -66,9 +67,19 @@ LocalPoolDataSetBase::LocalPoolDataSetBase(
LocalPoolDataSetBase::~LocalPoolDataSetBase() {
/* We only delete objects which were created in the class constructor */
if(periodicHelper != nullptr) {
delete periodicHelper;
}
/* In case set was read but not comitted, we commit all variables with an invalid state */
if(state == States::STATE_SET_WAS_READ) {
for (uint16_t count = 0; count < fillCount; count++) {
if(registeredVariables[count] != nullptr) {
registeredVariables[count]->setValid(false);
registeredVariables[count]->commit(MutexIF::TimeoutType::WAITING, 20);
}
}
}
}
ReturnValue_t LocalPoolDataSetBase::lockDataPool(
@ -83,7 +94,7 @@ ReturnValue_t LocalPoolDataSetBase::lockDataPool(
ReturnValue_t LocalPoolDataSetBase::serializeWithValidityBuffer(uint8_t **buffer,
size_t *size, size_t maxSize,
SerializeIF::Endianness streamEndianness) const {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
uint8_t validityMaskSize = std::ceil(static_cast<float>(fillCount)/8.0);
uint8_t validityMask[validityMaskSize];
uint8_t validBufferIndex = 0;

9
datapoollocal/LocalPoolDataSetBase.h
View File

@ -97,12 +97,18 @@ public:
* @brief The destructor automatically manages writing the valid
* information of variables.
* @details
* In case the data set was read out, but not committed(indicated by state),
* In case the data set was read out, but not committed (indicated by state),
* the destructor parses all variables that are still registered to the set.
* For each, the valid flag in the data pool is set to "invalid".
*/
~LocalPoolDataSetBase();
/* The copy constructor and assingment constructor are forbidden for now.
The use-cases are limited and the first step would be to implement them properly for the
base class */
LocalPoolDataSetBase(const LocalPoolDataSetBase& otherSet) = delete;
const LocalPoolDataSetBase& operator=(const LocalPoolDataSetBase& otherSet) = delete;
void setValidityBufferGeneration(bool withValidityBuffer);
sid_t getSid() const;
@ -153,6 +159,7 @@ public:
bool hasChanged() const override;
object_id_t getCreatorObjectId();
protected:
sid_t sid;
//! This mutex is used if the data is created by one object only.

6
datapoollocal/LocalPoolObjectBase.h
View File

@ -20,12 +20,10 @@ class LocalPoolObjectBase: public PoolVariableIF,
public HasReturnvaluesIF,
public MarkChangedIF {
public:
LocalPoolObjectBase(lp_id_t poolId,
HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
LocalPoolObjectBase(lp_id_t poolId, HasLocalDataPoolIF* hkOwner, DataSetIF* dataSet,
pool_rwm_t setReadWriteMode);
LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId,
DataSetIF* dataSet = nullptr,
LocalPoolObjectBase(object_id_t poolOwner, lp_id_t poolId, DataSetIF* dataSet = nullptr,
pool_rwm_t setReadWriteMode = pool_rwm_t::VAR_READ_WRITE);
void setReadWriteMode(pool_rwm_t newReadWriteMode);

28
datapoollocal/ProvidesDataPoolSubscriptionIF.h
View File

@ -38,24 +38,22 @@ public:
bool isDiagnostics,
object_id_t packetDestination) = 0;
/**
* @brief Subscribe for a notification message which will be sent
* if a dataset has changed.
* @details
* This subscription mechanism will generally be used internally by
* other software components.
* @param setId Set ID of the set to receive update messages from.
* @param destinationObject
* @param targetQueueId
* @param generateSnapshot If this is set to true, a copy of the current
* data with a timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent.
* @param setId Set ID of the set to receive update messages from.
* @param destinationObject Object ID of the receiver.
* @param targetQueueId Receiver queue ID
* @param generateSnapshot If this is set to true, a copy of the current data with a
* timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent.
* @return
*/
virtual ReturnValue_t subscribeForSetUpdateMessages(const uint32_t setId,
object_id_t destinationObject,
MessageQueueId_t targetQueueId,
object_id_t destinationObject, MessageQueueId_t targetQueueId,
bool generateSnapshot) = 0;
/**
@ -64,12 +62,12 @@ public:
* @details
* This subscription mechanism will generally be used internally by
* other software components.
* @param localPoolId Pool ID of the pool variable
* @param destinationObject
* @param targetQueueId
* @param generateSnapshot If this is set to true, a copy of the current
* data with a timestamp will be generated and sent via message.
* Otherwise, only an notification message is sent.
* @param localPoolId Pool ID of the pool variable
* @param destinationObject Object ID of the receiver
* @param targetQueueId Receiver queue ID
* @param generateSnapshot If this is set to true, a copy of the current data with a
* timestamp will be generated and sent via message. Otherwise,
* only an notification message is sent.
* @return
*/
virtual ReturnValue_t subscribeForVariableUpdateMessages(

17
devicehandlers/DeviceHandlerBase.cpp
View File

@ -435,8 +435,7 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandMap(
DeviceCommandId_t deviceCommand) {
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
DeviceCommandInfo info;
info.expectedReplies = 0;
info.isExecuting = false;
@ -701,13 +700,11 @@ void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND_ID;
size_t foundLen = 0;
// The loop may not execute more often than the number of received bytes
// (worst case). This approach avoids infinite loops due to buggy
// scanForReply routines.
/* The loop may not execute more often than the number of received bytes
(worst case). This approach avoids infinite loops due to buggy scanForReply routines. */
uint32_t remainingLength = receivedDataLen;
for (uint32_t count = 0; count < receivedDataLen; count++) {
result = scanForReply(receivedData, remainingLength, &foundId,
&foundLen);
result = scanForReply(receivedData, remainingLength, &foundId, &foundLen);
switch (result) {
case RETURN_OK:
handleReply(receivedData, foundId, foundLen);
@ -790,9 +787,9 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
replyToReply(iter, result);
}
else {
// Other completion failure messages are created by timeout.
// Powering down the device might take some time during which periodic
// replies may still come in.
/* Other completion failure messages are created by timeout.
Powering down the device might take some time during which periodic
replies may still come in. */
if (mode != _MODE_WAIT_OFF) {
triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
}

30
housekeeping/HousekeepingMessage.cpp
View File

@ -125,8 +125,10 @@ sid_t HousekeepingMessage::getSid(const CommandMessage* message) {
return sid;
}
void HousekeepingMessage::setSid(CommandMessage *message, sid_t sid) {
std::memcpy(message->getData(), &sid.raw, sizeof(sid.raw));
gp_id_t HousekeepingMessage::getGpid(const CommandMessage* message) {
gp_id_t globalPoolId;
std::memcpy(&globalPoolId.raw, message->getData(), sizeof(globalPoolId.raw));
return globalPoolId;
}
void HousekeepingMessage::setHkStuctureReportReply(CommandMessage *reply,
@ -169,9 +171,9 @@ void HousekeepingMessage::setUpdateNotificationSetCommand(
}
void HousekeepingMessage::setUpdateNotificationVariableCommand(
CommandMessage *command, lp_id_t localPoolId) {
CommandMessage *command, gp_id_t globalPoolId) {
command->setCommand(UPDATE_NOTIFICATION_VARIABLE);
command->setParameter(localPoolId);
setGpid(command, globalPoolId);
}
void HousekeepingMessage::setUpdateSnapshotSetCommand(CommandMessage *command,
@ -182,9 +184,9 @@ void HousekeepingMessage::setUpdateSnapshotSetCommand(CommandMessage *command,
}
void HousekeepingMessage::setUpdateSnapshotVariableCommand(
CommandMessage *command, lp_id_t localPoolId, store_address_t storeId) {
CommandMessage *command, gp_id_t globalPoolId, store_address_t storeId) {
command->setCommand(UPDATE_SNAPSHOT_VARIABLE);
command->setParameter(localPoolId);
setGpid(command, globalPoolId);
command->setParameter3(storeId.raw);
}
@ -193,9 +195,9 @@ sid_t HousekeepingMessage::getUpdateNotificationSetCommand(
return getSid(command);
}
lp_id_t HousekeepingMessage::getUpdateNotificationVariableCommand(
gp_id_t HousekeepingMessage::getUpdateNotificationVariableCommand(
const CommandMessage *command) {
return command->getParameter();
return getGpid(command);
}
sid_t HousekeepingMessage::getUpdateSnapshotSetCommand(
@ -206,10 +208,18 @@ sid_t HousekeepingMessage::getUpdateSnapshotSetCommand(
return getSid(command);
}
lp_id_t HousekeepingMessage::getUpdateSnapshotVariableCommand(
gp_id_t HousekeepingMessage::getUpdateSnapshotVariableCommand(
const CommandMessage *command, store_address_t *storeId) {
if(storeId != nullptr) {
*storeId = command->getParameter3();
}
return command->getParameter();
return getGpid(command);
}
void HousekeepingMessage::setSid(CommandMessage *message, sid_t sid) {
std::memcpy(message->getData(), &sid.raw, sizeof(sid.raw));
}
void HousekeepingMessage::setGpid(CommandMessage *message, gp_id_t globalPoolId) {
std::memcpy(message->getData(), &globalPoolId.raw, sizeof(globalPoolId.raw));
}

10
housekeeping/HousekeepingMessage.h
View File

@ -75,6 +75,7 @@ public:
//static constexpr Command_t UPDATE_HK_REPORT = MAKE_COMMAND_ID(134);
static sid_t getSid(const CommandMessage* message);
static gp_id_t getGpid(const CommandMessage* message);
/* Housekeeping Interface Messages */
@ -123,26 +124,27 @@ public:
static void setUpdateNotificationSetCommand(CommandMessage* command,
sid_t sid);
static void setUpdateNotificationVariableCommand(CommandMessage* command,
lp_id_t localPoolId);
gp_id_t globalPoolId);
static void setUpdateSnapshotSetCommand(CommandMessage* command, sid_t sid,
store_address_t storeId);
static void setUpdateSnapshotVariableCommand(CommandMessage* command,
lp_id_t localPoolId, store_address_t storeId);
gp_id_t globalPoolId, store_address_t storeId);
static sid_t getUpdateNotificationSetCommand(const CommandMessage* command);
static lp_id_t getUpdateNotificationVariableCommand(
static gp_id_t getUpdateNotificationVariableCommand(
const CommandMessage* command);
static sid_t getUpdateSnapshotSetCommand(const CommandMessage* command,
store_address_t* storeId);
static lp_id_t getUpdateSnapshotVariableCommand(const CommandMessage* command,
static gp_id_t getUpdateSnapshotVariableCommand(const CommandMessage* command,
store_address_t* storeId);
/** Utility */
static void clear(CommandMessage* message);
private:
static void setSid(CommandMessage* message, sid_t sid);
static void setGpid(CommandMessage* message, gp_id_t globalPoolId);
};

23
osal/host/QueueMapManager.cpp
View File

@ -18,17 +18,19 @@ QueueMapManager* QueueMapManager::instance() {
ReturnValue_t QueueMapManager::addMessageQueue(
MessageQueueIF* queueToInsert, MessageQueueId_t* id) {
// Not thread-safe, but it is assumed all message queues are created
// at software initialization now. If this is to be made thread-safe in
// the future, it propably would be sufficient to lock the increment
// operation here
/* Not thread-safe, but it is assumed all message queues are created at software initialization
now. If this is to be made thread-safe in the future, it propably would be sufficient to lock
the increment operation here. */
uint32_t currentId = queueCounter++;
auto returnPair = queueMap.emplace(currentId, queueToInsert);
if(not returnPair.second) {
// this should never happen for the atomic variable.
/* This should never happen for the atomic variable. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "QueueMapManager: This ID is already inside the map!"
<< std::endl;
sif::error << "QueueMapManager::addMessageQueue This ID is already "
"inside the map!" << std::endl;
#else
sif::printError("QueueMapManager::addMessageQueue This ID is already "
"inside the map!\n");
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -47,8 +49,11 @@ MessageQueueIF* QueueMapManager::getMessageQueue(
}
else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "QueueMapManager::getQueueHandle: The ID " <<
messageQueueId << " does not exists in the map" << std::endl;
sif::warning << "QueueMapManager::getQueueHandle: The ID " << messageQueueId <<
" does not exists in the map!" << std::endl;
#else
sif::printWarning("QueueMapManager::getQueueHandle: The ID %d does not exist in the map!\n",
messageQueueId);
#endif
return nullptr;
}

2
osal/host/QueueMapManager.h
View File

@ -36,7 +36,7 @@ public:
private:
//! External instantiation is forbidden.
QueueMapManager();
uint32_t queueCounter = 1;
uint32_t queueCounter = 0;
MutexIF* mapLock;
QueueMap queueMap;
static QueueMapManager* mqManagerInstance;

449
pus/Service3Housekeeping.cpp
View File

@ -4,199 +4,199 @@
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid,
uint8_t serviceId):
CommandingServiceBase(objectId, apid, serviceId,
NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS) {}
uint8_t serviceId):
CommandingServiceBase(objectId, apid, serviceId,
NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS) {}
Service3Housekeeping::~Service3Housekeeping() {}
ReturnValue_t Service3Housekeeping::isValidSubservice(uint8_t subservice) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
case Subservice::REPORT_HK_REPORT_STRUCTURES:
case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES :
case Subservice::GENERATE_ONE_PARAMETER_REPORT:
case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
return HasReturnvaluesIF::RETURN_OK;
// Telemetry or invalid subservice.
case Subservice::HK_DEFINITIONS_REPORT:
case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
case Subservice::HK_REPORT:
case Subservice::DIAGNOSTICS_REPORT:
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
switch(static_cast<Subservice>(subservice)) {
case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
case Subservice::REPORT_HK_REPORT_STRUCTURES:
case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES :
case Subservice::GENERATE_ONE_PARAMETER_REPORT:
case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
return HasReturnvaluesIF::RETURN_OK;
// Telemetry or invalid subservice.
case Subservice::HK_DEFINITIONS_REPORT:
case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
case Subservice::HK_REPORT:
case Subservice::DIAGNOSTICS_REPORT:
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service3Housekeeping::getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen,
MessageQueueId_t *id, object_id_t *objectId) {
ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
if(result != RETURN_OK) {
return result;
}
return checkInterfaceAndAcquireMessageQueue(id,objectId);
const uint8_t *tcData, size_t tcDataLen,
MessageQueueId_t *id, object_id_t *objectId) {
ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
if(result != RETURN_OK) {
return result;
}
return checkInterfaceAndAcquireMessageQueue(id,objectId);
}
ReturnValue_t Service3Housekeeping::checkAndAcquireTargetID(
object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
if(SerializeAdapter::deSerialize(objectIdToSet, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
return CommandingServiceBase::INVALID_TC;
}
return HasReturnvaluesIF::RETURN_OK;
object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
if(SerializeAdapter::deSerialize(objectIdToSet, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG) != HasReturnvaluesIF::RETURN_OK) {
return CommandingServiceBase::INVALID_TC;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check HasLocalDataPoolIF property of target
HasLocalDataPoolIF* possibleTarget =
objectManager->get<HasLocalDataPoolIF>(*objectId);
if(possibleTarget == nullptr){
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
// check HasLocalDataPoolIF property of target
HasLocalDataPoolIF* possibleTarget =
objectManager->get<HasLocalDataPoolIF>(*objectId);
if(possibleTarget == nullptr){
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, true, false,
tcData, tcDataLen);
case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, false, false,
tcData, tcDataLen);
case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, true, true,
tcData, tcDataLen);
case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, false, true,
tcData, tcDataLen);
case Subservice::REPORT_HK_REPORT_STRUCTURES:
return prepareStructureReportingCommand(message, objectId, false, tcData,
tcDataLen);
case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES:
return prepareStructureReportingCommand(message, objectId, true, tcData,
tcDataLen);
case Subservice::GENERATE_ONE_PARAMETER_REPORT:
return prepareOneShotReportCommand(message, objectId, false,
tcData, tcDataLen);
case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
return prepareOneShotReportCommand(message, objectId, true,
tcData, tcDataLen);
case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
return prepareCollectionIntervalModificationCommand(message, objectId,
false, tcData, tcDataLen);
case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
return prepareCollectionIntervalModificationCommand(message, objectId,
true, tcData, tcDataLen);
case Subservice::HK_DEFINITIONS_REPORT:
case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
case Subservice::HK_REPORT:
case Subservice::DIAGNOSTICS_REPORT:
// Those are telemetry packets.
return CommandingServiceBase::INVALID_TC;
default:
// should never happen, subservice was already checked.
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)) {
case Subservice::ENABLE_PERIODIC_HK_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, true, false,
tcData, tcDataLen);
case Subservice::DISABLE_PERIODIC_HK_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, false, false,
tcData, tcDataLen);
case Subservice::ENABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, true, true,
tcData, tcDataLen);
case Subservice::DISABLE_PERIODIC_DIAGNOSTICS_REPORT_GENERATION:
return prepareReportingTogglingCommand(message, objectId, false, true,
tcData, tcDataLen);
case Subservice::REPORT_HK_REPORT_STRUCTURES:
return prepareStructureReportingCommand(message, objectId, false, tcData,
tcDataLen);
case Subservice::REPORT_DIAGNOSTICS_REPORT_STRUCTURES:
return prepareStructureReportingCommand(message, objectId, true, tcData,
tcDataLen);
case Subservice::GENERATE_ONE_PARAMETER_REPORT:
return prepareOneShotReportCommand(message, objectId, false,
tcData, tcDataLen);
case Subservice::GENERATE_ONE_DIAGNOSTICS_REPORT:
return prepareOneShotReportCommand(message, objectId, true,
tcData, tcDataLen);
case Subservice::MODIFY_PARAMETER_REPORT_COLLECTION_INTERVAL:
return prepareCollectionIntervalModificationCommand(message, objectId,
false, tcData, tcDataLen);
case Subservice::MODIFY_DIAGNOSTICS_REPORT_COLLECTION_INTERVAL:
return prepareCollectionIntervalModificationCommand(message, objectId,
true, tcData, tcDataLen);
case Subservice::HK_DEFINITIONS_REPORT:
case Subservice::DIAGNOSTICS_DEFINITION_REPORT:
case Subservice::HK_REPORT:
case Subservice::DIAGNOSTICS_REPORT:
// Those are telemetry packets.
return CommandingServiceBase::INVALID_TC;
default:
// should never happen, subservice was already checked.
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareReportingTogglingCommand(
CommandMessage *command, object_id_t objectId,
bool enableReporting, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
CommandMessage *command, object_id_t objectId,
bool enableReporting, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setToggleReportingCommand(command, targetSid,
enableReporting, isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setToggleReportingCommand(command, targetSid,
enableReporting, isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareStructureReportingCommand(
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t* tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setStructureReportingCommand(command, targetSid,
isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setStructureReportingCommand(command, targetSid,
isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareOneShotReportCommand(
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t *tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t *tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t)) {
// TC data should consist of object ID and set ID.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setOneShotReportCommand(command, targetSid,
isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
HousekeepingMessage::setOneShotReportCommand(command, targetSid,
isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::prepareCollectionIntervalModificationCommand(
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t *tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t) + sizeof(float)) {
// SID plus the size of the new collection intervL.
return CommandingServiceBase::INVALID_TC;
}
CommandMessage *command, object_id_t objectId, bool isDiagnostics,
const uint8_t *tcData, size_t tcDataLen) {
if(tcDataLen < sizeof(sid_t) + sizeof(float)) {
// SID plus the size of the new collection intervL.
return CommandingServiceBase::INVALID_TC;
}
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
float newCollectionInterval = 0;
SerializeAdapter::deSerialize(&newCollectionInterval, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
HousekeepingMessage::setCollectionIntervalModificationCommand(command,
targetSid, newCollectionInterval, isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
sid_t targetSid = buildSid(objectId, &tcData, &tcDataLen);
float newCollectionInterval = 0;
SerializeAdapter::deSerialize(&newCollectionInterval, &tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
HousekeepingMessage::setCollectionIntervalModificationCommand(command,
targetSid, newCollectionInterval, isDiagnostics);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) {
Command_t command = reply->getCommand();
switch(command) {
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) {
Command_t command = reply->getCommand();
switch(command) {
case(HousekeepingMessage::HK_REPORT): {
ReturnValue_t result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::HK_REPORT));
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::HK_REPORT): {
ReturnValue_t result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::HK_REPORT));
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
ReturnValue_t result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
ReturnValue_t result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::HK_DEFINITIONS_REPORT): {
return generateHkReply(reply, static_cast<uint8_t>(
@ -209,93 +209,110 @@ ReturnValue_t Service3Housekeeping::handleReply(const CommandMessage* reply,
break;
}
case(HousekeepingMessage::HK_REQUEST_SUCCESS): {
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::HK_REQUEST_SUCCESS): {
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::HK_REQUEST_FAILURE): {
failureParameter1 = objectId;
ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
HousekeepingMessage::getHkRequestFailureReply(reply,&error);
failureParameter2 = error;
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case(HousekeepingMessage::HK_REQUEST_FAILURE): {
failureParameter1 = objectId;
ReturnValue_t error = HasReturnvaluesIF::RETURN_FAILED;
HousekeepingMessage::getHkRequestFailureReply(reply,&error);
failureParameter2 = error;
return CommandingServiceBase::EXECUTION_COMPLETE;
}
default:
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service3Housekeeping::handleReply: Invalid reply with "
<< "reply command " << command << "!" << std::endl;
sif::warning << "Service3Housekeeping::handleReply: Invalid reply with "
<< "reply command " << command << "!" << std::endl;
#else
sif::printWarning("Service3Housekeeping::handleReply: Invalid reply with "
"reply command %hu!\n", command);
#endif
return CommandingServiceBase::INVALID_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
return CommandingServiceBase::INVALID_REPLY;
}
return HasReturnvaluesIF::RETURN_OK;
}
void Service3Housekeeping::handleUnrequestedReply(
CommandMessage* reply) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
Command_t command = reply->getCommand();
CommandMessage* reply) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
Command_t command = reply->getCommand();
switch(command) {
switch(command) {
case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
break;
}
case(HousekeepingMessage::DIAGNOSTICS_REPORT): {
result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::DIAGNOSTICS_REPORT));
break;
}
case(HousekeepingMessage::HK_REPORT): {
result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::HK_REPORT));
break;
}
case(HousekeepingMessage::HK_REPORT): {
result = generateHkReply(reply,
static_cast<uint8_t>(Subservice::HK_REPORT));
break;
}
default:
case(HousekeepingMessage::HK_REQUEST_SUCCESS): {
break;
}
case(HousekeepingMessage::HK_REQUEST_FAILURE): {
break;
}
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Service3Housekeeping::handleUnrequestedReply: Invalid "
<< "reply with " << "reply command " << command << "!"
<< std::endl;
sif::warning << "Service3Housekeeping::handleUnrequestedReply: Invalid reply with reply "
"command " << command << "!" << std::endl;
#else
sif::printWarning("Service3Housekeeping::handleUnrequestedReply: Invalid reply with "
"reply command %hu!\n", command);
#endif
return;
}
return;
}
}
if(result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
if(result != HasReturnvaluesIF::RETURN_OK) {
/* Configuration error */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Service3Housekeeping::handleUnrequestedReply:"
<< "Could not generate reply!" << std::endl;
sif::warning << "Service3Housekeeping::handleUnrequestedReply: Could not generate reply!" <<
std::endl;
#else
sif::printWarning("Service3Housekeeping::handleUnrequestedReply: "
"Could not generate reply!\n");
#endif
}
}
}
MessageQueueId_t Service3Housekeeping::getHkQueue() const {
return commandQueue->getId();
return commandQueue->getId();
}
ReturnValue_t Service3Housekeeping::generateHkReply(
const CommandMessage* hkMessage, uint8_t subserviceId) {
store_address_t storeId;
const CommandMessage* hkMessage, uint8_t subserviceId) {
store_address_t storeId;
sid_t sid = HousekeepingMessage::getHkDataReply(hkMessage, &storeId);
auto resultPair = IPCStore->getData(storeId);
if(resultPair.first != HasReturnvaluesIF::RETURN_OK) {
return resultPair.first;
}
sid_t sid = HousekeepingMessage::getHkDataReply(hkMessage, &storeId);
auto resultPair = IPCStore->getData(storeId);
if(resultPair.first != HasReturnvaluesIF::RETURN_OK) {
return resultPair.first;
}
HkPacket hkPacket(sid, resultPair.second.data(), resultPair.second.size());
return sendTmPacket(static_cast<uint8_t>(subserviceId),
hkPacket.hkData, hkPacket.hkSize, nullptr, 0);
HkPacket hkPacket(sid, resultPair.second.data(), resultPair.second.size());
return sendTmPacket(static_cast<uint8_t>(subserviceId),
hkPacket.hkData, hkPacket.hkSize, nullptr, 0);
}
sid_t Service3Housekeeping::buildSid(object_id_t objectId,
const uint8_t** tcData, size_t* tcDataLen) {
sid_t targetSid;
targetSid.objectId = objectId;
// skip deserialization of object ID, was already done.
*tcData += sizeof(object_id_t);
*tcDataLen -= sizeof(object_id_t);
// size check is expected to be performed beforehand!
SerializeAdapter::deSerialize(&targetSid.ownerSetId, tcData, tcDataLen,
SerializeIF::Endianness::BIG);
return targetSid;
const uint8_t** tcData, size_t* tcDataLen) {
sid_t targetSid;
targetSid.objectId = objectId;
// skip deserialization of object ID, was already done.
*tcData += sizeof(object_id_t);
*tcDataLen -= sizeof(object_id_t);
// size check is expected to be performed beforehand!
SerializeAdapter::deSerialize(&targetSid.ownerSetId, tcData, tcDataLen,
SerializeIF::Endianness::BIG);
return targetSid;
}

25
tmtcservices/CommandingServiceBase.cpp
View File

@ -7,6 +7,7 @@
#include "../ipc/QueueFactory.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcpacket/pus/TmPacketStored.h"
#include "../serviceinterface/ServiceInterface.h"
object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
@ -104,9 +105,27 @@ ReturnValue_t CommandingServiceBase::initialize() {
void CommandingServiceBase::handleCommandQueue() {
CommandMessage reply;
ReturnValue_t result = RETURN_FAILED;
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
result = commandQueue->receiveMessage(&reply)) {
handleCommandMessage(&reply);
while(true) {
result = commandQueue->receiveMessage(&reply);
if (result == HasReturnvaluesIF::RETURN_OK) {
handleCommandMessage(&reply);
continue;
}
else if(result == MessageQueueIF::EMPTY) {
break;
}
else {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CommandingServiceBase::handleCommandQueue: Receiving message failed"
"with code" << result << std::endl;
#else
sif::printWarning("CommandingServiceBase::handleCommandQueue: Receiving message "
"failed with code %d\n", result);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
break;
}
}
}