cleaned up includes and improved doc a bit
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659594bac7
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5007041bc8
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@ -1,22 +1,21 @@
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/*
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* CommandingServiceBase.cpp
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*
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* Created on: 28.08.2019
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* Author: gaisser
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*/
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#include <framework/tcdistribution/PUSDistributorIF.h>
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#include <framework/tmtcservices/AcceptsTelemetryIF.h>
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/tmtcservices/CommandingServiceBase.h>
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#include <framework/tmtcservices/TmTcMessage.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/tmtcpacket/pus/TcPacketStored.h>
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#include <framework/tmtcpacket/pus/TmPacketStored.h>
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CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
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uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
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uint16_t commandTimeout_seconds, object_id_t setPacketSource,
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uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
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object_id_t setPacketDestination, size_t queueDepth) :
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SystemObject(setObjectId), apid(apid), service(service), timeout_seconds(
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commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore(
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NULL), commandQueue(NULL), requestQueue(NULL), commandMap(
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numberOfParallelCommands), failureParameter1(0), failureParameter2(
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0), packetSource(setPacketSource), packetDestination(
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setPacketDestination),executingTask(NULL) {
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SystemObject(setObjectId), apid(apid), service(service),
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timeoutSeconds(commandTimeoutSeconds),
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commandMap(numberOfParallelCommands), packetSource(setPacketSource),
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packetDestination(setPacketDestination) {
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commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
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requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
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}
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@ -369,7 +368,7 @@ void CommandingServiceBase::checkTimeout() {
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typename FixedMap<MessageQueueId_t,
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CommandingServiceBase::CommandInfo>::Iterator iter;
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for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
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if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) {
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if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
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verificationReporter.sendFailureReport(
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TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
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@ -1,35 +1,33 @@
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#ifndef COMMANDINGSERVICEBASE_H_
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#define COMMANDINGSERVICEBASE_H_
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#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
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#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
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#include <framework/container/FixedMap.h>
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#include <framework/container/FIFO.h>
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#include <framework/ipc/CommandMessage.h>
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/serialize/SerializeAdapter.h>
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#include <framework/storagemanager/StorageManagerIF.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/tcdistribution/PUSDistributorIF.h>
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#include <framework/tmtcpacket/pus/TcPacketStored.h>
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#include <framework/tmtcpacket/pus/TmPacketStored.h>
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#include <framework/ipc/MessageQueueIF.h>
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
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#include <framework/tmtcservices/AcceptsTelemetryIF.h>
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#include <framework/tmtcservices/TmTcMessage.h>
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#include <framework/tmtcservices/VerificationReporter.h>
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#include <framework/internalError/InternalErrorReporterIF.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/timemanager/Clock.h>
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#include <framework/ipc/CommandMessage.h>
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#include <framework/container/FixedMap.h>
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#include <framework/container/FIFO.h>
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#include <framework/serialize/SerializeIF.h>
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class TcPacketStored;
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/**
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* \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus.
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* @brief This class is the basis for all PUS Services, which have to
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* relay Telecommands to software bus.
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*
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* It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase.
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* Every class that inherits from this abstract class has to implement four adaption points:
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* It manages Telecommand reception and the generation of Verification Reports
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* similar to PusServiceBase. This class is used if a telecommand can't be
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* handled immediately and must be relayed to the internal software bus.
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* - isValidSubservice
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* - getMessageQueueAndObject
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* - prepareCommand
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* - handleReply
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* \ingroup pus_services
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* @author gaisser
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* @ingroup pus_services
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*/
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class CommandingServiceBase: public SystemObject,
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public AcceptsTelecommandsIF,
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@ -59,7 +57,7 @@ public:
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*/
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CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
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uint8_t service, uint8_t numberOfParallelCommands,
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uint16_t commandTimeout_seconds, object_id_t setPacketSource,
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uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
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object_id_t setPacketDestination, size_t queueDepth = 20);
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virtual ~CommandingServiceBase();
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@ -113,8 +111,9 @@ protected:
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virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
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/**
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* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
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* The target message queue ID can then be acquired by using the target interface.
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* Once a TC Request is valid, the existence of the destination and its
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* target interface is checked and retrieved. The target message queue ID
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* can then be acquired by using the target interface.
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* @param subservice
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* @param tcData Application Data of TC Packet
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* @param tcDataLen
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@ -129,10 +128,10 @@ protected:
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object_id_t *objectId) = 0;
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/**
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* After the Message Queue and Object ID are determined,
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* the command is prepared by using an implementation specific CommandMessage type
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* which is sent to the target object.
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* It contains all necessary information for the device to execute telecommands.
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* After the Message Queue and Object ID are determined, the command is
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* prepared by using an implementation specific CommandMessage type
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* which is sent to the target object. It contains all necessary information
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* for the device to execute telecommands.
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* @param message
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* @param subservice
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* @param tcData
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@ -146,25 +145,40 @@ protected:
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uint32_t *state, object_id_t objectId) = 0;
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/**
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* This function is responsible for the communication between the Command Service Base
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* and the respective PUS Commanding Service once the execution has started.
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* The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
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* There are different translations of these replies to specify how the Command Service proceeds.
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* @param reply[out] Command Message which contains information about the command
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* @param previousCommand [out]
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* @param state
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* @param optionalNextCommand
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* This function is implemented by child services to specify how replies
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* to a command from another software component are handled
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* @param reply
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* This is the reply in form of a command message.
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* @param previousCommand
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* Command_t of related command
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* @param state [out/in]
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* Additional parameter which can be used to pass state information.
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* State of the communication
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* @param optionalNextCommand [out]
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* An optional next command which can be set in this function
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* @param objectId Source object ID
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* @param isStep Flag value to mark steps of command execution
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* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
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* - @c INVALID_REPLY can handle unrequested replies
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* - Anything else triggers a TC verification failure
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* @return
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* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
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* generate TC verification success
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* - @c INVALID_REPLY calls handleUnrequestedReply
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* - Anything else triggers a TC verification failure
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*/
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virtual ReturnValue_t handleReply(const CommandMessage *reply,
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Command_t previousCommand, uint32_t *state,
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CommandMessage *optionalNextCommand, object_id_t objectId,
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bool *isStep) = 0;
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/**
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* This function can be overidden to handle unrequested reply,
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* when the reply sender ID is unknown or is not found is the command map.
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* @param reply
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*/
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virtual void handleUnrequestedReply(CommandMessage *reply);
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virtual void doPeriodicOperation();
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struct CommandInfo {
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struct tcInfo {
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uint8_t ackFlags;
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@ -184,33 +198,35 @@ protected:
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const uint8_t service;
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const uint16_t timeout_seconds;
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const uint16_t timeoutSeconds;
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uint8_t tmPacketCounter;
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uint8_t tmPacketCounter = 0;
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StorageManagerIF *IPCStore;
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StorageManagerIF *IPCStore = nullptr;
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StorageManagerIF *TCStore;
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StorageManagerIF *TCStore = nullptr;
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MessageQueueIF* commandQueue;
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MessageQueueIF* commandQueue = nullptr;
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MessageQueueIF* requestQueue;
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MessageQueueIF* requestQueue = nullptr;
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VerificationReporter verificationReporter;
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FixedMap<MessageQueueId_t, CommandInfo> commandMap;
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uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition.
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uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition.
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/* May be set be children to return a more precise failure condition. */
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uint32_t failureParameter1 = 0;
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uint32_t failureParameter2 = 0;
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object_id_t packetSource;
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object_id_t packetDestination;
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/**
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* Pointer to the task which executes this component, is invalid before setTaskIF was called.
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* Pointer to the task which executes this component,
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* is invalid before setTaskIF was called.
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*/
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PeriodicTaskIF* executingTask;
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PeriodicTaskIF* executingTask = nullptr;
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/**
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* @brief Send TM data from pointer to data.
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ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
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SerializeIF* header = nullptr);
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virtual void handleUnrequestedReply(CommandMessage *reply);
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virtual void doPeriodicOperation();
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void checkAndExecuteFifo(
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typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
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