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

Merge branch 'mueller_framework' into mueller_newCommandMessageTest

Browse Source
This commit is contained in:
Robin Müller 2020-06-10 23:42:09 +02:00
commit c1fe326f67
5 changed files with 396 additions and 314 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

107
osal/linux/MessageQueue.cpp
View File

@ -9,8 +9,9 @@
#include <errno.h> #include <errno.h>
MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize): id(0), MessageQueue::MessageQueue(uint32_t messageDepth, size_t maxMessageSize):
lastPartner(0), defaultDestination(NO_QUEUE) { id(MessageQueueIF::NO_QUEUE),lastPartner(MessageQueueIF::NO_QUEUE),
defaultDestination(MessageQueueIF::NO_QUEUE) {
//debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl; //debug << "MessageQueue::MessageQueue: Creating a queue" << std::endl;
mq_attr attributes; mq_attr attributes;
this->id = 0; this->id = 0;
@ -56,16 +57,23 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
sif::error << "MessageQueue::MessageQueue: Invalid name or attributes" sif::error << "MessageQueue::MessageQueue: Invalid name or attributes"
" for message size" << std::endl; " for message size" << std::endl;
size_t defaultMqMaxMsg = 0; size_t defaultMqMaxMsg = 0;
// Not POSIX conformant, but should work for all UNIX systems.
// Just an additional helpful printout :-)
if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >> if(std::ifstream("/proc/sys/fs/mqueue/msg_max",std::ios::in) >>
defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) { defaultMqMaxMsg and defaultMqMaxMsg < messageDepth) {
// See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html // See: https://www.man7.org/linux/man-pages/man3/mq_open.3.html
// This happens if the msg_max value is not large enough // This happens if the msg_max value is not large enough
// It is ignored if the executable is run in privileged mode. // It is ignored if the executable is run in privileged mode.
// Run the unlockRealtime script or grant the mode manully by using: // Run the unlockRealtime script or grant the mode manually by using:
// sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary> // sudo setcap 'CAP_SYS_RESOURCE=+ep' <pathToBinary>
// Permanent solution (EventManager has mq depth of 80): // Persistent solution for session:
// echo msg_max | sudo tee /proc/sys/fs/mqueue/msg_max // echo <newMsgMax> | sudo tee /proc/sys/fs/mqueue/msg_max
// Permanent solution:
// sudo nano /etc/sysctl.conf
// Append at end: fs/mqueue/msg_max = <newMsgMaxLen>
// Apply changes with: sudo sysctl -p
sif::error << "MessageQueue::MessageQueue: Default MQ size " sif::error << "MessageQueue::MessageQueue: Default MQ size "
<< defaultMqMaxMsg << " is too small for requested size " << defaultMqMaxMsg << " is too small for requested size "
<< messageDepth << std::endl; << messageDepth << std::endl;
@ -75,24 +83,22 @@ ReturnValue_t MessageQueue::handleError(mq_attr* attributes,
case(EEXIST): { case(EEXIST): {
// An error occured during open // An error occured during open
// We need to distinguish if it is caused by an already created queue // We need to distinguish if it is caused by an already created queue
if (errno == EEXIST) { //There's another queue with the same name
//There's another queue with the same name //We unlink the other queue
//We unlink the other queue int status = mq_unlink(name);
int status = mq_unlink(name); if (status != 0) {
if (status != 0) { sif::error << "mq_unlink Failed with status: " << strerror(errno)
sif::error << "mq_unlink Failed with status: " << strerror(errno) << std::endl;
<< std::endl; }
} else {
else { // Successful unlinking, try to open again
// Successful unlinking, try to open again mqd_t tempId = mq_open(name,
mqd_t tempId = mq_open(name, O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL,
O_NONBLOCK | O_RDWR | O_CREAT | O_EXCL, S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes);
S_IWUSR | S_IREAD | S_IWGRP | S_IRGRP, attributes); if (tempId != -1) {
if (tempId != -1) { //Successful mq_open
//Successful mq_open this->id = tempId;
this->id = tempId; return HasReturnvaluesIF::RETURN_OK;
return HasReturnvaluesIF::RETURN_OK;
}
} }
} }
break; break;
@ -150,12 +156,13 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
//Success but no message received //Success but no message received
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
} else { } else {
//No message was received. Keep lastPartner anyway, I might send something later. //No message was received. Keep lastPartner anyway, I might send
//But still, delete packet content. //something later. But still, delete packet content.
memset(message->getData(), 0, message->MAX_DATA_SIZE); memset(message->getData(), 0, message->MAX_DATA_SIZE);
switch(errno){ switch(errno){
case EAGAIN: case EAGAIN:
//O_NONBLOCK or MQ_NONBLOCK was set and there are no messages currently on the specified queue. //O_NONBLOCK or MQ_NONBLOCK was set and there are no messages
//currently on the specified queue.
return MessageQueueIF::EMPTY; return MessageQueueIF::EMPTY;
case EBADF: case EBADF:
//mqdes doesn't represent a valid queue open for reading. //mqdes doesn't represent a valid queue open for reading.
@ -165,9 +172,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
case EINVAL: case EINVAL:
/* /*
* This value indicates one of the following: * This value indicates one of the following:
* * The pointer to the buffer for storing the received message, msg_ptr, is NULL. * - The pointer to the buffer for storing the received message,
* * The number of bytes requested, msg_len is less than zero. * msg_ptr, is NULL.
* * msg_len is anything other than the mq_msgsize of the specified queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't been set in the queue's mq_flags. * - The number of bytes requested, msg_len is less than zero.
* - msg_len is anything other than the mq_msgsize of the specified
* queue, and the QNX extended option MQ_READBUF_DYNAMIC hasn't
* been set in the queue's mq_flags.
*/ */
sif::error << "MessageQueue::receive: configuration error " sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl; << strerror(errno) << std::endl;
@ -175,8 +185,12 @@ ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message) {
case EMSGSIZE: case EMSGSIZE:
/* /*
* This value indicates one of the following: * This value indicates one of the following:
* * the QNX extended option MQ_READBUF_DYNAMIC hasn't been set, and the given msg_len is shorter than the mq_msgsize for the given queue. * - the QNX extended option MQ_READBUF_DYNAMIC hasn't been set,
* * the extended option MQ_READBUF_DYNAMIC has been set, but the given msg_len is too short for the message that would have been received. * and the given msg_len is shorter than the mq_msgsize for
* the given queue.
* - the extended option MQ_READBUF_DYNAMIC has been set, but the
* given msg_len is too short for the message that would have
* been received.
*/ */
sif::error << "MessageQueue::receive: configuration error " sif::error << "MessageQueue::receive: configuration error "
<< strerror(errno) << std::endl; << strerror(errno) << std::endl;
@ -224,9 +238,10 @@ ReturnValue_t MessageQueue::flush(uint32_t* count) {
case EINVAL: case EINVAL:
/* /*
* This value indicates one of the following: * This value indicates one of the following:
* * mq_attr is NULL. * - mq_attr is NULL.
* * MQ_MULT_NOTIFY had been set for this queue, and the given mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once MQ_MULT_NOTIFY has been turned on, it may never be turned off. * - MQ_MULT_NOTIFY had been set for this queue, and the given
* * mq_flags includes a 0 in the MQ_MULT_NOTIFY bit. Once
* MQ_MULT_NOTIFY has been turned on, it may never be turned off.
*/ */
default: default:
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -275,7 +290,8 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
//TODO: Check if we're in ISR. //TODO: Check if we're in ISR.
if (result != 0) { if (result != 0) {
if(!ignoreFault){ if(!ignoreFault){
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>( InternalErrorReporterIF* internalErrorReporter =
objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER); objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) { if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent(); internalErrorReporter->queueMessageNotSent();
@ -283,10 +299,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
} }
switch(errno){ switch(errno){
case EAGAIN: case EAGAIN:
//The O_NONBLOCK flag was set when opening the queue, or the MQ_NONBLOCK flag was set in its attributes, and the specified queue is full. //The O_NONBLOCK flag was set when opening the queue, or the
//MQ_NONBLOCK flag was set in its attributes, and the
//specified queue is full.
return MessageQueueIF::FULL; return MessageQueueIF::FULL;
case EBADF: case EBADF:
//mq_des doesn't represent a valid message queue descriptor, or mq_des wasn't opened for writing. //mq_des doesn't represent a valid message queue descriptor,
//or mq_des wasn't opened for writing.
sif::error << "MessageQueue::sendMessage: Configuration error " sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send mqSendTo: " << sendTo << strerror(errno) << " in mq_send mqSendTo: " << sendTo
<< " sent from " << sentFrom << std::endl; << " sent from " << sentFrom << std::endl;
@ -296,13 +315,13 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
case EINVAL: case EINVAL:
/* /*
* This value indicates one of the following: * This value indicates one of the following:
* * msg_ptr is NULL. * - msg_ptr is NULL.
* * msg_len is negative. * - msg_len is negative.
* * msg_prio is greater than MQ_PRIO_MAX. * - msg_prio is greater than MQ_PRIO_MAX.
* * msg_prio is less than 0. * - msg_prio is less than 0.
* * MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, * - MQ_PRIO_RESTRICT is set in the mq_attr of mq_des, and
* and msg_prio is greater than the priority of the calling process. * msg_prio is greater than the priority of the calling process.
* */ */
sif::error << "MessageQueue::sendMessage: Configuration error " sif::error << "MessageQueue::sendMessage: Configuration error "
<< strerror(errno) << " in mq_send" << std::endl; << strerror(errno) << " in mq_send" << std::endl;
/*NO BREAK*/ /*NO BREAK*/

289
tmtcservices/CommandingServiceBase.cpp
View File

@ -1,22 +1,21 @@
/* #include <framework/tcdistribution/PUSDistributorIF.h>
* CommandingServiceBase.cpp #include <framework/tmtcservices/AcceptsTelemetryIF.h>
* #include <framework/objectmanager/ObjectManagerIF.h>
* Created on: 28.08.2019
* Author: gaisser
*/
#include <framework/tmtcservices/CommandingServiceBase.h> #include <framework/tmtcservices/CommandingServiceBase.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeout_seconds, object_id_t setPacketSource, uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth) : object_id_t setPacketDestination, size_t queueDepth) :
SystemObject(setObjectId), apid(apid), service(service), timeout_seconds( SystemObject(setObjectId), apid(apid), service(service),
commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore( timeoutSeconds(commandTimeoutSeconds),
NULL), commandQueue(NULL), requestQueue(NULL), commandMap( commandMap(numberOfParallelCommands), packetSource(setPacketSource),
numberOfParallelCommands), failureParameter1(0), failureParameter2( packetDestination(setPacketDestination) {
0), packetSource(setPacketSource), packetDestination(
setPacketDestination),executingTask(NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
} }
@ -57,7 +56,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
objectManager->get<AcceptsTelemetryIF>(packetDestination); objectManager->get<AcceptsTelemetryIF>(packetDestination);
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>( PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
packetSource); packetSource);
if ((packetForwarding == NULL) && (distributor == NULL)) { if (packetForwarding == nullptr or distributor == nullptr) {
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -68,7 +67,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE); IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE); TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if ((IPCStore == NULL) || (TCStore == NULL)) { if (IPCStore == nullptr or TCStore == nullptr) {
return RETURN_FAILED; return RETURN_FAILED;
} }
@ -77,100 +76,118 @@ ReturnValue_t CommandingServiceBase::initialize() {
} }
void CommandingServiceBase::handleCommandQueue() { void CommandingServiceBase::handleCommandQueue() {
MessageQueueMessage replyMessage; MessageQueueMessage message;
CommandMessage reply(&replyMessage); CommandMessage reply(&message);
MessageQueueMessage nextCommandMessage; ReturnValue_t result = RETURN_FAILED;
CommandMessage nextCommand(&nextCommandMessage);
ReturnValue_t result, sendResult = RETURN_OK;
bool isStep = false;
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
result = commandQueue->receiveMessage(&reply)) { result = commandQueue->receiveMessage(&reply)) {
isStep = false; handleCommandMessage(reply);
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator iter;
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
handleUnrequestedReply(&reply);
continue;
}
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
handleUnrequestedReply(&reply);
continue;
}
nextCommand.setCommand(CommandMessage::CMD_NONE);
result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
iter->objectId, &isStep);
switch (result) {
case EXECUTION_COMPLETE:
case RETURN_OK:
case NO_STEP_MESSAGE:
iter->command = nextCommand.getCommand();
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage(reply.getSender(),
&nextCommand);
}
if (sendResult == RETURN_OK) {
if (isStep) {
if (result != NO_STEP_MESSAGE) {
verificationReporter.sendSuccessReport(
TC_VERIFY::PROGRESS_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, ++iter->step);
}
} else {
verificationReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, 0);
checkAndExecuteFifo(&iter);
}
} else {
if (isStep) {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
} else {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult, 0,
failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(&iter);
}
break;
case INVALID_REPLY:
//might be just an unrequested reply at a bad moment
handleUnrequestedReply(&reply);
break;
default:
if (isStep) {
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, ++iter->step, failureParameter1,
failureParameter2);
} else {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, 0, failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(&iter);
break;
}
} }
} }
void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
bool isStep = false;
MessageQueueMessage message;
CommandMessage nextCommand(&message);
CommandMapIter iter;
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
handleUnrequestedReply(&reply);
return;
}
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
handleUnrequestedReply(&reply);
return;
}
nextCommand.setCommand(CommandMessage::CMD_NONE);
// Implemented by child class, specifies what to do with reply.
ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
&nextCommand, iter->objectId, &isStep);
switch (result) {
case EXECUTION_COMPLETE:
case RETURN_OK:
case NO_STEP_MESSAGE:
// handle result of reply handler implemented by developer.
handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
break;
case INVALID_REPLY:
//might be just an unrequested reply at a bad moment
handleUnrequestedReply(&reply);
break;
default:
if (isStep) {
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, ++iter->step, failureParameter1,
failureParameter2);
} else {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, 0, failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(iter);
break;
}
}
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
bool& isStep) {
iter->command = nextCommand.getCommand();
// In case a new command is to be sent immediately, this is performed here.
// If no new command is sent, only analyse reply result by initializing
// sendResult as RETURN_OK
ReturnValue_t sendResult = RETURN_OK;
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage(reply.getSender(),
&nextCommand);
}
if (sendResult == RETURN_OK) {
if (isStep and result != NO_STEP_MESSAGE) {
verificationReporter.sendSuccessReport(
TC_VERIFY::PROGRESS_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, ++iter->step);
}
else {
verificationReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, 0);
checkAndExecuteFifo(iter);
}
}
else {
if (isStep) {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
} else {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult, 0,
failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(iter);
}
}
void CommandingServiceBase::handleRequestQueue() { void CommandingServiceBase::handleRequestQueue() {
TmTcMessage message; TmTcMessage message;
ReturnValue_t result; ReturnValue_t result;
@ -183,8 +200,8 @@ void CommandingServiceBase::handleRequestQueue() {
address = message.getStorageId(); address = message.getStorageId();
packet.setStoreAddress(address); packet.setStoreAddress(address);
if ((packet.getSubService() == 0) if (packet.getSubService() == 0
|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) { or isValidSubservice(packet.getSubService()) != RETURN_OK) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE); rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
continue; continue;
} }
@ -197,8 +214,7 @@ void CommandingServiceBase::handleRequestQueue() {
} }
//Is a command already active for the target object? //Is a command already active for the target object?
typename FixedMap<MessageQueueId_t, CommandMapIter iter;
CommandingServiceBase::CommandInfo>::Iterator iter;
iter = commandMap.find(queue); iter = commandMap.find(queue);
if (iter != commandMap.end()) { if (iter != commandMap.end()) {
@ -213,7 +229,7 @@ void CommandingServiceBase::handleRequestQueue() {
if (result != RETURN_OK) { if (result != RETURN_OK) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY); rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
} else { } else {
startExecution(&packet, &iter); startExecution(&packet, iter);
} }
} }
@ -266,34 +282,32 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
} }
void CommandingServiceBase::startExecution( void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
TcPacketStored *storedPacket, CommandMapIter iter) {
typename FixedMap<MessageQueueId_t, ReturnValue_t result = RETURN_OK;
CommandingServiceBase::CommandInfo>::Iterator *iter) { MessageQueueMessage message;
ReturnValue_t result, sendResult = RETURN_OK; CommandMessage command(&message);
MessageQueueMessage message; iter->subservice = storedPacket->getSubService();
CommandMessage command(&message); result = prepareCommand(&command, iter->subservice,
(*iter)->subservice = storedPacket->getSubService(); storedPacket->getApplicationData(),
result = prepareCommand(&command, (*iter)->subservice, storedPacket->getApplicationDataSize(), &iter->state,
storedPacket->getApplicationData(), iter->objectId);
storedPacket->getApplicationDataSize(), &(*iter)->state,
(*iter)->objectId);
ReturnValue_t sendResult = RETURN_OK;
switch (result) { switch (result) {
case RETURN_OK: case RETURN_OK:
if (command.getCommand() != CommandMessage::CMD_NONE) { if (command.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage((*iter).value->first, sendResult = commandQueue->sendMessage(iter.value->first,
&message); &message);
} }
if (sendResult == RETURN_OK) { if (sendResult == RETURN_OK) {
Clock::getUptime(&(*iter)->uptimeOfStart); Clock::getUptime(&iter->uptimeOfStart);
(*iter)->step = 0; iter->step = 0;
// (*iter)->state = 0; iter->subservice = storedPacket->getSubService();
(*iter)->subservice = storedPacket->getSubService(); iter->command = command.getCommand();
(*iter)->command = command.getCommand(); iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); iter->tcInfo.tcPacketId = storedPacket->getPacketId();
(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId(); iter->tcInfo.tcSequenceControl =
(*iter)->tcInfo.tcSequenceControl =
storedPacket->getPacketSequenceControl(); storedPacket->getPacketSequenceControl();
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
} else { } else {
@ -305,7 +319,7 @@ void CommandingServiceBase::startExecution(
case EXECUTION_COMPLETE: case EXECUTION_COMPLETE:
if (command.getCommand() != CommandMessage::CMD_NONE) { if (command.getCommand() != CommandMessage::CMD_NONE) {
//Fire-and-forget command. //Fire-and-forget command.
sendResult = commandQueue->sendMessage((*iter).value->first, sendResult = commandQueue->sendMessage(iter.value->first,
&message); &message);
} }
if (sendResult == RETURN_OK) { if (sendResult == RETURN_OK) {
@ -341,12 +355,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
} }
void CommandingServiceBase::checkAndExecuteFifo( void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator *iter) {
store_address_t address; store_address_t address;
if ((*iter)->fifo.retrieve(&address) != RETURN_OK) { if (iter->fifo.retrieve(&address) != RETURN_OK) {
commandMap.erase(iter); commandMap.erase(&iter);
} else { } else {
TcPacketStored newPacket(address); TcPacketStored newPacket(address);
startExecution(&newPacket, iter); startExecution(&newPacket, iter);
@ -370,15 +382,14 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
void CommandingServiceBase::checkTimeout() { void CommandingServiceBase::checkTimeout() {
uint32_t uptime; uint32_t uptime;
Clock::getUptime(&uptime); Clock::getUptime(&uptime);
typename FixedMap<MessageQueueId_t, CommandMapIter iter;
CommandingServiceBase::CommandInfo>::Iterator iter;
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) { if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
verificationReporter.sendFailureReport( verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
TIMEOUT); TIMEOUT);
checkAndExecuteFifo(&iter); checkAndExecuteFifo(iter);
} }
} }
} }

152
tmtcservices/CommandingServiceBase.h
View File

@ -1,35 +1,33 @@
#ifndef COMMANDINGSERVICEBASE_H_ #ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#define COMMANDINGSERVICEBASE_H_ #define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#include <framework/container/FixedMap.h>
#include <framework/container/FIFO.h>
#include <framework/ipc/CommandMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h> #include <framework/objectmanager/SystemObject.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/storagemanager/StorageManagerIF.h> #include <framework/storagemanager/StorageManagerIF.h>
#include <framework/tasks/ExecutableObjectIF.h> #include <framework/tasks/ExecutableObjectIF.h>
#include <framework/tcdistribution/PUSDistributorIF.h> #include <framework/ipc/MessageQueueIF.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h> #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/tmtcservices/VerificationReporter.h> #include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h> #include <framework/ipc/CommandMessage.h>
#include <framework/ipc/QueueFactory.h> #include <framework/container/FixedMap.h>
#include <framework/timemanager/Clock.h> #include <framework/container/FIFO.h>
#include <framework/serialize/SerializeIF.h>
class TcPacketStored;
/** /**
* \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus. * @brief This class is the basis for all PUS Services, which have to
* relay Telecommands to software bus.
* *
* It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase. * It manages Telecommand reception and the generation of Verification Reports
* Every class that inherits from this abstract class has to implement four adaption points: * similar to PusServiceBase. This class is used if a telecommand can't be
* handled immediately and must be relayed to the internal software bus.
* - isValidSubservice * - isValidSubservice
* - getMessageQueueAndObject * - getMessageQueueAndObject
* - prepareCommand * - prepareCommand
* - handleReply * - handleReply
* \ingroup pus_services * @author gaisser
* @ingroup pus_services
*/ */
class CommandingServiceBase: public SystemObject, class CommandingServiceBase: public SystemObject,
public AcceptsTelecommandsIF, public AcceptsTelecommandsIF,
@ -59,7 +57,7 @@ public:
*/ */
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands, uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeout_seconds, object_id_t setPacketSource, uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth = 20); object_id_t setPacketDestination, size_t queueDepth = 20);
virtual ~CommandingServiceBase(); virtual ~CommandingServiceBase();
@ -113,8 +111,9 @@ protected:
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
/** /**
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved. * Once a TC Request is valid, the existence of the destination and its
* The target message queue ID can then be acquired by using the target interface. * target interface is checked and retrieved. The target message queue ID
* can then be acquired by using the target interface.
* @param subservice * @param subservice
* @param tcData Application Data of TC Packet * @param tcData Application Data of TC Packet
* @param tcDataLen * @param tcDataLen
@ -129,15 +128,16 @@ protected:
object_id_t *objectId) = 0; object_id_t *objectId) = 0;
/** /**
* After the Message Queue and Object ID are determined, * After the Message Queue and Object ID are determined, the command is
* the command is prepared by using an implementation specific CommandMessage type * prepared by using an implementation specific CommandMessage type
* which is sent to the target object. * which is sent to the target object. It contains all necessary information
* It contains all necessary information for the device to execute telecommands. * for the device to execute telecommands.
* @param message * @param message [out] message which can be set and is sent to the object
* @param subservice * @param subservice Subservice of the current communication
* @param tcData * @param tcData Application data of command
* @param tcDataLen * @param tcDataLen Application data length
* @param state * @param state [out/in] Setable state of the communication.
* communication
* @param objectId Target object ID * @param objectId Target object ID
* @return * @return
*/ */
@ -146,25 +146,40 @@ protected:
uint32_t *state, object_id_t objectId) = 0; uint32_t *state, object_id_t objectId) = 0;
/** /**
* This function is responsible for the communication between the Command Service Base * This function is implemented by child services to specify how replies
* and the respective PUS Commanding Service once the execution has started. * to a command from another software component are handled
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function. * @param reply
* There are different translations of these replies to specify how the Command Service proceeds. * This is the reply in form of a command message.
* @param reply[out] Command Message which contains information about the command * @param previousCommand
* @param previousCommand [out] * Command_t of related command
* @param state * @param state [out/in]
* @param optionalNextCommand * Additional parameter which can be used to pass state information.
* State of the communication
* @param optionalNextCommand [out]
* An optional next command which can be set in this function
* @param objectId Source object ID * @param objectId Source object ID
* @param isStep Flag value to mark steps of command execution * @param isStep Flag value to mark steps of command execution
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success * @return
* - @c INVALID_REPLY can handle unrequested replies * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
* - Anything else triggers a TC verification failure * generate TC verification success
* - @c INVALID_REPLY calls handleUnrequestedReply
* - Anything else triggers a TC verification failure
*/ */
virtual ReturnValue_t handleReply(const CommandMessage *reply, virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state, Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId, CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0; bool *isStep) = 0;
/**
* This function can be overidden to handle unrequested reply,
* when the reply sender ID is unknown or is not found is the command map.
* @param reply
*/
virtual void handleUnrequestedReply(CommandMessage *reply);
virtual void doPeriodicOperation();
struct CommandInfo { struct CommandInfo {
struct tcInfo { struct tcInfo {
uint8_t ackFlags; uint8_t ackFlags;
@ -180,37 +195,42 @@ protected:
FIFO<store_address_t, 3> fifo; FIFO<store_address_t, 3> fifo;
}; };
using CommandMapIter = FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator;
const uint16_t apid; const uint16_t apid;
const uint8_t service; const uint8_t service;
const uint16_t timeout_seconds; const uint16_t timeoutSeconds;
uint8_t tmPacketCounter; uint8_t tmPacketCounter = 0;
StorageManagerIF *IPCStore; StorageManagerIF *IPCStore = nullptr;
StorageManagerIF *TCStore; StorageManagerIF *TCStore = nullptr;
MessageQueueIF* commandQueue; MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* requestQueue; MessageQueueIF* requestQueue = nullptr;
VerificationReporter verificationReporter; VerificationReporter verificationReporter;
FixedMap<MessageQueueId_t, CommandInfo> commandMap; FixedMap<MessageQueueId_t, CommandInfo> commandMap;
uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition. /* May be set be children to return a more precise failure condition. */
uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition. uint32_t failureParameter1 = 0;
uint32_t failureParameter2 = 0;
object_id_t packetSource; object_id_t packetSource;
object_id_t packetDestination; object_id_t packetDestination;
/** /**
* Pointer to the task which executes this component, is invalid before setTaskIF was called. * Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/ */
PeriodicTaskIF* executingTask; PeriodicTaskIF* executingTask = nullptr;
/** /**
* @brief Send TM data from pointer to data. * @brief Send TM data from pointer to data.
@ -246,22 +266,21 @@ protected:
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content, ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = nullptr); SerializeIF* header = nullptr);
virtual void handleUnrequestedReply(CommandMessage *reply); void checkAndExecuteFifo(CommandMapIter iter);
virtual void doPeriodicOperation();
void checkAndExecuteFifo(
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
private: private:
/** /**
* This method handles internal execution of a command, * This method handles internal execution of a command,
* once it has been started by @sa{startExecution()} in the Request Queue handler. * once it has been started by @sa{startExecution()} in the request
* It handles replies generated by the devices and relayed by the specific service implementation. * queue handler.
* This means that it determines further course of action depending on the return values specified * It handles replies generated by the devices and relayed by the specific
* in the service implementation. * service implementation. This means that it determines further course of
* action depending on the return values specified in the service
* implementation.
* This includes the generation of TC verification messages. Note that * This includes the generation of TC verification messages. Note that
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set. * the static framework object ID @c VerificationReporter::messageReceiver
* needs to be set.
* - TM[1,5] Step Successs * - TM[1,5] Step Successs
* - TM[1,6] Step Failure * - TM[1,6] Step Failure
* - TM[1,7] Completion Success * - TM[1,7] Completion Success
@ -282,8 +301,11 @@ private:
void acceptPacket(uint8_t reportId, TcPacketStored* packet); void acceptPacket(uint8_t reportId, TcPacketStored* packet);
void startExecution(TcPacketStored *storedPacket, void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
void handleCommandMessage(CommandMessage& reply);
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
void checkTimeout(); void checkTimeout();
}; };

74
tmtcservices/PusServiceBase.cpp
View File

@ -9,10 +9,11 @@
object_id_t PusServiceBase::packetSource = 0; object_id_t PusServiceBase::packetSource = 0;
object_id_t PusServiceBase::packetDestination = 0; object_id_t PusServiceBase::packetDestination = 0;
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) : PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1( uint8_t setServiceId) :
0), errorParameter2(0), requestQueue(NULL) { SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); requestQueue = QueueFactory::instance()->
createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
} }
PusServiceBase::~PusServiceBase() { PusServiceBase::~PusServiceBase() {
@ -20,51 +21,60 @@ PusServiceBase::~PusServiceBase() {
} }
ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
handleRequestQueue();
ReturnValue_t result = this->performService();
if (result != RETURN_OK) {
sif::error << "PusService " << (uint16_t) this->serviceId
<< ": performService returned with " << (int16_t) result
<< std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void PusServiceBase::handleRequestQueue() {
TmTcMessage message; TmTcMessage message;
ReturnValue_t result = RETURN_FAILED;
for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) { for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
ReturnValue_t status = this->requestQueue->receiveMessage(&message); ReturnValue_t status = this->requestQueue->receiveMessage(&message);
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() // debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
// << std::dec << " returned: " << status << std::endl; // << std::hex << this->requestQueue.getId()
// << std::dec << " returned: " << status << std::endl;
if (status == RETURN_OK) { if (status == RETURN_OK) {
this->currentPacket.setStoreAddress(message.getStorageId()); this->currentPacket.setStoreAddress(message.getStorageId());
// info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl; //info << "Service " << (uint16_t) this->serviceId <<
// ": new packet!" << std::endl;
ReturnValue_t return_code = this->handleRequest(currentPacket.getSubService()); result = this->handleRequest(currentPacket.getSubService());
// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl; // debug << "Service " << (uint16_t)this->serviceId <<
if (return_code == RETURN_OK) { // ": handleRequest returned: " << (int)return_code << std::endl;
if (result == RETURN_OK) {
this->verifyReporter.sendSuccessReport( this->verifyReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket); TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
} else { }
else {
this->verifyReporter.sendFailureReport( this->verifyReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket, TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
return_code, 0, errorParameter1, errorParameter2); result, 0, errorParameter1, errorParameter2);
} }
this->currentPacket.deletePacket(); this->currentPacket.deletePacket();
errorParameter1 = 0; errorParameter1 = 0;
errorParameter2 = 0; errorParameter2 = 0;
} else if (status == MessageQueueIF::EMPTY) { }
else if (status == MessageQueueIF::EMPTY) {
status = RETURN_OK; status = RETURN_OK;
// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl; // debug << "PusService " << (uint16_t)this->serviceId <<
// ": no new packet." << std::endl;
break; break;
} else { }
else {
sif::error << "PusServiceBase::performOperation: Service " sif::error << "PusServiceBase::performOperation: Service "
<< (uint16_t) this->serviceId << (uint16_t) this->serviceId
<< ": Error receiving packet. Code: " << std::hex << status << ": Error receiving packet. Code: " << std::hex << status
<< std::dec << std::endl; << std::dec << std::endl;
} }
} }
ReturnValue_t return_code = this->performService();
if (return_code == RETURN_OK) {
return RETURN_OK;
} else {
sif::error << "PusService " << (uint16_t) this->serviceId
<< ": performService returned with " << (int16_t) return_code
<< std::endl;
return RETURN_FAILED;
}
} }
uint16_t PusServiceBase::getIdentifier() { uint16_t PusServiceBase::getIdentifier() {
@ -80,19 +90,21 @@ ReturnValue_t PusServiceBase::initialize() {
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>( AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
packetDestination); packetDestination);
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>( PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
packetSource); packetSource);
if ((dest_service != NULL) && (distributor != NULL)) { if ((destService != nullptr) && (distributor != nullptr)) {
this->requestQueue->setDefaultDestination( this->requestQueue->setDefaultDestination(
dest_service->getReportReceptionQueue()); destService->getReportReceptionQueue());
distributor->registerService(this); distributor->registerService(this);
return RETURN_OK; return RETURN_OK;
} else { }
else {
sif::error << "PusServiceBase::PusServiceBase: Service " sif::error << "PusServiceBase::PusServiceBase: Service "
<< (uint32_t) this->serviceId << ": Configuration error." << (uint32_t) this->serviceId << ": Configuration error."
<< " Make sure packetSource and packetDestination are defined correctly" << std::endl; << " Make sure packetSource and packetDestination are defined "
"correctly" << std::endl;
return RETURN_FAILED; return RETURN_FAILED;
} }
} }

88
tmtcservices/PusServiceBase.h
View File

@ -1,5 +1,5 @@
#ifndef PUSSERVICEBASE_H_ #ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
#define PUSSERVICEBASE_H_ #define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
#include <framework/objectmanager/ObjectManagerIF.h> #include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h> #include <framework/objectmanager/SystemObject.h>
@ -9,7 +9,6 @@
#include <framework/tmtcservices/AcceptsTelecommandsIF.h> #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/VerificationCodes.h> #include <framework/tmtcservices/VerificationCodes.h>
#include <framework/tmtcservices/VerificationReporter.h> #include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h>
#include <framework/ipc/MessageQueueIF.h> #include <framework/ipc/MessageQueueIF.h>
namespace Factory{ namespace Factory{
@ -17,18 +16,22 @@ void setStaticFrameworkObjectIds();
} }
/** /**
* \defgroup pus_services PUS Service Framework * @defgroup pus_services PUS Service Framework
* These group contains all implementations of PUS Services in the OBSW. * These group contains all implementations of PUS Services in the OBSW.
* Most of the Services are directly taken from the ECSS PUS Standard. * Most of the Services are directly taken from the ECSS PUS Standard.
*/ */
/** /**
* \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets. * @brief This class is the basis for all PUS Services,
* It manages Telecommand reception and the generation of Verification Reports. Every class that inherits * which can immediately process Telecommand Packets.
* from this abstract class has to implement handleRequest and performService. Services that are created with this * @details
* It manages Telecommand reception and the generation of Verification Reports.
* Every class that inherits from this abstract class has to implement
* handleRequest and performService. Services that are created with this
* Base class have to handle any kind of request immediately on reception. * Base class have to handle any kind of request immediately on reception.
* All PUS Services are System Objects, so an Object ID needs to be specified on construction. * All PUS Services are System Objects, so an Object ID needs to be specified
* \ingroup pus_services * on construction.
* @ingroup pus_services
*/ */
class PusServiceBase : public ExecutableObjectIF, class PusServiceBase : public ExecutableObjectIF,
public AcceptsTelecommandsIF, public AcceptsTelecommandsIF,
@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF,
friend void (Factory::setStaticFrameworkObjectIds)(); friend void (Factory::setStaticFrameworkObjectIds)();
public: public:
/** /**
* The constructor for the class. * @brief The passed values are set, but inter-object initialization is
* The passed values are set, but inter-object initialization is done in the initialize method. * done in the initialize method.
* @param setObjectId The system object identifier of this Service instance. * @param setObjectId
* @param set_apid The APID the Service is instantiated for. * The system object identifier of this Service instance.
* @param set_service_id The Service Identifier as specified in ECSS PUS. * @param setApid
* The APID the Service is instantiated for.
* @param setServiceId
* The Service Identifier as specified in ECSS PUS.
*/ */
PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId); PusServiceBase( object_id_t setObjectId, uint16_t setApid,
uint8_t setServiceId);
/** /**
* The destructor is empty. * The destructor is empty.
*/ */
virtual ~PusServiceBase(); virtual ~PusServiceBase();
/** /**
* @brief The handleRequest method shall handle any kind of Telecommand Request immediately. * @brief The handleRequest method shall handle any kind of Telecommand
* Request immediately.
* @details * @details
* Implemetations can take the Telecommand in currentPacket and perform any kind of operation. * Implemetations can take the Telecommand in currentPacket and perform
* They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion * any kind of operation.
* Success or Failure Reports are generated automatically after execution of this method. * They may send additional "Start Success (1,3)" messages with the
* verifyReporter, but Completion Success or Failure Reports are generated
* automatically after execution of this method.
* *
* If a Telecommand can not be executed within one call cycle, * If a Telecommand can not be executed within one call cycle,
* this Base class is not the right parent. * this Base class is not the right parent.
* *
* The child class may add additional error information by setting #errorParameters which are * The child class may add additional error information by setting
* attached to the generated verification message. * #errorParameters which aren attached to the generated verification
* message.
* *
* Subservice checking should be implemented in this method. * Subservice checking should be implemented in this method.
* *
* @return The returned status_code is directly taken as main error code in the Verification Report. * @return The returned status_code is directly taken as main error code
* in the Verification Report.
* On success, RETURN_OK shall be returned. * On success, RETURN_OK shall be returned.
*/ */
virtual ReturnValue_t handleRequest(uint8_t subservice) = 0; virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
/** /**
* In performService, implementations can handle periodic, non-TC-triggered activities. * In performService, implementations can handle periodic,
* non-TC-triggered activities.
* The performService method is always called. * The performService method is always called.
* @return A success or failure code that does not trigger any kind of verification message. * @return Currently, everything other that RETURN_OK only triggers
* diagnostic output.
*/ */
virtual ReturnValue_t performService() = 0; virtual ReturnValue_t performService() = 0;
/** /**
* This method implements the typical activity of a simple PUS Service. * This method implements the typical activity of a simple PUS Service.
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes * It checks for new requests, and, if found, calls handleRequest, sends
* completion verification messages and deletes
* the TC requests afterwards. * the TC requests afterwards.
* performService is always executed afterwards. * performService is always executed afterwards.
* @return \c RETURN_OK if the periodic performService was successful. * @return @c RETURN_OK if the periodic performService was successful.
* \c RETURN_FAILED else. * @c RETURN_FAILED else.
*/ */
ReturnValue_t performOperation(uint8_t opCode); ReturnValue_t performOperation(uint8_t opCode);
virtual uint16_t getIdentifier(); virtual uint16_t getIdentifier();
@ -97,19 +112,19 @@ protected:
/** /**
* One of two error parameters for additional error information. * One of two error parameters for additional error information.
*/ */
uint32_t errorParameter1; uint32_t errorParameter1 = 0;
/** /**
* One of two error parameters for additional error information. * One of two error parameters for additional error information.
*/ */
uint32_t errorParameter2; uint32_t errorParameter2 = 0;
/** /**
* This is a complete instance of the Telecommand reception queue of the class. * This is a complete instance of the telecommand reception queue
* It is initialized on construction of the class. * of the class. It is initialized on construction of the class.
*/ */
MessageQueueIF* requestQueue; MessageQueueIF* requestQueue = nullptr;
/** /**
* An instance of the VerificationReporter class, that simplifies sending any kind of * An instance of the VerificationReporter class, that simplifies
* Verification Message to the TC Verification Service. * sending any kind of verification message to the TC Verification Service.
*/ */
VerificationReporter verifyReporter; VerificationReporter verifyReporter;
/** /**
@ -124,9 +139,12 @@ protected:
private: private:
/** /**
* This constant sets the maximum number of packets accepted per call. * This constant sets the maximum number of packets accepted per call.
* Remember that one packet must be completely handled in one #handleRequest call. * Remember that one packet must be completely handled in one
* #handleRequest call.
*/ */
static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10; static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
void handleRequestQueue();
}; };
#endif /* PUSSERVICEBASE_H_ */ #endif /* PUSSERVICEBASE_H_ */