Merge remote-tracking branch 'upstream/development' into mueller/enhanced-controller
This commit is contained in:
commit
c9adcc742b
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@ -1,4 +1,4 @@
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## Changes from ASTP 0.0.1 to 0.0.2
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## Changes from ASTP 0.0.1 to 1.0.0
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### FreeRTOS OSAL
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@ -6,6 +6,10 @@
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- vRequestContextSwitchFromISR is declared extern "C" so it can be defined in
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a C file without issues
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### PUS Services
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- PUS Health Service added, which allows to command and retrieve health via PUS packets
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### EnhancedControllerBase
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- New base class for a controller which also implements HasActionsIF and HasLocalDataPoolIF
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@ -1,7 +1,6 @@
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#ifndef CONFIG_FSFWCONFIG_H_
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#define CONFIG_FSFWCONFIG_H_
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#include <FSFWVersion.h>
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#include <cstddef>
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#include <cstdint>
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@ -9,12 +8,12 @@
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//! Those can lead to code bloat.
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#define FSFW_CPP_OSTREAM_ENABLED 1
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//! Reduced printout to further decrese code size
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//! Reduced printout to further decrease code size
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//! Be careful, this also turns off most diagnostic prinouts!
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#define FSFW_REDUCED_PRINTOUT 0
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#define FSFW_ENHANCED_PRINTOUT 0
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//! Can be used to enable debugging printouts for developing the FSFW
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#define FSFW_DEBUGGING 0
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//! Can be used to enable additional debugging printouts for developing the FSFW
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#define FSFW_PRINT_VERBOSITY_LEVEL 0
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//! Defines the FIFO depth of each commanding service base which
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//! also determines how many commands a CSB service can handle in one cycle
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@ -39,7 +38,10 @@
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//! When using the newlib nano library, C99 support for stdio facilities
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//! will not be provided. This define should be set to 1 if this is the case.
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#define FSFW_NO_C99_IO 1
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#define FSFW_NO_C99_IO 1
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//! Specify whether a special mode store is used for Subsystem components.
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#define FSFW_USE_MODESTORE 0
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namespace fsfwconfig {
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//! Default timestamp size. The default timestamp will be an eight byte CDC
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#include "CService201HealthCommanding.h"
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#include "../health/HasHealthIF.h"
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#include "../serviceinterface/ServiceInterfaceStream.h"
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#include "../health/HealthMessage.h"
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#include "servicepackets/Service201Packets.h"
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CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId,
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uint16_t apid, uint8_t serviceId, uint8_t numParallelCommands,
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uint16_t commandTimeoutSeconds):
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CommandingServiceBase(objectId, apid, serviceId,
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numParallelCommands, commandTimeoutSeconds) {
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}
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CService201HealthCommanding::~CService201HealthCommanding() {
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}
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ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
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switch(subservice) {
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case(Subservice::COMMAND_SET_HEALTH):
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case(Subservice::COMMAND_ANNOUNCE_HEALTH):
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case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
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return RETURN_OK;
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default:
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sif::error << "Invalid Subservice" << std::endl;
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return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
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}
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}
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ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
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MessageQueueId_t *id, object_id_t *objectId) {
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if(tcDataLen < sizeof(object_id_t)) {
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return CommandingServiceBase::INVALID_TC;
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}
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SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen,
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SerializeIF::Endianness::BIG);
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return checkInterfaceAndAcquireMessageQueue(id,objectId);
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}
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ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
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MessageQueueId_t* messageQueueToSet, object_id_t* objectId) {
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HasHealthIF * destination = objectManager->get<HasHealthIF>(*objectId);
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if(destination == nullptr) {
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return CommandingServiceBase::INVALID_OBJECT;
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}
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*messageQueueToSet = destination->getCommandQueue();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t CService201HealthCommanding::prepareCommand(
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CommandMessage* message, uint8_t subservice, const uint8_t *tcData,
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size_t tcDataLen, uint32_t *state, object_id_t objectId) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch(subservice) {
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case(Subservice::COMMAND_SET_HEALTH): {
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HealthSetCommand healthCommand;
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result = healthCommand.deSerialize(&tcData, &tcDataLen,
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SerializeIF::Endianness::BIG);
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if (result != RETURN_OK) {
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break;
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}
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HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
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healthCommand.getHealth());
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break;
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}
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case(Subservice::COMMAND_ANNOUNCE_HEALTH): {
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HealthMessage::setHealthMessage(message,
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HealthMessage::HEALTH_ANNOUNCE);
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break;
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}
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case(Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
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HealthMessage::setHealthMessage(message,
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HealthMessage::HEALTH_ANNOUNCE_ALL);
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break;
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}
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}
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return result;
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}
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ReturnValue_t CService201HealthCommanding::handleReply
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(const CommandMessage* reply, Command_t previousCommand,
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uint32_t *state, CommandMessage* optionalNextCommand,
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object_id_t objectId, bool *isStep) {
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Command_t replyId = reply->getCommand();
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if (replyId == HealthMessage::REPLY_HEALTH_SET) {
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return EXECUTION_COMPLETE;
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}
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else if(replyId == CommandMessageIF::REPLY_REJECTED) {
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return reply->getReplyRejectedReason();
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}
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return CommandingServiceBase::INVALID_REPLY;
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}
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// Not used for now, health state already reported by event
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ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
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const CommandMessage* reply) {
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prepareHealthSetReply(reply);
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uint8_t health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
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uint8_t oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
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HealthSetReply healthSetReply(health, oldHealth);
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return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
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}
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#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
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#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
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#include "../tmtcservices/CommandingServiceBase.h"
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/**
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* @brief Custom PUS service to set health of all objects
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* implementing hasHealthIF.
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*
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* Examples: Device Handlers, Assemblies or Subsystems.
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* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
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* Dissertation Baetz p. 115, 116, 165-167.
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*
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* This is a gateway service. It relays device commands using the software bus.
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* This service is very closely tied to the Commanding Service Base template
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* class. There is constant interaction between this Service Base und a
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* child class like this service
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*
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*/
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class CService201HealthCommanding: public CommandingServiceBase {
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public:
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CService201HealthCommanding(object_id_t objectId, uint16_t apid,
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uint8_t serviceId, uint8_t numParallelCommands = 4,
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uint16_t commandTimeoutSeconds = 60);
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virtual~ CService201HealthCommanding();
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protected:
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/* CSB abstract function implementations */
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ReturnValue_t isValidSubservice(uint8_t subservice) override;
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ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
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object_id_t *objectId) override;
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/** Prepare health command */
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ReturnValue_t prepareCommand(CommandMessage* message,
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
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uint32_t *state, object_id_t objectId) override;
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/** Handle health reply */
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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) override;
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private:
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ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
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const uint8_t* tcData, size_t tcDataLen);
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ReturnValue_t checkInterfaceAndAcquireMessageQueue(
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MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
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ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
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enum Subservice {
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//! [EXPORT] : [TC] Set health of target object
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COMMAND_SET_HEALTH = 1,
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//! [EXPORT] : [TM] Reply to health set command which also provides old health
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REPLY_HEALTH_SET = 2,
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//! [EXPORT] : [TC] Commands object to announce their health as an event
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COMMAND_ANNOUNCE_HEALTH = 3,
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//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
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COMMAND_ANNOUNCE_HEALTH_ALL = 4
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};
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};
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#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */
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