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added pus c support for tc

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This commit is contained in:
Robin Müller 2021-06-13 16:29:13 +02:00
parent 537a30a4de
commit d0f37b851b
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GPG Key ID: 71B58F8A3CDFA9AC
25 changed files with 667 additions and 488 deletions
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21
defaultcfg/fsfwconfig/FSFWConfig.h
View File

@ -7,29 +7,30 @@
//! Used to determine whether C++ ostreams are used which can increase
//! the binary size significantly. If this is disabled,
//! the C stdio functions can be used alternatively
#define FSFW_CPP_OSTREAM_ENABLED 1
#define FSFW_CPP_OSTREAM_ENABLED 1
//! More FSFW related printouts depending on level. Useful for development.
#define FSFW_VERBOSE_LEVEL 1
#define FSFW_VERBOSE_LEVEL 1
//! Can be used to completely disable printouts, even the C stdio ones.
#if FSFW_CPP_OSTREAM_ENABLED == 0 && FSFW_VERBOSE_LEVEL == 0
#define FSFW_DISABLE_PRINTOUT 0
#define FSFW_DISABLE_PRINTOUT 0
#endif
#define FSFW_USE_PUS_C_TELEMETRY 1
#define FSFW_USE_PUS_C_TELEMETRY 1
#define FSFW_USE_PUS_C_TELECOMMANDS 1
//! Can be used to disable the ANSI color sequences for C stdio.
#define FSFW_COLORED_OUTPUT 1
#define FSFW_COLORED_OUTPUT 1
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
#define FSFW_OBJ_EVENT_TRANSLATION 0
#define FSFW_OBJ_EVENT_TRANSLATION 0
#if FSFW_OBJ_EVENT_TRANSLATION == 1
//! Specify whether info events are printed too.
#define FSFW_DEBUG_INFO 1
#define FSFW_DEBUG_INFO 1
#include "objects/translateObjects.h"
#include "events/translateEvents.h"
#else
@ -37,17 +38,17 @@
//! When using the newlib nano library, C99 support for stdio facilities
//! will not be provided. This define should be set to 1 if this is the case.
#define FSFW_NO_C99_IO 1
#define FSFW_NO_C99_IO 1
//! Specify whether a special mode store is used for Subsystem components.
#define FSFW_USE_MODESTORE 0
#define FSFW_USE_MODESTORE 0
//! Defines if the real time scheduler for linux should be used.
//! If set to 0, this will also disable priority settings for linux
//! as most systems will not allow to set nice values without privileges
//! For embedded linux system set this to 1.
//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
#define FSFW_USE_REALTIME_FOR_LINUX 1
#define FSFW_USE_REALTIME_FOR_LINUX 1
namespace fsfwconfig {

11
tcdistribution/CMakeLists.txt
View File

@ -1,7 +1,6 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
CCSDSDistributor.cpp
PUSDistributor.cpp
TcDistributor.cpp
TcPacketCheck.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
CCSDSDistributor.cpp
PUSDistributor.cpp
TcDistributor.cpp
TcPacketCheck.cpp
)

7
tcdistribution/PUSDistributor.cpp
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@ -3,7 +3,6 @@
#include "../objectmanager/ObjectManager.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
#define PUS_DISTRIBUTOR_DEBUGGING 0
@ -119,7 +118,11 @@ uint16_t PUSDistributor::getIdentifier() {
}
ReturnValue_t PUSDistributor::initialize() {
currentPacket = new TcPacketStored();
#if FSFW_USE_PUS_C_TELECOMMANDS == 1
currentPacket = new TcPacketStoredPusC();
#else
currentPacket = new TcPacketStoredPusA();
#endif
if(currentPacket == nullptr) {
// Should not happen, memory allocation failed!
return ObjectManagerIF::CHILD_INIT_FAILED;

8
tcdistribution/PUSDistributor.h
View File

@ -5,6 +5,7 @@
#include "TcDistributor.h"
#include "TcPacketCheck.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
@ -51,7 +52,12 @@ protected:
/**
* The currently handled packet is stored here.
*/
TcPacketStored* currentPacket = nullptr;
#if FSFW_USE_PUS_C_TELECOMMANDS == 1
TcPacketStoredPusC* currentPacket = nullptr;
#else
TcPacketStoredPusA* currentPacket = nullptr;
#endif
/**
* With this variable, the current check status is stored to generate
* acceptance messages later.

58
tcdistribution/TcPacketCheck.cpp
View File

@ -1,39 +1,45 @@
#include "TcPacketCheck.h"
#include "../globalfunctions/CRC.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../tmtcpacket/pus/TcPacketBase.h"
#include "../tmtcpacket/pus/TcPacketStoredBase.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../tmtcservices/VerificationCodes.h"
TcPacketCheck::TcPacketCheck( uint16_t setApid ) : apid(setApid) {
TcPacketCheck::TcPacketCheck(uint16_t setApid): apid(setApid) {
}
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* currentPacket ) {
uint16_t calculated_crc = CRC::crc16ccitt( currentPacket->getWholeData(),
currentPacket->getFullSize() );
if ( calculated_crc != 0 ) {
return INCORRECT_CHECKSUM;
}
bool condition = (not currentPacket->hasSecondaryHeader()) or
(currentPacket->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
(not currentPacket->isTelecommand());
if ( condition ) {
return INCORRECT_PRIMARY_HEADER;
}
if ( currentPacket->getAPID() != this->apid )
return ILLEGAL_APID;
ReturnValue_t TcPacketCheck::checkPacket(TcPacketStoredBase* currentPacket) {
TcPacketBase* tcPacketBase = currentPacket->getPacketBase();
if(tcPacketBase == nullptr) {
return RETURN_FAILED;
}
uint16_t calculated_crc = CRC::crc16ccitt(tcPacketBase->getWholeData(),
tcPacketBase->getFullSize());
if (calculated_crc != 0) {
return INCORRECT_CHECKSUM;
}
bool condition = (not tcPacketBase->hasSecondaryHeader()) or
(tcPacketBase->getPacketVersionNumber() != CCSDS_VERSION_NUMBER) or
(not tcPacketBase->isTelecommand());
if (condition) {
return INCORRECT_PRIMARY_HEADER;
}
if (tcPacketBase->getAPID() != this->apid)
return ILLEGAL_APID;
if ( not currentPacket->isSizeCorrect() ) {
return INCOMPLETE_PACKET;
}
condition = (currentPacket->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(currentPacket->getPusVersionNumber() != PUS_VERSION_NUMBER);
if ( condition ) {
return INCORRECT_SECONDARY_HEADER;
}
return RETURN_OK;
if (not currentPacket->isSizeCorrect()) {
return INCOMPLETE_PACKET;
}
condition = (tcPacketBase->getSecondaryHeaderFlag() != CCSDS_SECONDARY_HEADER_FLAG) ||
(tcPacketBase->getPusVersionNumber() != PUS_VERSION_NUMBER);
if (condition) {
return INCORRECT_SECONDARY_HEADER;
}
return RETURN_OK;
}
uint16_t TcPacketCheck::getApid() const {
return apid;
return apid;
}

84
tcdistribution/TcPacketCheck.h
View File

@ -2,9 +2,10 @@
#define FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../tmtcpacket/pus/TcPacketStored.h"
#include "../tmtcservices/PusVerificationReport.h"
class TcPacketStoredBase;
/**
* This class performs a formal packet check for incoming PUS Telecommand Packets.
* Currently, it only checks if the APID and CRC are correct.
@ -12,49 +13,48 @@
*/
class TcPacketCheck : public HasReturnvaluesIF {
protected:
/**
* Describes the version number a packet must have to pass.
*/
static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
/**
* Describes the secondary header a packet must have to pass.
*/
static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
/**
* Describes the TC Packet PUS Version Number a packet must have to pass.
*/
static constexpr uint8_t PUS_VERSION_NUMBER = 1;
/**
* The packet id each correct packet should have.
* It is composed of the APID and some static fields.
*/
uint16_t apid;
/**
* Describes the version number a packet must have to pass.
*/
static constexpr uint8_t CCSDS_VERSION_NUMBER = 0;
/**
* Describes the secondary header a packet must have to pass.
*/
static constexpr uint8_t CCSDS_SECONDARY_HEADER_FLAG = 0;
/**
* Describes the TC Packet PUS Version Number a packet must have to pass.
*/
static constexpr uint8_t PUS_VERSION_NUMBER = 1;
/**
* The packet id each correct packet should have.
* It is composed of the APID and some static fields.
*/
uint16_t apid;
public:
static const uint8_t INTERFACE_ID = CLASS_ID::TC_PACKET_CHECK;
static const ReturnValue_t ILLEGAL_APID = MAKE_RETURN_CODE( 0 );
static const ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE( 1 );
static const ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE( 2 );
static const ReturnValue_t ILLEGAL_PACKET_TYPE = MAKE_RETURN_CODE( 3 );
static const ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE( 4 );
static const ReturnValue_t INCORRECT_PRIMARY_HEADER = MAKE_RETURN_CODE( 5 );
static const ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE( 6 );
/**
* The constructor only sets the APID attribute.
* @param set_apid The APID to set.
*/
TcPacketCheck( uint16_t setApid );
/**
* This is the actual method to formally check a certain Telecommand Packet.
* The packet's Application Data can not be checked here.
* @param current_packet The packt to check
* @return - @c RETURN_OK on success.
* - @c INCORRECT_CHECKSUM if checksum is invalid.
* - @c ILLEGAL_APID if APID does not match.
*/
ReturnValue_t checkPacket( TcPacketStored* currentPacket );
static const uint8_t INTERFACE_ID = CLASS_ID::TC_PACKET_CHECK;
static const ReturnValue_t ILLEGAL_APID = MAKE_RETURN_CODE( 0 );
static const ReturnValue_t INCOMPLETE_PACKET = MAKE_RETURN_CODE( 1 );
static const ReturnValue_t INCORRECT_CHECKSUM = MAKE_RETURN_CODE( 2 );
static const ReturnValue_t ILLEGAL_PACKET_TYPE = MAKE_RETURN_CODE( 3 );
static const ReturnValue_t ILLEGAL_PACKET_SUBTYPE = MAKE_RETURN_CODE( 4 );
static const ReturnValue_t INCORRECT_PRIMARY_HEADER = MAKE_RETURN_CODE( 5 );
static const ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE( 6 );
/**
* The constructor only sets the APID attribute.
* @param set_apid The APID to set.
*/
TcPacketCheck(uint16_t setApid);
/**
* This is the actual method to formally check a certain Telecommand Packet.
* The packet's Application Data can not be checked here.
* @param current_packet The packt to check
* @return - @c RETURN_OK on success.
* - @c INCORRECT_CHECKSUM if checksum is invalid.
* - @c ILLEGAL_APID if APID does not match.
*/
ReturnValue_t checkPacket(TcPacketStoredBase* currentPacket);
uint16_t getApid() const;
uint16_t getApid() const;
};
#endif /* FSFW_TCDISTRIBUTION_TCPACKETCHECK_H_ */

7
tmtcpacket/CMakeLists.txt
View File

@ -1,7 +1,6 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
SpacePacket.cpp
SpacePacketBase.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
SpacePacket.cpp
SpacePacketBase.cpp
)
add_subdirectory(packetmatcher)

25
tmtcpacket/pus/CMakeLists.txt
View File

@ -1,13 +1,14 @@
target_sources(${LIB_FSFW_NAME}
PRIVATE
TcPacketBase.cpp
TcPacketPusA.cpp
TcPacketStored.cpp
TmPacketBase.cpp
TmPacketMinimal.cpp
TmPacketStoredPusA.cpp
TmPacketStoredPusC.cpp
TmPacketPusA.cpp
TmPacketPusC.cpp
TmPacketStoredBase.cpp
target_sources(${LIB_FSFW_NAME} PRIVATE
TcPacketBase.cpp
TcPacketPusA.cpp
TcPacketStoredBase.cpp
TcPacketStoredPusA.cpp
TmPacketBase.cpp
TmPacketMinimal.cpp
TmPacketStoredPusA.cpp
TmPacketStoredPusC.cpp
TmPacketPusA.cpp
TmPacketPusC.cpp
TmPacketStoredBase.cpp
)

82
tmtcpacket/pus/TcPacketBase.cpp
View File

@ -2,87 +2,19 @@
#include "../../globalfunctions/CRC.h"
#include "../../globalfunctions/arrayprinter.h"
#include "../../serviceinterface/ServiceInterfaceStream.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <cstring>
TcPacketBase::TcPacketBase(const uint8_t* setData) :
SpacePacketBase(setData) {
tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
}
TcPacketBase::TcPacketBase(const uint8_t* setData): SpacePacketBase(setData) {}
TcPacketBase::~TcPacketBase() {
//Nothing to do.
}
uint8_t TcPacketBase::getService() {
return tcData->dataField.service_type;
}
uint8_t TcPacketBase::getSubService() {
return tcData->dataField.service_subtype;
}
uint8_t TcPacketBase::getAcknowledgeFlags() {
return tcData->dataField.version_type_ack & 0b00001111;
}
const uint8_t* TcPacketBase::getApplicationData() const {
return &tcData->appData;
}
uint16_t TcPacketBase::getApplicationDataSize() {
return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
}
uint16_t TcPacketBase::getErrorControl() {
uint16_t size = getApplicationDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tcData->appData;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
void TcPacketBase::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize();
(&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->appData)[size + 1] = (crc) & 0X00FF; // CRCL
}
void TcPacketBase::setData(const uint8_t* pData) {
SpacePacketBase::setData(pData);
tcData = (TcPacketPointer*) pData;
}
uint8_t TcPacketBase::getSecondaryHeaderFlag() {
return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
}
uint8_t TcPacketBase::getPusVersionNumber() {
return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
}
TcPacketBase::~TcPacketBase() {}
void TcPacketBase::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "TcPacketBase::print: " << std::endl;
sif::info << "TcPacketBase::print:" << std::endl;
#else
sif::printInfo("TcPacketBase::print:\n");
#endif
arrayprinter::print(getWholeData(), getFullSize());
}
void TcPacketBase::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
uint8_t ack, uint8_t service, uint8_t subservice) {
initSpacePacketHeader(true, true, apid, sequenceCount);
std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
//Data Field Header:
//Set CCSDS_secondary_header_flag to 0 and version number to 001
tcData->dataField.version_type_ack = 0b00010000;
tcData->dataField.version_type_ack |= (ack & 0x0F);
tcData->dataField.service_type = service;
tcData->dataField.service_subtype = subservice;
}
size_t TcPacketBase::calculateFullPacketLength(size_t appDataLen) {
return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
appDataLen + TcPacketBase::CRC_SIZE;
arrayprinter::print(getWholeData(), getFullSize());
}

53
tmtcpacket/pus/TcPacketBase.h
View File

@ -16,9 +16,8 @@
* @ingroup tmtcpackets
*/
class TcPacketBase : public SpacePacketBase {
friend class TcPacketStoredBase;
public:
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTcDataFieldHeader) + 2);
enum AckField {
//! No acknowledgements are expected.
@ -54,7 +53,7 @@ public:
* highest bit of the first byte of the Data Field Header.
* @return the CCSDS Secondary Header Flag
*/
uint8_t getSecondaryHeaderFlag();
virtual uint8_t getSecondaryHeaderFlag() = 0;
/**
* This command returns the TC Packet PUS Version Number.
* The version number of ECSS PUS 2003 is 1.
@ -62,7 +61,7 @@ public:
* first byte.
* @return
*/
uint8_t getPusVersionNumber();
virtual uint8_t getPusVersionNumber() = 0;
/**
* This is a getter for the packet's Ack field, which are the lowest four
* bits of the first byte of the Data Field Header.
@ -70,19 +69,19 @@ public:
* It is packed in a uint8_t variable.
* @return The packet's PUS Ack field.
*/
uint8_t getAcknowledgeFlags();
virtual uint8_t getAcknowledgeFlags() = 0;
/**
* This is a getter for the packet's PUS Service ID, which is the second
* byte of the Data Field Header.
* @return The packet's PUS Service ID.
*/
uint8_t getService();
virtual uint8_t getService() const = 0;
/**
* This is a getter for the packet's PUS Service Subtype, which is the
* third byte of the Data Field Header.
* @return The packet's PUS Service Subtype.
*/
uint8_t getSubService();
virtual uint8_t getSubService() = 0;
/**
* This is a getter for a pointer to the packet's Application data.
*
@ -90,7 +89,7 @@ public:
* the packet's application data.
* @return A pointer to the PUS Application Data.
*/
const uint8_t* getApplicationData() const;
virtual const uint8_t* getApplicationData() const = 0;
/**
* This method calculates the size of the PUS Application data field.
*
@ -99,7 +98,7 @@ public:
* @return The size of the PUS Application Data (without Error Control
* field)
*/
uint16_t getApplicationDataSize();
virtual uint16_t getApplicationDataSize() = 0;
/**
* This getter returns the Error Control Field of the packet.
*
@ -108,44 +107,26 @@ public:
* supposed to be a 16bit-CRC.
* @return The PUS Error Control
*/
uint16_t getErrorControl();
virtual uint16_t getErrorControl() = 0;
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet.
*/
void setErrorControl();
virtual void setErrorControl() = 0;
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Calculate full packet length from application data length.
* @param appDataLen
* @return
*/
static size_t calculateFullPacketLength(size_t appDataLen);
virtual size_t calculateFullPacketLength(size_t appDataLen) = 0;
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData;
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
uint8_t service, uint8_t subservice);
/**
* With this method, the packet data pointer can be redirected to another
@ -155,7 +136,7 @@ protected:
*
* @param p_data A pointer to another PUS Telecommand Packet.
*/
void setData( const uint8_t* pData );
void setData( const uint8_t* pData ) = 0;
};

72
tmtcpacket/pus/TcPacketPusA.cpp
View File

@ -1,3 +1,75 @@
#include "TcPacketPusA.h"
#include "../../globalfunctions/CRC.h"
#include <cstring>
TcPacketPusA::TcPacketPusA(const uint8_t *setData): TcPacketBase(setData) {
tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(setData));
}
uint8_t TcPacketPusA::getService() const {
return tcData->dataField.service_type;
}
uint8_t TcPacketPusA::getSubService() {
return tcData->dataField.service_subtype;
}
uint8_t TcPacketPusA::getAcknowledgeFlags() {
return tcData->dataField.version_type_ack & 0b00001111;
}
const uint8_t* TcPacketPusA::getApplicationData() const {
return &tcData->appData;
}
uint16_t TcPacketPusA::getApplicationDataSize() {
return getPacketDataLength() - sizeof(tcData->dataField) - CRC_SIZE + 1;
}
uint16_t TcPacketPusA::getErrorControl() {
uint16_t size = getApplicationDataSize() + CRC_SIZE;
uint8_t* p_to_buffer = &tcData->appData;
return (p_to_buffer[size - 2] << 8) + p_to_buffer[size - 1];
}
void TcPacketPusA::setErrorControl() {
uint32_t full_size = getFullSize();
uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize();
(&tcData->appData)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->appData)[size + 1] = (crc) & 0X00FF; // CRCL
}
void TcPacketPusA::setData(const uint8_t* pData) {
SpacePacketBase::setData(pData);
// This function is const-correct, but it was decided to keep the pointer non-const
// for convenience. Therefore, cast aways constness here and then cast to packet type.
tcData = reinterpret_cast<TcPacketPointer*>(const_cast<uint8_t*>(pData));
}
uint8_t TcPacketPusA::getSecondaryHeaderFlag() {
return (tcData->dataField.version_type_ack & 0b10000000) >> 7;
}
uint8_t TcPacketPusA::getPusVersionNumber() {
return (tcData->dataField.version_type_ack & 0b01110000) >> 4;
}
void TcPacketPusA::initializeTcPacket(uint16_t apid, uint16_t sequenceCount,
uint8_t ack, uint8_t service, uint8_t subservice) {
initSpacePacketHeader(true, true, apid, sequenceCount);
std::memset(&tcData->dataField, 0, sizeof(tcData->dataField));
setPacketDataLength(sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
// Data Field Header:
// Set CCSDS_secondary_header_flag to 0 and version number to 001
tcData->dataField.version_type_ack = 0b00010000;
tcData->dataField.version_type_ack |= (ack & 0x0F);
tcData->dataField.service_type = service;
tcData->dataField.service_subtype = subservice;
}
size_t TcPacketPusA::calculateFullPacketLength(size_t appDataLen) {
return sizeof(CCSDSPrimaryHeader) + sizeof(PUSTcDataFieldHeader) +
appDataLen + TcPacketBase::CRC_SIZE;
}

47
tmtcpacket/pus/TcPacketPusA.h
View File

@ -1,7 +1,7 @@
#ifndef FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
#define FSFW_TMTCPACKET_PUS_TCPACKETPUSA_H_
#include "ccsds_header.h"
#include "../ccsds_header.h"
#include "TcPacketBase.h"
#include <cstdint>
@ -33,7 +33,50 @@ struct TcPacketPointer {
class TcPacketPusA: public TcPacketBase {
public:
private:
static const uint16_t TC_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) +
sizeof(PUSTcDataFieldHeader) + 2);
/**
* Initialize a PUS A telecommand packet which already exists. You can also
* create an empty (invalid) object by passing nullptr as the data pointer
* @param setData
*/
TcPacketPusA(const uint8_t* setData);
// Base class overrides
virtual uint8_t getSecondaryHeaderFlag() override;
virtual uint8_t getPusVersionNumber() override;
virtual uint8_t getAcknowledgeFlags() override;
virtual uint8_t getService() const override;
virtual uint8_t getSubService() override;
const uint8_t* getApplicationData() const override;
uint16_t getApplicationDataSize() override;
uint16_t getErrorControl() override;
void setErrorControl() override;
size_t calculateFullPacketLength(size_t appDataLen) override;
protected:
void setData(const uint8_t* pData) override;
/**
* Initializes the Tc Packet header.
* @param apid APID used.
* @param sequenceCount Sequence Count in the primary header.
* @param ack Which acknowledeges are expected from the receiver.
* @param service PUS Service
* @param subservice PUS Subservice
*/
void initializeTcPacket(uint16_t apid, uint16_t sequenceCount, uint8_t ack,
uint8_t service, uint8_t subservice);
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TcPacketPointer* tcData = nullptr;
};

124
tmtcpacket/pus/TcPacketStored.cpp
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@ -1,124 +0,0 @@
#include "TcPacketStored.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
#include <cstring>
StorageManagerIF* TcPacketStored::store = nullptr;
TcPacketStored::TcPacketStored(store_address_t setAddress) :
TcPacketBase(nullptr), storeAddress(setAddress) {
setStoreAddress(storeAddress);
}
TcPacketStored::TcPacketStored(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
size_t size, uint8_t ack) :
TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (not this->checkAndSetStore()) {
return;
}
uint8_t* pData = nullptr;
ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
(TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->store->RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcPacketStored: Could not get free element from store!"
<< std::endl;
#endif
return;
}
this->setData(pData);
initializeTcPacket(apid, sequenceCount, ack, service, subservice);
memcpy(&tcData->appData, data, size);
this->setPacketDataLength(
size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
this->setErrorControl();
}
ReturnValue_t TcPacketStored::getData(const uint8_t ** dataPtr,
size_t* dataSize) {
auto result = this->store->getData(storeAddress, dataPtr, dataSize);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcPacketStored: Could not get data!" << std::endl;
#endif
}
return result;
}
TcPacketStored::TcPacketStored(): TcPacketBase(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->checkAndSetStore();
}
ReturnValue_t TcPacketStored::deletePacket() {
ReturnValue_t result = this->store->deleteData(this->storeAddress);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->setData(nullptr);
return result;
}
bool TcPacketStored::checkAndSetStore() {
if (this->store == nullptr) {
this->store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcPacketStored::TcPacketStored: TC Store not found!"
<< std::endl;
#endif
return false;
}
}
return true;
}
void TcPacketStored::setStoreAddress(store_address_t setAddress) {
this->storeAddress = setAddress;
const uint8_t* tempData = nullptr;
size_t temp_size;
ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
if (this->checkAndSetStore()) {
status = this->store->getData(this->storeAddress, &tempData,
&temp_size);
}
if (status == StorageManagerIF::RETURN_OK) {
this->setData(tempData);
} else {
this->setData(nullptr);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
store_address_t TcPacketStored::getStoreAddress() {
return this->storeAddress;
}
bool TcPacketStored::isSizeCorrect() {
const uint8_t* temp_data = nullptr;
size_t temp_size;
ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
&temp_size);
if (status == StorageManagerIF::RETURN_OK) {
if (this->getFullSize() == temp_size) {
return true;
}
}
return false;
}
TcPacketStored::TcPacketStored(const uint8_t* data, uint32_t size) :
TcPacketBase(data) {
if (getFullSize() != size) {
return;
}
if (this->checkAndSetStore()) {
ReturnValue_t status = store->addData(&storeAddress, data, size);
if (status != HasReturnvaluesIF::RETURN_OK) {
this->setData(nullptr);
}
}
}

122
tmtcpacket/pus/TcPacketStored.h
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@ -1,117 +1,13 @@
#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
#define TMTCPACKET_PUS_TCPACKETSTORED_H_
#ifndef FSFW_TMTCPACKET_PUS_TCPACKETSTORED_H_
#define FSFW_TMTCPACKET_PUS_TCPACKETSTORED_H_
#include "TcPacketBase.h"
#include "../../storagemanager/StorageManagerIF.h"
#include <FSFWConfig.h>
/**
* This class generates a ECSS PUS Telecommand packet within a given
* intermediate storage.
* As most packets are passed between tasks with the help of a storage
* anyway, it seems logical to create a Packet-In-Storage access class
* which saves the user almost all storage handling operation.
* Packets can both be newly created with the class and be "linked" to
* packets in a store with the help of a storeAddress.
* @ingroup tmtcpackets
*/
class TcPacketStored : public TcPacketBase {
public:
/**
* This is a default constructor which does not set the data pointer.
* However, it does try to set the packet store.
*/
TcPacketStored();
/**
* With this constructor, the class instance is linked to an existing
* packet in the packet store.
* The packet content is neither checked nor changed with this call. If
* the packet could not be found, the data pointer is set to NULL.
*/
TcPacketStored( store_address_t setAddress );
/**
* With this constructor, new space is allocated in the packet store and
* a new PUS Telecommand Packet is created there.
* Packet Application Data passed in data is copied into the packet.
* @param apid Sets the packet's APID field.
* @param service Sets the packet's Service ID field.
* This specifies the destination service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* @param data The data to be copied to the Application Data Field.
* @param size The amount of data to be copied.
* @param ack Set's the packet's Ack field, which specifies
* number of verification packets returned
* for this command.
*/
TcPacketStored(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t sequence_count = 0, const uint8_t* data = nullptr,
size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
/**
* Another constructor to create a TcPacket from a raw packet stream.
* Takes the data and adds it unchecked to the TcStore.
* @param data Pointer to the complete TC Space Packet.
* @param Size size of the packet.
*/
TcPacketStored( const uint8_t* data, uint32_t size);
/**
* Getter function for the raw data.
* @param dataPtr [out] Pointer to the data pointer to set
* @param dataSize [out] Address of size to set.
* @return -@c RETURN_OK if data was retrieved successfully.
*/
ReturnValue_t getData(const uint8_t ** dataPtr,
size_t* dataSize);
/**
* This is a getter for the current store address of the packet.
* @return The current store address. The (raw) value is
* @c StorageManagerIF::INVALID_ADDRESS if the packet is not linked.
*/
store_address_t getStoreAddress();
/**
* With this call, the packet is deleted.
* It removes itself from the store and sets its data pointer to NULL.
* @return returncode from deleting the data.
*/
ReturnValue_t deletePacket();
/**
* With this call, a packet can be linked to another store. This is useful
* if the packet is a class member and used for more than one packet.
* @param setAddress The new packet id to link to.
*/
void setStoreAddress( store_address_t setAddress );
/**
* This method performs a size check.
* It reads the stored size and compares it with the size entered in the
* packet header. This class is the optimal place for such a check as it
* has access to both the header data and the store.
* @return true if size is correct, false if packet is not registered in
* store or size is incorrect.
*/
bool isSizeCorrect();
private:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
};
#if FSFW_USE_PUS_C_TELECOMMANDS == 1
#include "TcPacketStoredPusC.h"
#else
#include "TcPacketStoredPusA.h"
#endif
#endif /* TMTCPACKET_PUS_TCPACKETSTORED_H_ */
#endif /* FSFW_TMTCPACKET_PUS_TCPACKETSTORED_H_ */

72
tmtcpacket/pus/TcPacketStoredBase.cpp Normal file
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@ -0,0 +1,72 @@
#include "TcPacketStoredBase.h"
#include "../../objectmanager/ObjectManager.h"
#include "../../serviceinterface/ServiceInterface.h"
#include "../../objectmanager/frameworkObjects.h"
#include <cstring>
StorageManagerIF* TcPacketStoredBase::store = nullptr;
TcPacketStoredBase::TcPacketStoredBase() {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->checkAndSetStore();
}
TcPacketStoredBase::~TcPacketStoredBase() {
}
ReturnValue_t TcPacketStoredBase::getData(const uint8_t ** dataPtr,
size_t* dataSize) {
auto result = this->store->getData(storeAddress, dataPtr, dataSize);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcPacketStoredBase: Could not get data!" << std::endl;
#else
sif::printWarning("TcPacketStoredBase: Could not get data!\n");
#endif
}
return result;
}
bool TcPacketStoredBase::checkAndSetStore() {
if (this->store == nullptr) {
this->store = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (this->store == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TcPacketStoredBase::TcPacketStoredBase: TC Store not found!"
<< std::endl;
#endif
return false;
}
}
return true;
}
void TcPacketStoredBase::setStoreAddress(store_address_t setAddress) {
this->storeAddress = setAddress;
const uint8_t* tempData = nullptr;
size_t tempSize;
ReturnValue_t status = StorageManagerIF::RETURN_FAILED;
if (this->checkAndSetStore()) {
status = this->store->getData(this->storeAddress, &tempData, &tempSize);
}
TcPacketBase* tcPacketBase = this->getPacketBase();
if(tcPacketBase == nullptr) {
return;
}
if (status == StorageManagerIF::RETURN_OK) {
tcPacketBase->setData(tempData);
}
else {
tcPacketBase->setData(nullptr);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
}
}
store_address_t TcPacketStoredBase::getStoreAddress() {
return this->storeAddress;
}

90
tmtcpacket/pus/TcPacketStoredBase.h Normal file
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@ -0,0 +1,90 @@
#ifndef TMTCPACKET_PUS_TCPACKETSTORED_H_
#define TMTCPACKET_PUS_TCPACKETSTORED_H_
#include <fsfw/tmtcpacket/pus/TcPacketStoredIF.h>
#include "../../storagemanager/StorageManagerIF.h"
/**
* This class generates a ECSS PUS Telecommand packet within a given
* intermediate storage.
* As most packets are passed between tasks with the help of a storage
* anyway, it seems logical to create a Packet-In-Storage access class
* which saves the user almost all storage handling operation.
* Packets can both be newly created with the class and be "linked" to
* packets in a store with the help of a storeAddress.
* @ingroup tmtcpackets
*/
class TcPacketStoredBase: public TcPacketStoredIF {
public:
/**
* This is a default constructor which does not set the data pointer to initialize
* with an empty cached store address
*/
TcPacketStoredBase();
/**
* Constructor to set to an existing store address.
* @param setAddress
*/
TcPacketStoredBase(store_address_t setAddress);
/**
* Another constructor to create a TcPacket from a raw packet stream.
* Takes the data and adds it unchecked to the TcStore.
* @param data Pointer to the complete TC Space Packet.
* @param Size size of the packet.
*/
TcPacketStoredBase(const uint8_t* data, uint32_t size);
virtual~ TcPacketStoredBase();
/**
* Getter function for the raw data.
* @param dataPtr [out] Pointer to the data pointer to set
* @param dataSize [out] Address of size to set.
* @return -@c RETURN_OK if data was retrieved successfully.
*/
ReturnValue_t getData(const uint8_t ** dataPtr, size_t* dataSize) override;
void setStoreAddress(store_address_t setAddress) override;
store_address_t getStoreAddress() override;
/**
* With this call, the packet is deleted.
* It removes itself from the store and sets its data pointer to NULL.
* @return returncode from deleting the data.
*/
virtual ReturnValue_t deletePacket() = 0;
/**
* This method performs a size check.
* It reads the stored size and compares it with the size entered in the
* packet header. This class is the optimal place for such a check as it
* has access to both the header data and the store.
* @return true if size is correct, false if packet is not registered in
* store or size is incorrect.
*/
virtual bool isSizeCorrect() = 0;
protected:
/**
* This is a pointer to the store all instances of the class use.
* If the store is not yet set (i.e. @c store is NULL), every constructor
* call tries to set it and throws an error message in case of failures.
* The default store is objects::TC_STORE.
*/
static StorageManagerIF* store;
/**
* The address where the packet data of the object instance is stored.
*/
store_address_t storeAddress;
/**
* A helper method to check if a store is assigned to the class.
* If not, the method tries to retrieve the store from the global
* ObjectManager.
* @return @li @c true if the store is linked or could be created.
* @li @c false otherwise.
*/
bool checkAndSetStore();
};
#endif /* TMTCPACKET_PUS_TcPacketStoredBase_H_ */

38
tmtcpacket/pus/TcPacketStoredIF.h Normal file
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@ -0,0 +1,38 @@
#ifndef FSFW_TMTCPACKET_PUS_TCPACKETSTOREDIF_H_
#define FSFW_TMTCPACKET_PUS_TCPACKETSTOREDIF_H_
#include "../../tmtcpacket/pus/TcPacketBase.h"
#include "../../storagemanager/storeAddress.h"
#include "../../returnvalues/HasReturnvaluesIF.h"
class TcPacketStoredIF {
public:
virtual~TcPacketStoredIF() {};
/**
* With this call, the stored packet can be set to another packet in a store. This is useful
* if the packet is a class member and used for more than one packet.
* @param setAddress The new packet id to link to.
*/
virtual void setStoreAddress(store_address_t setAddress) = 0;
virtual store_address_t getStoreAddress() = 0;
/**
* Getter function for the raw data.
* @param dataPtr [out] Pointer to the data pointer to set
* @param dataSize [out] Address of size to set.
* @return -@c RETURN_OK if data was retrieved successfully.
*/
virtual ReturnValue_t getData(const uint8_t ** dataPtr, size_t* dataSize) = 0;
/**
* Get packet base pointer which can be used to get access to PUS packet fields
* @return
*/
virtual TcPacketBase* getPacketBase() = 0;
};
#endif /* FSFW_TMTCPACKET_PUS_TCPACKETSTOREDIF_H_ */

77
tmtcpacket/pus/TcPacketStoredPusA.cpp Normal file
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@ -0,0 +1,77 @@
#include "TcPacketStoredPusA.h"
#include <cstring>
TcPacketStoredPusA::TcPacketStoredPusA(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t sequenceCount, const uint8_t* data,
size_t size, uint8_t ack) :
TcPacketPusA(nullptr) {
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
if (not this->checkAndSetStore()) {
return;
}
uint8_t* pData = nullptr;
ReturnValue_t returnValue = this->store->getFreeElement(&this->storeAddress,
(TC_PACKET_MIN_SIZE + size), &pData);
if (returnValue != this->store->RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "TcPacketStoredBase: Could not get free element from store!"
<< std::endl;
#endif
return;
}
this->setData(pData);
initializeTcPacket(apid, sequenceCount, ack, service, subservice);
std::memcpy(&tcData->appData, data, size);
this->setPacketDataLength(
size + sizeof(PUSTcDataFieldHeader) + CRC_SIZE - 1);
this->setErrorControl();
}
TcPacketStoredPusA::TcPacketStoredPusA(): TcPacketStoredBase(), TcPacketPusA(nullptr) {
}
TcPacketStoredPusA::TcPacketStoredPusA(store_address_t setAddress): TcPacketPusA(nullptr) {
TcPacketStoredBase::setStoreAddress(setAddress);
}
TcPacketStoredPusA::TcPacketStoredPusA(const uint8_t* data, size_t size): TcPacketPusA(data) {
if (this->getFullSize() != size) {
return;
}
if (this->checkAndSetStore()) {
ReturnValue_t status = store->addData(&storeAddress, data, size);
if (status != HasReturnvaluesIF::RETURN_OK) {
this->setData(nullptr);
}
const uint8_t* storePtr = nullptr;
// Repoint base data pointer to the data in the store.
store->getData(storeAddress, &storePtr, &size);
this->setData(storePtr);
}
}
ReturnValue_t TcPacketStoredPusA::deletePacket() {
ReturnValue_t result = this->store->deleteData(this->storeAddress);
this->storeAddress.raw = StorageManagerIF::INVALID_ADDRESS;
this->setData(nullptr);
return result;
}
TcPacketBase* TcPacketStoredPusA::getPacketBase() {
return this;
}
bool TcPacketStoredPusA::isSizeCorrect() {
const uint8_t* temp_data = nullptr;
size_t temp_size;
ReturnValue_t status = this->store->getData(this->storeAddress, &temp_data,
&temp_size);
if (status == StorageManagerIF::RETURN_OK) {
if (this->getFullSize() == temp_size) {
return true;
}
}
return false;
}

53
tmtcpacket/pus/TcPacketStoredPusA.h Normal file
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@ -0,0 +1,53 @@
#ifndef FSFW_TMTCPACKET_PUS_TCPACKETSTOREDPUSA_H_
#define FSFW_TMTCPACKET_PUS_TCPACKETSTOREDPUSA_H_
#include "TcPacketStoredBase.h"
#include "TcPacketPusA.h"
class TcPacketStoredPusA:
public TcPacketStoredBase,
public TcPacketPusA {
public:
/**
* With this constructor, new space is allocated in the packet store and
* a new PUS Telecommand Packet is created there.
* Packet Application Data passed in data is copied into the packet.
* @param apid Sets the packet's APID field.
* @param service Sets the packet's Service ID field.
* This specifies the destination service.
* @param subservice Sets the packet's Service Subtype field.
* This specifies the destination sub-service.
* @param sequence_count Sets the packet's Source Sequence Count field.
* @param data The data to be copied to the Application Data Field.
* @param size The amount of data to be copied.
* @param ack Set's the packet's Ack field, which specifies
* number of verification packets returned
* for this command.
*/
TcPacketStoredPusA(uint16_t apid, uint8_t service, uint8_t subservice,
uint8_t sequence_count = 0, const uint8_t* data = nullptr,
size_t size = 0, uint8_t ack = TcPacketBase::ACK_ALL);
/**
* Create stored packet with existing data.
* @param data
* @param size
*/
TcPacketStoredPusA(const uint8_t* data, size_t size);
/**
* Create stored packet from existing packet in store
* @param setAddress
*/
TcPacketStoredPusA(store_address_t setAddress);
TcPacketStoredPusA();
ReturnValue_t deletePacket() override;
TcPacketBase* getPacketBase() override;
private:
bool isSizeCorrect() override;
};
#endif /* FSFW_TMTCPACKET_PUS_TCPACKETSTOREDPUSA_H_ */

10
tmtcpacket/pus/TcPacketStoredPusC.cpp Normal file
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@ -0,0 +1,10 @@
/*
* TcPacketStoredPusC.cpp
*
* Created on: Jun 13, 2021
* Author: rmueller
*/

15
tmtcpacket/pus/TmPacketBase.cpp
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@ -44,13 +44,6 @@ ReturnValue_t TmPacketBase::getPacketTime(timeval* timestamp) const {
&tempSize, getTimestampSize());
}
void TmPacketBase::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "TmPacketBase::print: " << std::endl;
#endif
arrayprinter::print(getWholeData(), getFullSize());
}
bool TmPacketBase::checkAndSetStamper() {
if (timeStamper == NULL) {
timeStamper = ObjectManager::instance()->get<TimeStamperIF>(timeStamperId);
@ -66,3 +59,11 @@ bool TmPacketBase::checkAndSetStamper() {
return true;
}
void TmPacketBase::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "TmPacketBase::print:" << std::endl;
#else
sif::printInfo("TmPacketBase::print:\n");
#endif
arrayprinter::print(getWholeData(), getFullSize());
}

44
tmtcservices/CommandingServiceBase.cpp
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@ -246,7 +246,11 @@ void CommandingServiceBase::handleRequestQueue() {
TmTcMessage message;
ReturnValue_t result;
store_address_t address;
TcPacketStored packet;
#if FSFW_USE_PUS_C_TELECOMMANDS == 1
TcPacketStoredPusC packet;
#else
TcPacketStoredPusA packet;
#endif
MessageQueueId_t queue;
object_id_t objectId;
for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
@ -351,14 +355,18 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
}
void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
void CommandingServiceBase::startExecution(TcPacketStoredBase *storedPacket,
CommandMapIter iter) {
ReturnValue_t result = RETURN_OK;
CommandMessage command;
iter->second.subservice = storedPacket->getSubService();
TcPacketBase* tcPacketBase = storedPacket->getPacketBase();
if(tcPacketBase == nullptr) {
return;
}
iter->second.subservice = tcPacketBase->getSubService();
result = prepareCommand(&command, iter->second.subservice,
storedPacket->getApplicationData(),
storedPacket->getApplicationDataSize(), &iter->second.state,
tcPacketBase->getApplicationData(),
tcPacketBase->getApplicationDataSize(), &iter->second.state,
iter->second.objectId);
ReturnValue_t sendResult = RETURN_OK;
@ -371,12 +379,12 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
if (sendResult == RETURN_OK) {
Clock::getUptime(&iter->second.uptimeOfStart);
iter->second.step = 0;
iter->second.subservice = storedPacket->getSubService();
iter->second.subservice = tcPacketBase->getSubService();
iter->second.command = command.getCommand();
iter->second.tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
iter->second.tcInfo.ackFlags = tcPacketBase->getAcknowledgeFlags();
iter->second.tcInfo.tcPacketId = tcPacketBase->getPacketId();
iter->second.tcInfo.tcSequenceControl =
storedPacket->getPacketSequenceControl();
tcPacketBase->getPacketSequenceControl();
acceptPacket(tc_verification::START_SUCCESS, storedPacket);
} else {
command.clearCommandMessage();
@ -392,7 +400,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
}
if (sendResult == RETURN_OK) {
verificationReporter.sendSuccessReport(tc_verification::START_SUCCESS,
storedPacket);
storedPacket->getPacketBase());
acceptPacket(tc_verification::COMPLETION_SUCCESS, storedPacket);
checkAndExecuteFifo(iter);
} else {
@ -409,16 +417,16 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
}
void CommandingServiceBase::rejectPacket(uint8_t report_id,
TcPacketStored* packet, ReturnValue_t error_code) {
verificationReporter.sendFailureReport(report_id, packet, error_code);
void CommandingServiceBase::rejectPacket(uint8_t reportId,
TcPacketStoredBase* packet, ReturnValue_t errorCode) {
verificationReporter.sendFailureReport(reportId, packet->getPacketBase(), errorCode);
packet->deletePacket();
}
void CommandingServiceBase::acceptPacket(uint8_t reportId,
TcPacketStored* packet) {
verificationReporter.sendSuccessReport(reportId, packet);
TcPacketStoredBase* packet) {
verificationReporter.sendSuccessReport(reportId, packet->getPacketBase());
packet->deletePacket();
}
@ -428,7 +436,11 @@ void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
commandMap.erase(&iter);
} else {
TcPacketStored newPacket(address);
#if FSFW_USE_PUS_C_TELECOMMANDS == 1
TcPacketStoredPusC newPacket(address);
#else
TcPacketStoredPusA newPacket(address);
#endif
startExecution(&newPacket, iter);
}
}

7
tmtcservices/CommandingServiceBase.h
View File

@ -1,6 +1,7 @@
#ifndef FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#define FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#include <fsfw/tmtcpacket/pus/TcPacketStoredBase.h>
#include "AcceptsTelecommandsIF.h"
#include "VerificationReporter.h"
@ -351,12 +352,12 @@ private:
*/
void handleRequestQueue();
void rejectPacket(uint8_t reportId, TcPacketStored* packet,
void rejectPacket(uint8_t reportId, TcPacketStoredBase* packet,
ReturnValue_t errorCode);
void acceptPacket(uint8_t reportId, TcPacketStored* packet);
void acceptPacket(uint8_t reportId, TcPacketStoredBase* packet);
void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
void startExecution(TcPacketStoredBase *storedPacket, CommandMapIter iter);
void handleCommandMessage(CommandMessage* reply);
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,

6
tmtcservices/PusServiceBase.h
View File

@ -141,7 +141,11 @@ protected:
* The current Telecommand to be processed.
* It is deleted after handleRequest was executed.
*/
TcPacketStored currentPacket;
#if FSFW_USE_PUS_C_TELECOMMANDS == 1
TcPacketStoredPusC currentPacket;
#else
TcPacketStoredPusA currentPacket;
#endif
static object_id_t packetSource;

22
tmtcservices/VerificationReporter.cpp
View File

@ -17,14 +17,17 @@ VerificationReporter::VerificationReporter() :
VerificationReporter::~VerificationReporter() {}
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
TcPacketBase* current_packet, uint8_t set_step) {
TcPacketBase* currentPacket, uint8_t set_step) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
if(currentPacket == nullptr) {
return;
}
PusVerificationMessage message(set_report_id,
current_packet->getAcknowledgeFlags(),
current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), 0, set_step);
currentPacket->getAcknowledgeFlags(),
currentPacket->getPacketId(),
currentPacket->getPacketSequenceControl(), 0, set_step);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);
if (status != HasReturnvaluesIF::RETURN_OK) {
@ -56,15 +59,18 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
}
void VerificationReporter::sendFailureReport(uint8_t report_id,
TcPacketBase* current_packet, ReturnValue_t error_code, uint8_t step,
TcPacketBase* currentPacket, ReturnValue_t error_code, uint8_t step,
uint32_t parameter1, uint32_t parameter2) {
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
this->initialize();
}
if(currentPacket == nullptr) {
return;
}
PusVerificationMessage message(report_id,
current_packet->getAcknowledgeFlags(),
current_packet->getPacketId(),
current_packet->getPacketSequenceControl(), error_code, step,
currentPacket->getAcknowledgeFlags(),
currentPacket->getPacketId(),
currentPacket->getPacketSequenceControl(), error_code, step,
parameter1, parameter2);
ReturnValue_t status = MessageQueueSenderIF::sendMessage(acknowledgeQueue,
&message);