Merge pull request 'move CFDP handler' (#142) from move_cfdp_handler into develop
Reviewed-on: #142
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commit
ffa2fa477f
@ -2,7 +2,6 @@
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#define FSFW_CFDP_H
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#include "cfdp/definitions.h"
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#include "cfdp/handler/CfdpHandler.h"
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#include "cfdp/handler/DestHandler.h"
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#include "cfdp/handler/FaultHandlerBase.h"
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#include "cfdp/helpers.h"
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@ -1,3 +1,2 @@
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target_sources(
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${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
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FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp)
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target_sources(${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp
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FaultHandlerBase.cpp UserBase.cpp)
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@ -1,134 +0,0 @@
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#include "CfdpHandler.h"
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#include "fsfw/cfdp/pdu/AckPduReader.h"
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#include "fsfw/cfdp/pdu/PduHeaderReader.h"
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#include "fsfw/globalfunctions/arrayprinter.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/tmtcservices/TmTcMessage.h"
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using namespace returnvalue;
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using namespace cfdp;
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CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
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: SystemObject(fsfwParams.objectId),
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msgQueue(fsfwParams.msgQueue),
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destHandler(
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DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
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cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
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cfdpCfg.lostSegmentsList),
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FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
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fsfwParams.tmStore)) {
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destHandler.setMsgQueue(msgQueue);
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}
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[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
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[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
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return destHandler.getDestHandlerParams().cfg.localId.getValue();
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}
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[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
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ReturnValue_t CfdpHandler::initialize() {
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ReturnValue_t result = destHandler.initialize();
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if (result != OK) {
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return result;
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}
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tcStore = destHandler.getTcStore();
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tmStore = destHandler.getTmStore();
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return SystemObject::initialize();
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}
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ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
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// TODO: Receive TC packets and route them to source and dest handler, depending on which is
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// correct or more appropriate
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ReturnValue_t status;
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ReturnValue_t result = OK;
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TmTcMessage tmtcMsg;
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for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
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status = msgQueue.receiveMessage(&tmtcMsg)) {
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result = handleCfdpPacket(tmtcMsg);
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if (result != OK) {
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status = result;
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}
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}
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auto& fsmRes = destHandler.performStateMachine();
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// TODO: Error handling?
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while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
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destHandler.performStateMachine();
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// TODO: Error handling?
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}
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return status;
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}
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ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
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auto accessorPair = tcStore->getData(msg.getStorageId());
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if (accessorPair.first != OK) {
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return accessorPair.first;
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}
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PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
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ReturnValue_t result = reader.parseData();
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if (result != returnvalue::OK) {
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return INVALID_PDU_FORMAT;
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}
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// The CFDP distributor should have taken care of ensuring the destination ID is correct
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PduType type = reader.getPduType();
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// Only the destination handler can process these PDUs
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if (type == PduType::FILE_DATA) {
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// Disable auto-deletion of packet
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accessorPair.second.release();
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PacketInfo info(type, msg.getStorageId());
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result = destHandler.passPacket(info);
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} else {
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// Route depending on PDU type and directive type if applicable. It retrieves directive type
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// from the raw stream for better performance (with sanity and directive code check).
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// The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
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// procedure.
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// PDU header only. Invalid supplied data. A directive packet should have a valid data field
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// with at least one byte being the directive code
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const uint8_t* pduDataField = reader.getPduDataField();
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if (pduDataField == nullptr) {
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return INVALID_PDU_FORMAT;
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}
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if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
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return INVALID_DIRECTIVE_FIELD;
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}
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auto directive = static_cast<FileDirective>(pduDataField[0]);
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auto passToDestHandler = [&]() {
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accessorPair.second.release();
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PacketInfo info(type, msg.getStorageId(), directive);
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result = destHandler.passPacket(info);
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};
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auto passToSourceHandler = [&]() {
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};
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if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
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directive == FileDirective::PROMPT) {
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// Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
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// the destination handler
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passToDestHandler();
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} else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
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directive == FileDirective::KEEP_ALIVE) {
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// Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
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// the source handler
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passToSourceHandler();
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} else if (directive == FileDirective::ACK) {
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// Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
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// extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
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// the source handler, for a Finished PDU, it is passed to the destination handler.
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FileDirective ackedDirective;
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if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
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return INVALID_ACK_DIRECTIVE_FIELDS;
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}
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if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
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passToSourceHandler();
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} else if (ackedDirective == FileDirective::FINISH) {
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passToDestHandler();
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}
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}
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}
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return result;
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}
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@ -1,71 +0,0 @@
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#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
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#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
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#include <utility>
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#include "fsfw/cfdp/handler/DestHandler.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
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#include "fsfw/tmtcservices/TmTcMessage.h"
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struct FsfwHandlerParams {
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FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
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StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
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: objectId(objectId),
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vfs(vfs),
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packetDest(packetDest),
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tcStore(tcStore),
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tmStore(tmStore),
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msgQueue(msgQueue) {}
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object_id_t objectId{};
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HasFileSystemIF& vfs;
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AcceptsTelemetryIF& packetDest;
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StorageManagerIF& tcStore;
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StorageManagerIF& tmStore;
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MessageQueueIF& msgQueue;
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};
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struct CfdpHandlerCfg {
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CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
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cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
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cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
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cfdp::RemoteConfigTableIF& remoteCfgProvider)
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: id(std::move(localId)),
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indicCfg(indicationCfg),
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packetInfoList(packetInfo),
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lostSegmentsList(lostSegmentsList),
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remoteCfgProvider(remoteCfgProvider),
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userHandler(userHandler),
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faultHandler(userFaultHandler) {}
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cfdp::EntityId id;
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cfdp::IndicationCfg indicCfg;
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cfdp::PacketInfoListBase& packetInfoList;
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cfdp::LostSegmentsListBase& lostSegmentsList;
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cfdp::RemoteConfigTableIF& remoteCfgProvider;
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cfdp::UserBase& userHandler;
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cfdp::FaultHandlerBase& faultHandler;
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};
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class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
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public:
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explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
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[[nodiscard]] const char* getName() const override;
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[[nodiscard]] uint32_t getIdentifier() const override;
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[[nodiscard]] MessageQueueId_t getRequestQueue() const override;
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ReturnValue_t initialize() override;
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ReturnValue_t performOperation(uint8_t operationCode) override;
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private:
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MessageQueueIF& msgQueue;
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cfdp::DestHandler destHandler;
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StorageManagerIF* tcStore = nullptr;
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StorageManagerIF* tmStore = nullptr;
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ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
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};
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#endif // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
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