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Update FSFW from upstream #71

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muellerr wants to merge 1112 commits from development into eive/develop
pull from: development
merge into: eive:eive/develop
Conversation 0 Commits 1112 Files Changed 1041 +368 -292
33 changed files with 368 additions and 292 deletions
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4
src/fsfw/cfdp/CfdpHandler.cpp
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@ -52,6 +52,6 @@ ReturnValue_t CfdpHandler::performOperation(uint8_t opCode) {
return RETURN_OK;
}
uint32_t CfdpHandler::getIdentifier() { return 0; }
uint32_t CfdpHandler::getIdentifier() const { return 0; }
MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }
MessageQueueId_t CfdpHandler::getRequestQueue() const { return this->requestQueue->getId(); }

4
src/fsfw/cfdp/CfdpHandler.h
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@ -28,8 +28,8 @@ class CfdpHandler : public ExecutableObjectIF,
virtual ReturnValue_t handleRequest(store_address_t storeId);
virtual ReturnValue_t initialize() override;
virtual uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
virtual uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t performOperation(uint8_t opCode) override;
protected:

2
src/fsfw/osal/common/TcpTmTcBridge.cpp
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@ -18,7 +18,7 @@
TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
: TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
mutex = MutexFactory::instance()->createMutex();
// Connection is always up, TM is requested by connecting to server and receiving packets
registerCommConnect();

2
src/fsfw/osal/common/UdpTmTcBridge.cpp
View File

@ -22,7 +22,7 @@ const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_POR
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
const std::string &udpServerPort_, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
: TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
if (udpServerPort_.empty()) {
udpServerPort = DEFAULT_SERVER_PORT;
} else {

4
src/fsfw/pus/CService200ModeCommanding.cpp
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@ -10,8 +10,8 @@
CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 200 Mode MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
CService200ModeCommanding::~CService200ModeCommanding() {}

4
src/fsfw/pus/CService201HealthCommanding.cpp
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@ -10,8 +10,8 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {

4
src/fsfw/pus/Service11TelecommandScheduling.tpp
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@ -16,7 +16,9 @@ inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduli
: PusServiceBase(params),
RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
debugMode(debugMode),
tcRecipient(tcRecipient) {}
tcRecipient(tcRecipient) {
params.name = "PUS 11 TC Scheduling";
}
template <size_t MAX_NUM_TCS>
inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() = default;

4
src/fsfw/pus/Service17Test.cpp
View File

@ -8,7 +8,9 @@
Service17Test::Service17Test(PsbParams params)
: PusServiceBase(params),
storeHelper(params.apid),
tmHelper(params.serviceId, storeHelper, sendHelper) {}
tmHelper(params.serviceId, storeHelper, sendHelper) {
params.name = "PUS 17 Test";
}
Service17Test::~Service17Test() = default;

4
src/fsfw/pus/Service20ParameterManagement.cpp
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@ -11,8 +11,8 @@ Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId,
uint8_t serviceId,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numberOfParallelCommands,
commandTimeoutSeconds) {}
: CommandingServiceBase(objectId, apid, "PUS 20 Parameter MGMT", serviceId,
numberOfParallelCommands, commandTimeoutSeconds) {}
Service20ParameterManagement::~Service20ParameterManagement() = default;

4
src/fsfw/pus/Service2DeviceAccess.cpp
View File

@ -14,8 +14,8 @@
Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId, uint16_t apid, uint8_t serviceId,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numberOfParallelCommands,
commandTimeoutSeconds) {}
: CommandingServiceBase(objectId, apid, "PUS 2 Raw Commanding", serviceId,
numberOfParallelCommands, commandTimeoutSeconds) {}
Service2DeviceAccess::~Service2DeviceAccess() {}

2
src/fsfw/pus/Service3Housekeeping.cpp
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@ -5,7 +5,7 @@
#include "fsfw/pus/servicepackets/Service3Packets.h"
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId)
: CommandingServiceBase(objectId, apid, serviceId, NUM_OF_PARALLEL_COMMANDS,
: CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
COMMAND_TIMEOUT_SECONDS) {}
Service3Housekeeping::~Service3Housekeeping() {}

1
src/fsfw/pus/Service5EventReporting.cpp
View File

@ -13,6 +13,7 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
storeHelper(params.apid),
tmHelper(params.serviceId, storeHelper, sendHelper),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
psbParams.name = "PUS 5 Event Reporting";
eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
}

4
src/fsfw/pus/Service8FunctionManagement.cpp
View File

@ -12,8 +12,8 @@ Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uin
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
numParallelCommands, commandTimeoutSeconds) {}
Service8FunctionManagement::~Service8FunctionManagement() {}

4
src/fsfw/pus/Service9TimeManagement.cpp
View File

@ -5,7 +5,9 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/CCSDSTime.h"
Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {}
Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {
params.name = "PUS 9 Time MGMT";
}
Service9TimeManagement::~Service9TimeManagement() = default;

77
src/fsfw/tcdistribution/CcsdsDistributor.cpp
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@ -1,5 +1,6 @@
#include "fsfw/tcdistribution/CcsdsDistributor.h"
#include "definitions.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
@ -8,11 +9,11 @@
CcsdsDistributor::CcsdsDistributor(uint16_t setDefaultApid, object_id_t setObjectId,
CcsdsPacketCheckIF* packetChecker)
: TcDistributor(setObjectId), defaultApid(setDefaultApid), packetChecker(packetChecker) {}
: TcDistributorBase(setObjectId), defaultApid(setDefaultApid), packetChecker(packetChecker) {}
CcsdsDistributor::~CcsdsDistributor() = default;
TcDistributor::TcMqMapIter CcsdsDistributor::selectDestination() {
ReturnValue_t CcsdsDistributor::selectDestination(MessageQueueId_t& destId) {
#if CCSDS_DISTRIBUTOR_DEBUGGING == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CCSDSDistributor::selectDestination received: "
@ -39,54 +40,72 @@ TcDistributor::TcMqMapIter CcsdsDistributor::selectDestination() {
" store failed!\n");
#endif
#endif
return queueMap.end();
return result;
}
SpacePacketReader currentPacket(packet, size);
result = packetChecker->checkPacket(currentPacket, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
handlePacketCheckFailure(result);
return result;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1
sif::info << "CCSDSDistributor::selectDestination has packet with APID 0x" << std::hex
<< currentPacket.getApid() << std::dec << std::endl;
#endif
auto position = this->queueMap.find(currentPacket.getApid());
if (position != this->queueMap.end()) {
return position;
auto position = receiverMap.find(currentPacket.getApid());
if (position != receiverMap.end()) {
destId = position->second.destId;
} else {
// The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return queueMap.find(this->defaultApid);
auto iter = receiverMap.find(defaultApid);
if (iter != receiverMap.end()) {
destId = iter->second.destId;
} else {
return DESTINATION_NOT_FOUND;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t CcsdsDistributor::getRequestQueue() { return tcQueue->getId(); }
void CcsdsDistributor::handlePacketCheckFailure(ReturnValue_t result) {
const char* reason = "Unknown reason";
if (result == tcdistrib::INVALID_CCSDS_VERSION) {
reason = "Invalid CCSDS version";
} else if (result == tcdistrib::INCOMPLETE_PACKET) {
reason = "Size missmatch between CCSDS data length and packet length";
} else if (result == tcdistrib::INVALID_APID) {
reason = "No valid handler APID found";
} else if (result == tcdistrib::INVALID_PACKET_TYPE) {
reason = "Invalid Packet Type TM detected";
}
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CCSDS packet check failed: " << reason << std::endl;
#else
sif::printWarning("CCSDS packet check failed: %s\n", reason);
#endif
#endif
}
ReturnValue_t CcsdsDistributor::registerApplication(AcceptsTelecommandsIF* application) {
MessageQueueId_t CcsdsDistributor::getRequestQueue() const { return tcQueue->getId(); }
ReturnValue_t CcsdsDistributor::registerApplication(DestInfo info) {
ReturnValue_t returnValue = RETURN_OK;
auto insertPair =
this->queueMap.emplace(application->getIdentifier(), application->getRequestQueue());
auto insertPair = receiverMap.emplace(info.apid, info);
if (not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
}
ReturnValue_t CcsdsDistributor::registerApplication(uint16_t apid, MessageQueueId_t id) {
ReturnValue_t returnValue = RETURN_OK;
auto insertPair = this->queueMap.emplace(apid, id);
if (not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
}
uint32_t CcsdsDistributor::getIdentifier() { return 0; }
uint32_t CcsdsDistributor::getIdentifier() const { return 0; }
ReturnValue_t CcsdsDistributor::initialize() {
if (packetChecker == nullptr) {
packetChecker = new CcsdsPacketChecker(ccsds::PacketType::TC);
}
ReturnValue_t status = this->TcDistributor::initialize();
ReturnValue_t status = this->TcDistributorBase::initialize();
this->tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (this->tcStore == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
@ -111,3 +130,17 @@ ReturnValue_t CcsdsDistributor::callbackAfterSending(ReturnValue_t queueStatus)
}
return RETURN_OK;
}
void CcsdsDistributor::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Distributor content is: " << std::endl << "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& iter : receiverMap) {
sif::debug << iter.first << "\t| 0x" << iter.second.destId
<< ", Header Removed: " << std::boolalpha << iter.second.removeHeader << std::endl;
}
sif::debug << std::setfill(' ') << std::dec;
#endif
}
const char* CcsdsDistributor::getName() const { return "CCSDS Distributor"; }

22
src/fsfw/tcdistribution/CcsdsDistributor.h
View File

@ -1,11 +1,13 @@
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include <map>
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tcdistribution/CcsdsDistributorIF.h"
#include "fsfw/tcdistribution/CcsdsPacketChecker.h"
#include "fsfw/tcdistribution/TcDistributor.h"
#include "fsfw/tcdistribution/TcDistributorBase.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
/**
@ -16,7 +18,7 @@
* The Secondary Header (with Service/Subservice) is ignored.
* @ingroup tc_distribution
*/
class CcsdsDistributor : public TcDistributor,
class CcsdsDistributor : public TcDistributorBase,
public CcsdsDistributorIF,
public AcceptsTelecommandsIF {
public:
@ -35,13 +37,16 @@ class CcsdsDistributor : public TcDistributor,
*/
~CcsdsDistributor() override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerApplication(uint16_t apid, MessageQueueId_t id) override;
ReturnValue_t registerApplication(AcceptsTelecommandsIF* application) override;
uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t registerApplication(DestInfo info) override;
uint32_t getIdentifier() const override;
ReturnValue_t initialize() override;
[[nodiscard]] const char* getName() const override;
protected:
using CcsdsReceiverMap = std::map<uint16_t, DestInfo>;
CcsdsReceiverMap receiverMap;
/**
* This implementation checks if an application with fitting APID has
* registered and forwards the packet to the according message queue.
@ -49,13 +54,16 @@ class CcsdsDistributor : public TcDistributor,
* where a Acceptance Failure message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
TcMqMapIter selectDestination() override;
ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
static void handlePacketCheckFailure(ReturnValue_t result);
void print();
/**
* The default APID, where packets with unknown APID are sent to.
*/

46
src/fsfw/tcdistribution/CcsdsDistributorIF.h
View File

@ -1,8 +1,9 @@
#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#include "../ipc/MessageQueueSenderIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
/**
* This is the Interface to a CCSDS Distributor.
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register
@ -13,24 +14,37 @@
*/
class CcsdsDistributorIF {
public:
/**
* With this call, a class implementing the CCSDSApplicationIF can register
* at the distributor.
* @param application A pointer to the Application to register.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication(AcceptsTelecommandsIF* application) = 0;
struct DestInfo {
DestInfo(const char* name, uint16_t apid, MessageQueueId_t destId, bool removeHeader)
: name(name), apid(apid), destId(destId), removeHeader(removeHeader) {}
DestInfo(const char* name, AcceptsTelecommandsIF& ccsdsReceiver, bool removeHeader_)
: name(name) {
apid = ccsdsReceiver.getIdentifier();
destId = ccsdsReceiver.getRequestQueue();
removeHeader = removeHeader_;
}
const char* name;
uint16_t apid;
MessageQueueId_t destId;
bool removeHeader;
};
/**
* With this call, other Applications can register to the CCSDS distributor.
* This is done by passing an APID and a MessageQueueId to the method.
* @param apid The APID to register.
* @param id The MessageQueueId of the message queue to send the
* TC Packets to.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
* @param info Contains all necessary info to register an application.
* @return
* - @c RETURN_OK on success,
* - @c RETURN_FAILED or tcdistrib error code on failure.
* - @c tcdistrib::INVALID_CCSDS_VERSION
* - @c tcdistrib::INVALID_APID No APID available to handle this packet
* - @c tcdistrib::INVALID_PACKET_TYPE Packet type TM detected
* - @c tcdistrib::INCORRECT_PRIMARY_HEADER Something other wrong with primary header
* - @c tcdistrib::INCOMPLETE_PACKET Size missmatch between data length field and actual
* length
*/
virtual ReturnValue_t registerApplication(uint16_t apid, MessageQueueId_t id) = 0;
virtual ReturnValue_t registerApplication(DestInfo info) = 0;
/**
* The empty virtual destructor.
*/

4
src/fsfw/tcdistribution/CcsdsUnpacker.cpp
View File

@ -3,5 +3,5 @@
CcsdsUnpacker::CcsdsUnpacker() {}
ReturnValue_t CcsdsUnpacker::performOperation(uint8_t operationCode) { return 0; }
uint32_t CcsdsUnpacker::getIdentifier() { return 0; }
MessageQueueId_t CcsdsUnpacker::getRequestQueue() { return 0; }
uint32_t CcsdsUnpacker::getIdentifier() const { return 0; }
MessageQueueId_t CcsdsUnpacker::getRequestQueue() const { return 0; }

4
src/fsfw/tcdistribution/CcsdsUnpacker.h
View File

@ -8,8 +8,8 @@ class CcsdsUnpacker : public ExecutableObjectIF, public AcceptsTelecommandsIF {
public:
CcsdsUnpacker();
ReturnValue_t performOperation(uint8_t operationCode) override;
uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
private:
};

192
src/fsfw/tcdistribution/CfdpDistributor.cpp
View File

@ -10,7 +10,7 @@
CfdpDistributor::CfdpDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource)
: TcDistributor(setObjectId),
: TcDistributorBase(setObjectId),
apid(setApid),
checker(setApid),
tcStatus(RETURN_FAILED),
@ -18,87 +18,89 @@ CfdpDistributor::CfdpDistributor(uint16_t setApid, object_id_t setObjectId,
CfdpDistributor::~CfdpDistributor() = default;
CfdpDistributor::TcMqMapIter CfdpDistributor::selectDestination() {
#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
store_address_t storeId = this->currentMessage.getStorageId();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPDistributor::handlePacket received: " << storeId.poolIndex << ", "
<< storeId.packetIndex << std::endl;
#else
sif::printDebug("CFDPDistributor::handlePacket received: %d, %d\n", storeId.poolIndex,
storeId.packetIndex);
#endif
#endif
auto queueMapIt = this->queueMap.end();
if (this->currentPacket == nullptr) {
return queueMapIt;
}
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket->getFullData() != nullptr) {
tcStatus = checker.checkPacket(*currentPacket, currentPacket->getFullPacketLen());
if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPDistributor::handlePacket: Packet format invalid, code "
<< static_cast<int>(tcStatus) << std::endl;
#else
sif::printDebug("CFDPDistributor::handlePacket: Packet format invalid, code %d\n",
static_cast<int>(tcStatus));
#endif
#endif
}
queueMapIt = this->queueMap.find(0);
} else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPDistributor::handlePacket: Destination not found" << std::endl;
#else
sif::printDebug("CFDPDistributor::handlePacket: Destination not found\n");
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif
}
if (tcStatus != RETURN_OK) {
return this->queueMap.end();
} else {
return queueMapIt;
}
ReturnValue_t CfdpDistributor::selectDestination(MessageQueueId_t& destId) {
//#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
// store_address_t storeId = this->currentMessage.getStorageId();
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "CFDPDistributor::handlePacket received: " << storeId.poolIndex << ", "
// << storeId.packetIndex << std::endl;
//#else
// sif::printDebug("CFDPDistributor::handlePacket received: %d, %d\n", storeId.poolIndex,
// storeId.packetIndex);
//#endif
//#endif
// auto queueMapIt = this->queueMap.end();
// if (this->currentPacket == nullptr) {
// return queueMapIt;
// }
// this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
// if (currentPacket->getFullData() != nullptr) {
// tcStatus = checker.checkPacket(*currentPacket, currentPacket->getFullPacketLen());
// if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
//#if FSFW_VERBOSE_LEVEL >= 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "CFDPDistributor::handlePacket: Packet format invalid, code "
// << static_cast<int>(tcStatus) << std::endl;
//#else
// sif::printDebug("CFDPDistributor::handlePacket: Packet format invalid, code %d\n",
// static_cast<int>(tcStatus));
//#endif
//#endif
// }
// queueMapIt = this->queueMap.find(0);
// } else {
// tcStatus = PACKET_LOST;
// }
//
// if (queueMapIt == this->queueMap.end()) {
// tcStatus = DESTINATION_NOT_FOUND;
//#if FSFW_VERBOSE_LEVEL >= 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "CFDPDistributor::handlePacket: Destination not found" << std::endl;
//#else
// sif::printDebug("CFDPDistributor::handlePacket: Destination not found\n");
//#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
//#endif
// }
//
// if (tcStatus != RETURN_OK) {
// return this->queueMap.end();
// } else {
// return queueMapIt;
// }
}
ReturnValue_t CfdpDistributor::registerHandler(AcceptsTelecommandsIF* handler) {
uint16_t handlerId =
handler->getIdentifier(); // should be 0, because CfdpHandler does not set a set a service-ID
#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "CFDPDistributor::registerHandler: Handler ID: " << static_cast<int>(handlerId)
<< std::endl;
#else
sif::printInfo("CFDPDistributor::registerHandler: Handler ID: %d\n", static_cast<int>(handlerId));
#endif
#endif
MessageQueueId_t queue = handler->getRequestQueue();
auto returnPair = queueMap.emplace(handlerId, queue);
if (not returnPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CFDPDistributor::registerHandler: Service ID already"
" exists in map"
<< std::endl;
#else
sif::printError("CFDPDistributor::registerHandler: Service ID already exists in map\n");
#endif
#endif
return SERVICE_ID_ALREADY_EXISTS;
}
// uint16_t handlerId =
// handler->getIdentifier(); // should be 0, because CfdpHandler does not set a set a
// service-ID
//#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::info << "CFDPDistributor::registerHandler: Handler ID: " << static_cast<int>(handlerId)
// << std::endl;
//#else
// sif::printInfo("CFDPDistributor::registerHandler: Handler ID: %d\n",
// static_cast<int>(handlerId));
//#endif
//#endif
// MessageQueueId_t queue = handler->getRequestQueue();
// auto returnPair = queueMap.emplace(handlerId, queue);
// if (not returnPair.second) {
//#if FSFW_VERBOSE_LEVEL >= 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::error << "CFDPDistributor::registerHandler: Service ID already"
// " exists in map"
// << std::endl;
//#else
// sif::printError("CFDPDistributor::registerHandler: Service ID already exists in map\n");
//#endif
//#endif
// return SERVICE_ID_ALREADY_EXISTS;
// }
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t CfdpDistributor::getRequestQueue() { return tcQueue->getId(); }
MessageQueueId_t CfdpDistributor::getRequestQueue() const { return tcQueue->getId(); }
// ReturnValue_t CFDPDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
// if (queueStatus != RETURN_OK) {
@ -118,25 +120,25 @@ MessageQueueId_t CfdpDistributor::getRequestQueue() { return tcQueue->getId(); }
// }
// }
uint32_t CfdpDistributor::getIdentifier() { return this->apid; }
uint32_t CfdpDistributor::getIdentifier() const { return this->apid; }
ReturnValue_t CfdpDistributor::initialize() {
currentPacket = new CfdpPacketStored();
if (currentPacket == nullptr) {
// Should not happen, memory allocation failed!
return ObjectManagerIF::CHILD_INIT_FAILED;
}
auto* ccsdsDistributor = ObjectManager::instance()->get<CcsdsDistributorIF>(packetSource);
if (ccsdsDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CFDPDistributor::initialize: Packet source invalid" << std::endl;
sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
#else
sif::printError("CFDPDistributor::initialize: Packet source invalid\n");
sif::printError("Make sure it exists and implements CcsdsDistributorIF\n");
#endif
return RETURN_FAILED;
}
return ccsdsDistributor->registerApplication(this);
// currentPacket = new CfdpPacketStored();
// if (currentPacket == nullptr) {
// // Should not happen, memory allocation failed!
// return ObjectManagerIF::CHILD_INIT_FAILED;
// }
//
// auto* ccsdsDistributor = ObjectManager::instance()->get<CcsdsDistributorIF>(packetSource);
// if (ccsdsDistributor == nullptr) {
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::error << "CFDPDistributor::initialize: Packet source invalid" << std::endl;
// sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
//#else
// sif::printError("CFDPDistributor::initialize: Packet source invalid\n");
// sif::printError("Make sure it exists and implements CcsdsDistributorIF\n");
//#endif
// return RETURN_FAILED;
// }
// return ccsdsDistributor->registerApplication(this);
}

10
src/fsfw/tcdistribution/CfdpDistributor.h
View File

@ -8,14 +8,14 @@
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
#include "CfdpDistributorIF.h"
#include "TcDistributor.h"
#include "TcDistributorBase.h"
/**
* This class accepts CFDP Telecommands and forwards them to Application
* services.
* @ingroup tc_distribution
*/
class CfdpDistributor : public TcDistributor,
class CfdpDistributor : public TcDistributorBase,
public CfdpDistributorIF,
public AcceptsTelecommandsIF {
public:
@ -33,9 +33,9 @@ class CfdpDistributor : public TcDistributor,
*/
~CfdpDistributor() override;
ReturnValue_t registerHandler(AcceptsTelecommandsIF* handler) override;
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
uint32_t getIdentifier() override;
uint32_t getIdentifier() const override;
protected:
uint16_t apid;
@ -60,7 +60,7 @@ class CfdpDistributor : public TcDistributor,
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
TcMqMapIter selectDestination() override;
ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.

73
src/fsfw/tcdistribution/PusDistributor.cpp
View File

@ -10,7 +10,7 @@
PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
CcsdsDistributorIF* distributor, StorageManagerIF* store_)
: TcDistributor(setObjectId),
: TcDistributorBase(setObjectId),
store(store_),
checker(setApid, ccsds::PacketType::TC),
ccsdsDistributor(distributor),
@ -18,43 +18,41 @@ PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
PusDistributor::~PusDistributor() = default;
PusDistributor::TcMqMapIter PusDistributor::selectDestination() {
ReturnValue_t PusDistributor::selectDestination(MessageQueueId_t& destId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
store_address_t storeId = currentMessage.getStorageId();
sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
<< storeId.packetIndex << std::endl;
#endif
auto queueMapIt = queueMap.end();
// TODO: Need to set the data
const uint8_t* packetPtr = nullptr;
size_t packetLen = 0;
if (store->getData(currentMessage.getStorageId(), &packetPtr, &packetLen) !=
HasReturnvaluesIF::RETURN_OK) {
return queueMapIt;
}
ReturnValue_t result = reader.setReadOnlyData(packetPtr, packetLen);
ReturnValue_t result = store->getData(currentMessage.getStorageId(), &packetPtr, &packetLen) !=
HasReturnvaluesIF::RETURN_OK;
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return queueMapIt;
return result;
}
result = reader.setReadOnlyData(packetPtr, packetLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return result;
}
// CRC check done by checker
result = reader.parseDataWithoutCrcCheck();
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return queueMapIt;
return result;
}
if (reader.getFullData() != nullptr) {
tcStatus = checker.checkPacket(reader, reader.getFullPacketLen());
if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
checkerFailurePrinter();
}
uint32_t queue_id = reader.getService();
queueMapIt = queueMap.find(queue_id);
} else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
uint8_t pusId = reader.getService();
auto iter = receiverMap.find(pusId);
if (iter == receiverMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -64,16 +62,15 @@ PusDistributor::TcMqMapIter PusDistributor::selectDestination() {
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif
}
if (tcStatus != RETURN_OK) {
return this->queueMap.end();
destId = iter->second.destId;
} else {
return queueMapIt;
tcStatus = PACKET_LOST;
}
return tcStatus;
}
ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
uint16_t serviceId = service->getIdentifier();
ReturnValue_t PusDistributor::registerService(const AcceptsTelecommandsIF& service) {
uint16_t serviceId = service.getIdentifier();
#if PUS_DISTRIBUTOR_DEBUGGING == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Service ID: " << static_cast<int>(serviceId) << std::endl;
@ -81,8 +78,8 @@ ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
sif::printInfo("Service ID: %d\n", static_cast<int>(serviceId));
#endif
#endif
MessageQueueId_t queue = service->getRequestQueue();
auto returnPair = queueMap.emplace(serviceId, queue);
MessageQueueId_t queue = service.getRequestQueue();
auto returnPair = receiverMap.emplace(serviceId, ServiceInfo(service.getName(), queue));
if (not returnPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -98,7 +95,7 @@ ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t PusDistributor::getRequestQueue() { return tcQueue->getId(); }
MessageQueueId_t PusDistributor::getRequestQueue() const { return tcQueue->getId(); }
ReturnValue_t PusDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
if (queueStatus != RETURN_OK) {
@ -117,7 +114,7 @@ ReturnValue_t PusDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
}
}
uint32_t PusDistributor::getIdentifier() { return checker.getApid(); }
uint32_t PusDistributor::getIdentifier() const { return checker.getApid(); }
ReturnValue_t PusDistributor::initialize() {
if (store == nullptr) {
@ -142,28 +139,30 @@ ReturnValue_t PusDistributor::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
return ccsdsDistributor->registerApplication(this);
return ccsdsDistributor->registerApplication(
CcsdsDistributorIF::DestInfo(getName(), *this, false));
}
void PusDistributor::checkerFailurePrinter() const {
#if FSFW_VERBOSE_LEVEL >= 1
const char* keyword = "unnamed error";
const char* reason = "Unknown reason";
if (tcStatus == tcdistrib::INCORRECT_CHECKSUM) {
keyword = "checksum";
reason = "Checksum Error";
} else if (tcStatus == tcdistrib::INCORRECT_PRIMARY_HEADER) {
keyword = "incorrect primary header";
reason = "Incorrect Primary Header";
} else if (tcStatus == tcdistrib::INVALID_APID) {
keyword = "illegal APID";
reason = "Illegal APID";
} else if (tcStatus == tcdistrib::INCORRECT_SECONDARY_HEADER) {
keyword = "incorrect secondary header";
reason = "Incorrect Secondary Header";
} else if (tcStatus == tcdistrib::INCOMPLETE_PACKET) {
keyword = "incomplete packet";
reason = "Incomplete packet";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword << " error"
<< std::endl;
sif::warning << "PUSDistributor::handlePacket: Check failed: " << reason << std::endl;
#else
sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n", keyword);
sif::printWarning("PUSDistributor::handlePacket: Check failed: %s\n", reason);
#endif
#endif
}
const char* PusDistributor::getName() const { return "PUS Distributor"; }

27
src/fsfw/tcdistribution/PusDistributor.h
View File

@ -1,9 +1,11 @@
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#include <map>
#include "PusDistributorIF.h"
#include "PusPacketChecker.h"
#include "TcDistributor.h"
#include "TcDistributorBase.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tmtcpacket/pus/tc.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
@ -17,7 +19,9 @@ class CcsdsDistributorIF;
* sends acceptance success or failure messages.
* @ingroup tc_distribution
*/
class PusDistributor : public TcDistributor, public PusDistributorIF, public AcceptsTelecommandsIF {
class PusDistributor : public TcDistributorBase,
public PusDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The ctor passes @c set_apid to the checker class and calls the
@ -29,16 +33,27 @@ class PusDistributor : public TcDistributor, public PusDistributorIF, public Acc
*/
PusDistributor(uint16_t setApid, object_id_t setObjectId, CcsdsDistributorIF* packetSource,
StorageManagerIF* store = nullptr);
[[nodiscard]] const char* getName() const override;
/**
* The destructor is empty.
*/
~PusDistributor() override;
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerService(const AcceptsTelecommandsIF& service) override;
[[nodiscard]] MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
uint32_t getIdentifier() override;
[[nodiscard]] uint32_t getIdentifier() const override;
protected:
struct ServiceInfo {
ServiceInfo(const char* name, MessageQueueId_t destId) : name(name), destId(destId) {}
const char* name;
MessageQueueId_t destId;
};
/// PUS recipient map. The key value will generally be the PUS Service
using PusReceiverMap = std::map<uint8_t, ServiceInfo>;
PusReceiverMap receiverMap;
StorageManagerIF* store;
/**
* This attribute contains the class, that performs a formal packet check.
@ -67,7 +82,7 @@ class PusDistributor : public TcDistributor, public PusDistributorIF, public Acc
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
TcMqMapIter selectDestination() override;
ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.

2
src/fsfw/tcdistribution/PusDistributorIF.h
View File

@ -20,7 +20,7 @@ class PusDistributorIF {
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerService(AcceptsTelecommandsIF* service) = 0;
virtual ReturnValue_t registerService(const AcceptsTelecommandsIF& service) = 0;
};
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */

34
src/fsfw/tcdistribution/TcDistributor.cpp
View File

@ -1,16 +1,14 @@
#include "fsfw/tcdistribution/TcDistributor.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tcdistribution/TcDistributorBase.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
TcDistributorBase::TcDistributorBase(object_id_t objectId) : SystemObject(objectId) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
}
TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
TcDistributorBase::~TcDistributorBase() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t TcDistributorBase::performOperation(uint8_t opCode) {
ReturnValue_t status;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
@ -22,24 +20,16 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
return status;
}
ReturnValue_t TcDistributor::handlePacket() {
auto queueMapIt = selectDestination();
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
if (queueMapIt != queueMap.end()) {
result = tcQueue->sendMessage(queueMapIt->second, &currentMessage);
ReturnValue_t TcDistributorBase::handlePacket() {
MessageQueueId_t destId;
ReturnValue_t result = selectDestination(destId);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = tcQueue->sendMessage(destId, &currentMessage);
return callbackAfterSending(result);
}
void TcDistributor::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Distributor content is: " << std::endl << "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& queueMapIter : queueMap) {
sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second << std::endl;
}
sif::debug << std::setfill(' ') << std::dec;
#endif
ReturnValue_t TcDistributorBase::callbackAfterSending(ReturnValue_t queueStatus) {
return RETURN_OK;
}
ReturnValue_t TcDistributor::callbackAfterSending(ReturnValue_t queueStatus) { return RETURN_OK; }

24
src/fsfw/tcdistribution/TcDistributor.h → src/fsfw/tcdistribution/TcDistributorBase.h
View File

@ -27,11 +27,8 @@
* implementations.
* @ingroup tc_distribution
*/
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
class TcDistributorBase : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE(1);
static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE(2);
@ -43,12 +40,12 @@ class TcDistributor : public SystemObject, public ExecutableObjectIF, public Has
* @param set_object_id This id is assigned to the distributor
* implementation.
*/
explicit TcDistributor(object_id_t objectId);
explicit TcDistributorBase(object_id_t objectId);
/**
* The destructor is empty, the message queues are not in the vicinity of
* this class.
*/
~TcDistributor() override;
~TcDistributorBase() override;
/**
* The method is called cyclically and fetches new incoming packets from
* the message queue.
@ -57,11 +54,6 @@ class TcDistributor : public SystemObject, public ExecutableObjectIF, public Has
* @return The error code of the message queue call.
*/
ReturnValue_t performOperation(uint8_t opCode) override;
/**
* A simple debug print, that prints all distribution information stored in
* queueMap.
*/
void print();
protected:
/**
@ -77,19 +69,13 @@ class TcDistributor : public SystemObject, public ExecutableObjectIF, public Has
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
TcMessageQueueMap queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual TcMqMapIter selectDestination() = 0;
virtual ReturnValue_t selectDestination(MessageQueueId_t& destId) = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.

6
src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
View File

@ -21,6 +21,8 @@ class AcceptsTelecommandsIF {
* @brief The virtual destructor as it is mandatory for C++ interfaces.
*/
virtual ~AcceptsTelecommandsIF() = default;
[[nodiscard]] virtual const char* getName() const = 0;
/**
* @brief Getter for a generic identifier ID.
* @details Any receiving service (at least any PUS service) shall have an identifier. For
@ -28,13 +30,13 @@ class AcceptsTelecommandsIF {
* service for a component expecting specific PUS service packets.
* @return The identifier.
*/
virtual uint32_t getIdentifier() = 0;
[[nodiscard]] virtual uint32_t getIdentifier() const = 0;
/**
* @brief This method returns the message queue id of the telecommand
* receiving message queue.
* @return The telecommand reception message queue id.
*/
virtual MessageQueueId_t getRequestQueue() = 0;
[[nodiscard]] virtual MessageQueueId_t getRequestQueue() const = 0;
};
#endif /* FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_ */

14
src/fsfw/tmtcservices/CommandingServiceBase.cpp
View File

@ -14,7 +14,8 @@ object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands,
const char* name, uint8_t service,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds, size_t queueDepth,
VerificationReporterIF* verificationReporter)
: SystemObject(setObjectId),
@ -24,7 +25,8 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
tmStoreHelper(apid),
tmHelper(service, tmStoreHelper, tmSendHelper),
verificationReporter(verificationReporter),
commandMap(numberOfParallelCommands) {
commandMap(numberOfParallelCommands),
name(name) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
}
@ -50,9 +52,9 @@ ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
return RETURN_OK;
}
uint32_t CommandingServiceBase::getIdentifier() { return service; }
uint32_t CommandingServiceBase::getIdentifier() const { return service; }
MessageQueueId_t CommandingServiceBase::getRequestQueue() { return requestQueue->getId(); }
MessageQueueId_t CommandingServiceBase::getRequestQueue() const { return requestQueue->getId(); }
ReturnValue_t CommandingServiceBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
@ -79,7 +81,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
distributor->registerService(this);
distributor->registerService(*this);
requestQueue->setDefaultDestination(packetForwarding->getReportReceptionQueue());
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
@ -489,3 +491,5 @@ void CommandingServiceBase::prepareVerificationSuccessWithFullInfo(
successParams.tcPsc = tcInfo.tcSequenceControl;
successParams.ackFlags = tcInfo.ackFlags;
}
const char* CommandingServiceBase::getName() const { return name; }

9
src/fsfw/tmtcservices/CommandingServiceBase.h
View File

@ -76,7 +76,7 @@ class CommandingServiceBase : public SystemObject,
* @param setPacketDestination
* @param queueDepth
*/
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service,
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, const char* name, uint8_t service,
uint8_t numberOfParallelCommands, uint16_t commandTimeoutSeconds,
size_t queueDepth = 20, VerificationReporterIF* reporter = nullptr);
~CommandingServiceBase() override;
@ -106,7 +106,7 @@ class CommandingServiceBase : public SystemObject,
*/
ReturnValue_t performOperation(uint8_t opCode) override;
uint32_t getIdentifier() override;
uint32_t getIdentifier() const override;
/**
* Returns the requestQueue MessageQueueId_t
@ -115,7 +115,7 @@ class CommandingServiceBase : public SystemObject,
*
* @return requestQueue messageQueueId_t
*/
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
/**
* Returns the commandQueue MessageQueueId_t
@ -134,6 +134,7 @@ class CommandingServiceBase : public SystemObject,
* @param task Pointer to the taskIF of this task
*/
void setTaskIF(PeriodicTaskIF* task) override;
const char* getName() const override;
protected:
/**
@ -284,6 +285,8 @@ class CommandingServiceBase : public SystemObject,
uint32_t failureParameter1 = 0;
uint32_t failureParameter2 = 0;
const char* name = "";
static object_id_t defaultPacketSource;
object_id_t packetSource = objects::NO_OBJECT;
static object_id_t defaultPacketDestination;

8
src/fsfw/tmtcservices/PusServiceBase.cpp
View File

@ -82,9 +82,9 @@ void PusServiceBase::handleRequestQueue() {
}
}
uint32_t PusServiceBase::getIdentifier() { return psbParams.serviceId; }
uint32_t PusServiceBase::getIdentifier() const { return psbParams.serviceId; }
MessageQueueId_t PusServiceBase::getRequestQueue() {
MessageQueueId_t PusServiceBase::getRequestQueue() const {
if (psbParams.reqQueue == nullptr) {
return MessageQueueIF::NO_QUEUE;
}
@ -194,7 +194,7 @@ void PusServiceBase::setVerificationReporter(VerificationReporterIF& reporter) {
}
ReturnValue_t PusServiceBase::registerService(PusDistributorIF& distributor) {
return distributor.registerService(this);
return distributor.registerService(*this);
}
void PusServiceBase::setTmReceiver(AcceptsTelemetryIF& tmReceiver_) {
@ -202,3 +202,5 @@ void PusServiceBase::setTmReceiver(AcceptsTelemetryIF& tmReceiver_) {
}
void PusServiceBase::setRequestQueue(MessageQueueIF& reqQueue) { psbParams.reqQueue = &reqQueue; }
const char* PusServiceBase::getName() const { return psbParams.name; }

12
src/fsfw/tmtcservices/PusServiceBase.h
View File

@ -22,9 +22,13 @@ class StorageManagerIF;
struct PsbParams {
PsbParams() = default;
PsbParams(uint16_t apid, AcceptsTelemetryIF* tmReceiver) : apid(apid), tmReceiver(tmReceiver) {}
PsbParams(const char* name, uint16_t apid, AcceptsTelemetryIF* tmReceiver)
: name(name), apid(apid), tmReceiver(tmReceiver) {}
PsbParams(object_id_t objectId, uint16_t apid, uint8_t serviceId)
: objectId(objectId), apid(apid), serviceId(serviceId) {}
PsbParams(const char* name, object_id_t objectId, uint16_t apid, uint8_t serviceId)
: name(name), objectId(objectId), apid(apid), serviceId(serviceId) {}
const char* name = "";
object_id_t objectId = objects::NO_OBJECT;
uint16_t apid = 0;
uint8_t serviceId = 0;
@ -188,11 +192,12 @@ class PusServiceBase : public ExecutableObjectIF,
* @c RETURN_FAILED else.
*/
ReturnValue_t performOperation(uint8_t opCode) override;
uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
void setTaskIF(PeriodicTaskIF* taskHandle) override;
[[nodiscard]] const char* getName() const override;
protected:
/**
@ -201,6 +206,7 @@ class PusServiceBase : public ExecutableObjectIF,
* Will be set by setTaskIF(), which is called on task creation.
*/
PeriodicTaskIF* taskHandle = nullptr;
/**
* One of two error parameters for additional error information.
*/

14
src/fsfw/tmtcservices/TmTcBridge.cpp
View File

@ -7,9 +7,10 @@
#define TMTCBRIDGE_WIRETAPPING 0
TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId)
TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId)
: SystemObject(objectId),
name(name),
tmStoreId(tmStoreId),
tcStoreId(tcStoreId),
tcDestination(tcDestination)
@ -67,8 +68,7 @@ ReturnValue_t TmTcBridge::initialize() {
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelecommandsIF* tcDistributor =
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
auto* tcDistributor = ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcBridge::initialize: TC Distributor invalid" << std::endl;
@ -247,14 +247,16 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
void TmTcBridge::printData(uint8_t* data, size_t dataLen) { arrayprinter::print(data, dataLen); }
uint32_t TmTcBridge::getIdentifier() {
uint32_t TmTcBridge::getIdentifier() const {
// This is no PUS service, so we just return 0
return 0;
}
MessageQueueId_t TmTcBridge::getRequestQueue() {
MessageQueueId_t TmTcBridge::getRequestQueue() const {
// Default implementation: Relay TC messages to TC distributor directly.
return tmTcReceptionQueue->getDefaultDestination();
}
void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) { this->overwriteOld = overwriteOld; }
const char* TmTcBridge::getName() const { return name; }

19
src/fsfw/tmtcservices/TmTcBridge.h
View File

@ -23,9 +23,9 @@ class TmTcBridge : public AcceptsTelemetryIF,
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId);
virtual ~TmTcBridge();
TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId);
~TmTcBridge() override;
/**
* Set number of packets sent per performOperation().Please note that this
@ -58,21 +58,24 @@ class TmTcBridge : public AcceptsTelemetryIF,
* Initializes necessary FSFW components for the TMTC Bridge
* @return
*/
virtual ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
/**
* @brief Handles TMTC reception
*/
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/** AcceptsTelemetryIF override */
virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
/** AcceptsTelecommandsIF override */
virtual uint32_t getIdentifier() override;
virtual MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
const char* getName() const override;
protected:
const char* name = "";
//! Cached for initialize function.
object_id_t tmStoreId = objects::NO_OBJECT;
object_id_t tcStoreId = objects::NO_OBJECT;