107 lines
4.6 KiB
C++
107 lines
4.6 KiB
C++
#include "fsfw/pus/CService201HealthCommanding.h"
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#include "fsfw/health/HasHealthIF.h"
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#include "fsfw/health/HealthMessage.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/pus/servicepackets/Service201Packets.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
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uint8_t serviceId,
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uint8_t numParallelCommands,
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uint16_t commandTimeoutSeconds)
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: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
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}
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ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
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switch (subservice) {
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case (Subservice::COMMAND_SET_HEALTH):
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case (Subservice::COMMAND_ANNOUNCE_HEALTH):
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case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
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return RETURN_OK;
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default:
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "Invalid Subservice" << std::endl;
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#endif
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return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
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}
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}
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ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData,
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size_t tcDataLen,
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MessageQueueId_t *id,
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object_id_t *objectId) {
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if (tcDataLen < sizeof(object_id_t)) {
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return CommandingServiceBase::INVALID_TC;
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}
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SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
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return checkInterfaceAndAcquireMessageQueue(id, objectId);
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}
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ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
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MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
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auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
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if (destination == nullptr) {
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return CommandingServiceBase::INVALID_OBJECT;
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}
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*messageQueueToSet = destination->getCommandQueue();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
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uint8_t subservice, const uint8_t *tcData,
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size_t tcDataLen, uint32_t *state,
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object_id_t objectId) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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switch (subservice) {
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case (Subservice::COMMAND_SET_HEALTH): {
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HealthSetCommand healthCommand;
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result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
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if (result != RETURN_OK) {
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break;
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}
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HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
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healthCommand.getHealth());
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break;
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}
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case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
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HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
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break;
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}
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case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
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HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
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break;
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}
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default: {
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// Should never happen, subservice was already checked
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result = RETURN_FAILED;
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}
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}
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return result;
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}
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ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
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Command_t previousCommand, uint32_t *state,
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CommandMessage *optionalNextCommand,
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object_id_t objectId, bool *isStep) {
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Command_t replyId = reply->getCommand();
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if (replyId == HealthMessage::REPLY_HEALTH_SET) {
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return EXECUTION_COMPLETE;
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} else if (replyId == CommandMessageIF::REPLY_REJECTED) {
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return reply->getReplyRejectedReason();
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}
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return CommandingServiceBase::INVALID_REPLY;
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}
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// Not used for now, health state already reported by event
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[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
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const CommandMessage *reply) {
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auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
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auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
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HealthSetReply healthSetReply(health, oldHealth);
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return sendTmPacket(Subservice::REPLY_HEALTH_SET, &healthSetReply);
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}
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