82 lines
3.2 KiB
C++
82 lines
3.2 KiB
C++
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
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#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
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#include <fsfw/health/HealthTable.h>
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#include "fsfw/tmtcservices/CommandingServiceBase.h"
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struct HealthServiceCfg {
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HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
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uint16_t maxNumHealthInfoPerCycle)
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: objectId(objectId),
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apid(apid),
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table(healthTable),
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maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
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object_id_t objectId;
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uint16_t apid;
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HealthTable &table;
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uint16_t maxNumHealthInfoPerCycle;
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uint8_t service = 201;
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uint8_t numParallelCommands = 4;
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uint16_t commandTimeoutSeconds = 60;
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};
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/**
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* @brief Custom PUS service to set health of all objects
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* implementing hasHealthIF.
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*
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* Examples: Device Handlers, Assemblies or Subsystems.
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* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
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* Dissertation Baetz p. 115, 116, 165-167.
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*
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* This is a gateway service. It relays device commands using the software bus.
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* This service is very closely tied to the Commanding Service Base template
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* class. There is constant interaction between this Service Base und a
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* child class like this service
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*
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*/
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class CServiceHealthCommanding : public CommandingServiceBase {
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public:
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CServiceHealthCommanding(HealthServiceCfg args);
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~CServiceHealthCommanding() override = default;
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protected:
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/* CSB abstract function implementations */
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ReturnValue_t isValidSubservice(uint8_t subservice) override;
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ReturnValue_t getMessageQueueAndObject(uint8_t subservice, const uint8_t *tcData,
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size_t tcDataLen, MessageQueueId_t *id,
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object_id_t *objectId) override;
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/** Prepare health command */
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ReturnValue_t prepareCommand(CommandMessage *message, uint8_t subservice, const uint8_t *tcData,
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size_t tcDataLen, uint32_t *state, object_id_t objectId) override;
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/** Handle health reply */
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ReturnValue_t handleReply(const CommandMessage *reply, Command_t previousCommand, uint32_t *state,
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CommandMessage *optionalNextCommand, object_id_t objectId,
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bool *isStep) override;
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void doPeriodicOperation() override;
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private:
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HealthTable &healthTable;
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uint16_t maxNumHealthInfoPerCycle = 0;
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bool reportAllHealth = false;
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ReturnValue_t iterateHealthTable(bool reset);
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static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
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const object_id_t *objectId);
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[[maybe_unused]] ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
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enum Subservice {
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//! [EXPORT] : [TC] Set health of target object
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COMMAND_SET_HEALTH = 1,
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//! [EXPORT] : [TM] Reply to health set command which also provides old health
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REPLY_HEALTH_SET = 2,
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//! [EXPORT] : [TC] Commands object to announce their health as an event
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COMMAND_ANNOUNCE_HEALTH = 3,
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//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
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COMMAND_ANNOUNCE_HEALTH_ALL = 4
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};
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};
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#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */
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