323 lines
11 KiB
C++
323 lines
11 KiB
C++
#ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
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#define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/storagemanager/StorageManagerIF.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/ipc/MessageQueueIF.h>
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
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#include <framework/tmtcservices/VerificationReporter.h>
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#include <framework/ipc/CommandMessage.h>
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#include <framework/container/FixedMap.h>
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#include <framework/container/FIFO.h>
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#include <framework/serialize/SerializeIF.h>
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class TcPacketStored;
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/**
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* @brief This class is the basis for all PUS Services, which have to
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* relay Telecommands to software bus.
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*
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* It manages Telecommand reception and the generation of Verification Reports
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* similar to PusServiceBase. This class is used if a telecommand can't be
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* handled immediately and must be relayed to the internal software bus.
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* - isValidSubservice
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* - getMessageQueueAndObject
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* - prepareCommand
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* - handleReply
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* @author gaisser
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* @ingroup pus_services
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*/
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class CommandingServiceBase: public SystemObject,
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public AcceptsTelecommandsIF,
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public ExecutableObjectIF,
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public HasReturnvaluesIF {
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public:
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static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
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static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
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static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
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static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
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static const ReturnValue_t BUSY = MAKE_RETURN_CODE(4);
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static const ReturnValue_t INVALID_TC = MAKE_RETURN_CODE(5);
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static const ReturnValue_t INVALID_OBJECT = MAKE_RETURN_CODE(6);
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static const ReturnValue_t INVALID_REPLY = MAKE_RETURN_CODE(7);
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/**
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* Class constructor. Initializes two important MessageQueues:
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* commandQueue for command reception and requestQueue for device reception
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* @param setObjectId
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* @param apid
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* @param service
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* @param numberOfParallelCommands
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* @param commandTimeout_seconds
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* @param setPacketSource
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* @param setPacketDestination
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* @param queueDepth
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*/
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CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
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uint8_t service, uint8_t numberOfParallelCommands,
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uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
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object_id_t setPacketDestination, size_t queueDepth = 20);
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virtual ~CommandingServiceBase();
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/***
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* This is the periodically called function.
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* Handle request queue for external commands.
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* Handle command Queue for internal commands.
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* @param opCode is unused here at the moment
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* @return RETURN_OK
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*/
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virtual ReturnValue_t performOperation(uint8_t opCode);
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virtual uint16_t getIdentifier();
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/**
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* Returns the requestQueue MessageQueueId_t
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*
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* The requestQueue is the queue for external commands (TC)
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*
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* @return requestQueue messageQueueId_t
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*/
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virtual MessageQueueId_t getRequestQueue();
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/**
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* Returns the commandQueue MessageQueueId_t
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*
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* Remember the CommandQueue is the queue for internal communication
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* @return commandQueue messageQueueId_t
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*/
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virtual MessageQueueId_t getCommandQueue();
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virtual ReturnValue_t initialize() override;
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/**
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* Implementation of ExecutableObjectIF function
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*
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* Used to setup the reference of the task, that executes this component
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* @param task_ Pointer to the taskIF of this task
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*/
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virtual void setTaskIF(PeriodicTaskIF* task_);
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protected:
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/**
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* Check the target subservice
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* @param subservice[in]
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* @return -@c RETURN_OK on success
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* -@c INVALID_SUBSERVICE if service is not known
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*/
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virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
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/**
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* Once a TC Request is valid, the existence of the destination and its
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* target interface is checked and retrieved. The target message queue ID
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* can then be acquired by using the target interface.
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* @param subservice
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* @param tcData Application Data of TC Packet
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* @param tcDataLen
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* @param id MessageQueue ID is stored here
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* @param objectId Object ID is extracted and stored here
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* @return - @c RETURN_OK on success
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* - @c RETURN_FAILED
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* - @c CSB or implementation specific return codes
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*/
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virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
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object_id_t *objectId) = 0;
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/**
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* After the Message Queue and Object ID are determined, the command is
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* prepared by using an implementation specific CommandMessage type
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* which is sent to the target object. It contains all necessary information
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* for the device to execute telecommands.
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* @param message [out] message which can be set and is sent to the object
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* @param subservice Subservice of the current communication
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* @param tcData Application data of command
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* @param tcDataLen Application data length
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* @param state [out/in] Setable state of the communication.
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* communication
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* @param objectId Target object ID
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* @return
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*/
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virtual ReturnValue_t prepareCommand(CommandMessage* message,
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
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uint32_t *state, object_id_t objectId) = 0;
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/**
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* This function is implemented by child services to specify how replies
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* to a command from another software component are handled.
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* @param reply
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* This is the reply which can be accessed via the command message
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* interface. The internal message pointer can be passed to different
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* command message implementations (see CommandMessageIF)
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* @param previousCommand
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* Command_t of related command
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* @param state [out/in]
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* Additional parameter which can be used to pass state information.
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* State of the communication
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* @param optionalNextCommand [out]
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* An optional next command which can be set in this function
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* @param objectId Source object ID
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* @param isStep Flag value to mark steps of command execution
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* @return
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* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
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* generate TC verification success
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* - @c INVALID_REPLY calls handleUnrequestedReply
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* - Anything else triggers a TC verification failure. If RETURN_FAILED
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* is returned and the command ID is CommandMessage::REPLY_REJECTED,
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* a failure verification message with the reason as the error parameter
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* and the initial command as failure parameter 1.
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*/
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virtual ReturnValue_t handleReply(const CommandMessage* reply,
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Command_t previousCommand, uint32_t *state,
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CommandMessage* optionalNextCommand, object_id_t objectId,
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bool *isStep) = 0;
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/**
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* This function can be overidden to handle unrequested reply,
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* when the reply sender ID is unknown or is not found is the command map.
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* The default implementation will clear the command message and all
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* its contents.
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* @param reply
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* Reply which is non-const so the default implementation can clear the
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* message.
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*/
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virtual void handleUnrequestedReply(CommandMessage* reply);
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virtual void doPeriodicOperation();
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struct CommandInfo {
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struct tcInfo {
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uint8_t ackFlags;
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uint16_t tcPacketId;
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uint16_t tcSequenceControl;
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} tcInfo;
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uint32_t uptimeOfStart;
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uint8_t step;
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uint8_t subservice;
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uint32_t state;
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Command_t command;
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object_id_t objectId;
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FIFO<store_address_t, 3> fifo;
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};
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using CommandMapIter = FixedMap<MessageQueueId_t,
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CommandingServiceBase::CommandInfo>::Iterator;
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const uint16_t apid;
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const uint8_t service;
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const uint16_t timeoutSeconds;
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uint8_t tmPacketCounter = 0;
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StorageManagerIF *IPCStore = nullptr;
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StorageManagerIF *TCStore = nullptr;
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MessageQueueIF* commandQueue = nullptr;
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MessageQueueIF* requestQueue = nullptr;
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VerificationReporter verificationReporter;
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FixedMap<MessageQueueId_t, CommandInfo> commandMap;
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/* May be set be children to return a more precise failure condition. */
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uint32_t failureParameter1 = 0;
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uint32_t failureParameter2 = 0;
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object_id_t packetSource;
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object_id_t packetDestination;
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/**
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* Pointer to the task which executes this component,
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* is invalid before setTaskIF was called.
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*/
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PeriodicTaskIF* executingTask = nullptr;
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/**
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* @brief Send TM data from pointer to data.
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* If a header is supplied it is added before data
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* @param subservice Number of subservice
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* @param data Pointer to the data in the Packet
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* @param dataLen Lenght of data in the Packet
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* @param headerData HeaderData will be placed before data
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* @param headerSize Size of HeaderData
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*/
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ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
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size_t dataLen, const uint8_t* headerData = nullptr,
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size_t headerSize = 0);
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/**
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* @brief To send TM packets of objects that still need to be serialized
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* and consist of an object ID with appended data.
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* @param subservice Number of subservice
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* @param objectId ObjectId is placed before data
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* @param data Data to append to the packet
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* @param dataLen Length of Data
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*/
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ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
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const uint8_t *data, size_t dataLen);
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/**
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* @brief To send packets which are contained inside a class implementing
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* SerializeIF.
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* @param subservice Number of subservice
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* @param content This is a pointer to the serialized packet
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* @param header Serialize IF header which will be placed before content
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*/
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ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
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SerializeIF* header = nullptr);
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void checkAndExecuteFifo(CommandMapIter iter);
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private:
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/**
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* This method handles internal execution of a command,
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* once it has been started by @sa{startExecution()} in the request
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* queue handler.
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* It handles replies generated by the devices and relayed by the specific
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* service implementation. This means that it determines further course of
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* action depending on the return values specified in the service
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* implementation.
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* This includes the generation of TC verification messages. Note that
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* the static framework object ID @c VerificationReporter::messageReceiver
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* needs to be set.
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* - TM[1,5] Step Successs
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* - TM[1,6] Step Failure
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* - TM[1,7] Completion Success
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* - TM[1,8] Completion Failure
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*/
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void handleCommandQueue();
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/**
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* @brief Handler function for request queue
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* @details
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* Sequence of request queue handling:
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* isValidSubservice -> getMessageQueueAndObject -> startExecution
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* Generates a Start Success Reports TM[1,3] in subfunction
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* @sa{startExecution()} or a Start Failure Report TM[1,4] by using the
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* TC Verification Service.
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*/
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void handleRequestQueue();
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void rejectPacket(uint8_t reportId, TcPacketStored* packet,
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ReturnValue_t errorCode);
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void acceptPacket(uint8_t reportId, TcPacketStored* packet);
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void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
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void handleCommandMessage(CommandMessage* reply);
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void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
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CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
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void checkTimeout();
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};
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#endif /* COMMANDINGSERVICEBASE_H_ */
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