86 lines
3.3 KiB
C++
86 lines
3.3 KiB
C++
#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
|
|
#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
|
|
|
|
#include "../tmtcservices/CommandingServiceBase.h"
|
|
|
|
/**
|
|
* @brief Custom PUS service to set mode of all objects implementing HasModesIF
|
|
*
|
|
* Examples: Device Handlers, Assemblies or Subsystems.
|
|
* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
|
|
* Dissertation Baetz p. 115, 116, 165-167.
|
|
*
|
|
* This is a gateway service. It relays device commands using the software bus.
|
|
* @ingroup pus_services
|
|
*/
|
|
class CService200ModeCommanding: public CommandingServiceBase {
|
|
public:
|
|
static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
|
|
static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
|
|
|
|
CService200ModeCommanding(object_id_t objectId,
|
|
uint16_t apid, uint8_t serviceId);
|
|
virtual~ CService200ModeCommanding();
|
|
|
|
protected:
|
|
//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
|
|
ReturnValue_t isValidSubservice(uint8_t subservice) override;
|
|
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
|
|
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
|
|
object_id_t *objectId) override;
|
|
ReturnValue_t prepareCommand(CommandMessage* message,
|
|
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
|
uint32_t *state, object_id_t objectId) override;
|
|
ReturnValue_t handleReply(const CommandMessage* reply,
|
|
Command_t previousCommand, uint32_t *state,
|
|
CommandMessage* optionalNextCommand, object_id_t objectId,
|
|
bool *isStep) override;
|
|
|
|
private:
|
|
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
|
|
const uint8_t* tcData, uint32_t tcDataLen);
|
|
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
|
|
MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
|
|
|
|
ReturnValue_t prepareModeReply(const CommandMessage *reply,
|
|
object_id_t objectId);
|
|
ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
|
|
object_id_t objectId);
|
|
ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
|
|
object_id_t objectId);
|
|
|
|
enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
|
|
//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
|
|
COMMAND_MODE_COMMAND = 1,
|
|
//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
|
|
//! regardless of external control flag
|
|
COMMAND_MODE_COMMAND_FORCED = 2,
|
|
//!< [EXPORT] : [COMMAND] Read the current mode and
|
|
//! reply with a REPLY_MODE_REPLY
|
|
COMMAND_MODE_READ = 3,
|
|
//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
|
|
//! This command does NOT have a reply
|
|
COMMAND_MODE_ANNCOUNCE = 4,
|
|
//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
|
|
//! command to every child. This command does NOT have a reply.
|
|
COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
|
|
//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
|
|
REPLY_MODE_REPLY = 6,
|
|
//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
|
|
REPLY_CANT_REACH_MODE = 7,
|
|
//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a
|
|
//! mode was commanded and a transition started but was aborted,
|
|
//! the parameters contain the mode that was reached
|
|
REPLY_WRONG_MODE_REPLY = 8
|
|
};
|
|
|
|
enum modeParameters {
|
|
MODE_OFF = 0,
|
|
MODE_ON = 1,
|
|
MODE_NORMAL = 2,
|
|
MODE_RAW = 3
|
|
};
|
|
};
|
|
|
|
#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
|