133 lines
5.0 KiB
C++
133 lines
5.0 KiB
C++
#ifndef PUSSERVICEBASE_H_
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#define PUSSERVICEBASE_H_
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#include <framework/objectmanager/ObjectManagerIF.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/tmtcpacket/pus/TcPacketStored.h>
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
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#include <framework/tmtcservices/VerificationCodes.h>
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#include <framework/tmtcservices/VerificationReporter.h>
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#include <framework/internalError/InternalErrorReporterIF.h>
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#include <framework/ipc/MessageQueueIF.h>
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namespace Factory{
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void setStaticFrameworkObjectIds();
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}
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/**
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* \defgroup pus_services PUS Service Framework
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* These group contains all implementations of PUS Services in the OBSW.
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* Most of the Services are directly taken from the ECSS PUS Standard.
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*/
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/**
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* \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
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* It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
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* from this abstract class has to implement handleRequest and performService. Services that are created with this
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* Base class have to handle any kind of request immediately on reception.
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* All PUS Services are System Objects, so an Object ID needs to be specified on construction.
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* \ingroup pus_services
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*/
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class PusServiceBase : public ExecutableObjectIF,
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public AcceptsTelecommandsIF,
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public SystemObject,
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public HasReturnvaluesIF {
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friend void (Factory::setStaticFrameworkObjectIds)();
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public:
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/**
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* The constructor for the class.
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* The passed values are set, but inter-object initialization is done in the initialize method.
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* @param setObjectId The system object identifier of this Service instance.
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* @param set_apid The APID the Service is instantiated for.
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* @param set_service_id The Service Identifier as specified in ECSS PUS.
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*/
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PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
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/**
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* The destructor is empty.
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*/
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virtual ~PusServiceBase();
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/**
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* @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
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* @details
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* Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
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* They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
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* Success or Failure Reports are generated automatically after execution of this method.
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*
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* If a Telecommand can not be executed within one call cycle,
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* this Base class is not the right parent.
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*
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* The child class may add additional error information by setting #errorParameters which are
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* attached to the generated verification message.
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*
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* Subservice checking should be implemented in this method.
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*
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* @return The returned status_code is directly taken as main error code in the Verification Report.
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* On success, RETURN_OK shall be returned.
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*/
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virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
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/**
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* In performService, implementations can handle periodic, non-TC-triggered activities.
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* The performService method is always called.
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* @return A success or failure code that does not trigger any kind of verification message.
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*/
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virtual ReturnValue_t performService() = 0;
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/**
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* This method implements the typical activity of a simple PUS Service.
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* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
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* the TC requests afterwards.
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* performService is always executed afterwards.
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* @return \c RETURN_OK if the periodic performService was successful.
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* \c RETURN_FAILED else.
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*/
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ReturnValue_t performOperation(uint8_t opCode);
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virtual uint16_t getIdentifier();
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MessageQueueId_t getRequestQueue();
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virtual ReturnValue_t initialize();
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protected:
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/**
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* The APID of this instance of the Service.
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*/
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uint16_t apid;
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/**
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* The Service Identifier.
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*/
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uint8_t serviceId;
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/**
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* One of two error parameters for additional error information.
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*/
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uint32_t errorParameter1;
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/**
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* One of two error parameters for additional error information.
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*/
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uint32_t errorParameter2;
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/**
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* This is a complete instance of the Telecommand reception queue of the class.
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* It is initialized on construction of the class.
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*/
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MessageQueueIF* requestQueue;
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/**
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* An instance of the VerificationReporter class, that simplifies sending any kind of
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* Verification Message to the TC Verification Service.
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*/
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VerificationReporter verifyReporter;
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/**
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* The current Telecommand to be processed.
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* It is deleted after handleRequest was executed.
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*/
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TcPacketStored currentPacket;
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static object_id_t packetSource;
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static object_id_t packetDestination;
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private:
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/**
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* This constant sets the maximum number of packets accepted per call.
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* Remember that one packet must be completely handled in one #handleRequest call.
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*/
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static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
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};
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#endif /* PUSSERVICEBASE_H_ */
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