fsfw/src/fsfw/tmtcservices/TmTcBridge.h

#ifndef FSFW_TMTCSERVICES_TMTCBRIDGE_H_
#define FSFW_TMTCSERVICES_TMTCBRIDGE_H_

#include "AcceptsTelecommandsIF.h"
#include "AcceptsTelemetryIF.h"
#include "fsfw/container/DynamicFIFO.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcservices/TmTcMessage.h"

class TmTcBridge : public AcceptsTelemetryIF,
                   public AcceptsTelecommandsIF,
                   public ExecutableObjectIF,
                   public SystemObject {
 public:
  static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
  static constexpr unsigned int LIMIT_DOWNLINK_PACKETS_STORED = 500;

  static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
  static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;

  TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
             uint32_t msgQueueDepth, object_id_t tmStoreId, object_id_t tcStoreId);
  ~TmTcBridge() override;

  /**
   * Set number of packets sent per performOperation().Please note that this
   * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
   * @param sentPacketsPerCycle
   * @return -@c returnvalue::OK if value was set successfully
   *         -@c returnvalue::FAILED otherwise, stored value stays the same
   */
  ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);

  /**
   * Set number of packets sent per performOperation().Please note that this
   * value must be smaller than MAX_DOWNLINK_PACKETS_STORED
   * @param sentPacketsPerCycle
   * @return -@c returnvalue::OK if value was set successfully
   *         -@c returnvalue::FAILED otherwise, stored value stays the same
   */
  ReturnValue_t setMaxNumberOfPacketsStored(unsigned int maxNumberOfPacketsStored);

  /**
   * This will set up the bridge to overwrite old data in the FIFO.
   * @param overwriteOld
   */
  void setFifoToOverwriteOldData(bool overwriteOld);

  virtual void registerCommConnect();
  virtual void registerCommDisconnect();

  /**
   * Initializes necessary FSFW components for the TMTC Bridge
   * @return
   */
  ReturnValue_t initialize() override;

  /**
   * @brief	Handles TMTC reception
   */
  ReturnValue_t performOperation(uint8_t operationCode = 0) override;

  /** AcceptsTelemetryIF override */
  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;

  /** AcceptsTelecommandsIF override */
  uint32_t getIdentifier() const override;
  MessageQueueId_t getRequestQueue() const override;
  const char* getName() const override;

 protected:
  const char* name = "";

  //! Cached for initialize function.
  object_id_t tmStoreId = objects::NO_OBJECT;
  object_id_t tcStoreId = objects::NO_OBJECT;
  object_id_t tcDestination = objects::NO_OBJECT;

  //! Used to send and receive TMTC messages.
  //! The TmTcMessage class is used to transport messages between tasks.
  MessageQueueIF* tmTcReceptionQueue = nullptr;

  StorageManagerIF* tmStore = nullptr;
  StorageManagerIF* tcStore = nullptr;

  //! Used to specify whether communication link is up. Will be true
  //! by default, so telemetry will be handled immediately.
  bool communicationLinkUp = true;
  bool tmStored = false;
  bool warningSwitch = true;
  bool overwriteOld = true;
  uint8_t packetSentCounter = 0;

  /**
   * @brief 	Handle TC reception
   * @details
   * Default implementation provided, but is empty.
   * In most cases, TC reception will be handled in a separate task anyway.
   * @return
   */
  virtual ReturnValue_t handleTc();

  /**
   * Handle Telemetry. Default implementation provided.
   * Calls sendTm()
   * @return
   */
  virtual ReturnValue_t handleTm();

  /**
   * Read the TM Queue and send TM if necessary.
   * Default implementation provided
   * @return
   */
  virtual ReturnValue_t handleTmQueue();

  /**
   * Send stored data if communication link is active
   * @return
   */
  virtual ReturnValue_t handleStoredTm();

  /**
   * Implemented by child class. Perform sending of Telemetry by implementing
   * communication drivers or wrappers, e.g. serial communication or a socket
   * call.
   * @param data
   * @param dataLen
   * @return
   */
  virtual ReturnValue_t sendTm(const uint8_t* data, size_t dataLen) = 0;

  /**
   * Store data to be sent later if communication link is not up.
   * @param message
   * @return
   */
  virtual ReturnValue_t storeDownlinkData(TmTcMessage* message);

  /**
   * Print data as hexidecimal array
   * @param data
   * @param dataLen
   */
  void printData(uint8_t* data, size_t dataLen);

  /**
   * This FIFO can be used to store downlink data which can not be sent at the moment.
   */
  DynamicFIFO<store_address_t>* tmFifo = nullptr;
  uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
  unsigned int maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
};

#endif /* FSFW_TMTCSERVICES_TMTCBRIDGE_H_ */