66 lines
3.0 KiB
C++
66 lines
3.0 KiB
C++
#ifndef FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
|
|
#define FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
|
|
|
|
#include "fsfw/action/ActionMessage.h"
|
|
#include "fsfw/tmtcservices/CommandingServiceBase.h"
|
|
|
|
/**
|
|
* @brief Functional commanding.
|
|
* Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
|
|
* Dissertation Baetz p. 115, 116, 165-167
|
|
*
|
|
* This service provides the capability to perform functions of an
|
|
* application process and provides high-level commanding as opposed to the
|
|
* Raw Access provided by Service 2. Examples for these functions can include
|
|
* control and operation of payload or the AOCS subsystem.
|
|
* This service will be the primary means to control the spacecraft as it is
|
|
* considered safer than the Raw Access provided
|
|
* by Service 2 and is generally sufficient for most tasks.
|
|
*
|
|
* This is a gateway service. It relays device commands using the software bus.
|
|
* This service is very closely tied to the Commanding Service Base template
|
|
* class. There is constant interaction between this Service Base und a
|
|
* subclass like this service.
|
|
*
|
|
* Service Capability:
|
|
* - TC[8,128]: Direct Commanding
|
|
* - TM[8,130]: Direct Commanding Data Reply
|
|
*
|
|
* @ingroup pus_services
|
|
*/
|
|
class Service8FunctionManagement : public CommandingServiceBase {
|
|
public:
|
|
Service8FunctionManagement(object_id_t objectId, uint16_t apid, uint8_t serviceId,
|
|
uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
|
|
~Service8FunctionManagement() override;
|
|
|
|
protected:
|
|
/* CSB abstract functions implementation . 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:
|
|
enum class Subservice {
|
|
//!< [EXPORT] : [COMMAND] Functional commanding
|
|
COMMAND_DIRECT_COMMANDING = 128,
|
|
//!< [EXPORT] : [REPLY] Data reply
|
|
REPLY_DIRECT_COMMANDING_DATA = 130,
|
|
};
|
|
|
|
ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t* messageQueueToSet,
|
|
object_id_t* objectId);
|
|
ReturnValue_t prepareDirectCommand(CommandMessage* message, const uint8_t* tcData,
|
|
size_t tcDataLen);
|
|
ReturnValue_t handleDataReply(const CommandMessage* reply, object_id_t objectId,
|
|
ActionId_t actionId);
|
|
};
|
|
|
|
#endif /* FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */
|