diff --git a/tmtcservices/CommandingServiceBase.cpp b/tmtcservices/CommandingServiceBase.cpp index 331bc7c8..330fd00f 100644 --- a/tmtcservices/CommandingServiceBase.cpp +++ b/tmtcservices/CommandingServiceBase.cpp @@ -8,18 +8,28 @@ #include #include +object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT; +object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT; + CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeoutSeconds, object_id_t setPacketSource, - object_id_t setPacketDestination, size_t queueDepth) : + uint16_t commandTimeoutSeconds, size_t queueDepth) : SystemObject(setObjectId), apid(apid), service(service), timeoutSeconds(commandTimeoutSeconds), - commandMap(numberOfParallelCommands), packetSource(setPacketSource), - packetDestination(setPacketDestination) { + commandMap(numberOfParallelCommands) { commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); } +void CommandingServiceBase::setPacketSource(object_id_t packetSource) { + this->packetSource = packetSource; +} + +void CommandingServiceBase::setPacketDestination( + object_id_t packetDestination) { + this->packetDestination = packetDestination; +} + CommandingServiceBase::~CommandingServiceBase() { QueueFactory::instance()->deleteMessageQueue(commandQueue); @@ -52,10 +62,18 @@ ReturnValue_t CommandingServiceBase::initialize() { return result; } + if(packetDestination == objects::NO_OBJECT) { + packetDestination = defaultPacketDestination; + } AcceptsTelemetryIF* packetForwarding = objectManager->get(packetDestination); + + if(packetSource == objects::NO_OBJECT) { + packetSource = defaultPacketSource; + } PUSDistributorIF* distributor = objectManager->get( packetSource); + if (packetForwarding == nullptr or distributor == nullptr) { sif::error << "CommandingServiceBase::intialize: Packet source or " "packet destination invalid!" << std::endl; @@ -108,11 +126,11 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) { &nextCommand, iter->objectId, &isStep); /* If the child implementation does not implement special handling for - * rejected replies (RETURN_FAILED is returned), a failure verification - * will be generated with the reason as the return code and the initial - * command as failure parameter 1 */ - if(reply->getCommand() == CommandMessage::REPLY_REJECTED and - result == RETURN_FAILED) { + * rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a + * failure verification will be generated with the reason as the + * return code and the initial command as failure parameter 1 */ + if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and + (result == RETURN_FAILED or result == INVALID_REPLY)) { result = reply->getReplyRejectedReason(); failureParameter1 = iter->command; } diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index 277e5589..b3a15985 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -15,6 +15,10 @@ class TcPacketStored; +namespace Factory{ +void setStaticFrameworkObjectIds(); +} + /** * @brief This class is the basis for all PUS Services, which have to * relay Telecommands to software bus. @@ -33,6 +37,7 @@ class CommandingServiceBase: public SystemObject, public AcceptsTelecommandsIF, public ExecutableObjectIF, public HasReturnvaluesIF { + friend void (Factory::setStaticFrameworkObjectIds)(); public: static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE; static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1); @@ -57,10 +62,24 @@ public: */ CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, - uint16_t commandTimeoutSeconds, object_id_t setPacketSource, - object_id_t setPacketDestination, size_t queueDepth = 20); + uint16_t commandTimeoutSeconds, size_t queueDepth = 20); virtual ~CommandingServiceBase(); + /** + * This setter can be used to set the packet source individually instead + * of using the default static framework ID set in the factory. + * This should be called at object initialization and not during run-time! + * @param packetSource + */ + void setPacketSource(object_id_t packetSource); + /** + * This setter can be used to set the packet destination individually + * instead of using the default static framework ID set in the factory. + * This should be called at object initialization and not during run-time! + * @param packetDestination + */ + void setPacketDestination(object_id_t packetDestination); + /*** * This is the periodically called function. * Handle request queue for external commands. @@ -68,7 +87,7 @@ public: * @param opCode is unused here at the moment * @return RETURN_OK */ - virtual ReturnValue_t performOperation(uint8_t opCode); + virtual ReturnValue_t performOperation(uint8_t opCode) override; virtual uint16_t getIdentifier(); @@ -89,22 +108,23 @@ public: */ virtual MessageQueueId_t getCommandQueue(); - virtual ReturnValue_t initialize(); + virtual ReturnValue_t initialize() override; /** * Implementation of ExecutableObjectIF function * * Used to setup the reference of the task, that executes this component - * @param task_ Pointer to the taskIF of this task + * @param task Pointer to the taskIF of this task */ - virtual void setTaskIF(PeriodicTaskIF* task_); + virtual void setTaskIF(PeriodicTaskIF* task) override; protected: /** * Check the target subservice * @param subservice[in] - * @return -@c RETURN_OK on success - * -@c INVALID_SUBSERVICE if service is not known + * @return + * -@c RETURN_OK Subservice valid, continue message handling + * -@c INVALID_SUBSERVICE if service is not known, rejects packet. */ virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; @@ -117,9 +137,10 @@ protected: * @param tcDataLen * @param id MessageQueue ID is stored here * @param objectId Object ID is extracted and stored here - * @return - @c RETURN_OK on success - * - @c RETURN_FAILED - * - @c CSB or implementation specific return codes + * @return + * - @c RETURN_OK Cotinue message handling + * - @c RETURN_FAILED Reject the packet and generates a start failure + * verification */ virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id, @@ -138,6 +159,11 @@ protected: * communication * @param objectId Target object ID * @return + * - @c RETURN_OK to generate a verification start message + * - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion + * verification message. + * - @c Anything else rejects the packets and generates a start failure + * verification. */ virtual ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice, const uint8_t *tcData, size_t tcDataLen, @@ -160,11 +186,12 @@ protected: * @return * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to * generate TC verification success - * - @c INVALID_REPLY calls handleUnrequestedReply - * - Anything else triggers a TC verification failure. If RETURN_FAILED - * is returned and the command ID is CommandMessage::REPLY_REJECTED, - * a failure verification message with the reason as the error parameter - * and the initial command as failure parameter 1. + * - @c INVALID_REPLY Calls handleUnrequestedReply + * - Anything else triggers a TC verification failure. If RETURN_FAILED or + * INVALID_REPLY is returned and the command ID is + * CommandMessage::REPLY_REJECTED, a failure verification message with + * the reason as the error parameter and the initial command as + * failure parameter 1 is generated. */ virtual ReturnValue_t handleReply(const CommandMessage* reply, Command_t previousCommand, uint32_t *state, @@ -227,9 +254,10 @@ protected: uint32_t failureParameter1 = 0; uint32_t failureParameter2 = 0; - object_id_t packetSource; - - object_id_t packetDestination; + static object_id_t defaultPacketSource; + object_id_t packetSource = objects::NO_OBJECT; + static object_id_t defaultPacketDestination; + object_id_t packetDestination = objects::NO_OBJECT; /** * Pointer to the task which executes this component, @@ -274,7 +302,6 @@ protected: void checkAndExecuteFifo(CommandMapIter iter); private: - /** * This method handles internal execution of a command, * once it has been started by @sa{startExecution()} in the request @@ -294,10 +321,13 @@ private: void handleCommandQueue(); /** + * @brief Handler function for request queue + * @details * Sequence of request queue handling: * isValidSubservice -> getMessageQueueAndObject -> startExecution - * Generates Start Success Reports TM[1,3] in subfunction @sa{startExecution()} - * or Start Failure Report TM[1,4] by using the TC Verification Service + * Generates a Start Success Reports TM[1,3] in subfunction + * @sa{startExecution()} or a Start Failure Report TM[1,4] by using the + * TC Verification Service. */ void handleRequestQueue();