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added srv200, CSB doc

This commit is contained in:
Robin Müller 2020-07-10 00:19:25 +02:00
parent cdd877032f
commit 1fde3c2c99
5 changed files with 290 additions and 8 deletions
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133
pus/CService200ModeCommanding.cpp Normal file
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#include <framework/pus/CService200ModeCommanding.h>
#include <framework/pus/servicepackets/Service200Packets.h>
#include <framework/modes/HasModesIF.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/serialize/SerialLinkedListAdapter.h>
#include <framework/modes/ModeMessage.h>
CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId,
uint16_t apid, uint8_t serviceId):
CommandingServiceBase(objectId, apid, serviceId,
NUMBER_OF_PARALLEL_COMMANDS,COMMAND_TIMEOUT_SECONDS) {}
CService200ModeCommanding::~CService200ModeCommanding() {}
ReturnValue_t CService200ModeCommanding::isValidSubservice(uint8_t subservice) {
switch(subservice) {
case(Subservice::COMMAND_MODE_COMMAND):
case(Subservice::COMMAND_MODE_READ):
case(Subservice::COMMAND_MODE_ANNCOUNCE):
return RETURN_OK;
default:
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t CService200ModeCommanding::getMessageQueueAndObject(
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
MessageQueueId_t *id, object_id_t *objectId)
{
ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
if (result != RETURN_OK) {
return result;
}
result = checkInterfaceAndAcquireMessageQueue(id,objectId);
return result;
}
ReturnValue_t CService200ModeCommanding::checkAndAcquireTargetID(
object_id_t* objectIdToSet, const uint8_t* tcData, uint32_t tcDataLen) {
size_t size = tcDataLen;
if (SerializeAdapter::deSerialize(objectIdToSet, &tcData, &size,
SerializeIF::Endianness::BIG)
!= HasReturnvaluesIF::RETURN_OK)
return CommandingServiceBase::INVALID_TC;
else
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t CService200ModeCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* MessageQueueToSet, object_id_t* objectId) {
HasModesIF * possibleTarget = objectManager->get<HasModesIF>(*objectId);
if(possibleTarget!=NULL){
*MessageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
} else {
return CommandingServiceBase::INVALID_OBJECT;
}
}
ReturnValue_t CService200ModeCommanding::prepareCommand(
CommandMessage* message,uint8_t subservice, const uint8_t *tcData,
size_t tcDataLen, uint32_t *state, object_id_t objectId) {
ModePacket modeCommandPacket;
ReturnValue_t result = modeCommandPacket.deSerialize(&tcData,
&tcDataLen, SerializeIF::Endianness::BIG);
if (result != RETURN_OK) {
return result;
}
else {
ModeMessage::setModeMessage(dynamic_cast<CommandMessage*>(message),
ModeMessage::CMD_MODE_COMMAND, modeCommandPacket.getMode(),
modeCommandPacket.getSubmode());
return result;
}
}
ReturnValue_t CService200ModeCommanding::handleReply(
const CommandMessage* reply, Command_t previousCommand,
uint32_t *state, CommandMessage* optionalNextCommand,
object_id_t objectId, bool *isStep) {
Command_t replyId = reply->getCommand();
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
switch(replyId) {
case(ModeMessage::REPLY_MODE_REPLY): {
result = prepareModeReply(reply, objectId);
break;
}
case(ModeMessage::REPLY_WRONG_MODE_REPLY): {
result = prepareWrongModeReply(reply, objectId);
break;
}
case(ModeMessage::REPLY_CANT_REACH_MODE): {
result = prepareCantReachModeReply(reply, objectId);
break;
}
case(ModeMessage::REPLY_MODE_INFO):
result = INVALID_REPLY;
break;
default:
result = RETURN_FAILED;
}
return result;
}
ReturnValue_t CService200ModeCommanding::prepareModeReply(
const CommandMessage *reply, object_id_t objectId) {
ModePacket modeReplyPacket(objectId,
ModeMessage::getMode(reply),
ModeMessage::getSubmode(reply));
return sendTmPacket(Subservice::REPLY_MODE_REPLY, &modeReplyPacket);
}
ReturnValue_t CService200ModeCommanding::prepareWrongModeReply(
const CommandMessage *reply, object_id_t objectId) {
ModePacket wrongModeReply(objectId, ModeMessage::getMode(reply),
ModeMessage::getSubmode(reply));
return sendTmPacket(Subservice::REPLY_WRONG_MODE_REPLY, &wrongModeReply);
}
ReturnValue_t CService200ModeCommanding::prepareCantReachModeReply(
const CommandMessage *reply, object_id_t objectId) {
CantReachModePacket cantReachModePacket(objectId,
ModeMessage::getCantReachModeReason(reply));
return sendTmPacket(Subservice::REPLY_CANT_REACH_MODE,
&cantReachModePacket);
}

85
pus/CService200ModeCommanding.h Normal file
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#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
#include <framework/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_ */

56
pus/servicepackets/Service200Packets.h Normal file
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#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_
#include <framework/serialize/SerialLinkedListAdapter.h>
#include <framework/modes/ModeMessage.h>
#include <framework/serialize/SerializeIF.h>
/**
* @brief Subservice 1, 2, 3, 4, 5
* @ingroup spacepackets
*/
class ModePacket : public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 1, 2, 6
public:
ModePacket() {
setLinks();
}
ModePacket(object_id_t objectId, Mode_t mode, Submode_t submode) :
objectId(objectId), mode(mode), submode(submode) {
setLinks();
}
Mode_t getMode() {
return mode.entry;
}
Submode_t getSubmode() {
return submode.entry;
}
private:
// Forbid copying because of next pointer to member
ModePacket(const ModePacket &command);
void setLinks() {
setStart(&objectId);
objectId.setNext(&mode);
mode.setNext(&submode);
}
SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Target or source object
SerializeElement<Mode_t> mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW
SerializeElement<Submode_t> submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible
};
class CantReachModePacket: public SerialLinkedListAdapter<SerializeIF> { //!< [EXPORT] : [SUBSERVICE] 7
public:
CantReachModePacket(object_id_t objectId, ReturnValue_t reason):
objectId(objectId), reason(reason) {
setStart(&this->objectId);
this->objectId.setNext(&this->reason);
}
SerializeElement<object_id_t> objectId; //!< [EXPORT] : [COMMENT] Reply source object
SerializeElement<ReturnValue_t> reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached
};
#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */

1
tmtcpacket/pus/TmPacketStored.cpp
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@ -34,6 +34,7 @@ TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
size + headerSize + sizeof(PUSTmDataFieldHeader) + CRC_SIZE - 1);
}
// todo: Endianness flags as optional parameter?
TmPacketStored::TmPacketStored(uint16_t apid, uint8_t service,
uint8_t subservice, uint8_t packetSubcounter, SerializeIF *content,
SerializeIF *header) :

23
tmtcservices/CommandingServiceBase.h
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@ -114,16 +114,17 @@ public:
* 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);
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;
@ -136,9 +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,
@ -157,6 +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,
@ -181,7 +188,7 @@ protected:
* @return
* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
* generate TC verification success
* - @c INVALID_REPLY calls handleUnrequestedReply
* - @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