diff --git a/pus/CService200ModeCommanding.cpp b/pus/CService200ModeCommanding.cpp new file mode 100644 index 00000000..753ec38b --- /dev/null +++ b/pus/CService200ModeCommanding.cpp @@ -0,0 +1,133 @@ +#include +#include + +#include +#include +#include +#include + +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(*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(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); +} + + + diff --git a/pus/CService200ModeCommanding.h b/pus/CService200ModeCommanding.h new file mode 100644 index 00000000..ede61a84 --- /dev/null +++ b/pus/CService200ModeCommanding.h @@ -0,0 +1,85 @@ +#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ +#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ + +#include + +/** + * @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_ */ diff --git a/pus/servicepackets/Service200Packets.h b/pus/servicepackets/Service200Packets.h new file mode 100644 index 00000000..fb153e21 --- /dev/null +++ b/pus/servicepackets/Service200Packets.h @@ -0,0 +1,56 @@ +#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ +#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ + +#include +#include +#include + +/** + * @brief Subservice 1, 2, 3, 4, 5 + * @ingroup spacepackets + */ +class ModePacket : public SerialLinkedListAdapter { //!< [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 objectId; //!< [EXPORT] : [COMMENT] Target or source object + SerializeElement mode; //!< [EXPORT] : [COMMENT] 0: MODE_OFF, 1: MODE_ON, 2: MODE_NORMAL, 3: MODE_RAW + SerializeElement submode; //!< [EXPORT] : [COMMENT] Usually 0, device specific submode possible +}; + +class CantReachModePacket: public SerialLinkedListAdapter { //!< [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 objectId; //!< [EXPORT] : [COMMENT] Reply source object + SerializeElement reason; //!< [EXPORT] : [COMMENT] Reason the mode could not be reached +}; + +#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE200PACKETS_H_ */ diff --git a/tmtcpacket/pus/TmPacketStored.cpp b/tmtcpacket/pus/TmPacketStored.cpp index d6a4a69f..6eb852f0 100644 --- a/tmtcpacket/pus/TmPacketStored.cpp +++ b/tmtcpacket/pus/TmPacketStored.cpp @@ -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) : diff --git a/tmtcservices/CommandingServiceBase.h b/tmtcservices/CommandingServiceBase.h index ec38bdee..1bd18571 100644 --- a/tmtcservices/CommandingServiceBase.h +++ b/tmtcservices/CommandingServiceBase.h @@ -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