Generic TMTC Bridge added
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05c1330b68
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173
tmtcservices/TmTcBridge.cpp
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173
tmtcservices/TmTcBridge.cpp
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/**
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* @file TmTcBridge.cpp
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*
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* @date 26.12.2019
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*/
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#include <framework/tmtcservices/TmTcBridge.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_):
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SystemObject(objectId_),tcStore(NULL), tmStore(NULL),
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ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false),
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tmStored(false) {
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TmTcReceptionQueue = QueueFactory::instance()->
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createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
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}
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TmTcBridge::~TmTcBridge() {
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}
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ReturnValue_t TmTcBridge::initialize() {
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tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
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if (tcStore == NULL) {
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return RETURN_FAILED;
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}
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tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
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if (tmStore == NULL) {
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return RETURN_FAILED;
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}
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AcceptsTelecommandsIF* tcDistributor =
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objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
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if (tcDistributor == NULL) {
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return RETURN_FAILED;
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}
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TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
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return RETURN_OK;
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}
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ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
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ReturnValue_t result;
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result = handleTc();
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if(result != RETURN_OK) {
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error << "TMTC Bridge: Error handling TCs" << std::endl;
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}
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result = handleTm();
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if (result != RETURN_OK) {
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error << "TMTC Bridge: Error handling TMs" << std::endl;
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}
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return result;
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}
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ReturnValue_t TmTcBridge::handleTc() {
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ReturnValue_t result = receiveTc();
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return result;
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}
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ReturnValue_t TmTcBridge::handleTm() {
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ReturnValue_t result = readTmQueue();
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if(result != RETURN_OK) {
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error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
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return RETURN_FAILED;
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}
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if(tmStored && communicationLinkUp) {
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result = sendStoredTm();
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}
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return result;
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}
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ReturnValue_t TmTcBridge::readTmQueue() {
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TmTcMessage message;
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const uint8_t* data = NULL;
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uint32_t size = 0;
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for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
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result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
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{
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if(not communicationLinkUp) {
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result = storeDownlinkData(&message);
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return result;
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}
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result = tmStore->getData(message.getStorageId(), &data, &size);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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result = sendTm(data, size);
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if (result != RETURN_OK) {
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error << "UDP Server: Could not send TM packet"<< std::endl;
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tmStore->deleteData(message.getStorageId());
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return result;
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}
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tmStore->deleteData(message.getStorageId());
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}
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return RETURN_OK;
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}
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ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
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info << "UDP Server: Client address not bound yet. Packet can not be sent. "
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"Saving packet to be sent later " << std::endl;
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store_address_t storeId;
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if(fifo.full()) {
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info << "UDP Server: TM downlink store is full. Overwriting old data" << std::endl;
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fifo.retrieve(&storeId);
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}
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storeId = message->getStorageId();
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fifo.insert(storeId);
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//storageIdBufferCounter ++;
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tmStored = true;
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return RETURN_OK;
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}
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ReturnValue_t TmTcBridge::sendStoredTm() {
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uint8_t counter = 0;
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ReturnValue_t result = RETURN_OK;
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while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) {
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info << "UDP Server: Sending stored TM data. There are "
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<< (int) fifo.size() << " left to send" << std::endl;
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store_address_t storeId;
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const uint8_t* data = NULL;
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uint32_t size = 0;
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fifo.retrieve(&storeId);
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result = tmStore->getData(storeId, &data, &size);
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sendTm(data,size);
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if(result != RETURN_OK) {
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error << "UDP Server: Could not send stored downlink data" << std::endl;
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result = RETURN_FAILED;
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}
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counter ++;
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if(fifo.empty()) {
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tmStored = false;
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}
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tmStore->deleteData(storeId);
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}
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return result;
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}
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void TmTcBridge::registerCommConnect() {
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info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
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if(not communicationLinkUp) {
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communicationLinkUp = true;
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}
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}
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void TmTcBridge::registerCommDisconnect() {
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info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
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if(communicationLinkUp) {
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communicationLinkUp = false;
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}
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}
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MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
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return TmTcReceptionQueue->getId();
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}
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void TmTcBridge::printData(uint8_t * data, uint32_t dataLen) {
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info << "TMTC Bridge: Printing data: [";
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for(uint32_t i=0;i<dataLen;i++) {
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info << std::hex << (int)data[i];
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if(i < dataLen-1){
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info << " , ";
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}
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}
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info << " ] " << std::endl;
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}
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121
tmtcservices/TmTcBridge.h
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121
tmtcservices/TmTcBridge.h
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@ -0,0 +1,121 @@
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/**
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* @file TmTcBridge.h
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*
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* @date 26.12.2019
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*/
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#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
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#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
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#include <framework/tmtcservices/AcceptsTelemetryIF.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/ipc/MessageQueueIF.h>
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#include <framework/storagemanager/StorageManagerIF.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/tmtcservices/TmTcMessage.h>
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#include <framework/container/FIFO.h>
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class TmTcBridge : public AcceptsTelemetryIF,
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public ExecutableObjectIF,
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public HasReturnvaluesIF,
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public SystemObject {
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public:
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TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
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virtual ~TmTcBridge();
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/**
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* Initializes basic FSFW components for TMTC Bridge
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* @return
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*/
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virtual ReturnValue_t initialize();
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/**
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* @brief The performOperation method is executed in a task.
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* @details There are no restrictions for calls within this method, so any
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* other member of the class can be used.
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* @return Currently, the return value is ignored.
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*/
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0);
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/**
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* Return TMTC Reception Queue
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* @param virtualChannel
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* @return
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*/
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virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
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protected:
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MessageQueueIF* TmTcReceptionQueue; //!< Used to send and receive TMTC messages. TmTcMessage is used to transport messages between tasks.
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StorageManagerIF* tcStore;
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StorageManagerIF* tmStore;
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object_id_t ccsdsPacketDistributor;
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bool communicationLinkUp; //!< Used to specify whether communication link is up
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bool tmStored;
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/**
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* Handle TC reception. Default implementation provided
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* @return
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*/
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virtual ReturnValue_t handleTc();
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/**
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* Implemented by child class. Perform receiving of Telecommand
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* @return
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*/
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virtual ReturnValue_t receiveTc() = 0;
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/**
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* Handle Telemetry. Default implementation provided.
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* Calls sendTm()
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* @return
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*/
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virtual ReturnValue_t handleTm();
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/**
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* Read the TM Queue and send TM if necessary. Default implementation provided
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* @return
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*/
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virtual ReturnValue_t readTmQueue();
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/**
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* Implemented by child class. Perform sending of Telemetry
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* @param data
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* @param dataLen
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* @return
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*/
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virtual ReturnValue_t sendTm(const uint8_t * data, uint32_t dataLen) = 0;
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/**
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* Store data to be sent later if communication link is not up.
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* @param message
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* @return
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*/
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ReturnValue_t storeDownlinkData(TmTcMessage * message);
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/**
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* Send stored data if communication link is active
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* @return
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*/
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ReturnValue_t sendStoredTm();
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/**
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* Print data as hexidecimal array
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* @param data
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* @param dataLen
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*/
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void printData(uint8_t * data, uint32_t dataLen);
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void registerCommConnect();
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void registerCommDisconnect();
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private:
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static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
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static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10;
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static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 20;
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FIFO<store_address_t, MAX_DOWNLINK_PACKETS_STORED> fifo;
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};
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#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
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