Merge pull request 'CommandingServiceBase improvements' (#105) from KSat/fsfw:mueller_CSB_improvements into master

This commit is contained in:
Steffen Gaisser 2020-07-28 12:12:07 +02:00
commit 32f22dd974
5 changed files with 329 additions and 259 deletions

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@ -120,3 +120,12 @@ void CommandMessage::setReplyRejected(ReturnValue_t reason,
setParameter(reason); setParameter(reason);
setParameter2(initialCommand); setParameter2(initialCommand);
} }
ReturnValue_t CommandMessage::getReplyRejectedReason(
Command_t *initialCommand) const {
ReturnValue_t reason = getParameter();
if(initialCommand != nullptr) {
*initialCommand = getParameter2();
}
return reason;
}

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@ -124,6 +124,9 @@ public:
*/ */
void setToUnknownCommand(); void setToUnknownCommand();
void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE); void setReplyRejected(ReturnValue_t reason, Command_t initialCommand = CMD_NONE);
ReturnValue_t getReplyRejectedReason(
Command_t *initialCommand = nullptr) const;
size_t getMinimumMessageSize() const; size_t getMinimumMessageSize() const;
}; };

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@ -21,7 +21,8 @@ public:
static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF; static constexpr uint8_t INTERFACE_ID = CLASS_ID::OBJECT_MANAGER_IF;
static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 ); static constexpr ReturnValue_t INSERTION_FAILED = MAKE_RETURN_CODE( 1 );
static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 ); static constexpr ReturnValue_t NOT_FOUND = MAKE_RETURN_CODE( 2 );
static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 );
static constexpr ReturnValue_t CHILD_INIT_FAILED = MAKE_RETURN_CODE( 3 ); //!< Can be used if the initialization of a SystemObject failed.
static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 ); static constexpr ReturnValue_t INTERNAL_ERR_REPORTER_UNINIT = MAKE_RETURN_CODE( 4 );
protected: protected:

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@ -1,22 +1,21 @@
/* #include <framework/tcdistribution/PUSDistributorIF.h>
* CommandingServiceBase.cpp #include <framework/tmtcservices/AcceptsTelemetryIF.h>
* #include <framework/objectmanager/ObjectManagerIF.h>
* Created on: 28.08.2019
* Author: gaisser
*/
#include <framework/tmtcservices/CommandingServiceBase.h> #include <framework/tmtcservices/CommandingServiceBase.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands, uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeout_seconds, object_id_t setPacketSource, uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth) : object_id_t setPacketDestination, size_t queueDepth) :
SystemObject(setObjectId), apid(apid), service(service), timeout_seconds( SystemObject(setObjectId), apid(apid), service(service),
commandTimeout_seconds), tmPacketCounter(0), IPCStore(NULL), TCStore( timeoutSeconds(commandTimeoutSeconds),
NULL), commandQueue(NULL), requestQueue(NULL), commandMap( commandMap(numberOfParallelCommands), packetSource(setPacketSource),
numberOfParallelCommands), failureParameter1(0), failureParameter2( packetDestination(setPacketDestination) {
0), packetSource(setPacketSource), packetDestination(
setPacketDestination),executingTask(NULL) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth); commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth); requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
} }
@ -57,8 +56,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
objectManager->get<AcceptsTelemetryIF>(packetDestination); objectManager->get<AcceptsTelemetryIF>(packetDestination);
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>( PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
packetSource); packetSource);
if ((packetForwarding == NULL) && (distributor == NULL)) { if (packetForwarding == nullptr or distributor == nullptr) {
return RETURN_FAILED; sif::error << "CommandingServiceBase::intialize: Packet source or "
"packet destination invalid!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
} }
distributor->registerService(this); distributor->registerService(this);
@ -68,8 +69,10 @@ ReturnValue_t CommandingServiceBase::initialize() {
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE); IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE); TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if ((IPCStore == NULL) || (TCStore == NULL)) { if (IPCStore == nullptr or TCStore == nullptr) {
return RETURN_FAILED; sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
"not initialized yet!" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
} }
return RETURN_OK; return RETURN_OK;
@ -77,97 +80,126 @@ ReturnValue_t CommandingServiceBase::initialize() {
} }
void CommandingServiceBase::handleCommandQueue() { void CommandingServiceBase::handleCommandQueue() {
CommandMessage reply, nextCommand; CommandMessage reply;
ReturnValue_t result, sendResult = RETURN_OK; ReturnValue_t result = RETURN_FAILED;
bool isStep = false;
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK; for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
result = commandQueue->receiveMessage(&reply)) { result = commandQueue->receiveMessage(&reply)) {
isStep = false; handleCommandMessage(&reply);
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator iter;
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
handleUnrequestedReply(&reply);
continue;
}
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
handleUnrequestedReply(&reply);
continue;
}
nextCommand.setCommand(CommandMessage::CMD_NONE);
result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
iter->objectId, &isStep);
switch (result) {
case EXECUTION_COMPLETE:
case RETURN_OK:
case NO_STEP_MESSAGE:
iter->command = nextCommand.getCommand();
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage(reply.getSender(),
&nextCommand);
}
if (sendResult == RETURN_OK) {
if (isStep) {
if (result != NO_STEP_MESSAGE) {
verificationReporter.sendSuccessReport(
TC_VERIFY::PROGRESS_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, ++iter->step);
}
} else {
verificationReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, 0);
checkAndExecuteFifo(&iter);
}
} else {
if (isStep) {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
} else {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult, 0,
failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(&iter);
}
break;
case INVALID_REPLY:
//might be just an unrequested reply at a bad moment
handleUnrequestedReply(&reply);
break;
default:
if (isStep) {
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, ++iter->step, failureParameter1,
failureParameter2);
} else {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, 0, failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(&iter);
break;
}
} }
} }
void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
bool isStep = false;
CommandMessage nextCommand;
CommandMapIter iter = commandMap.find(reply->getSender());
// handle unrequested reply first
if (reply->getSender() == MessageQueueIF::NO_QUEUE or
iter == commandMap.end()) {
handleUnrequestedReply(reply);
return;
}
nextCommand.setCommand(CommandMessage::CMD_NONE);
// Implemented by child class, specifies what to do with reply.
ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
&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) {
result = reply->getReplyRejectedReason();
failureParameter1 = iter->command;
}
switch (result) {
case EXECUTION_COMPLETE:
case RETURN_OK:
case NO_STEP_MESSAGE:
// handle result of reply handler implemented by developer.
handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
break;
case INVALID_REPLY:
//might be just an unrequested reply at a bad moment
handleUnrequestedReply(reply);
break;
default:
if (isStep) {
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, ++iter->step, failureParameter1,
failureParameter2);
} else {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, 0, failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(iter);
break;
}
}
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
CommandMapIter iter, CommandMessage* nextCommand,
CommandMessage* reply, bool& isStep) {
iter->command = nextCommand->getCommand();
// In case a new command is to be sent immediately, this is performed here.
// If no new command is sent, only analyse reply result by initializing
// sendResult as RETURN_OK
ReturnValue_t sendResult = RETURN_OK;
if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage(reply->getSender(),
nextCommand);
}
if (sendResult == RETURN_OK) {
if (isStep and result != NO_STEP_MESSAGE) {
verificationReporter.sendSuccessReport(
TC_VERIFY::PROGRESS_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, ++iter->step);
}
else {
verificationReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, 0);
checkAndExecuteFifo(iter);
}
}
else {
if (isStep) {
nextCommand->clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
} else {
nextCommand->clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult, 0,
failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(iter);
}
}
void CommandingServiceBase::handleRequestQueue() { void CommandingServiceBase::handleRequestQueue() {
TmTcMessage message; TmTcMessage message;
ReturnValue_t result; ReturnValue_t result;
@ -181,7 +213,7 @@ void CommandingServiceBase::handleRequestQueue() {
packet.setStoreAddress(address); packet.setStoreAddress(address);
if ((packet.getSubService() == 0) if ((packet.getSubService() == 0)
|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) { or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE); rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
continue; continue;
} }
@ -194,8 +226,7 @@ void CommandingServiceBase::handleRequestQueue() {
} }
//Is a command already active for the target object? //Is a command already active for the target object?
typename FixedMap<MessageQueueId_t, CommandMapIter iter;
CommandingServiceBase::CommandInfo>::Iterator iter;
iter = commandMap.find(queue); iter = commandMap.find(queue);
if (iter != commandMap.end()) { if (iter != commandMap.end()) {
@ -210,7 +241,7 @@ void CommandingServiceBase::handleRequestQueue() {
if (result != RETURN_OK) { if (result != RETURN_OK) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY); rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
} else { } else {
startExecution(&packet, &iter); startExecution(&packet, iter);
} }
} }
@ -218,9 +249,9 @@ void CommandingServiceBase::handleRequestQueue() {
} }
void CommandingServiceBase::sendTmPacket(uint8_t subservice, ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
const uint8_t* data, uint32_t dataLen, const uint8_t* headerData, const uint8_t* data, size_t dataLen, const uint8_t* headerData,
uint32_t headerSize) { size_t headerSize) {
TmPacketStored tmPacketStored(this->apid, this->service, subservice, TmPacketStored tmPacketStored(this->apid, this->service, subservice,
this->tmPacketCounter, data, dataLen, headerData, headerSize); this->tmPacketCounter, data, dataLen, headerData, headerSize);
ReturnValue_t result = tmPacketStored.sendPacket( ReturnValue_t result = tmPacketStored.sendPacket(
@ -228,79 +259,79 @@ void CommandingServiceBase::sendTmPacket(uint8_t subservice,
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
this->tmPacketCounter++; this->tmPacketCounter++;
} }
return result;
} }
void CommandingServiceBase::sendTmPacket(uint8_t subservice, ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
object_id_t objectId, const uint8_t *data, uint32_t dataLen) { object_id_t objectId, const uint8_t *data, size_t dataLen) {
uint8_t buffer[sizeof(object_id_t)]; uint8_t buffer[sizeof(object_id_t)];
uint8_t* pBuffer = buffer; uint8_t* pBuffer = buffer;
size_t size = 0; size_t size = 0;
SerializeAdapter::serialize(&objectId, &pBuffer, &size, SerializeAdapter::serialize(&objectId, &pBuffer, &size,
sizeof(object_id_t), SerializeIF::Endianness::BIG); sizeof(object_id_t), SerializeIF::Endianness::BIG);
TmPacketStored tmPacketStored(this->apid, this->service, subservice, TmPacketStored tmPacketStored(this->apid, this->service, subservice,
this->tmPacketCounter, data, dataLen, buffer, size); this->tmPacketCounter, data, dataLen, buffer, size);
ReturnValue_t result = tmPacketStored.sendPacket( ReturnValue_t result = tmPacketStored.sendPacket(
requestQueue->getDefaultDestination(), requestQueue->getId()); requestQueue->getDefaultDestination(), requestQueue->getId());
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
this->tmPacketCounter++; this->tmPacketCounter++;
} }
return result;
} }
void CommandingServiceBase::sendTmPacket(uint8_t subservice, ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
SerializeIF* content, SerializeIF* header) { SerializeIF* content, SerializeIF* header) {
TmPacketStored tmPacketStored(this->apid, this->service, subservice, TmPacketStored tmPacketStored(this->apid, this->service, subservice,
this->tmPacketCounter, content, header); this->tmPacketCounter, content, header);
ReturnValue_t result = tmPacketStored.sendPacket( ReturnValue_t result = tmPacketStored.sendPacket(
requestQueue->getDefaultDestination(), requestQueue->getId()); requestQueue->getDefaultDestination(), requestQueue->getId());
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
this->tmPacketCounter++; this->tmPacketCounter++;
} }
return result;
} }
void CommandingServiceBase::startExecution( void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
TcPacketStored *storedPacket, CommandMapIter iter) {
typename FixedMap<MessageQueueId_t, ReturnValue_t result = RETURN_OK;
CommandingServiceBase::CommandInfo>::Iterator *iter) { CommandMessage command;
ReturnValue_t result, sendResult = RETURN_OK; iter->subservice = storedPacket->getSubService();
CommandMessage message; result = prepareCommand(&command, iter->subservice,
(*iter)->subservice = storedPacket->getSubService(); storedPacket->getApplicationData(),
result = prepareCommand(&message, (*iter)->subservice, storedPacket->getApplicationDataSize(), &iter->state,
storedPacket->getApplicationData(), iter->objectId);
storedPacket->getApplicationDataSize(), &(*iter)->state,
(*iter)->objectId);
ReturnValue_t sendResult = RETURN_OK;
switch (result) { switch (result) {
case RETURN_OK: case RETURN_OK:
if (message.getCommand() != CommandMessage::CMD_NONE) { if (command.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage((*iter).value->first, sendResult = commandQueue->sendMessage(iter.value->first,
&message); &command);
} }
if (sendResult == RETURN_OK) { if (sendResult == RETURN_OK) {
Clock::getUptime(&(*iter)->uptimeOfStart); Clock::getUptime(&iter->uptimeOfStart);
(*iter)->step = 0; iter->step = 0;
// (*iter)->state = 0; iter->subservice = storedPacket->getSubService();
(*iter)->subservice = storedPacket->getSubService(); iter->command = command.getCommand();
(*iter)->command = message.getCommand(); iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags(); iter->tcInfo.tcPacketId = storedPacket->getPacketId();
(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId(); iter->tcInfo.tcSequenceControl =
(*iter)->tcInfo.tcSequenceControl =
storedPacket->getPacketSequenceControl(); storedPacket->getPacketSequenceControl();
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket); acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
} else { } else {
message.clearCommandMessage(); command.clearCommandMessage();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter); checkAndExecuteFifo(iter);
} }
break; break;
case EXECUTION_COMPLETE: case EXECUTION_COMPLETE:
if (message.getCommand() != CommandMessage::CMD_NONE) { if (command.getCommand() != CommandMessage::CMD_NONE) {
//Fire-and-forget command. //Fire-and-forget command.
sendResult = commandQueue->sendMessage((*iter).value->first, sendResult = commandQueue->sendMessage(iter.value->first,
&message); &command);
} }
if (sendResult == RETURN_OK) { if (sendResult == RETURN_OK) {
verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS, verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
@ -308,7 +339,7 @@ void CommandingServiceBase::startExecution(
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket); acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
checkAndExecuteFifo(iter); checkAndExecuteFifo(iter);
} else { } else {
message.clearCommandMessage(); command.clearCommandMessage();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult); rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter); checkAndExecuteFifo(iter);
} }
@ -335,12 +366,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
} }
void CommandingServiceBase::checkAndExecuteFifo( void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator *iter) {
store_address_t address; store_address_t address;
if ((*iter)->fifo.retrieve(&address) != RETURN_OK) { if (iter->fifo.retrieve(&address) != RETURN_OK) {
commandMap.erase(iter); commandMap.erase(&iter);
} else { } else {
TcPacketStored newPacket(address); TcPacketStored newPacket(address);
startExecution(&newPacket, iter); startExecution(&newPacket, iter);
@ -348,8 +377,7 @@ void CommandingServiceBase::checkAndExecuteFifo(
} }
void CommandingServiceBase::handleUnrequestedReply( void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
CommandMessage* reply) {
reply->clearCommandMessage(); reply->clearCommandMessage();
} }
@ -364,18 +392,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
void CommandingServiceBase::checkTimeout() { void CommandingServiceBase::checkTimeout() {
uint32_t uptime; uint32_t uptime;
Clock::getUptime(&uptime); Clock::getUptime(&uptime);
typename FixedMap<MessageQueueId_t, CommandMapIter iter;
CommandingServiceBase::CommandInfo>::Iterator iter;
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) { for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
if ((iter->uptimeOfStart + (timeout_seconds * 1000)) < uptime) { if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
verificationReporter.sendFailureReport( verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags, TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl, iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
TIMEOUT); TIMEOUT);
checkAndExecuteFifo(&iter); checkAndExecuteFifo(iter);
} }
} }
} }
void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
executingTask = task_;
}

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@ -1,35 +1,33 @@
#ifndef COMMANDINGSERVICEBASE_H_ #ifndef FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#define COMMANDINGSERVICEBASE_H_ #define FRAMEWORK_TMTCSERVICES_COMMANDINGSERVICEBASE_H_
#include <framework/container/FixedMap.h>
#include <framework/container/FIFO.h>
#include <framework/ipc/CommandMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h> #include <framework/objectmanager/SystemObject.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/storagemanager/StorageManagerIF.h> #include <framework/storagemanager/StorageManagerIF.h>
#include <framework/tasks/ExecutableObjectIF.h> #include <framework/tasks/ExecutableObjectIF.h>
#include <framework/tcdistribution/PUSDistributorIF.h> #include <framework/ipc/MessageQueueIF.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h> #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/tmtcservices/VerificationReporter.h> #include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h> #include <framework/ipc/CommandMessage.h>
#include <framework/ipc/QueueFactory.h> #include <framework/container/FixedMap.h>
#include <framework/timemanager/Clock.h> #include <framework/container/FIFO.h>
#include <framework/serialize/SerializeIF.h>
class TcPacketStored;
/** /**
* \brief This class is the basis for all PUS Services, which have to relay Telecommands to software bus. * @brief This class is the basis for all PUS Services, which have to
* relay Telecommands to software bus.
* *
* It manages Telecommand reception and the generation of Verification Reports like PUSServiceBase. * It manages Telecommand reception and the generation of Verification Reports
* Every class that inherits from this abstract class has to implement four adaption points: * similar to PusServiceBase. This class is used if a telecommand can't be
* handled immediately and must be relayed to the internal software bus.
* - isValidSubservice * - isValidSubservice
* - getMessageQueueAndObject * - getMessageQueueAndObject
* - prepareCommand * - prepareCommand
* - handleReply * - handleReply
* \ingroup pus_services * @author gaisser
* @ingroup pus_services
*/ */
class CommandingServiceBase: public SystemObject, class CommandingServiceBase: public SystemObject,
public AcceptsTelecommandsIF, public AcceptsTelecommandsIF,
@ -59,7 +57,7 @@ public:
*/ */
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands, uint8_t service, uint8_t numberOfParallelCommands,
uint16_t commandTimeout_seconds, object_id_t setPacketSource, uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth = 20); object_id_t setPacketDestination, size_t queueDepth = 20);
virtual ~CommandingServiceBase(); virtual ~CommandingServiceBase();
@ -99,9 +97,7 @@ public:
* Used to setup the reference of the task, that executes this component * 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_);
executingTask = task_;
};
protected: protected:
/** /**
@ -113,8 +109,9 @@ protected:
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0; virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
/** /**
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved. * Once a TC Request is valid, the existence of the destination and its
* The target message queue ID can then be acquired by using the target interface. * target interface is checked and retrieved. The target message queue ID
* can then be acquired by using the target interface.
* @param subservice * @param subservice
* @param tcData Application Data of TC Packet * @param tcData Application Data of TC Packet
* @param tcDataLen * @param tcDataLen
@ -125,48 +122,69 @@ protected:
* - @c CSB or implementation specific return codes * - @c CSB or implementation specific return codes
*/ */
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice, virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id, const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0; object_id_t *objectId) = 0;
/** /**
* After the Message Queue and Object ID are determined, * After the Message Queue and Object ID are determined, the command is
* the command is prepared by using an implementation specific CommandMessage type * prepared by using an implementation specific CommandMessage type
* which is sent to the target object. * which is sent to the target object. It contains all necessary information
* It contains all necessary information for the device to execute telecommands. * for the device to execute telecommands.
* @param message[out] message to be sent to the object * @param message [out] message which can be set and is sent to the object
* @param subservice[in] Subservice of the current communication * @param subservice Subservice of the current communication
* @param tcData Additional data of the command * @param tcData Application data of command
* @param tcDataLen Length of the additional data * @param tcDataLen Application data length
* @param state[out] Setable state of the communication * @param state [out/in] Setable state of the communication.
* communication
* @param objectId Target object ID * @param objectId Target object ID
* @return - @c RETURN_OK on success * @return
* - @c EXECUTION_COMPLETE if exectuin is finished
* - any other return code will be part of (1,4) start failure
*/ */
virtual ReturnValue_t prepareCommand(CommandMessage *message, virtual ReturnValue_t prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen, uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0; uint32_t *state, object_id_t objectId) = 0;
/** /**
* This function is responsible for the communication between the Command Service Base * This function is implemented by child services to specify how replies
* and the respective PUS Commanding Service once the execution has started. * to a command from another software component are handled.
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function. * @param reply
* There are different translations of these replies to specify how the Command Service proceeds. * This is the reply in form of a generic read-only command message.
* @param reply Command Message which contains information about the command * @param previousCommand
* @param previousCommand Command_t of last command * Command_t of related command
* @param state state of the communication * @param state [out/in]
* @param optionalNextCommand[out] An optional next command which can be set in this function * Additional parameter which can be used to pass state information.
* State of the communication
* @param optionalNextCommand [out]
* An optional next command which can be set in this function
* @param objectId Source object ID * @param objectId Source object ID
* @param isStep Flag value to mark steps of command execution * @param isStep Flag value to mark steps of command execution
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success * @return
* - @c INVALID_REPLY can handle unrequested replies * - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
* - Anything else triggers a TC verification failure * 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.
*/ */
virtual ReturnValue_t handleReply(const CommandMessage *reply, virtual ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state, Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId, CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) = 0; bool *isStep) = 0;
/**
* This function can be overidden to handle unrequested reply,
* when the reply sender ID is unknown or is not found is the command map.
* The default implementation will clear the command message and all
* its contents.
* @param reply
* Reply which is non-const so the default implementation can clear the
* message.
*/
virtual void handleUnrequestedReply(CommandMessage* reply);
virtual void doPeriodicOperation();
struct CommandInfo { struct CommandInfo {
struct tcInfo { struct tcInfo {
uint8_t ackFlags; uint8_t ackFlags;
@ -182,84 +200,92 @@ protected:
FIFO<store_address_t, 3> fifo; FIFO<store_address_t, 3> fifo;
}; };
using CommandMapIter = FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator;
const uint16_t apid; const uint16_t apid;
const uint8_t service; const uint8_t service;
const uint16_t timeout_seconds; const uint16_t timeoutSeconds;
uint8_t tmPacketCounter; uint8_t tmPacketCounter = 0;
StorageManagerIF *IPCStore; StorageManagerIF *IPCStore = nullptr;
StorageManagerIF *TCStore; StorageManagerIF *TCStore = nullptr;
MessageQueueIF* commandQueue; MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* requestQueue; MessageQueueIF* requestQueue = nullptr;
VerificationReporter verificationReporter; VerificationReporter verificationReporter;
FixedMap<MessageQueueId_t, CommandInfo> commandMap; FixedMap<MessageQueueId_t, CommandInfo> commandMap;
uint32_t failureParameter1; //!< May be set be children to return a more precise failure condition. /* May be set be children to return a more precise failure condition. */
uint32_t failureParameter2; //!< May be set be children to return a more precise failure condition. uint32_t failureParameter1 = 0;
uint32_t failureParameter2 = 0;
object_id_t packetSource; object_id_t packetSource;
object_id_t packetDestination; object_id_t packetDestination;
/** /**
* Pointer to the task which executes this component, is invalid before setTaskIF was called. * Pointer to the task which executes this component,
* is invalid before setTaskIF was called.
*/ */
PeriodicTaskIF* executingTask; PeriodicTaskIF* executingTask = nullptr;
/** /**
* Send TM data from pointer to data. If a header is supplied it is added before data * @brief Send TM data from pointer to data.
* If a header is supplied it is added before data
* @param subservice Number of subservice * @param subservice Number of subservice
* @param data Pointer to the data in the Packet * @param data Pointer to the data in the Packet
* @param dataLen Lenght of data in the Packet * @param dataLen Lenght of data in the Packet
* @param headerData HeaderData will be placed before data * @param headerData HeaderData will be placed before data
* @param headerSize Size of HeaderData * @param headerSize Size of HeaderData
*/ */
void sendTmPacket(uint8_t subservice, const uint8_t *data, uint32_t dataLen, ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
const uint8_t* headerData = NULL, uint32_t headerSize = 0); size_t dataLen, const uint8_t* headerData = nullptr,
size_t headerSize = 0);
/** /**
* To send TM packets of objects that still need to be serialized and consist of an object ID with appended data * @brief To send TM packets of objects that still need to be serialized
* and consist of an object ID with appended data.
* @param subservice Number of subservice * @param subservice Number of subservice
* @param objectId ObjectId is placed before data * @param objectId ObjectId is placed before data
* @param data Data to append to the packet * @param data Data to append to the packet
* @param dataLen Length of Data * @param dataLen Length of Data
*/ */
void sendTmPacket(uint8_t subservice, object_id_t objectId, ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
const uint8_t *data, uint32_t dataLen); const uint8_t *data, size_t dataLen);
/** /**
* To send packets has data which is in form of a SerializeIF or Adapters implementing it * @brief To send packets which are contained inside a class implementing
* SerializeIF.
* @param subservice Number of subservice * @param subservice Number of subservice
* @param content This is a pointer to the serialized packet * @param content This is a pointer to the serialized packet
* @param header Serialize IF header which will be placed before content * @param header Serialize IF header which will be placed before content
*/ */
void sendTmPacket(uint8_t subservice, SerializeIF* content, ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = NULL); SerializeIF* header = nullptr);
virtual void handleUnrequestedReply(CommandMessage *reply); void checkAndExecuteFifo(CommandMapIter iter);
virtual void doPeriodicOperation();
void checkAndExecuteFifo(
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
private: private:
/** /**
* This method handles internal execution of a command, * This method handles internal execution of a command,
* once it has been started by @sa{startExecution()} in the Request Queue handler. * once it has been started by @sa{startExecution()} in the request
* It handles replies generated by the devices and relayed by the specific service implementation. * queue handler.
* This means that it determines further course of action depending on the return values specified * It handles replies generated by the devices and relayed by the specific
* in the service implementation. * service implementation. This means that it determines further course of
* action depending on the return values specified in the service
* implementation.
* This includes the generation of TC verification messages. Note that * This includes the generation of TC verification messages. Note that
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set. * the static framework object ID @c VerificationReporter::messageReceiver
* needs to be set.
* - TM[1,5] Step Successs * - TM[1,5] Step Successs
* - TM[1,6] Step Failure * - TM[1,6] Step Failure
* - TM[1,7] Completion Success * - TM[1,7] Completion Success
@ -280,8 +306,11 @@ private:
void acceptPacket(uint8_t reportId, TcPacketStored* packet); void acceptPacket(uint8_t reportId, TcPacketStored* packet);
void startExecution(TcPacketStored *storedPacket, void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
void handleCommandMessage(CommandMessage* reply);
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
void checkTimeout(); void checkTimeout();
}; };