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command message only passed IF now

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This commit is contained in:
Robin Müller 2020-06-13 21:01:01 +02:00
parent 6b67f46c80
commit 8c03f6a823
10 changed files with 155 additions and 117 deletions
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74
ipc/CommandMessage.cpp
View File

@ -1,13 +1,5 @@
#include <framework/ipc/CommandMessage.h>
#include <framework/devicehandlers/DeviceHandlerMessage.h>
#include <framework/health/HealthMessage.h>
#include <framework/memory/MemoryMessage.h>
#include <framework/modes/ModeMessage.h>
#include <framework/monitoring/MonitoringMessage.h>
#include <framework/subsystem/modes/ModeSequenceMessage.h>
#include <framework/tmstorage/TmStoreMessage.h>
#include <framework/parameters/ParameterMessage.h>
#include <cstring>
CommandMessage::CommandMessage(MessageQueueMessageIF* receiverMessage):
CommandMessageBase(receiverMessage) {
@ -50,23 +42,23 @@ CommandMessage::CommandMessage(MessageQueueMessageIF* messageToSet,
uint32_t CommandMessage::getParameter() const {
uint32_t parameter1;
memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
std::memcpy(&parameter1, CommandMessageBase::getData(), sizeof(parameter1));
return parameter1;
}
void CommandMessage::setParameter(uint32_t parameter1) {
memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
std::memcpy(CommandMessageBase::getData(), &parameter1, sizeof(parameter1));
}
uint32_t CommandMessage::getParameter2() const {
uint32_t parameter2;
memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
std::memcpy(&parameter2, CommandMessageBase::getData() + sizeof(uint32_t),
sizeof(parameter2));
return parameter2;
}
void CommandMessage::setParameter2(uint32_t parameter2) {
memcpy(CommandMessageBase::getData() + sizeof(uint32_t), &parameter2,
std::memcpy(CommandMessageBase::getData() + sizeof(uint32_t), &parameter2,
sizeof(parameter2));
}
@ -84,60 +76,6 @@ bool CommandMessage::isClearedCommandMessage() {
void CommandMessage::setToUnknownCommand() {
Command_t initialCommand = getCommand();
clearCommandMessage();
this->clear();
setReplyRejected(UNKNOWN_COMMAND, initialCommand);
}
void CommandMessage::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) {
setCommand(REPLY_REJECTED);
setParameter(reason);
setParameter2(initialCommand);
}
ReturnValue_t CommandMessage::getRejectedReplyReason(
Command_t* initialCommand) const {
if(initialCommand != nullptr) {
*initialCommand = getParameter2();
}
return getParameter();
}
void CommandMessage::clear() {
clearCommandMessage();
}
void CommandMessage::clearCommandMessage() {
switch(this->getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(this);
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(this);
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(this);
break;
case messagetypes::ACTION:
ActionMessage::clear(this);
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(this);
break;
case messagetypes::MEMORY:
MemoryMessage::clear(this);
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(this);
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(this);
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(this);
break;
default:
messagetypes::clearMissionMessage(this);
break;
}
}

33
ipc/CommandMessage.h
View File

@ -5,11 +5,6 @@
#include <framework/ipc/MessageQueueMessage.h>
#include <framework/ipc/FwMessageTypes.h>
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessageIF* message);
}
/**
* @brief Default command message used to pass command messages between tasks.
* Primary message type for IPC. Contains sender, 2-byte command ID
@ -27,17 +22,6 @@ void clearMissionMessage(CommandMessageIF* message);
*/
class CommandMessage: public CommandMessageBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, will be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
//! Reply indicating that the current command was rejected,
//! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );
/**
* This is the size of a message as it is seen by the MessageQueue.
* 14 of the 24 available MessageQueueMessage bytes are used.
@ -98,18 +82,6 @@ public:
*/
void setParameter2(uint32_t parameter2);
void clear() override;
/**
* Set the command to CMD_NONE and try to find the correct class to handle
* a more detailed clear.
* Also, calls a mission-specific clearMissionMessage function to separate
* between framework and mission messages. Not optimal, may be replaced by
* totally different auto-delete solution (e.g. smart pointers).
*
*/
void clearCommandMessage();
/**
* check if a message was cleared
*
@ -122,11 +94,6 @@ public:
* Is needed quite often, so we better code it once only.
*/
void setToUnknownCommand();
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand = CMD_NONE);
ReturnValue_t getRejectedReplyReason(
Command_t* initialCommand = nullptr) const;
};

23
ipc/CommandMessageBase.cpp
View File

@ -1,4 +1,5 @@
#include <framework/ipc/CommandMessageBase.h>
#include <framework/ipc/CommandMessageCleaner.h>
#include <cstring>
CommandMessageBase::CommandMessageBase(MessageQueueMessageIF *message):
@ -57,3 +58,25 @@ size_t CommandMessageBase::getMessageSize() const {
MessageQueueMessageIF* CommandMessageBase::getInternalMessage() const {
return internalMessage;
}
void CommandMessageBase::setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) {
std::memcpy(getData(), &reason, sizeof(reason));
std::memcpy(getData() + sizeof(reason), &initialCommand,
sizeof(initialCommand));
}
ReturnValue_t CommandMessageBase::getReplyRejectedReason(
Command_t *initialCommand) const {
ReturnValue_t reason = HasReturnvaluesIF::RETURN_FAILED;
std::memcpy(&reason, getData(), sizeof(reason));
if(initialCommand != nullptr) {
std::memcpy(initialCommand, getData() + sizeof(reason),
sizeof(Command_t));
}
return reason;
}
void CommandMessageBase::clear() {
CommandMessageCleaner::clearCommandMessage(this);
}

21
ipc/CommandMessageBase.h
View File

@ -22,9 +22,6 @@
*/
class CommandMessageBase: public CommandMessageIF {
public:
static constexpr size_t HEADER_SIZE = sizeof(MessageQueueId_t) +
sizeof(Command_t);
CommandMessageBase(MessageQueueMessageIF* message);
/**
@ -61,7 +58,25 @@ public:
virtual void setMessageSize(size_t messageSize) override;
virtual size_t getMessageSize() const override;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) override;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const override;
virtual MessageQueueMessageIF* getInternalMessage() const override;
virtual void clear() override;
protected:
/**
* @brief Pointer to the message containing the data.

45
ipc/CommandMessageCleaner.cpp Normal file
View File

@ -0,0 +1,45 @@
#include <framework/ipc/CommandMessageCleaner.h>
#include <framework/devicehandlers/DeviceHandlerMessage.h>
#include <framework/health/HealthMessage.h>
#include <framework/memory/MemoryMessage.h>
#include <framework/modes/ModeMessage.h>
#include <framework/monitoring/MonitoringMessage.h>
#include <framework/subsystem/modes/ModeSequenceMessage.h>
#include <framework/tmstorage/TmStoreMessage.h>
#include <framework/parameters/ParameterMessage.h>
void CommandMessageCleaner::clearCommandMessage(CommandMessageIF* message) {
switch(message->getMessageType()){
case messagetypes::MODE_COMMAND:
ModeMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::HEALTH_COMMAND:
HealthMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::MODE_SEQUENCE:
ModeSequenceMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::ACTION:
ActionMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::DEVICE_HANDLER_COMMAND:
DeviceHandlerMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::MEMORY:
MemoryMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::MONITORING:
MonitoringMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::TM_STORE:
TmStoreMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
case messagetypes::PARAMETER:
ParameterMessage::clear(dynamic_cast<CommandMessage*>(message));
break;
default:
messagetypes::clearMissionMessage(message);
break;
}
}

16
ipc/CommandMessageCleaner.h Normal file
View File

@ -0,0 +1,16 @@
#ifndef FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#define FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_
#include <framework/ipc/CommandMessageIF.h>
namespace messagetypes {
// Implemented in config.
void clearMissionMessage(CommandMessageIF* message);
}
class CommandMessageCleaner {
public:
static void clearCommandMessage(CommandMessageIF* message);
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGECLEANER_H_ */

34
ipc/CommandMessageIF.h
View File

@ -2,6 +2,9 @@
#define FRAMEWORK_IPC_COMMANDMESSAGEIF_H_
#include <framework/ipc/MessageQueueMessageIF.h>
#include <framework/ipc/FwMessageTypes.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#define MAKE_COMMAND_ID( number ) ((MESSAGE_ID << 8) + (number))
typedef uint16_t Command_t;
@ -14,6 +17,20 @@ typedef uint16_t Command_t;
// we should just leave it like that.
class CommandMessageIF: public MessageQueueMessageIF {
public:
static constexpr size_t HEADER_SIZE = sizeof(MessageQueueId_t) +
sizeof(Command_t);
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_MESSAGE;
static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
//! Used internally, shall be ignored
static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );
static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 1 );
//! Reply indicating that the current command was rejected,
//! par1 should contain the error code
static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 2 );
virtual ~CommandMessageIF() {};
/**
@ -27,6 +44,22 @@ public:
*/
virtual uint8_t getMessageType() const = 0;
/**
* A command message can be rejected and needs to offer a function
* to set a rejected reply
* @param reason
* @param initialCommand
*/
virtual void setReplyRejected(ReturnValue_t reason,
Command_t initialCommand) = 0;
/**
* Corrensonding getter function.
* @param initialCommand
* @return
*/
virtual ReturnValue_t getReplyRejectedReason(
Command_t* initialCommand = nullptr) const = 0;
/**
* This function is used to get a pointer to the internal message, as
* the command message implementations always operate on the memory
@ -36,6 +69,7 @@ public:
* @return
*/
virtual MessageQueueMessageIF* getInternalMessage() const = 0;
};
#endif /* FRAMEWORK_IPC_COMMANDMESSAGEIF_H_ */

2
memory/MemoryHelper.cpp
View File

@ -119,7 +119,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
break;
}
if (queueToUse->sendMessage(lastSender, &reply) != RETURN_OK) {
reply.clearCommandMessage();
reply.clear();
}
}

16
tmtcservices/CommandingServiceBase.cpp
View File

@ -94,7 +94,7 @@ void CommandingServiceBase::handleCommandQueue() {
}
void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
void CommandingServiceBase::handleCommandMessage(CommandMessageIF* reply) {
bool isStep = false;
MessageQueueMessage message;
CommandMessage nextCommand(&message);
@ -119,7 +119,7 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
* command as failure parameter 1 */
if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
result == RETURN_FAILED) {
result = reply->getRejectedReplyReason(
result = reply->getReplyRejectedReason(
reinterpret_cast<Command_t*>(&failureParameter1));
}
@ -156,8 +156,8 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
}
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
CommandMapIter iter, CommandMessage* nextCommand, CommandMessage* reply,
bool& isStep) {
CommandMapIter iter, CommandMessageIF* nextCommand,
CommandMessageIF* reply, bool& isStep) {
iter->command = nextCommand->getCommand();
// In case a new command is to be sent immediately, this is performed here.
@ -186,14 +186,14 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
}
else {
if (isStep) {
nextCommand->clearCommandMessage();
nextCommand->clear();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
} else {
nextCommand->clearCommandMessage();
nextCommand->clear();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
@ -329,7 +329,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
storedPacket->getPacketSequenceControl();
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
} else {
command.clearCommandMessage();
command.clear();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter);
}
@ -346,7 +346,7 @@ void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
checkAndExecuteFifo(iter);
} else {
command.clearCommandMessage();
command.clear();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter);
}

8
tmtcservices/CommandingServiceBase.h
View File

@ -141,7 +141,7 @@ protected:
* @param objectId Target object ID
* @return
*/
virtual ReturnValue_t prepareCommand(CommandMessage *message,
virtual ReturnValue_t prepareCommand(CommandMessageIF *message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
@ -172,7 +172,7 @@ protected:
*/
virtual ReturnValue_t handleReply(const CommandMessageIF *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
CommandMessageIF *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
/**
@ -312,9 +312,9 @@ private:
void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
void handleCommandMessage(CommandMessage* reply);
void handleCommandMessage(CommandMessageIF* reply);
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
CommandMessage* nextCommand,CommandMessage* reply, bool& isStep);
CommandMessageIF* nextCommand,CommandMessageIF* reply, bool& isStep);
void checkTimeout();
};