fsfw/tmtcpacket/pus/TmPacketBase.h
2020-05-19 19:01:25 +02:00

187 lines
6.0 KiB
C++

#ifndef TMPACKETBASE_H_
#define TMPACKETBASE_H_
#include <framework/timemanager/TimeStamperIF.h>
#include <framework/tmtcpacket/SpacePacketBase.h>
#include <framework/timemanager/Clock.h>
#include <framework/objectmanager/SystemObjectIF.h>
namespace Factory{
void setStaticFrameworkObjectIds();
}
/**
* This struct defines a byte-wise structured PUS TM Data Field Header.
* Any optional fields in the header must be added or removed here.
* Currently, no Destination field is present, but an eigth-byte representation
* for a time tag [TBD].
* @ingroup tmtcpackets
*/
struct PUSTmDataFieldHeader {
uint8_t version_type_ack;
uint8_t service_type;
uint8_t service_subtype;
uint8_t subcounter;
// uint8_t destination;
uint8_t time[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
};
/**
* This struct defines the data structure of a PUS Telecommand Packet when
* accessed via a pointer.
* @ingroup tmtcpackets
*/
struct TmPacketPointer {
CCSDSPrimaryHeader primary;
PUSTmDataFieldHeader data_field;
uint8_t data;
};
/**
* This class is the basic data handler for any ECSS PUS Telemetry packet.
*
* In addition to \SpacePacketBase, the class provides methods to handle
* the standardized entries of the PUS TM Packet Data Field Header.
* It does not contain the packet data itself but a pointer to the
* data must be set on instantiation. An invalid pointer may cause
* damage, as no getter method checks data validity. Anyway, a NULL
* check can be performed by making use of the getWholeData method.
* @ingroup tmtcpackets
*/
class TmPacketBase : public SpacePacketBase {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
/**
* This constant defines the minimum size of a valid PUS Telemetry Packet.
*/
static const uint32_t TM_PACKET_MIN_SIZE = (sizeof(CCSDSPrimaryHeader) + sizeof(PUSTmDataFieldHeader) + 2); //!< Minimum size of a valid PUS Telemetry Packet.
static const uint32_t MISSION_TM_PACKET_MAX_SIZE = 2048; //!< Maximum size of a TM Packet in this mission.
static const uint8_t VERSION_NUMBER_BYTE_PUS_A = 0b00010000; //!< First byte of secondary header for PUS-A packets.
/**
* This is the default constructor.
* It sets its internal data pointer to the address passed and also
* forwards the data pointer to the parent SpacePacketBase class.
* @param set_address The position where the packet data lies.
*/
TmPacketBase( uint8_t* set_data );
/**
* This is the empty default destructor.
*/
virtual ~TmPacketBase();
/**
* Initializes the Tm Packet header.
* Does set the timestamp (to now), but not the error control field.
* @param apid APID used.
* @param service PUS Service
* @param subservice PUS Subservice
* @param packetSubcounter Additional subcounter used.
*/
void initializeTmPacket(uint16_t apid, uint8_t service, uint8_t subservice, uint8_t packetSubcounter);
/**
* This is a getter for the packet's PUS Service ID, which is the second
* byte of the Data Field Header.
* @return The packet's PUS Service ID.
*/
uint8_t getService();
/**
* This is a getter for the packet's PUS Service Subtype, which is the
* third byte of the Data Field Header.
* @return The packet's PUS Service Subtype.
*/
uint8_t getSubService();
/**
* This is a getter for a pointer to the packet's Source data.
*
* These are the bytes that follow after the Data Field Header. They form
* the packet's source data.
* @return A pointer to the PUS Source Data.
*/
uint8_t* getSourceData();
/**
* This method calculates the size of the PUS Source data field.
*
* It takes the information stored in the CCSDS Packet Data Length field
* and subtracts the Data Field Header size and the CRC size.
* @return The size of the PUS Source Data (without Error Control field)
*/
uint16_t getSourceDataSize();
/**
* In case data was filled manually (almost never the case).
* @param size Size of source data (without CRC and data filed header!).
*/
void setSourceDataSize(uint16_t size);
/**
* This getter returns the Error Control Field of the packet.
*
* The field is placed after any possible Source Data. If no
* Source Data is present there's still an Error Control field. It is
* supposed to be a 16bit-CRC.
* @return The PUS Error Control
*/
uint16_t getErrorControl();
/**
* With this method, the Error Control Field is updated to match the
* current content of the packet.
*/
void setErrorControl();
/**
* This sets the source data. It copies the provided data to
* the internal TmPacketPointer source data location.
* @param sourceData
* @param sourceSize
*/
void setSourceData(uint8_t* sourceData, size_t sourceSize);
/**
* With this method, the packet data pointer can be redirected to another
* location.
*
* This call overwrites the parent's setData method to set both its
* \c tc_data pointer and the parent's \c data pointer.
*
* @param p_data A pointer to another PUS Telemetry Packet.
*/
void setData( const uint8_t* p_Data );
/**
* This is a debugging helper method that prints the whole packet content
* to the screen.
*/
void print();
/**
* Interprets the "time"-field in the secondary header and returns it in timeval format.
* @return Converted timestamp of packet.
*/
ReturnValue_t getPacketTime(timeval* timestamp) const;
/**
* Returns a raw pointer to the beginning of the time field.
* @return Raw pointer to time field.
*/
uint8_t* getPacketTimeRaw() const;
uint32_t getTimestampSize() const;
protected:
/**
* A pointer to a structure which defines the data structure of
* the packet's data.
*
* To be hardware-safe, all elements are of byte size.
*/
TmPacketPointer* tm_data;
/**
* The timeStamper is responsible for adding a timestamp to the packet.
* It is initialized lazy.
*/
static TimeStamperIF* timeStamper;
static object_id_t timeStamperId; //!< The ID to use when looking for a time stamper.
/**
* Checks if a time stamper is available and tries to set it if not.
* @return Returns false if setting failed.
*/
bool checkAndSetStamper();
};
#endif /* TMPACKETBASE_H_ */