86 lines
3.3 KiB
C
86 lines
3.3 KiB
C
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#ifndef FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
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#define FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_
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#include "../tmtcservices/CommandingServiceBase.h"
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/**
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* @brief Custom PUS service to set mode of all objects implementing HasModesIF
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*
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* Examples: Device Handlers, Assemblies or Subsystems.
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* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
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* Dissertation Baetz p. 115, 116, 165-167.
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*
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* This is a gateway service. It relays device commands using the software bus.
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* @ingroup pus_services
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*/
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class CService200ModeCommanding: public CommandingServiceBase {
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public:
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static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
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static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
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CService200ModeCommanding(object_id_t objectId,
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uint16_t apid, uint8_t serviceId);
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virtual~ CService200ModeCommanding();
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protected:
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//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
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ReturnValue_t isValidSubservice(uint8_t subservice) override;
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ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
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const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
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object_id_t *objectId) override;
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ReturnValue_t prepareCommand(CommandMessage* message,
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
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uint32_t *state, object_id_t objectId) override;
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ReturnValue_t handleReply(const CommandMessage* reply,
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Command_t previousCommand, uint32_t *state,
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CommandMessage* optionalNextCommand, object_id_t objectId,
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bool *isStep) override;
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private:
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ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
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const uint8_t* tcData, uint32_t tcDataLen);
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ReturnValue_t checkInterfaceAndAcquireMessageQueue(
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MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
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ReturnValue_t prepareModeReply(const CommandMessage *reply,
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object_id_t objectId);
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ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
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object_id_t objectId);
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ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
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object_id_t objectId);
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enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
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//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
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COMMAND_MODE_COMMAND = 1,
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//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
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//! regardless of external control flag
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COMMAND_MODE_COMMAND_FORCED = 2,
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//!< [EXPORT] : [COMMAND] Read the current mode and
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//! reply with a REPLY_MODE_REPLY
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COMMAND_MODE_READ = 3,
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//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
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//! This command does NOT have a reply
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COMMAND_MODE_ANNCOUNCE = 4,
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//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
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//! command to every child. This command does NOT have a reply.
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COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
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//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
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REPLY_MODE_REPLY = 6,
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//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
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REPLY_CANT_REACH_MODE = 7,
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//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a
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//! mode was commanded and a transition started but was aborted,
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//! the parameters contain the mode that was reached
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REPLY_WRONG_MODE_REPLY = 8
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};
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enum modeParameters {
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MODE_OFF = 0,
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MODE_ON = 1,
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MODE_NORMAL = 2,
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MODE_RAW = 3
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};
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};
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#endif /* FRAMEWORK_PUS_CSERVICE200MODECOMMANDING_H_ */
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