split up funnel into PUS and CFDP funnel

config/commonObjects.h

@@ -27,6 +27,8 @@ enum commonObjects : object_id_t {
   TM_FUNNEL = 0x63000002,
   CFDP_DISTRIBUTOR = 0x63000003,
   CFDP_HANDLER = 0x63000004,
+  PUS_TM_FUNNEL = 0x63000005,
+  CFDP_TM_FUNNEL = 0x64000006,
 
   /* 0x74 ('t') for test and example objects  */
   TEST_TASK = 0x7400CAFE,

example/core/GenericFactory.cpp

@@ -5,6 +5,7 @@
 #include "example/cfdp/Config.h"
 #include "example/test/FsfwExampleTask.h"
 #include "example/test/FsfwReaderTask.h"
+#include "example/utility/CfdpTmFunnel.h"
 #include "example/utility/TmFunnel.h"
 #include "fsfw/FSFW.h"
 #include "fsfw/cfdp.h"
@@ -48,7 +49,9 @@ ExampleFaultHandler EXAMPLE_FAULT_HANDLER;
 }  // namespace cfdp
 #endif
 
-void ObjectFactory::produceGenericObjects(TmFunnel **tmFunnel, CcsdsDistributor **ccsdsDistrib,
+void ObjectFactory::produceGenericObjects(PusTmFunnel **pusFunnel,
+                                          const AcceptsTelemetryIF &tmtcBridge,
+                                          CcsdsDistributor **ccsdsDistrib,
                                           StorageManagerIF &tcStore, StorageManagerIF &tmStore) {
 #if OBSW_ADD_CORE_COMPONENTS == 1
   /* Framework objects */
@@ -60,13 +63,15 @@ void ObjectFactory::produceGenericObjects(TmFunnel **tmFunnel, CcsdsDistributor
   *ccsdsDistrib =
       new CcsdsDistributor(common::COMMON_PUS_APID, objects::CCSDS_DISTRIBUTOR, &tcStore);
   new PusDistributor(common::COMMON_PUS_APID, objects::PUS_DISTRIBUTOR, *ccsdsDistrib);
-  *tmFunnel = new TmFunnel(*stamperAndReader, objects::TM_FUNNEL);
+  *pusFunnel = new PusTmFunnel(objects::PUS_TM_FUNNEL, tmtcBridge, *stamperAndReader);
+  auto *cfdpFunnel = new CfdpTmFunnel(objects::CFDP_TM_FUNNEL, tmtcBridge);
+  new TmFunnel(objects::TM_FUNNEL, **pusFunnel, *cfdpFunnel);
 #endif /* OBSW_ADD_CORE_COMPONENTS == 1 */
 
   /* PUS stack */
 #if OBSW_ADD_PUS_STACK == 1
   new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, common::COMMON_PUS_APID,
-                                      pus::PUS_SERVICE_1, objects::TM_FUNNEL, 5);
+                                      pus::PUS_SERVICE_1, objects::PUS_TM_FUNNEL, 5);
   new Service2DeviceAccess(objects::PUS_SERVICE_2_DEVICE_ACCESS, common::COMMON_PUS_APID,
                            pus::PUS_SERVICE_2, 3, 10);
   new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, common::COMMON_PUS_APID,
@@ -160,7 +165,8 @@ void ObjectFactory::produceGenericObjects(TmFunnel **tmFunnel, CcsdsDistributor
   cfdp::EntityId remoteId(remoteEntityId);
   cfdp::RemoteEntityCfg remoteCfg(remoteId);
   remoteCfg.defaultChecksum = cfdp::ChecksumType::CRC_32;
-  FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, **tmFunnel, tcStore, tmStore, *msgQueue);
+  FsfwHandlerParams params(objects::CFDP_HANDLER, HOST_FS, *cfdpFunnel, tcStore, tmStore,
+                           *msgQueue);
   cfdp::IndicationCfg indicationCfg;
   UnsignedByteField<uint16_t> apid(common::COMMON_CFDP_APID);
   cfdp::EntityId localId(apid);
@@ -185,15 +191,11 @@ void Factory::setStaticFrameworkObjectIds() {
   MonitoringReportContent<int16_t>::timeStamperId = objects::TIME_STAMPER;
   MonitoringReportContent<uint16_t>::timeStamperId = objects::TIME_STAMPER;
 
-  TmFunnel::downlinkDestination = objects::DOWNLINK_DESTINATION;
-  // No storage object for now.
-  TmFunnel::storageDestination = objects::NO_OBJECT;
-
   PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_DISTRIBUTOR;
-  PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL;
+  PusServiceBase::PACKET_DESTINATION = objects::PUS_TM_FUNNEL;
 
   CommandingServiceBase::defaultPacketSource = objects::PUS_DISTRIBUTOR;
-  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;
+  CommandingServiceBase::defaultPacketDestination = objects::PUS_TM_FUNNEL;
 
   VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION;
 }

example/core/GenericFactory.h

@@ -4,6 +4,7 @@
 #include <fsfw/objectmanager/SystemObjectIF.h>
 
 #include "OBSWConfig.h"
+#include "example/utility/PusTmFunnel.h"
 #include "fsfw/cfdp/handler/DestHandler.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
@@ -16,8 +17,9 @@ namespace ObjectFactory {
  * @brief   Produce hardware independant objects. Called by bsp specific
  *          object factory.
  */
-void produceGenericObjects(TmFunnel** funnel, CcsdsDistributor** ccsdsDistributor,
+void produceGenericObjects(PusTmFunnel** pusFunnel, const AcceptsTelemetryIF& tmtcBridge,
-                           StorageManagerIF& tcStore, StorageManagerIF& tmStore);
+                           CcsdsDistributor** ccsdsDistributor, StorageManagerIF& tcStore,
+                           StorageManagerIF& tmStore);
 
 }  // namespace ObjectFactory
 

example/utility/CMakeLists.txt

@@ -1 +1,2 @@
-target_sources(${TARGET_NAME} PRIVATE utility.cpp TmFunnel.cpp)
+target_sources(${TARGET_NAME} PRIVATE utility.cpp TmFunnel.cpp PusTmFunnel.cpp
+                                      CfdpTmFunnel.cpp)

example/utility/CfdpTmFunnel.cpp

@@ -0,0 +1,18 @@
+#include "CfdpTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+
+CfdpTmFunnel::CfdpTmFunnel(object_id_t objectId, const AcceptsTelemetryIF& downlinkDestination)
+    : SystemObject(objectId) {
+  msgQueue = QueueFactory::instance()->createMessageQueue(5);
+}
+
+const char* CfdpTmFunnel::getName() const { return "CFDP TM Funnel"; }
+
+MessageQueueId_t CfdpTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return msgQueue->getId();
+}
+
+ReturnValue_t CfdpTmFunnel::performOperation(uint8_t opCode) { return returnvalue::OK; }
+
+ReturnValue_t CfdpTmFunnel::initialize() { return returnvalue::OK; }

example/utility/CfdpTmFunnel.h

@@ -0,0 +1,19 @@
+#ifndef FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H
+
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+
+class CfdpTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  CfdpTmFunnel(object_id_t objectId, const AcceptsTelemetryIF& downlinkDestination);
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+
+  ReturnValue_t performOperation(uint8_t opCode);
+  ReturnValue_t initialize() override;
+
+ private:
+  MessageQueueIF* msgQueue;
+};
+#endif  // FSFW_EXAMPLE_COMMON_CFDPTMFUNNEL_H

example/utility/PusTmFunnel.cpp

@@ -0,0 +1,82 @@
+#include "PusTmFunnel.h"
+
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager.h"
+#include "fsfw/tmtcpacket/pus/tm/PusTmZcWriter.h"
+
+PusTmFunnel::PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                         TimeReaderIF &timeReader, uint32_t messageDepth)
+    : SystemObject(objectId), timeReader(timeReader) {
+  tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
+                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
+  tmQueue->setDefaultDestination(downlinkDestination.getReportReceptionQueue());
+}
+
+PusTmFunnel::~PusTmFunnel() = default;
+
+MessageQueueId_t PusTmFunnel::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return tmQueue->getId();
+}
+
+ReturnValue_t PusTmFunnel::performOperation(uint8_t) {
+  TmTcMessage currentMessage;
+  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
+  while (status == returnvalue::OK) {
+    status = handlePacket(&currentMessage);
+    if (status != returnvalue::OK) {
+      sif::warning << "TmFunnel packet handling failed" << std::endl;
+      break;
+    }
+    status = tmQueue->receiveMessage(&currentMessage);
+  }
+
+  if (status == MessageQueueIF::EMPTY) {
+    return returnvalue::OK;
+  } else {
+    return status;
+  }
+}
+
+ReturnValue_t PusTmFunnel::handlePacket(TmTcMessage *message) {
+  uint8_t *packetData = nullptr;
+  size_t size = 0;
+  ReturnValue_t result = tmPool->modifyData(message->getStorageId(), &packetData, &size);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  PusTmZeroCopyWriter packet(timeReader, packetData, size);
+  result = packet.parseDataWithoutCrcCheck();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  packet.setSequenceCount(sourceSequenceCount++);
+  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
+  packet.updateErrorControl();
+
+  result = tmQueue->sendToDefault(message);
+  if (result != returnvalue::OK) {
+    tmPool->deleteData(message->getStorageId());
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "TmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
+#endif
+    return result;
+  }
+
+  return result;
+}
+
+ReturnValue_t PusTmFunnel::initialize() {
+  tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
+  if (tmPool == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
+    sif::error << "Make sure the tm store is set up properly and implements "
+                  "StorageManagerIF"
+               << std::endl;
+#endif
+    return ObjectManagerIF::CHILD_INIT_FAILED;
+  }
+  return SystemObject::initialize();
+}
+
+const char *PusTmFunnel::getName() const { return "PUS TM Funnel"; }

example/utility/PusTmFunnel.h

@@ -0,0 +1,40 @@
+#ifndef FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+#define FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H
+
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <fsfw/tmtcservices/TmTcMessage.h>
+
+#include "fsfw/timemanager/TimeReaderIF.h"
+
+/**
+ * @brief       TM Recipient.
+ * @details
+ * Main telemetry receiver. All generated telemetry is funneled into
+ * this object.
+ * @ingroup     utility
+ * @author      J. Meier
+ */
+class PusTmFunnel : public AcceptsTelemetryIF, public SystemObject {
+ public:
+  explicit PusTmFunnel(object_id_t objectId, const AcceptsTelemetryIF &downlinkDestination,
+                       TimeReaderIF &timeReader, uint32_t messageDepth = 20);
+  [[nodiscard]] const char *getName() const override;
+  ~PusTmFunnel() override;
+
+  [[nodiscard]] MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) const override;
+  ReturnValue_t performOperation(uint8_t operationCode);
+  ReturnValue_t initialize() override;
+
+ private:
+  uint16_t sourceSequenceCount = 0;
+  TimeReaderIF &timeReader;
+  MessageQueueIF *tmQueue = nullptr;
+  StorageManagerIF *tmPool = nullptr;
+
+  ReturnValue_t handlePacket(TmTcMessage *message);
+};
+
+#endif  // FSFW_EXAMPLE_COMMON_PUSTMFUNNEL_H

example/utility/TmFunnel.cpp

@@ -1,122 +1,16 @@
 #include "TmFunnel.h"
 
 #include <fsfw/ipc/QueueFactory.h>
-#include <fsfw/objectmanager/ObjectManager.h>
-#include <fsfw/serviceinterface/ServiceInterface.h>
-#include <fsfw/tmtcpacket/pus/tm.h>
 
-#include "fsfw/tmtcpacket/pus/tm.h"
+TmFunnel::TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel)
-
+    : SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel) {}
-object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT;
-object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
-
-TmFunnel::TmFunnel(TimeReaderIF &timeReader, object_id_t objectId, uint32_t messageDepth)
-    : SystemObject(objectId), timeReader(timeReader), messageDepth(messageDepth) {
-  tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
-                                                         MessageQueueMessage::MAX_MESSAGE_SIZE);
-  storageQueue = QueueFactory::instance()->createMessageQueue(
-      messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
-}
 
 TmFunnel::~TmFunnel() = default;
 
-MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
-  return tmQueue->getId();
-}
-
 ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
-  TmTcMessage currentMessage;
+  pusFunnel.performOperation(operationCode);
-  ReturnValue_t status = tmQueue->receiveMessage(&currentMessage);
+  cfdpFunnel.performOperation(operationCode);
-  while (status == returnvalue::OK) {
-    status = handlePacket(&currentMessage);
-    if (status != returnvalue::OK) {
-      sif::warning << "TmFunnel packet handling failed" << std::endl;
-      break;
-    }
-    status = tmQueue->receiveMessage(&currentMessage);
-  }
-
-  if (status == MessageQueueIF::EMPTY) {
   return returnvalue::OK;
-  } else {
-    return status;
-  }
 }
 
-ReturnValue_t TmFunnel::handlePacket(TmTcMessage *message) {
+ReturnValue_t TmFunnel::initialize() { return returnvalue::OK; }
-  uint8_t *packetData = nullptr;
-  size_t size = 0;
-  ReturnValue_t result = tmPool->modifyData(message->getStorageId(), &packetData, &size);
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  PusTmZeroCopyWriter packet(timeReader, packetData, size);
-  result = packet.parseDataWithoutCrcCheck();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  packet.setSequenceCount(sourceSequenceCount++);
-  sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT;
-  packet.updateErrorControl();
-
-  result = tmQueue->sendToDefault(message);
-  if (result != returnvalue::OK) {
-    tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::handlePacket: Error sending TM to downlink handler" << std::endl;
-#endif
-    return result;
-  }
-
-  if (storageDestination != objects::NO_OBJECT) {
-    result = storageQueue->sendToDefault(message);
-    if (result != returnvalue::OK) {
-      tmPool->deleteData(message->getStorageId());
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-      sif::error << "TmFunnel::handlePacket: Error sending to storage handler" << std::endl;
-#endif
-      return result;
-    }
-  }
-  return result;
-}
-
-ReturnValue_t TmFunnel::initialize() {
-  tmPool = ObjectManager::instance()->get<StorageManagerIF>(objects::TM_STORE);
-  if (tmPool == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::initialize: TM store not set." << std::endl;
-    sif::error << "Make sure the tm store is set up properly and implements "
-                  "StorageManagerIF"
-               << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-
-  auto *tmTarget = ObjectManager::instance()->get<AcceptsTelemetryIF>(downlinkDestination);
-  if (tmTarget == nullptr) {
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::error << "TmFunnel::initialize: Downlink Destination not set." << std::endl;
-    sif::error << "Make sure the downlink destination object is set up "
-                  "properly and implements "
-                  "AcceptsTelemetryIF"
-               << std::endl;
-#endif
-    return ObjectManagerIF::CHILD_INIT_FAILED;
-  }
-  tmQueue->setDefaultDestination(tmTarget->getReportReceptionQueue());
-
-  // Storage destination is optional.
-  if (storageDestination == objects::NO_OBJECT) {
-    return SystemObject::initialize();
-  }
-
-  auto *storageTarget = ObjectManager::instance()->get<AcceptsTelemetryIF>(storageDestination);
-  if (storageTarget != nullptr) {
-    storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue());
-  }
-
-  return SystemObject::initialize();
-}
-
-const char *TmFunnel::getName() const { return "TM Funnel"; }

example/utility/TmFunnel.h

@@ -7,12 +7,10 @@
 #include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
 #include <fsfw/tmtcservices/TmTcMessage.h>
 
+#include "CfdpTmFunnel.h"
+#include "PusTmFunnel.h"
 #include "fsfw/timemanager/TimeReaderIF.h"
 
-namespace Factory {
-void setStaticFrameworkObjectIds();
-}
-
 /**
  * @brief       TM Recipient.
  * @details
@@ -21,32 +19,17 @@ void setStaticFrameworkObjectIds();
  * @ingroup     utility
  * @author      J. Meier
  */
-class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public SystemObject {
+class TmFunnel : public ExecutableObjectIF, public SystemObject {
-  friend void(Factory::setStaticFrameworkObjectIds)();
-
  public:
-  explicit TmFunnel(TimeReaderIF &timeReader, object_id_t objectId, uint32_t messageDepth = 20);
+  TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel);
-  const char *getName() const override;
   ~TmFunnel() override;
 
-  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel) override;
   ReturnValue_t performOperation(uint8_t operationCode) override;
   ReturnValue_t initialize() override;
 
- protected:
-  static object_id_t downlinkDestination;
-  static object_id_t storageDestination;
-
  private:
-  uint16_t sourceSequenceCount = 0;
+  PusTmFunnel& pusFunnel;
-  TimeReaderIF &timeReader;
+  CfdpTmFunnel& cfdpFunnel;
-  MessageQueueIF *tmQueue = nullptr;
-  MessageQueueIF *storageQueue = nullptr;
-
-  StorageManagerIF *tmPool = nullptr;
-  uint32_t messageDepth = 0;
-
-  ReturnValue_t handlePacket(TmTcMessage *message);
 };
 
 #endif /* MISSION_UTILITY_TMFUNNEL_H_ */