fsfw/fsfw-example-common
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split up funnel into PUS and CFDP funnel

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This commit is contained in:
Robin Müller 2022-10-17 16:27:15 +02:00
parent 6bcd0ce05f
commit 7bb9ffc3f7
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GPG Key ID: 11D4952C8CCEF814
10 changed files with 191 additions and 148 deletions
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2
config/commonObjects.h
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@ -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,

22
example/core/GenericFactory.cpp
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@ -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;
}

6
example/core/GenericFactory.h
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@ -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,
StorageManagerIF& tcStore, StorageManagerIF& tmStore);
void produceGenericObjects(PusTmFunnel** pusFunnel, const AcceptsTelemetryIF& tmtcBridge,
CcsdsDistributor** ccsdsDistributor, StorageManagerIF& tcStore,
StorageManagerIF& tmStore);
} // namespace ObjectFactory

3
example/utility/CMakeLists.txt
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@ -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)

18
example/utility/CfdpTmFunnel.cpp Normal file
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@ -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; }

19
example/utility/CfdpTmFunnel.h Normal file
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@ -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

82
example/utility/PusTmFunnel.cpp Normal file
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@ -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"; }

40
example/utility/PusTmFunnel.h Normal file
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@ -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

116
example/utility/TmFunnel.cpp
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@ -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"
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(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel)
: SystemObject(objectId), pusFunnel(pusFunnel), cfdpFunnel(cfdpFunnel) {}
TmFunnel::~TmFunnel() = default;
MessageQueueId_t TmFunnel::getReportReceptionQueue(uint8_t virtualChannel) {
return tmQueue->getId();
}
ReturnValue_t TmFunnel::performOperation(uint8_t operationCode) {
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) {
pusFunnel.performOperation(operationCode);
cfdpFunnel.performOperation(operationCode);
return returnvalue::OK;
} else {
return status;
}
}
ReturnValue_t TmFunnel::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;
}
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"; }
ReturnValue_t TmFunnel::initialize() { return returnvalue::OK; }

29
example/utility/TmFunnel.h
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@ -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 {
friend void(Factory::setStaticFrameworkObjectIds)();
class TmFunnel : public ExecutableObjectIF, public SystemObject {
public:
explicit TmFunnel(TimeReaderIF &timeReader, object_id_t objectId, uint32_t messageDepth = 20);
const char *getName() const override;
TmFunnel(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel);
~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;
TimeReaderIF &timeReader;
MessageQueueIF *tmQueue = nullptr;
MessageQueueIF *storageQueue = nullptr;
StorageManagerIF *tmPool = nullptr;
uint32_t messageDepth = 0;
ReturnValue_t handlePacket(TmTcMessage *message);
PusTmFunnel& pusFunnel;
CfdpTmFunnel& cfdpFunnel;
};
#endif /* MISSION_UTILITY_TMFUNNEL_H_ */