fsfw/tmtcservices/CommandingServiceBase.cpp

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#include <framework/tcdistribution/PUSDistributorIF.h>
#include <framework/tmtcservices/AcceptsTelemetryIF.h>
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/tmtcservices/CommandingServiceBase.h>
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#include <framework/tmtcservices/TmTcMessage.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcpacket/pus/TmPacketStored.h>
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
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uint16_t commandTimeoutSeconds, object_id_t setPacketSource,
object_id_t setPacketDestination, size_t queueDepth) :
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SystemObject(setObjectId), apid(apid), service(service),
timeoutSeconds(commandTimeoutSeconds),
commandMap(numberOfParallelCommands), packetSource(setPacketSource),
packetDestination(setPacketDestination) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
}
CommandingServiceBase::~CommandingServiceBase() {
QueueFactory::instance()->deleteMessageQueue(commandQueue);
QueueFactory::instance()->deleteMessageQueue(requestQueue);
}
ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
handleCommandQueue();
handleRequestQueue();
checkTimeout();
doPeriodicOperation();
return RETURN_OK;
}
uint16_t CommandingServiceBase::getIdentifier() {
return service;
}
MessageQueueId_t CommandingServiceBase::getRequestQueue() {
return requestQueue->getId();
}
ReturnValue_t CommandingServiceBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
AcceptsTelemetryIF* packetForwarding =
objectManager->get<AcceptsTelemetryIF>(packetDestination);
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
packetSource);
if ((packetForwarding == NULL) && (distributor == NULL)) {
return RETURN_FAILED;
}
distributor->registerService(this);
requestQueue->setDefaultDestination(
packetForwarding->getReportReceptionQueue());
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
TCStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
if ((IPCStore == NULL) || (TCStore == NULL)) {
return RETURN_FAILED;
}
return RETURN_OK;
}
void CommandingServiceBase::handleCommandQueue() {
CommandMessage reply, nextCommand;
ReturnValue_t result, sendResult = RETURN_OK;
bool isStep = false;
for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
result = commandQueue->receiveMessage(&reply)) {
isStep = false;
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator iter;
if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
handleUnrequestedReply(&reply);
continue;
}
if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
handleUnrequestedReply(&reply);
continue;
}
nextCommand.setCommand(CommandMessage::CMD_NONE);
result = handleReply(&reply, iter->command, &iter->state, &nextCommand,
iter->objectId, &isStep);
switch (result) {
case EXECUTION_COMPLETE:
case RETURN_OK:
case NO_STEP_MESSAGE:
iter->command = nextCommand.getCommand();
if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage(reply.getSender(),
&nextCommand);
}
if (sendResult == RETURN_OK) {
if (isStep) {
if (result != NO_STEP_MESSAGE) {
verificationReporter.sendSuccessReport(
TC_VERIFY::PROGRESS_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, ++iter->step);
}
} else {
verificationReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, 0);
checkAndExecuteFifo(&iter);
}
} else {
if (isStep) {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult,
++iter->step, failureParameter1, failureParameter2);
} else {
nextCommand.clearCommandMessage();
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE,
iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
iter->tcInfo.tcSequenceControl, sendResult, 0,
failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(&iter);
}
break;
case INVALID_REPLY:
//might be just an unrequested reply at a bad moment
handleUnrequestedReply(&reply);
break;
default:
if (isStep) {
verificationReporter.sendFailureReport(
TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, ++iter->step, failureParameter1,
failureParameter2);
} else {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
result, 0, failureParameter1, failureParameter2);
}
failureParameter1 = 0;
failureParameter2 = 0;
checkAndExecuteFifo(&iter);
break;
}
}
}
void CommandingServiceBase::handleRequestQueue() {
TmTcMessage message;
ReturnValue_t result;
store_address_t address;
TcPacketStored packet;
MessageQueueId_t queue;
object_id_t objectId;
for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
result = requestQueue->receiveMessage(&message)) {
address = message.getStorageId();
packet.setStoreAddress(address);
if ((packet.getSubService() == 0)
|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
continue;
}
result = getMessageQueueAndObject(packet.getSubService(),
packet.getApplicationData(), packet.getApplicationDataSize(),
&queue, &objectId);
if (result != HasReturnvaluesIF::RETURN_OK) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, result);
continue;
}
//Is a command already active for the target object?
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator iter;
iter = commandMap.find(queue);
if (iter != commandMap.end()) {
result = iter->fifo.insert(address);
if (result != RETURN_OK) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, OBJECT_BUSY);
}
} else {
CommandInfo newInfo; //Info will be set by startExecution if neccessary
newInfo.objectId = objectId;
result = commandMap.insert(queue, newInfo, &iter);
if (result != RETURN_OK) {
rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
} else {
startExecution(&packet, &iter);
}
}
}
}
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ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
const uint8_t* data, size_t dataLen, const uint8_t* headerData,
size_t headerSize) {
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
this->tmPacketCounter, data, dataLen, headerData, headerSize);
ReturnValue_t result = tmPacketStored.sendPacket(
requestQueue->getDefaultDestination(), requestQueue->getId());
if (result == HasReturnvaluesIF::RETURN_OK) {
this->tmPacketCounter++;
}
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return result;
}
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ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
object_id_t objectId, const uint8_t *data, size_t dataLen) {
uint8_t buffer[sizeof(object_id_t)];
uint8_t* pBuffer = buffer;
size_t size = 0;
SerializeAdapter<object_id_t>::serialize(&objectId, &pBuffer, &size,
sizeof(object_id_t), true);
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
this->tmPacketCounter, data, dataLen, buffer, size);
ReturnValue_t result = tmPacketStored.sendPacket(
requestQueue->getDefaultDestination(), requestQueue->getId());
if (result == HasReturnvaluesIF::RETURN_OK) {
this->tmPacketCounter++;
}
return result;
}
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ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
SerializeIF* content, SerializeIF* header) {
TmPacketStored tmPacketStored(this->apid, this->service, subservice,
this->tmPacketCounter, content, header);
ReturnValue_t result = tmPacketStored.sendPacket(
requestQueue->getDefaultDestination(), requestQueue->getId());
if (result == HasReturnvaluesIF::RETURN_OK) {
this->tmPacketCounter++;
}
return result;
}
void CommandingServiceBase::startExecution(
TcPacketStored *storedPacket,
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator *iter) {
ReturnValue_t result, sendResult = RETURN_OK;
CommandMessage message;
(*iter)->subservice = storedPacket->getSubService();
result = prepareCommand(&message, (*iter)->subservice,
storedPacket->getApplicationData(),
storedPacket->getApplicationDataSize(), &(*iter)->state,
(*iter)->objectId);
switch (result) {
case RETURN_OK:
if (message.getCommand() != CommandMessage::CMD_NONE) {
sendResult = commandQueue->sendMessage((*iter).value->first,
&message);
}
if (sendResult == RETURN_OK) {
Clock::getUptime(&(*iter)->uptimeOfStart);
(*iter)->step = 0;
// (*iter)->state = 0;
(*iter)->subservice = storedPacket->getSubService();
(*iter)->command = message.getCommand();
(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
(*iter)->tcInfo.tcSequenceControl =
storedPacket->getPacketSequenceControl();
acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
} else {
message.clearCommandMessage();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter);
}
break;
case EXECUTION_COMPLETE:
if (message.getCommand() != CommandMessage::CMD_NONE) {
//Fire-and-forget command.
sendResult = commandQueue->sendMessage((*iter).value->first,
&message);
}
if (sendResult == RETURN_OK) {
verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
storedPacket);
acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
checkAndExecuteFifo(iter);
} else {
message.clearCommandMessage();
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
checkAndExecuteFifo(iter);
}
break;
default:
rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, result);
checkAndExecuteFifo(iter);
break;
}
}
void CommandingServiceBase::rejectPacket(uint8_t report_id,
TcPacketStored* packet, ReturnValue_t error_code) {
verificationReporter.sendFailureReport(report_id, packet, error_code);
packet->deletePacket();
}
void CommandingServiceBase::acceptPacket(uint8_t reportId,
TcPacketStored* packet) {
verificationReporter.sendSuccessReport(reportId, packet);
packet->deletePacket();
}
void CommandingServiceBase::checkAndExecuteFifo(
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator *iter) {
store_address_t address;
if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
commandMap.erase(iter);
} else {
TcPacketStored newPacket(address);
startExecution(&newPacket, iter);
}
}
void CommandingServiceBase::handleUnrequestedReply(
CommandMessage* reply) {
reply->clearCommandMessage();
}
inline void CommandingServiceBase::doPeriodicOperation() {
}
MessageQueueId_t CommandingServiceBase::getCommandQueue() {
return commandQueue->getId();
}
void CommandingServiceBase::checkTimeout() {
uint32_t uptime;
Clock::getUptime(&uptime);
typename FixedMap<MessageQueueId_t,
CommandingServiceBase::CommandInfo>::Iterator iter;
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
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if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
verificationReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
TIMEOUT);
checkAndExecuteFifo(&iter);
}
}
}