fsfw/pus/Service2DeviceAccess.h

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#ifndef FSFW_PUS_SERVICE2DEVICEACCESS_H_
#define FSFW_PUS_SERVICE2DEVICEACCESS_H_
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#include "../objectmanager/SystemObjectIF.h"
#include "../devicehandlers/AcceptsDeviceResponsesIF.h"
#include "../tmtcservices/CommandingServiceBase.h"
/**
* @brief Raw Commanding and Wiretapping of devices.
* @details
* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
* Dissertation Baetz p. 115, 116, 165-167.
*
* This service provides the capability to communicate with devices in their
* native protocols with raw commands through the DeviceHandlerIF.
*
* This is a gateway service. It relays device commands to the software bus.
* This service is very closely tied to the CommandingServiceBase
* template class.
*
* There are 4 adaption points for component implementation through the
* CommandingServiceBase.
*
* This service employs custom subservices exclusively. This includes a
* wiretapping subservice to monitor all traffic between target devices and
* this service.
*
* - TC[2,128]: Raw Commanding
* - TC[2,129]: Toggle Wiretapping
* - TM[2,130]: Wiretapping Packet TM
* - TM[2,131]: Wiretapping Packet TC
* @ingroup pus_services
*/
class Service2DeviceAccess : public CommandingServiceBase,
public AcceptsDeviceResponsesIF
{
public:
Service2DeviceAccess(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numberOfParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
virtual ~Service2DeviceAccess();
protected:
//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
/**
* @brief Generates TM packets containing either the TC wiretapping
* packets or the TM wiretapping packets.
* Note that for service 2, all telemetry will be treated as an
* unrequested reply regardless of wiretapping mode.
* @param reply
*/
void handleUnrequestedReply(CommandMessage* reply) override;
MessageQueueId_t getDeviceQueue() override;
private:
/**
* Generates TM packets for Wiretapping Service
* @param reply
* @param subservice
*/
void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
const uint8_t* tcData, size_t tcDataLen);
enum class Subservice {
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//!< [EXPORT] : [COMMAND] Command in device native protocol
COMMAND_RAW_COMMANDING = 128,
//!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
COMMAND_TOGGLE_WIRETAPPING = 129,
//!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
REPLY_RAW = 130,
//!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
REPLY_WIRETAPPING_RAW_TC = 131
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};
};
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#endif /* FSFW_PUS_DEVICE2DEVICECOMMANDING_H_ */