fsfw/tmtcservices/PusServiceBase.h

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#ifndef PUSSERVICEBASE_H_
#define PUSSERVICEBASE_H_
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/tmtcpacket/pus/TcPacketStored.h>
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/VerificationCodes.h>
#include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h>
#include <framework/ipc/MessageQueueIF.h>
namespace Factory{
void setStaticFrameworkObjectIds();
}
/**
* \defgroup pus_services PUS Service Framework
* These group contains all implementations of PUS Services in the OBSW.
* Most of the Services are directly taken from the ECSS PUS Standard.
*/
/**
* \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets.
* It manages Telecommand reception and the generation of Verification Reports. Every class that inherits
* from this abstract class has to implement handleRequest and performService. Services that are created with this
* Base class have to handle any kind of request immediately on reception.
* All PUS Services are System Objects, so an Object ID needs to be specified on construction.
* \ingroup pus_services
*/
class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
/**
* The constructor for the class.
* The passed values are set, but inter-object initialization is done in the initialize method.
* @param setObjectId The system object identifier of this Service instance.
* @param set_apid The APID the Service is instantiated for.
* @param set_service_id The Service Identifier as specified in ECSS PUS.
*/
PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId);
/**
* The destructor is empty.
*/
virtual ~PusServiceBase();
/**
* The handleRequest method shall handle any kind of Telecommand Request immediately.
* Implemetations can take the Telecommand in currentPacket and perform any kind of operation.
* They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion
* Success or Failure Reports are generated automatically after execution of this method.
* If a Telecommand can not be executed within one call cycle, this Base class is not the right parent.
* The child class may add additional error information in #errorParameters which are attached to the generated
* verification message.
* @return The returned status_code is directly taken as main error code in the Verification Report.
* On success, RETURN_OK shall be returned.
*/
virtual ReturnValue_t handleRequest() = 0;
/**
* In performService, implementations can handle periodic, non-TC-triggered activities.
* The performService method is always called.
* @return A success or failure code that does not trigger any kind of verification message.
*/
virtual ReturnValue_t performService() = 0;
/**
* This method implements the typical activity of a simple PUS Service.
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
* the TC requests afterwards.
* performService is always executed afterwards.
* @return - \c RETURN_OK if the periodic performService was successful.
* - \c RETURN_FAILED else.
*/
ReturnValue_t performOperation(uint8_t opCode);
virtual uint16_t getIdentifier();
MessageQueueId_t getRequestQueue();
virtual ReturnValue_t initialize();
protected:
/**
* The APID of this instance of the Service.
*/
uint16_t apid;
/**
* The Service Identifier.
*/
uint8_t serviceId;
/**
* One of two error parameters for additional error information.
*/
uint32_t errorParameter1;
/**
* One of two error parameters for additional error information.
*/
uint8_t errorParameter2;
/**
* This is a complete instance of the Telecommand reception queue of the class.
* It is initialized on construction of the class.
*/
MessageQueueIF* requestQueue;
/**
* An instance of the VerificationReporter class, that simplifies sending any kind of
* Verification Message to the TC Verification Service.
*/
VerificationReporter verifyReporter;
/**
* The current Telecommand to be processed.
* It is deleted after handleRequest was executed.
*/
TcPacketStored currentPacket;
static object_id_t packetSource;
static object_id_t packetDestination;
private:
/**
* This constant sets the maximum number of packets accepted per call.
* Remember that one packet must be completely handled in one #handleRequest call.
*/
static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
};
#endif /* PUSSERVICEBASE_H_ */