Merge remote-tracking branch 'upstream/master' into mueller_stopwatch

This commit is contained in:
Robin Müller 2020-05-07 19:57:31 +02:00
commit 1181ebcbda
24 changed files with 196 additions and 93 deletions

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@ -21,7 +21,7 @@ public:
readIndex(0), writeIndex(0), currentSize(0) { readIndex(0), writeIndex(0), currentSize(0) {
} }
bool emtpy() { bool empty() {
return (currentSize == 0); return (currentSize == 0);
} }
@ -45,7 +45,7 @@ public:
} }
ReturnValue_t retrieve(T *value) { ReturnValue_t retrieve(T *value) {
if (emtpy()) { if (empty()) {
return EMPTY; return EMPTY;
} else { } else {
*value = data[readIndex]; *value = data[readIndex];

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@ -2,10 +2,10 @@
#define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_ #define FRAMEWORK_CONTAINER_INDEXEDRINGMEMORY_H_
#include <framework/container/ArrayList.h> #include <framework/container/ArrayList.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/returnvalues/HasReturnvaluesIF.h> #include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/serialize/SerialArrayListAdapter.h> #include <framework/serialize/SerialArrayListAdapter.h>
#include <framework/globalfunctions/crc_ccitt.h>
#include <cmath> #include <cmath>
template<typename T> template<typename T>

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@ -1,5 +1,5 @@
#include <framework/datalinklayer/DataLinkLayer.h> #include <framework/datalinklayer/DataLinkLayer.h>
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw, DataLinkLayer::DataLinkLayer(uint8_t* set_frame_buffer, ClcwIF* setClcw,
@ -60,7 +60,7 @@ ReturnValue_t DataLinkLayer::frameValidationCheck() {
} }
ReturnValue_t DataLinkLayer::frameCheckCRC() { ReturnValue_t DataLinkLayer::frameCheckCRC() {
uint16_t checkValue = ::Calculate_CRC(this->currentFrame.getFullFrame(), uint16_t checkValue = CRC::crc16ccitt(this->currentFrame.getFullFrame(),
this->currentFrame.getFullSize()); this->currentFrame.getFullSize());
if (checkValue == 0) { if (checkValue == 0) {
return RETURN_OK; return RETURN_OK;

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@ -6,7 +6,7 @@
*/ */
#include <framework/datalinklayer/TcTransferFrameLocal.h> #include <framework/datalinklayer/TcTransferFrameLocal.h>
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <string.h> #include <string.h>
@ -25,7 +25,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
uint16_t totalSize = sizeof(TcTransferFramePrimaryHeader) + dataSize + FRAME_CRC_SIZE -1; uint16_t totalSize = sizeof(TcTransferFramePrimaryHeader) + dataSize + FRAME_CRC_SIZE -1;
frame->header.vcidAndLength_h |= (totalSize & 0x0300) >> 8; frame->header.vcidAndLength_h |= (totalSize & 0x0300) >> 8;
frame->header.length_l = (totalSize & 0x00FF); frame->header.length_l = (totalSize & 0x00FF);
uint16_t crc = ::Calculate_CRC(getFullFrame(), getFullSize() -2); uint16_t crc = CRC::crc16ccitt(getFullFrame(), getFullSize() -2);
this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8; this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF); this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
} else if (dataSize <= 1016) { } else if (dataSize <= 1016) {
@ -33,7 +33,7 @@ TcTransferFrameLocal::TcTransferFrameLocal(bool bypass, bool controlCommand, uin
uint16_t dataCrcSize = sizeof(TcTransferFramePrimaryHeader) + 1 + dataSize + FRAME_CRC_SIZE -1; uint16_t dataCrcSize = sizeof(TcTransferFramePrimaryHeader) + 1 + dataSize + FRAME_CRC_SIZE -1;
frame->header.vcidAndLength_h |= (dataCrcSize & 0x0300) >> 8; frame->header.vcidAndLength_h |= (dataCrcSize & 0x0300) >> 8;
frame->header.length_l = (dataCrcSize & 0x00FF); frame->header.length_l = (dataCrcSize & 0x00FF);
uint16_t crc = ::Calculate_CRC(getFullFrame(), getFullSize() -2); uint16_t crc = CRC::crc16ccitt(getFullFrame(), getFullSize() -2);
this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8; this->getFullFrame()[getFullSize()-2] = (crc & 0xFF00) >> 8;
this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF); this->getFullFrame()[getFullSize()-1] = (crc & 0x00FF);
} else { } else {

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@ -4,7 +4,7 @@
#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h> #include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
#include <framework/devicehandlers/DeviceHandlerBase.h> #include <framework/devicehandlers/DeviceHandlerBase.h>
#include <framework/devicehandlers/DeviceTmReportingWrapper.h> #include <framework/devicehandlers/DeviceTmReportingWrapper.h>
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <framework/objectmanager/ObjectManager.h> #include <framework/objectmanager/ObjectManager.h>
#include <framework/storagemanager/StorageManagerIF.h> #include <framework/storagemanager/StorageManagerIF.h>
#include <framework/subsystem/SubsystemBase.h> #include <framework/subsystem/SubsystemBase.h>

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@ -89,7 +89,10 @@ uint32_t FixedSlotSequence::getLengthMs() const {
} }
ReturnValue_t FixedSlotSequence::checkSequence() const { ReturnValue_t FixedSlotSequence::checkSequence() const {
//Iterate through slotList and check successful creation. Checks if timing is ok (must be ascending) and if all handlers were found. if(slotList.empty()) {
error << "Fixed Slot Sequence: Slot list is empty!" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
auto slotIt = slotList.begin(); auto slotIt = slotList.begin();
uint32_t count = 0; uint32_t count = 0;
uint32_t time = 0; uint32_t time = 0;

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@ -6,15 +6,21 @@
#include <list> #include <list>
/** /**
* \brief This class is the representation of a Polling Sequence Table in software. * @brief This class is the representation of a Polling Sequence Table in software.
* *
* \details The FixedSlotSequence object maintains the dynamic execution of device handler objects. * @details
* The main idea is to create a list of device handlers, to announce all handlers to the * The FixedSlotSequence object maintains the dynamic execution of
* polling sequence and to maintain a list of polling slot objects. This slot list represents the * device handler objects.
* Polling Sequence Table in software. Each polling slot contains information to indicate when and *
* which device handler shall be executed within a given polling period. * The main idea is to create a list of device handlers, to announce all
* The sequence is then executed by iterating through this slot list. * handlers to thepolling sequence and to maintain a list of
* Handlers are invoking by calling a certain function stored in the handler list. * polling slot objects. This slot list represents the Polling Sequence Table
* in software.
*
* Each polling slot contains information to indicate when and
* which device handler shall be executed within a given polling period.
* The sequence is then executed by iterating through this slot list.
* Handlers are invoking by calling a certain function stored in the handler list.
*/ */
class FixedSlotSequence { class FixedSlotSequence {
public: public:
@ -97,6 +103,11 @@ public:
*/ */
std::list<FixedSequenceSlot*>::iterator current; std::list<FixedSequenceSlot*>::iterator current;
/**
* Iterate through slotList and check successful creation.
* Checks if timing is ok (must be ascending) and if all handlers were found.
* @return
*/
ReturnValue_t checkSequence() const; ReturnValue_t checkSequence() const;
protected: protected:

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@ -1,7 +1,7 @@
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <math.h> #include <math.h>
static const uint16_t crc_table[256] = { const uint16_t CRC::crc16ccitt_table[256] = {
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
@ -38,19 +38,18 @@ static const uint16_t crc_table[256] = {
// CRC implementation // CRC implementation
uint16_t Calculate_CRC(uint8_t const input[], uint32_t length) uint16_t CRC::crc16ccitt(uint8_t const input[], uint32_t length, uint16_t startingCrc)
{ {
uint16_t crc = 0xFFFF;
uint8_t *data = (uint8_t *)input; uint8_t *data = (uint8_t *)input;
unsigned int tbl_idx; unsigned int tbl_idx;
while (length--) { while (length--) {
tbl_idx = ((crc >> 8) ^ *data) & 0xff; tbl_idx = ((startingCrc >> 8) ^ *data) & 0xff;
crc = (crc_table[tbl_idx] ^ (crc << 8)) & 0xffff; startingCrc = (crc16ccitt_table[tbl_idx] ^ (startingCrc << 8)) & 0xffff;
data++; data++;
} }
return crc & 0xffff; return startingCrc & 0xffff;
//The part below is not used! //The part below is not used!
// bool temr[16]; // bool temr[16];

16
globalfunctions/CRC.h Normal file
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@ -0,0 +1,16 @@
#ifndef CRC_CCITT_H_
#define CRC_CCITT_H_
#include <stdint.h>
class CRC {
public:
static uint16_t crc16ccitt(uint8_t const input[], uint32_t length,
uint16_t startingCrc = 0xffff);
private:
CRC();
static const uint16_t crc16ccitt_table[256];
};
#endif /* CRC_H_ */

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@ -1,9 +0,0 @@
#ifndef CRC_CCITT_H_
#define CRC_CCITT_H_
#include <stdint.h>
uint16_t Calculate_CRC(uint8_t const input[], uint32_t length);
#endif /* CRC_H_ */

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@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <framework/memory/MemoryHelper.h> #include <framework/memory/MemoryHelper.h>
#include <framework/memory/MemoryMessage.h> #include <framework/memory/MemoryMessage.h>
#include <framework/objectmanager/ObjectManagerIF.h> #include <framework/objectmanager/ObjectManagerIF.h>
@ -98,7 +98,7 @@ void MemoryHelper::completeDump(ReturnValue_t errorCode,
break; break;
} }
case MemoryMessage::CMD_MEMORY_CHECK: { case MemoryMessage::CMD_MEMORY_CHECK: {
uint16_t crc = ::Calculate_CRC(reservedSpaceInIPC, size); uint16_t crc = CRC::crc16ccitt(reservedSpaceInIPC, size);
//Delete data immediately, was temporary. //Delete data immediately, was temporary.
ipcStore->deleteData(ipcAddress); ipcStore->deleteData(ipcAddress);
MemoryMessage::setMemoryCheckReply(&reply, crc); MemoryMessage::setMemoryCheckReply(&reply, crc);

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@ -19,8 +19,7 @@ FixedTimeslotTask::~FixedTimeslotTask() {
void FixedTimeslotTask::taskEntryPoint(void* argument) { void FixedTimeslotTask::taskEntryPoint(void* argument) {
//The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place. //The argument is re-interpreted as FixedTimeslotTask. The Task object is global, so it is found from any place.
FixedTimeslotTask *originalTask( FixedTimeslotTask *originalTask(reinterpret_cast<FixedTimeslotTask*>(argument));
reinterpret_cast<FixedTimeslotTask*>(argument));
// Task should not start until explicitly requested // Task should not start until explicitly requested
// in FreeRTOS, tasks start as soon as they are created if the scheduler is running // in FreeRTOS, tasks start as soon as they are created if the scheduler is running
// but not if the scheduler is not running. // but not if the scheduler is not running.
@ -58,8 +57,19 @@ ReturnValue_t FixedTimeslotTask::startTask() {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; if(slotTimeMs == 0) {
// FreeRTOS throws a sanity error for zero values, so we set
// the time to one millisecond.
slotTimeMs = 1;
}
pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t FixedTimeslotTask::getPeriodMs() const { uint32_t FixedTimeslotTask::getPeriodMs() const {

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@ -38,7 +38,9 @@ ReturnValue_t MessageQueue::reply(MessageQueueMessage* message) {
ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message, ReturnValue_t MessageQueue::receiveMessage(MessageQueueMessage* message,
MessageQueueId_t* receivedFrom) { MessageQueueId_t* receivedFrom) {
ReturnValue_t status = this->receiveMessage(message); ReturnValue_t status = this->receiveMessage(message);
*receivedFrom = this->lastPartner; if(status == HasReturnvaluesIF::RETURN_OK) {
*receivedFrom = this->lastPartner;
}
return status; return status;
} }
@ -89,23 +91,24 @@ MessageQueueId_t MessageQueue::getDefaultDestination() const {
bool MessageQueue::isDefaultDestinationSet() const { bool MessageQueue::isDefaultDestinationSet() const {
return 0; return 0;
} }
ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo, ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
MessageQueueMessage *message, MessageQueueId_t sentFrom, MessageQueueMessage *message, MessageQueueId_t sentFrom,
bool ignoreFault) { bool ignoreFault) {
message->setSender(sentFrom); message->setSender(sentFrom);
BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0); BaseType_t result = xQueueSendToBack(reinterpret_cast<void*>(sendTo),reinterpret_cast<const void*>(message->getBuffer()), 0);
if (result != pdPASS) { if (result != pdPASS) {
if (!ignoreFault) { if (!ignoreFault) {
InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>( InternalErrorReporterIF* internalErrorReporter = objectManager->get<InternalErrorReporterIF>(
objects::INTERNAL_ERROR_REPORTER); objects::INTERNAL_ERROR_REPORTER);
if (internalErrorReporter != NULL) { if (internalErrorReporter != NULL) {
internalErrorReporter->queueMessageNotSent(); internalErrorReporter->queueMessageNotSent();
}
} }
return MessageQueueIF::FULL;
} }
return HasReturnvaluesIF::RETURN_OK; return MessageQueueIF::FULL;
}
return HasReturnvaluesIF::RETURN_OK;
} }

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@ -1,6 +1,6 @@
#include <framework/ipc/QueueFactory.h> #include <framework/ipc/QueueFactory.h>
#include "../FreeRTOS/MessageQueue.h" #include <framework/osal/FreeRTOS/MessageQueue.h>
QueueFactory* QueueFactory::factoryInstance = NULL; QueueFactory* QueueFactory::factoryInstance = NULL;

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@ -15,6 +15,7 @@ TaskFactory* TaskFactory::instance() {
} }
/*** /***
* Keep in Mind that you need to call before this vTaskStartScheduler()! * Keep in Mind that you need to call before this vTaskStartScheduler()!
* High taskPriority_ number means high priority.
*/ */
PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_, PeriodicTaskIF* TaskFactory::createPeriodicTask(TaskName name_,
TaskPriority taskPriority_, TaskStackSize stackSize_, TaskPriority taskPriority_, TaskStackSize stackSize_,

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@ -40,8 +40,14 @@ uint32_t FixedTimeslotTask::getPeriodMs() const {
ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId, ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
uint32_t slotTimeMs, int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
ReturnValue_t FixedTimeslotTask::checkSequence() const { ReturnValue_t FixedTimeslotTask::checkSequence() const {

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@ -66,10 +66,16 @@ ReturnValue_t PollingTask::startTask() {
} }
} }
ReturnValue_t PollingTask::addSlot(object_id_t componentId, uint32_t slotTimeMs, ReturnValue_t PollingTask::addSlot(object_id_t componentId,
int8_t executionStep) { uint32_t slotTimeMs, int8_t executionStep) {
pst.addSlot(componentId, slotTimeMs, executionStep, this); if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
return HasReturnvaluesIF::RETURN_OK; pst.addSlot(componentId, slotTimeMs, executionStep, this);
return HasReturnvaluesIF::RETURN_OK;
}
error << "Component " << std::hex << componentId <<
" not found, not adding it to pst" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
} }
uint32_t PollingTask::getPeriodMs() const { uint32_t PollingTask::getPeriodMs() const {

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@ -91,7 +91,7 @@ template<typename T>
ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size, ReturnValue_t ParameterWrapper::serializeData(uint8_t** buffer, uint32_t* size,
const uint32_t max_size, bool bigEndian) const { const uint32_t max_size, bool bigEndian) const {
const T *element = (const T*) readonlyData; const T *element = (const T*) readonlyData;
ReturnValue_t result; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
uint16_t dataSize = columns * rows; uint16_t dataSize = columns * rows;
while (dataSize != 0) { while (dataSize != 0) {
result = SerializeAdapter<T>::serialize(element, buffer, size, max_size, result = SerializeAdapter<T>::serialize(element, buffer, size, max_size,

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@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/storagemanager/StorageManagerIF.h> #include <framework/storagemanager/StorageManagerIF.h>
#include <framework/tcdistribution/TcPacketCheck.h> #include <framework/tcdistribution/TcPacketCheck.h>
@ -8,7 +8,7 @@ TcPacketCheck::TcPacketCheck( uint16_t set_apid ) : apid(set_apid) {
} }
ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) { ReturnValue_t TcPacketCheck::checkPacket( TcPacketStored* current_packet ) {
uint16_t calculated_crc = ::Calculate_CRC ( current_packet->getWholeData(), current_packet->getFullSize() ); uint16_t calculated_crc = CRC::crc16ccitt( current_packet->getWholeData(), current_packet->getFullSize() );
if ( calculated_crc != 0 ) { if ( calculated_crc != 0 ) {
return INCORRECT_CHECKSUM; return INCORRECT_CHECKSUM;
} }

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@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tmtcpacket/pus/TcPacketBase.h> #include <framework/tmtcpacket/pus/TcPacketBase.h>
#include <string.h> #include <string.h>
@ -40,7 +40,7 @@ uint16_t TcPacketBase::getErrorControl() {
void TcPacketBase::setErrorControl() { void TcPacketBase::setErrorControl() {
uint32_t full_size = getFullSize(); uint32_t full_size = getFullSize();
uint16_t crc = ::Calculate_CRC(getWholeData(), full_size - CRC_SIZE); uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getApplicationDataSize(); uint32_t size = getApplicationDataSize();
(&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH (&tcData->data)[size] = (crc & 0XFF00) >> 8; // CRCH
(&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL (&tcData->data)[size + 1] = (crc) & 0X00FF; // CRCL

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@ -1,4 +1,4 @@
#include <framework/globalfunctions/crc_ccitt.h> #include <framework/globalfunctions/CRC.h>
#include <framework/objectmanager/ObjectManagerIF.h> #include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <framework/tmtcpacket/pus/TmPacketBase.h> #include <framework/tmtcpacket/pus/TmPacketBase.h>
@ -39,7 +39,7 @@ uint16_t TmPacketBase::getErrorControl() {
void TmPacketBase::setErrorControl() { void TmPacketBase::setErrorControl() {
uint32_t full_size = getFullSize(); uint32_t full_size = getFullSize();
uint16_t crc = ::Calculate_CRC(getWholeData(), full_size - CRC_SIZE); uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
uint32_t size = getSourceDataSize(); uint32_t size = getSourceDataSize();
getSourceData()[size] = (crc & 0XFF00) >> 8; // CRCH getSourceData()[size] = (crc & 0XFF00) >> 8; // CRCH
getSourceData()[size + 1] = (crc) & 0X00FF; // CRCL getSourceData()[size + 1] = (crc) & 0X00FF; // CRCL

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@ -64,7 +64,7 @@ public:
virtual ~CommandingServiceBase(); virtual ~CommandingServiceBase();
/*** /***
* This is the periodic called function * This is the periodically called function.
* Handle request queue for external commands. * Handle request queue for external commands.
* Handle command Queue for internal commands. * Handle command Queue for internal commands.
* @param opCode is unused here at the moment * @param opCode is unused here at the moment
@ -104,6 +104,69 @@ public:
}; };
protected: protected:
/**
* Check the target subservice
* @param subservice[in]
* @return -@c RETURN_OK on success
* -@c INVALID_SUBSERVICE if service is not known
*/
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
/**
* Once a TC Request is valid, the existence of the destination and its target interface is checked and retrieved.
* The target message queue ID can then be acquired by using the target interface.
* @param subservice
* @param tcData Application Data of TC Packet
* @param tcDataLen
* @param id MessageQueue ID is stored here
* @param objectId Object ID is extracted and stored here
* @return - @c RETURN_OK on success
* - @c RETURN_FAILED
* - @c CSB or implementation specific return codes
*/
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0;
/**
* After the Message Queue and Object ID are determined,
* the command is prepared by using an implementation specific CommandMessage type
* which is sent to the target object.
* It contains all necessary information for the device to execute telecommands.
* @param message[out] message to be sent to the object
* @param subservice[in] Subservice of the current communication
* @param tcData Additional data of the command
* @param tcDataLen Length of the additional data
* @param state[out] Setable state of the communication
* @param objectId Target object ID
* @return - @c RETURN_OK on success
* - @c EXECUTION_COMPLETE if exectuin is finished
* - any other return code will be part of (1,4) start failure
*/
virtual ReturnValue_t prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
/**
* This function is responsible for the communication between the Command Service Base
* and the respective PUS Commanding Service once the execution has started.
* The PUS Commanding Service receives replies from the target device and forwards them by calling this function.
* There are different translations of these replies to specify how the Command Service proceeds.
* @param reply Command Message which contains information about the command
* @param previousCommand Command_t of last command
* @param state state of the communication
* @param optionalNextCommand[out] An optional next command which can be set in this function
* @param objectId Source object ID
* @param isStep Flag value to mark steps of command execution
* @return - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to generate TC verification success
* - @c INVALID_REPLY can handle unrequested replies
* - Anything else triggers a TC verification failure
*/
virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
struct CommandInfo { struct CommandInfo {
struct tcInfo { struct tcInfo {
uint8_t ackFlags; uint8_t ackFlags;
@ -180,20 +243,6 @@ protected:
*/ */
void sendTmPacket(uint8_t subservice, SerializeIF* content, void sendTmPacket(uint8_t subservice, SerializeIF* content,
SerializeIF* header = NULL); SerializeIF* header = NULL);
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
virtual ReturnValue_t prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData, uint32_t tcDataLen,
uint32_t *state, object_id_t objectId) = 0;
virtual ReturnValue_t handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) = 0;
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, uint32_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) = 0;
virtual void handleUnrequestedReply(CommandMessage *reply); virtual void handleUnrequestedReply(CommandMessage *reply);
@ -209,7 +258,8 @@ private:
* It handles replies generated by the devices and relayed by the specific service implementation. * It handles replies generated by the devices and relayed by the specific service implementation.
* This means that it determines further course of action depending on the return values specified * This means that it determines further course of action depending on the return values specified
* in the service implementation. * in the service implementation.
* This includes the generation of TC verification messages: * This includes the generation of TC verification messages. Note that
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
* - TM[1,5] Step Successs * - TM[1,5] Step Successs
* - TM[1,6] Step Failure * - TM[1,6] Step Failure
* - TM[1,7] Completion Success * - TM[1,7] Completion Success

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@ -23,14 +23,14 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
TmTcMessage message; TmTcMessage message;
for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) { for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
ReturnValue_t status = this->requestQueue->receiveMessage(&message); ReturnValue_t status = this->requestQueue->receiveMessage(&message);
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() << std::dec << " returned: " << status << std::endl; // debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId()
// << std::dec << " returned: " << status << std::endl;
if (status == RETURN_OK) { if (status == RETURN_OK) {
this->currentPacket.setStoreAddress(message.getStorageId()); this->currentPacket.setStoreAddress(message.getStorageId());
// info << "Service " << (uint16_t) this->serviceId << ": new packet!" // info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl;
// << std::endl;
ReturnValue_t return_code = this->handleRequest(); ReturnValue_t return_code = this->handleRequest();
// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl; // debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
if (return_code == RETURN_OK) { if (return_code == RETURN_OK) {
this->verifyReporter.sendSuccessReport( this->verifyReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket); TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
@ -44,7 +44,7 @@ ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
errorParameter2 = 0; errorParameter2 = 0;
} else if (status == MessageQueueIF::EMPTY) { } else if (status == MessageQueueIF::EMPTY) {
status = RETURN_OK; status = RETURN_OK;
// debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl; // debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl;
break; break;
} else { } else {

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@ -46,13 +46,20 @@ public:
*/ */
virtual ~PusServiceBase(); virtual ~PusServiceBase();
/** /**
* The handleRequest method shall handle any kind of Telecommand Request immediately. * @brief The handleRequest method shall handle any kind of Telecommand Request immediately.
* @details
* Implemetations can take the Telecommand in currentPacket and perform any kind of operation. * 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 * 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. * 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 * If a Telecommand can not be executed within one call cycle,
* verification message. * this Base class is not the right parent.
*
* The child class may add additional error information by setting #errorParameters which are
* attached to the generated verification message.
*
* Subservice checking should be implemented in this method.
*
* @return The returned status_code is directly taken as main error code in the Verification Report. * @return The returned status_code is directly taken as main error code in the Verification Report.
* On success, RETURN_OK shall be returned. * On success, RETURN_OK shall be returned.
*/ */
@ -68,8 +75,8 @@ public:
* It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes
* the TC requests afterwards. * the TC requests afterwards.
* performService is always executed afterwards. * performService is always executed afterwards.
* @return - \c RETURN_OK if the periodic performService was successful. * @return \c RETURN_OK if the periodic performService was successful.
* - \c RETURN_FAILED else. * \c RETURN_FAILED else.
*/ */
ReturnValue_t performOperation(uint8_t opCode); ReturnValue_t performOperation(uint8_t opCode);
virtual uint16_t getIdentifier(); virtual uint16_t getIdentifier();
@ -91,7 +98,7 @@ protected:
/** /**
* One of two error parameters for additional error information. * One of two error parameters for additional error information.
*/ */
uint8_t errorParameter2; uint32_t errorParameter2;
/** /**
* This is a complete instance of the Telecommand reception queue of the class. * This is a complete instance of the Telecommand reception queue of the class.
* It is initialized on construction of the class. * It is initialized on construction of the class.