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TMTC Routing Refactoring
fsfw/fsfw/pipeline/head There was a failure building this commit Details 

1. Make TcDistributor less powerful / more flexible and rename it to TcDistributorBase
2. Require AcceptsTelecommandsIF to have an abstract function returning the name
3. Allows the CCSDS distributor to remove the CCSDS header before rerouting. This is useful
for protocols like CFDP which are CCSDS agnostic.

WIP: Still need to implement the removal of the CCSDS header
This commit is contained in:
Robin Müller 2022-08-01 11:00:36 +02:00
parent f4beef8c9f
commit 458fe460eb
No known key found for this signature in database
GPG Key ID: 71B58F8A3CDFA9AC
33 changed files with 368 additions and 292 deletions
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4
src/fsfw/cfdp/CfdpHandler.cpp
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@ -52,6 +52,6 @@ ReturnValue_t CfdpHandler::performOperation(uint8_t opCode) {
return RETURN_OK;
}
uint32_t CfdpHandler::getIdentifier() { return 0; }
uint32_t CfdpHandler::getIdentifier() const { return 0; }
MessageQueueId_t CfdpHandler::getRequestQueue() { return this->requestQueue->getId(); }
MessageQueueId_t CfdpHandler::getRequestQueue() const { return this->requestQueue->getId(); }

4
src/fsfw/cfdp/CfdpHandler.h
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@ -28,8 +28,8 @@ class CfdpHandler : public ExecutableObjectIF,
virtual ReturnValue_t handleRequest(store_address_t storeId);
virtual ReturnValue_t initialize() override;
virtual uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
virtual uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t performOperation(uint8_t opCode) override;
protected:

2
src/fsfw/osal/common/TcpTmTcBridge.cpp
View File

@ -18,7 +18,7 @@
TcpTmTcBridge::TcpTmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
: TmTcBridge("TCP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
mutex = MutexFactory::instance()->createMutex();
// Connection is always up, TM is requested by connecting to server and receiving packets
registerCommConnect();

2
src/fsfw/osal/common/UdpTmTcBridge.cpp
View File

@ -22,7 +22,7 @@ const std::string UdpTmTcBridge::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_POR
UdpTmTcBridge::UdpTmTcBridge(object_id_t objectId, object_id_t tcDestination,
const std::string &udpServerPort_, object_id_t tmStoreId,
object_id_t tcStoreId)
: TmTcBridge(objectId, tcDestination, tmStoreId, tcStoreId) {
: TmTcBridge("UDP TMTC Bridge", objectId, tcDestination, tmStoreId, tcStoreId) {
if (udpServerPort_.empty()) {
udpServerPort = DEFAULT_SERVER_PORT;
} else {

4
src/fsfw/pus/CService200ModeCommanding.cpp
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@ -10,8 +10,8 @@
CService200ModeCommanding::CService200ModeCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 200 Mode MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
CService200ModeCommanding::~CService200ModeCommanding() {}

4
src/fsfw/pus/CService201HealthCommanding.cpp
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@ -10,8 +10,8 @@ CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, u
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {

4
src/fsfw/pus/Service11TelecommandScheduling.tpp
View File

@ -16,7 +16,9 @@ inline Service11TelecommandScheduling<MAX_NUM_TCS>::Service11TelecommandScheduli
: PusServiceBase(params),
RELEASE_TIME_MARGIN_SECONDS(releaseTimeMarginSeconds),
debugMode(debugMode),
tcRecipient(tcRecipient) {}
tcRecipient(tcRecipient) {
params.name = "PUS 11 TC Scheduling";
}
template <size_t MAX_NUM_TCS>
inline Service11TelecommandScheduling<MAX_NUM_TCS>::~Service11TelecommandScheduling() = default;

4
src/fsfw/pus/Service17Test.cpp
View File

@ -8,7 +8,9 @@
Service17Test::Service17Test(PsbParams params)
: PusServiceBase(params),
storeHelper(params.apid),
tmHelper(params.serviceId, storeHelper, sendHelper) {}
tmHelper(params.serviceId, storeHelper, sendHelper) {
params.name = "PUS 17 Test";
}
Service17Test::~Service17Test() = default;

4
src/fsfw/pus/Service20ParameterManagement.cpp
View File

@ -11,8 +11,8 @@ Service20ParameterManagement::Service20ParameterManagement(object_id_t objectId,
uint8_t serviceId,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numberOfParallelCommands,
commandTimeoutSeconds) {}
: CommandingServiceBase(objectId, apid, "PUS 20 Parameter MGMT", serviceId,
numberOfParallelCommands, commandTimeoutSeconds) {}
Service20ParameterManagement::~Service20ParameterManagement() = default;

4
src/fsfw/pus/Service2DeviceAccess.cpp
View File

@ -14,8 +14,8 @@
Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId, uint16_t apid, uint8_t serviceId,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numberOfParallelCommands,
commandTimeoutSeconds) {}
: CommandingServiceBase(objectId, apid, "PUS 2 Raw Commanding", serviceId,
numberOfParallelCommands, commandTimeoutSeconds) {}
Service2DeviceAccess::~Service2DeviceAccess() {}

2
src/fsfw/pus/Service3Housekeeping.cpp
View File

@ -5,7 +5,7 @@
#include "fsfw/pus/servicepackets/Service3Packets.h"
Service3Housekeeping::Service3Housekeeping(object_id_t objectId, uint16_t apid, uint8_t serviceId)
: CommandingServiceBase(objectId, apid, serviceId, NUM_OF_PARALLEL_COMMANDS,
: CommandingServiceBase(objectId, apid, "PUS 3 HK", serviceId, NUM_OF_PARALLEL_COMMANDS,
COMMAND_TIMEOUT_SECONDS) {}
Service3Housekeeping::~Service3Housekeeping() {}

1
src/fsfw/pus/Service5EventReporting.cpp
View File

@ -13,6 +13,7 @@ Service5EventReporting::Service5EventReporting(PsbParams params, size_t maxNumbe
storeHelper(params.apid),
tmHelper(params.serviceId, storeHelper, sendHelper),
maxNumberReportsPerCycle(maxNumberReportsPerCycle) {
psbParams.name = "PUS 5 Event Reporting";
eventQueue = QueueFactory::instance()->createMessageQueue(messageQueueDepth);
}

4
src/fsfw/pus/Service8FunctionManagement.cpp
View File

@ -12,8 +12,8 @@ Service8FunctionManagement::Service8FunctionManagement(object_id_t objectId, uin
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, serviceId, numParallelCommands, commandTimeoutSeconds) {
}
: CommandingServiceBase(objectId, apid, "PUS 8 Functional Commanding", serviceId,
numParallelCommands, commandTimeoutSeconds) {}
Service8FunctionManagement::~Service8FunctionManagement() {}

4
src/fsfw/pus/Service9TimeManagement.cpp
View File

@ -5,7 +5,9 @@
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/timemanager/CCSDSTime.h"
Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {}
Service9TimeManagement::Service9TimeManagement(PsbParams params) : PusServiceBase(params) {
params.name = "PUS 9 Time MGMT";
}
Service9TimeManagement::~Service9TimeManagement() = default;

77
src/fsfw/tcdistribution/CcsdsDistributor.cpp
View File

@ -1,5 +1,6 @@
#include "fsfw/tcdistribution/CcsdsDistributor.h"
#include "definitions.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
@ -8,11 +9,11 @@
CcsdsDistributor::CcsdsDistributor(uint16_t setDefaultApid, object_id_t setObjectId,
CcsdsPacketCheckIF* packetChecker)
: TcDistributor(setObjectId), defaultApid(setDefaultApid), packetChecker(packetChecker) {}
: TcDistributorBase(setObjectId), defaultApid(setDefaultApid), packetChecker(packetChecker) {}
CcsdsDistributor::~CcsdsDistributor() = default;
TcDistributor::TcMqMapIter CcsdsDistributor::selectDestination() {
ReturnValue_t CcsdsDistributor::selectDestination(MessageQueueId_t& destId) {
#if CCSDS_DISTRIBUTOR_DEBUGGING == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CCSDSDistributor::selectDestination received: "
@ -39,54 +40,72 @@ TcDistributor::TcMqMapIter CcsdsDistributor::selectDestination() {
" store failed!\n");
#endif
#endif
return queueMap.end();
return result;
}
SpacePacketReader currentPacket(packet, size);
result = packetChecker->checkPacket(currentPacket, size);
if (result != HasReturnvaluesIF::RETURN_OK) {
handlePacketCheckFailure(result);
return result;
}
#if FSFW_CPP_OSTREAM_ENABLED == 1 && CCSDS_DISTRIBUTOR_DEBUGGING == 1
sif::info << "CCSDSDistributor::selectDestination has packet with APID 0x" << std::hex
<< currentPacket.getApid() << std::dec << std::endl;
#endif
auto position = this->queueMap.find(currentPacket.getApid());
if (position != this->queueMap.end()) {
return position;
auto position = receiverMap.find(currentPacket.getApid());
if (position != receiverMap.end()) {
destId = position->second.destId;
} else {
// The APID was not found. Forward packet to main SW-APID anyway to
// create acceptance failure report.
return queueMap.find(this->defaultApid);
auto iter = receiverMap.find(defaultApid);
if (iter != receiverMap.end()) {
destId = iter->second.destId;
} else {
return DESTINATION_NOT_FOUND;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t CcsdsDistributor::getRequestQueue() { return tcQueue->getId(); }
void CcsdsDistributor::handlePacketCheckFailure(ReturnValue_t result) {
const char* reason = "Unknown reason";
if (result == tcdistrib::INVALID_CCSDS_VERSION) {
reason = "Invalid CCSDS version";
} else if (result == tcdistrib::INCOMPLETE_PACKET) {
reason = "Size missmatch between CCSDS data length and packet length";
} else if (result == tcdistrib::INVALID_APID) {
reason = "No valid handler APID found";
} else if (result == tcdistrib::INVALID_PACKET_TYPE) {
reason = "Invalid Packet Type TM detected";
}
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "CCSDS packet check failed: " << reason << std::endl;
#else
sif::printWarning("CCSDS packet check failed: %s\n", reason);
#endif
#endif
}
ReturnValue_t CcsdsDistributor::registerApplication(AcceptsTelecommandsIF* application) {
MessageQueueId_t CcsdsDistributor::getRequestQueue() const { return tcQueue->getId(); }
ReturnValue_t CcsdsDistributor::registerApplication(DestInfo info) {
ReturnValue_t returnValue = RETURN_OK;
auto insertPair =
this->queueMap.emplace(application->getIdentifier(), application->getRequestQueue());
auto insertPair = receiverMap.emplace(info.apid, info);
if (not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
}
ReturnValue_t CcsdsDistributor::registerApplication(uint16_t apid, MessageQueueId_t id) {
ReturnValue_t returnValue = RETURN_OK;
auto insertPair = this->queueMap.emplace(apid, id);
if (not insertPair.second) {
returnValue = RETURN_FAILED;
}
return returnValue;
}
uint32_t CcsdsDistributor::getIdentifier() { return 0; }
uint32_t CcsdsDistributor::getIdentifier() const { return 0; }
ReturnValue_t CcsdsDistributor::initialize() {
if (packetChecker == nullptr) {
packetChecker = new CcsdsPacketChecker(ccsds::PacketType::TC);
}
ReturnValue_t status = this->TcDistributor::initialize();
ReturnValue_t status = this->TcDistributorBase::initialize();
this->tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
if (this->tcStore == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
@ -111,3 +130,17 @@ ReturnValue_t CcsdsDistributor::callbackAfterSending(ReturnValue_t queueStatus)
}
return RETURN_OK;
}
void CcsdsDistributor::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Distributor content is: " << std::endl << "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& iter : receiverMap) {
sif::debug << iter.first << "\t| 0x" << iter.second.destId
<< ", Header Removed: " << std::boolalpha << iter.second.removeHeader << std::endl;
}
sif::debug << std::setfill(' ') << std::dec;
#endif
}
const char* CcsdsDistributor::getName() const { return "CCSDS Distributor"; }

22
src/fsfw/tcdistribution/CcsdsDistributor.h
View File

@ -1,11 +1,13 @@
#ifndef FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#define FRAMEWORK_TCDISTRIBUTION_CCSDSDISTRIBUTOR_H_
#include <map>
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/storagemanager/StorageManagerIF.h"
#include "fsfw/tcdistribution/CcsdsDistributorIF.h"
#include "fsfw/tcdistribution/CcsdsPacketChecker.h"
#include "fsfw/tcdistribution/TcDistributor.h"
#include "fsfw/tcdistribution/TcDistributorBase.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
/**
@ -16,7 +18,7 @@
* The Secondary Header (with Service/Subservice) is ignored.
* @ingroup tc_distribution
*/
class CcsdsDistributor : public TcDistributor,
class CcsdsDistributor : public TcDistributorBase,
public CcsdsDistributorIF,
public AcceptsTelecommandsIF {
public:
@ -35,13 +37,16 @@ class CcsdsDistributor : public TcDistributor,
*/
~CcsdsDistributor() override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerApplication(uint16_t apid, MessageQueueId_t id) override;
ReturnValue_t registerApplication(AcceptsTelecommandsIF* application) override;
uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t registerApplication(DestInfo info) override;
uint32_t getIdentifier() const override;
ReturnValue_t initialize() override;
[[nodiscard]] const char* getName() const override;
protected:
using CcsdsReceiverMap = std::map<uint16_t, DestInfo>;
CcsdsReceiverMap receiverMap;
/**
* This implementation checks if an application with fitting APID has
* registered and forwards the packet to the according message queue.
@ -49,13 +54,16 @@ class CcsdsDistributor : public TcDistributor,
* where a Acceptance Failure message should be generated.
* @return Iterator to map entry of found APID or iterator to default APID.
*/
TcMqMapIter selectDestination() override;
ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.
*/
ReturnValue_t callbackAfterSending(ReturnValue_t queueStatus) override;
static void handlePacketCheckFailure(ReturnValue_t result);
void print();
/**
* The default APID, where packets with unknown APID are sent to.
*/

46
src/fsfw/tcdistribution/CcsdsDistributorIF.h
View File

@ -1,8 +1,9 @@
#ifndef FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#define FSFW_TCDISTRIBUTION_CCSDSDISTRIBUTORIF_H_
#include "../ipc/MessageQueueSenderIF.h"
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/ipc/MessageQueueSenderIF.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
/**
* This is the Interface to a CCSDS Distributor.
* On a CCSDS Distributor, Applications (in terms of CCSDS) may register
@ -13,24 +14,37 @@
*/
class CcsdsDistributorIF {
public:
/**
* With this call, a class implementing the CCSDSApplicationIF can register
* at the distributor.
* @param application A pointer to the Application to register.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerApplication(AcceptsTelecommandsIF* application) = 0;
struct DestInfo {
DestInfo(const char* name, uint16_t apid, MessageQueueId_t destId, bool removeHeader)
: name(name), apid(apid), destId(destId), removeHeader(removeHeader) {}
DestInfo(const char* name, AcceptsTelecommandsIF& ccsdsReceiver, bool removeHeader_)
: name(name) {
apid = ccsdsReceiver.getIdentifier();
destId = ccsdsReceiver.getRequestQueue();
removeHeader = removeHeader_;
}
const char* name;
uint16_t apid;
MessageQueueId_t destId;
bool removeHeader;
};
/**
* With this call, other Applications can register to the CCSDS distributor.
* This is done by passing an APID and a MessageQueueId to the method.
* @param apid The APID to register.
* @param id The MessageQueueId of the message queue to send the
* TC Packets to.
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
* @param info Contains all necessary info to register an application.
* @return
* - @c RETURN_OK on success,
* - @c RETURN_FAILED or tcdistrib error code on failure.
* - @c tcdistrib::INVALID_CCSDS_VERSION
* - @c tcdistrib::INVALID_APID No APID available to handle this packet
* - @c tcdistrib::INVALID_PACKET_TYPE Packet type TM detected
* - @c tcdistrib::INCORRECT_PRIMARY_HEADER Something other wrong with primary header
* - @c tcdistrib::INCOMPLETE_PACKET Size missmatch between data length field and actual
* length
*/
virtual ReturnValue_t registerApplication(uint16_t apid, MessageQueueId_t id) = 0;
virtual ReturnValue_t registerApplication(DestInfo info) = 0;
/**
* The empty virtual destructor.
*/

4
src/fsfw/tcdistribution/CcsdsUnpacker.cpp
View File

@ -3,5 +3,5 @@
CcsdsUnpacker::CcsdsUnpacker() {}
ReturnValue_t CcsdsUnpacker::performOperation(uint8_t operationCode) { return 0; }
uint32_t CcsdsUnpacker::getIdentifier() { return 0; }
MessageQueueId_t CcsdsUnpacker::getRequestQueue() { return 0; }
uint32_t CcsdsUnpacker::getIdentifier() const { return 0; }
MessageQueueId_t CcsdsUnpacker::getRequestQueue() const { return 0; }

4
src/fsfw/tcdistribution/CcsdsUnpacker.h
View File

@ -8,8 +8,8 @@ class CcsdsUnpacker : public ExecutableObjectIF, public AcceptsTelecommandsIF {
public:
CcsdsUnpacker();
ReturnValue_t performOperation(uint8_t operationCode) override;
uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
private:
};

192
src/fsfw/tcdistribution/CfdpDistributor.cpp
View File

@ -10,7 +10,7 @@
CfdpDistributor::CfdpDistributor(uint16_t setApid, object_id_t setObjectId,
object_id_t setPacketSource)
: TcDistributor(setObjectId),
: TcDistributorBase(setObjectId),
apid(setApid),
checker(setApid),
tcStatus(RETURN_FAILED),
@ -18,87 +18,89 @@ CfdpDistributor::CfdpDistributor(uint16_t setApid, object_id_t setObjectId,
CfdpDistributor::~CfdpDistributor() = default;
CfdpDistributor::TcMqMapIter CfdpDistributor::selectDestination() {
#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
store_address_t storeId = this->currentMessage.getStorageId();
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPDistributor::handlePacket received: " << storeId.poolIndex << ", "
<< storeId.packetIndex << std::endl;
#else
sif::printDebug("CFDPDistributor::handlePacket received: %d, %d\n", storeId.poolIndex,
storeId.packetIndex);
#endif
#endif
auto queueMapIt = this->queueMap.end();
if (this->currentPacket == nullptr) {
return queueMapIt;
}
this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
if (currentPacket->getFullData() != nullptr) {
tcStatus = checker.checkPacket(*currentPacket, currentPacket->getFullPacketLen());
if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPDistributor::handlePacket: Packet format invalid, code "
<< static_cast<int>(tcStatus) << std::endl;
#else
sif::printDebug("CFDPDistributor::handlePacket: Packet format invalid, code %d\n",
static_cast<int>(tcStatus));
#endif
#endif
}
queueMapIt = this->queueMap.find(0);
} else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "CFDPDistributor::handlePacket: Destination not found" << std::endl;
#else
sif::printDebug("CFDPDistributor::handlePacket: Destination not found\n");
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif
}
if (tcStatus != RETURN_OK) {
return this->queueMap.end();
} else {
return queueMapIt;
}
ReturnValue_t CfdpDistributor::selectDestination(MessageQueueId_t& destId) {
//#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
// store_address_t storeId = this->currentMessage.getStorageId();
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "CFDPDistributor::handlePacket received: " << storeId.poolIndex << ", "
// << storeId.packetIndex << std::endl;
//#else
// sif::printDebug("CFDPDistributor::handlePacket received: %d, %d\n", storeId.poolIndex,
// storeId.packetIndex);
//#endif
//#endif
// auto queueMapIt = this->queueMap.end();
// if (this->currentPacket == nullptr) {
// return queueMapIt;
// }
// this->currentPacket->setStoreAddress(this->currentMessage.getStorageId());
// if (currentPacket->getFullData() != nullptr) {
// tcStatus = checker.checkPacket(*currentPacket, currentPacket->getFullPacketLen());
// if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
//#if FSFW_VERBOSE_LEVEL >= 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "CFDPDistributor::handlePacket: Packet format invalid, code "
// << static_cast<int>(tcStatus) << std::endl;
//#else
// sif::printDebug("CFDPDistributor::handlePacket: Packet format invalid, code %d\n",
// static_cast<int>(tcStatus));
//#endif
//#endif
// }
// queueMapIt = this->queueMap.find(0);
// } else {
// tcStatus = PACKET_LOST;
// }
//
// if (queueMapIt == this->queueMap.end()) {
// tcStatus = DESTINATION_NOT_FOUND;
//#if FSFW_VERBOSE_LEVEL >= 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::debug << "CFDPDistributor::handlePacket: Destination not found" << std::endl;
//#else
// sif::printDebug("CFDPDistributor::handlePacket: Destination not found\n");
//#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
//#endif
// }
//
// if (tcStatus != RETURN_OK) {
// return this->queueMap.end();
// } else {
// return queueMapIt;
// }
}
ReturnValue_t CfdpDistributor::registerHandler(AcceptsTelecommandsIF* handler) {
uint16_t handlerId =
handler->getIdentifier(); // should be 0, because CfdpHandler does not set a set a service-ID
#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "CFDPDistributor::registerHandler: Handler ID: " << static_cast<int>(handlerId)
<< std::endl;
#else
sif::printInfo("CFDPDistributor::registerHandler: Handler ID: %d\n", static_cast<int>(handlerId));
#endif
#endif
MessageQueueId_t queue = handler->getRequestQueue();
auto returnPair = queueMap.emplace(handlerId, queue);
if (not returnPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CFDPDistributor::registerHandler: Service ID already"
" exists in map"
<< std::endl;
#else
sif::printError("CFDPDistributor::registerHandler: Service ID already exists in map\n");
#endif
#endif
return SERVICE_ID_ALREADY_EXISTS;
}
// uint16_t handlerId =
// handler->getIdentifier(); // should be 0, because CfdpHandler does not set a set a
// service-ID
//#if FSFW_CFDP_DISTRIBUTOR_DEBUGGING == 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::info << "CFDPDistributor::registerHandler: Handler ID: " << static_cast<int>(handlerId)
// << std::endl;
//#else
// sif::printInfo("CFDPDistributor::registerHandler: Handler ID: %d\n",
// static_cast<int>(handlerId));
//#endif
//#endif
// MessageQueueId_t queue = handler->getRequestQueue();
// auto returnPair = queueMap.emplace(handlerId, queue);
// if (not returnPair.second) {
//#if FSFW_VERBOSE_LEVEL >= 1
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::error << "CFDPDistributor::registerHandler: Service ID already"
// " exists in map"
// << std::endl;
//#else
// sif::printError("CFDPDistributor::registerHandler: Service ID already exists in map\n");
//#endif
//#endif
// return SERVICE_ID_ALREADY_EXISTS;
// }
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t CfdpDistributor::getRequestQueue() { return tcQueue->getId(); }
MessageQueueId_t CfdpDistributor::getRequestQueue() const { return tcQueue->getId(); }
// ReturnValue_t CFDPDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
// if (queueStatus != RETURN_OK) {
@ -118,25 +120,25 @@ MessageQueueId_t CfdpDistributor::getRequestQueue() { return tcQueue->getId(); }
// }
// }
uint32_t CfdpDistributor::getIdentifier() { return this->apid; }
uint32_t CfdpDistributor::getIdentifier() const { return this->apid; }
ReturnValue_t CfdpDistributor::initialize() {
currentPacket = new CfdpPacketStored();
if (currentPacket == nullptr) {
// Should not happen, memory allocation failed!
return ObjectManagerIF::CHILD_INIT_FAILED;
}
auto* ccsdsDistributor = ObjectManager::instance()->get<CcsdsDistributorIF>(packetSource);
if (ccsdsDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "CFDPDistributor::initialize: Packet source invalid" << std::endl;
sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
#else
sif::printError("CFDPDistributor::initialize: Packet source invalid\n");
sif::printError("Make sure it exists and implements CcsdsDistributorIF\n");
#endif
return RETURN_FAILED;
}
return ccsdsDistributor->registerApplication(this);
// currentPacket = new CfdpPacketStored();
// if (currentPacket == nullptr) {
// // Should not happen, memory allocation failed!
// return ObjectManagerIF::CHILD_INIT_FAILED;
// }
//
// auto* ccsdsDistributor = ObjectManager::instance()->get<CcsdsDistributorIF>(packetSource);
// if (ccsdsDistributor == nullptr) {
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::error << "CFDPDistributor::initialize: Packet source invalid" << std::endl;
// sif::error << " Make sure it exists and implements CCSDSDistributorIF!" << std::endl;
//#else
// sif::printError("CFDPDistributor::initialize: Packet source invalid\n");
// sif::printError("Make sure it exists and implements CcsdsDistributorIF\n");
//#endif
// return RETURN_FAILED;
// }
// return ccsdsDistributor->registerApplication(this);
}

10
src/fsfw/tcdistribution/CfdpDistributor.h
View File

@ -8,14 +8,14 @@
#include "../tmtcservices/AcceptsTelecommandsIF.h"
#include "../tmtcservices/VerificationReporter.h"
#include "CfdpDistributorIF.h"
#include "TcDistributor.h"
#include "TcDistributorBase.h"
/**
* This class accepts CFDP Telecommands and forwards them to Application
* services.
* @ingroup tc_distribution
*/
class CfdpDistributor : public TcDistributor,
class CfdpDistributor : public TcDistributorBase,
public CfdpDistributorIF,
public AcceptsTelecommandsIF {
public:
@ -33,9 +33,9 @@ class CfdpDistributor : public TcDistributor,
*/
~CfdpDistributor() override;
ReturnValue_t registerHandler(AcceptsTelecommandsIF* handler) override;
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
uint32_t getIdentifier() override;
uint32_t getIdentifier() const override;
protected:
uint16_t apid;
@ -60,7 +60,7 @@ class CfdpDistributor : public TcDistributor,
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
TcMqMapIter selectDestination() override;
ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.

89
src/fsfw/tcdistribution/PusDistributor.cpp
View File

@ -10,7 +10,7 @@
PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
CcsdsDistributorIF* distributor, StorageManagerIF* store_)
: TcDistributor(setObjectId),
: TcDistributorBase(setObjectId),
store(store_),
checker(setApid, ccsds::PacketType::TC),
ccsdsDistributor(distributor),
@ -18,62 +18,59 @@ PusDistributor::PusDistributor(uint16_t setApid, object_id_t setObjectId,
PusDistributor::~PusDistributor() = default;
PusDistributor::TcMqMapIter PusDistributor::selectDestination() {
ReturnValue_t PusDistributor::selectDestination(MessageQueueId_t& destId) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 && PUS_DISTRIBUTOR_DEBUGGING == 1
store_address_t storeId = currentMessage.getStorageId();
sif::debug << "PUSDistributor::handlePacket received: " << storeId.poolIndex << ", "
<< storeId.packetIndex << std::endl;
#endif
auto queueMapIt = queueMap.end();
// TODO: Need to set the data
const uint8_t* packetPtr = nullptr;
size_t packetLen = 0;
if (store->getData(currentMessage.getStorageId(), &packetPtr, &packetLen) !=
HasReturnvaluesIF::RETURN_OK) {
return queueMapIt;
}
ReturnValue_t result = reader.setReadOnlyData(packetPtr, packetLen);
ReturnValue_t result = store->getData(currentMessage.getStorageId(), &packetPtr, &packetLen) !=
HasReturnvaluesIF::RETURN_OK;
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return queueMapIt;
return result;
}
result = reader.setReadOnlyData(packetPtr, packetLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return result;
}
// CRC check done by checker
result = reader.parseDataWithoutCrcCheck();
if (result != HasReturnvaluesIF::RETURN_OK) {
tcStatus = PACKET_LOST;
return queueMapIt;
return result;
}
if (reader.getFullData() != nullptr) {
tcStatus = checker.checkPacket(reader, reader.getFullPacketLen());
if (tcStatus != HasReturnvaluesIF::RETURN_OK) {
checkerFailurePrinter();
}
uint32_t queue_id = reader.getService();
queueMapIt = queueMap.find(queue_id);
uint8_t pusId = reader.getService();
auto iter = receiverMap.find(pusId);
if (iter == receiverMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl;
#else
sif::printDebug("PUSDistributor::handlePacket: Destination not found\n");
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif
}
destId = iter->second.destId;
} else {
tcStatus = PACKET_LOST;
}
if (queueMapIt == this->queueMap.end()) {
tcStatus = DESTINATION_NOT_FOUND;
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "PUSDistributor::handlePacket: Destination not found" << std::endl;
#else
sif::printDebug("PUSDistributor::handlePacket: Destination not found\n");
#endif /* !FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif
}
if (tcStatus != RETURN_OK) {
return this->queueMap.end();
} else {
return queueMapIt;
}
return tcStatus;
}
ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
uint16_t serviceId = service->getIdentifier();
ReturnValue_t PusDistributor::registerService(const AcceptsTelecommandsIF& service) {
uint16_t serviceId = service.getIdentifier();
#if PUS_DISTRIBUTOR_DEBUGGING == 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Service ID: " << static_cast<int>(serviceId) << std::endl;
@ -81,8 +78,8 @@ ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
sif::printInfo("Service ID: %d\n", static_cast<int>(serviceId));
#endif
#endif
MessageQueueId_t queue = service->getRequestQueue();
auto returnPair = queueMap.emplace(serviceId, queue);
MessageQueueId_t queue = service.getRequestQueue();
auto returnPair = receiverMap.emplace(serviceId, ServiceInfo(service.getName(), queue));
if (not returnPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -98,7 +95,7 @@ ReturnValue_t PusDistributor::registerService(AcceptsTelecommandsIF* service) {
return HasReturnvaluesIF::RETURN_OK;
}
MessageQueueId_t PusDistributor::getRequestQueue() { return tcQueue->getId(); }
MessageQueueId_t PusDistributor::getRequestQueue() const { return tcQueue->getId(); }
ReturnValue_t PusDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
if (queueStatus != RETURN_OK) {
@ -117,7 +114,7 @@ ReturnValue_t PusDistributor::callbackAfterSending(ReturnValue_t queueStatus) {
}
}
uint32_t PusDistributor::getIdentifier() { return checker.getApid(); }
uint32_t PusDistributor::getIdentifier() const { return checker.getApid(); }
ReturnValue_t PusDistributor::initialize() {
if (store == nullptr) {
@ -142,28 +139,30 @@ ReturnValue_t PusDistributor::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
return ccsdsDistributor->registerApplication(this);
return ccsdsDistributor->registerApplication(
CcsdsDistributorIF::DestInfo(getName(), *this, false));
}
void PusDistributor::checkerFailurePrinter() const {
#if FSFW_VERBOSE_LEVEL >= 1
const char* keyword = "unnamed error";
const char* reason = "Unknown reason";
if (tcStatus == tcdistrib::INCORRECT_CHECKSUM) {
keyword = "checksum";
reason = "Checksum Error";
} else if (tcStatus == tcdistrib::INCORRECT_PRIMARY_HEADER) {
keyword = "incorrect primary header";
reason = "Incorrect Primary Header";
} else if (tcStatus == tcdistrib::INVALID_APID) {
keyword = "illegal APID";
reason = "Illegal APID";
} else if (tcStatus == tcdistrib::INCORRECT_SECONDARY_HEADER) {
keyword = "incorrect secondary header";
reason = "Incorrect Secondary Header";
} else if (tcStatus == tcdistrib::INCOMPLETE_PACKET) {
keyword = "incomplete packet";
reason = "Incomplete packet";
}
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PUSDistributor::handlePacket: Packet format invalid, " << keyword << " error"
<< std::endl;
sif::warning << "PUSDistributor::handlePacket: Check failed: " << reason << std::endl;
#else
sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, %s error\n", keyword);
sif::printWarning("PUSDistributor::handlePacket: Check failed: %s\n", reason);
#endif
#endif
}
const char* PusDistributor::getName() const { return "PUS Distributor"; }

27
src/fsfw/tcdistribution/PusDistributor.h
View File

@ -1,9 +1,11 @@
#ifndef FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#define FSFW_TCDISTRIBUTION_PUSDISTRIBUTOR_H_
#include <map>
#include "PusDistributorIF.h"
#include "PusPacketChecker.h"
#include "TcDistributor.h"
#include "TcDistributorBase.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tmtcpacket/pus/tc.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
@ -17,7 +19,9 @@ class CcsdsDistributorIF;
* sends acceptance success or failure messages.
* @ingroup tc_distribution
*/
class PusDistributor : public TcDistributor, public PusDistributorIF, public AcceptsTelecommandsIF {
class PusDistributor : public TcDistributorBase,
public PusDistributorIF,
public AcceptsTelecommandsIF {
public:
/**
* The ctor passes @c set_apid to the checker class and calls the
@ -29,16 +33,27 @@ class PusDistributor : public TcDistributor, public PusDistributorIF, public Acc
*/
PusDistributor(uint16_t setApid, object_id_t setObjectId, CcsdsDistributorIF* packetSource,
StorageManagerIF* store = nullptr);
[[nodiscard]] const char* getName() const override;
/**
* The destructor is empty.
*/
~PusDistributor() override;
ReturnValue_t registerService(AcceptsTelecommandsIF* service) override;
MessageQueueId_t getRequestQueue() override;
ReturnValue_t registerService(const AcceptsTelecommandsIF& service) override;
[[nodiscard]] MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
uint32_t getIdentifier() override;
[[nodiscard]] uint32_t getIdentifier() const override;
protected:
struct ServiceInfo {
ServiceInfo(const char* name, MessageQueueId_t destId) : name(name), destId(destId) {}
const char* name;
MessageQueueId_t destId;
};
/// PUS recipient map. The key value will generally be the PUS Service
using PusReceiverMap = std::map<uint8_t, ServiceInfo>;
PusReceiverMap receiverMap;
StorageManagerIF* store;
/**
* This attribute contains the class, that performs a formal packet check.
@ -67,7 +82,7 @@ class PusDistributor : public TcDistributor, public PusDistributorIF, public Acc
* @return Iterator to map entry of found service id
* or iterator to @c map.end().
*/
TcMqMapIter selectDestination() override;
ReturnValue_t selectDestination(MessageQueueId_t& destId) override;
/**
* The callback here handles the generation of acceptance
* success/failure messages.

2
src/fsfw/tcdistribution/PusDistributorIF.h
View File

@ -20,7 +20,7 @@ class PusDistributorIF {
* @return - @c RETURN_OK on success,
* - @c RETURN_FAILED on failure.
*/
virtual ReturnValue_t registerService(AcceptsTelecommandsIF* service) = 0;
virtual ReturnValue_t registerService(const AcceptsTelecommandsIF& service) = 0;
};
#endif /* FSFW_TCDISTRIBUTION_PUSDISTRIBUTORIF_H_ */

34
src/fsfw/tcdistribution/TcDistributor.cpp
View File

@ -1,16 +1,14 @@
#include "fsfw/tcdistribution/TcDistributor.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tcdistribution/TcDistributorBase.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
TcDistributor::TcDistributor(object_id_t objectId) : SystemObject(objectId) {
TcDistributorBase::TcDistributorBase(object_id_t objectId) : SystemObject(objectId) {
tcQueue = QueueFactory::instance()->createMessageQueue(DISTRIBUTER_MAX_PACKETS);
}
TcDistributor::~TcDistributor() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
TcDistributorBase::~TcDistributorBase() { QueueFactory::instance()->deleteMessageQueue(tcQueue); }
ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
ReturnValue_t TcDistributorBase::performOperation(uint8_t opCode) {
ReturnValue_t status;
for (status = tcQueue->receiveMessage(&currentMessage); status == RETURN_OK;
status = tcQueue->receiveMessage(&currentMessage)) {
@ -22,24 +20,16 @@ ReturnValue_t TcDistributor::performOperation(uint8_t opCode) {
return status;
}
ReturnValue_t TcDistributor::handlePacket() {
auto queueMapIt = selectDestination();
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
if (queueMapIt != queueMap.end()) {
result = tcQueue->sendMessage(queueMapIt->second, &currentMessage);
ReturnValue_t TcDistributorBase::handlePacket() {
MessageQueueId_t destId;
ReturnValue_t result = selectDestination(destId);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = tcQueue->sendMessage(destId, &currentMessage);
return callbackAfterSending(result);
}
void TcDistributor::print() {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::debug << "Distributor content is: " << std::endl << "ID\t| Message Queue ID" << std::endl;
sif::debug << std::setfill('0') << std::setw(8) << std::hex;
for (const auto& queueMapIter : queueMap) {
sif::debug << queueMapIter.first << "\t| 0x" << queueMapIter.second << std::endl;
}
sif::debug << std::setfill(' ') << std::dec;
#endif
ReturnValue_t TcDistributorBase::callbackAfterSending(ReturnValue_t queueStatus) {
return RETURN_OK;
}
ReturnValue_t TcDistributor::callbackAfterSending(ReturnValue_t queueStatus) { return RETURN_OK; }

24
src/fsfw/tcdistribution/TcDistributor.h → src/fsfw/tcdistribution/TcDistributorBase.h
View File

@ -27,11 +27,8 @@
* implementations.
* @ingroup tc_distribution
*/
class TcDistributor : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
class TcDistributorBase : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
using TcMessageQueueMap = std::map<uint32_t, MessageQueueId_t>;
using TcMqMapIter = std::map<uint32_t, MessageQueueId_t>::iterator;
static constexpr uint8_t INTERFACE_ID = CLASS_ID::PACKET_DISTRIBUTION;
static constexpr ReturnValue_t PACKET_LOST = MAKE_RETURN_CODE(1);
static constexpr ReturnValue_t DESTINATION_NOT_FOUND = MAKE_RETURN_CODE(2);
@ -43,12 +40,12 @@ class TcDistributor : public SystemObject, public ExecutableObjectIF, public Has
* @param set_object_id This id is assigned to the distributor
* implementation.
*/
explicit TcDistributor(object_id_t objectId);
explicit TcDistributorBase(object_id_t objectId);
/**
* The destructor is empty, the message queues are not in the vicinity of
* this class.
*/
~TcDistributor() override;
~TcDistributorBase() override;
/**
* The method is called cyclically and fetches new incoming packets from
* the message queue.
@ -57,11 +54,6 @@ class TcDistributor : public SystemObject, public ExecutableObjectIF, public Has
* @return The error code of the message queue call.
*/
ReturnValue_t performOperation(uint8_t opCode) override;
/**
* A simple debug print, that prints all distribution information stored in
* queueMap.
*/
void print();
protected:
/**
@ -77,19 +69,13 @@ class TcDistributor : public SystemObject, public ExecutableObjectIF, public Has
* is not tried to unpack the packet information within this class.
*/
TmTcMessage currentMessage;
/**
* The map that links certain packet information to a destination.
* The packet information may be the APID of the packet or the service
* identifier. Filling of the map is under control of the different child
* classes.
*/
TcMessageQueueMap queueMap;
/**
* This method shall unpack the routing information from the incoming
* packet and select the map entry which represents the packet's target.
* @return An iterator to the map element to forward to or queuMap.end().
*/
virtual TcMqMapIter selectDestination() = 0;
virtual ReturnValue_t selectDestination(MessageQueueId_t& destId) = 0;
/**
* The handlePacket method calls the child class's selectDestination method
* and forwards the packet to its destination, if found.

6
src/fsfw/tmtcservices/AcceptsTelecommandsIF.h
View File

@ -21,6 +21,8 @@ class AcceptsTelecommandsIF {
* @brief The virtual destructor as it is mandatory for C++ interfaces.
*/
virtual ~AcceptsTelecommandsIF() = default;
[[nodiscard]] virtual const char* getName() const = 0;
/**
* @brief Getter for a generic identifier ID.
* @details Any receiving service (at least any PUS service) shall have an identifier. For
@ -28,13 +30,13 @@ class AcceptsTelecommandsIF {
* service for a component expecting specific PUS service packets.
* @return The identifier.
*/
virtual uint32_t getIdentifier() = 0;
[[nodiscard]] virtual uint32_t getIdentifier() const = 0;
/**
* @brief This method returns the message queue id of the telecommand
* receiving message queue.
* @return The telecommand reception message queue id.
*/
virtual MessageQueueId_t getRequestQueue() = 0;
[[nodiscard]] virtual MessageQueueId_t getRequestQueue() const = 0;
};
#endif /* FRAMEWORK_TMTCSERVICES_ACCEPTSTELECOMMANDSIF_H_ */

14
src/fsfw/tmtcservices/CommandingServiceBase.cpp
View File

@ -14,7 +14,8 @@ object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
uint8_t service, uint8_t numberOfParallelCommands,
const char* name, uint8_t service,
uint8_t numberOfParallelCommands,
uint16_t commandTimeoutSeconds, size_t queueDepth,
VerificationReporterIF* verificationReporter)
: SystemObject(setObjectId),
@ -24,7 +25,8 @@ CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId, uint16_t a
tmStoreHelper(apid),
tmHelper(service, tmStoreHelper, tmSendHelper),
verificationReporter(verificationReporter),
commandMap(numberOfParallelCommands) {
commandMap(numberOfParallelCommands),
name(name) {
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
}
@ -50,9 +52,9 @@ ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
return RETURN_OK;
}
uint32_t CommandingServiceBase::getIdentifier() { return service; }
uint32_t CommandingServiceBase::getIdentifier() const { return service; }
MessageQueueId_t CommandingServiceBase::getRequestQueue() { return requestQueue->getId(); }
MessageQueueId_t CommandingServiceBase::getRequestQueue() const { return requestQueue->getId(); }
ReturnValue_t CommandingServiceBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
@ -79,7 +81,7 @@ ReturnValue_t CommandingServiceBase::initialize() {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
distributor->registerService(this);
distributor->registerService(*this);
requestQueue->setDefaultDestination(packetForwarding->getReportReceptionQueue());
ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
@ -489,3 +491,5 @@ void CommandingServiceBase::prepareVerificationSuccessWithFullInfo(
successParams.tcPsc = tcInfo.tcSequenceControl;
successParams.ackFlags = tcInfo.ackFlags;
}
const char* CommandingServiceBase::getName() const { return name; }

9
src/fsfw/tmtcservices/CommandingServiceBase.h
View File

@ -76,7 +76,7 @@ class CommandingServiceBase : public SystemObject,
* @param setPacketDestination
* @param queueDepth
*/
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, uint8_t service,
CommandingServiceBase(object_id_t setObjectId, uint16_t apid, const char* name, uint8_t service,
uint8_t numberOfParallelCommands, uint16_t commandTimeoutSeconds,
size_t queueDepth = 20, VerificationReporterIF* reporter = nullptr);
~CommandingServiceBase() override;
@ -106,7 +106,7 @@ class CommandingServiceBase : public SystemObject,
*/
ReturnValue_t performOperation(uint8_t opCode) override;
uint32_t getIdentifier() override;
uint32_t getIdentifier() const override;
/**
* Returns the requestQueue MessageQueueId_t
@ -115,7 +115,7 @@ class CommandingServiceBase : public SystemObject,
*
* @return requestQueue messageQueueId_t
*/
MessageQueueId_t getRequestQueue() override;
MessageQueueId_t getRequestQueue() const override;
/**
* Returns the commandQueue MessageQueueId_t
@ -134,6 +134,7 @@ class CommandingServiceBase : public SystemObject,
* @param task Pointer to the taskIF of this task
*/
void setTaskIF(PeriodicTaskIF* task) override;
const char* getName() const override;
protected:
/**
@ -284,6 +285,8 @@ class CommandingServiceBase : public SystemObject,
uint32_t failureParameter1 = 0;
uint32_t failureParameter2 = 0;
const char* name = "";
static object_id_t defaultPacketSource;
object_id_t packetSource = objects::NO_OBJECT;
static object_id_t defaultPacketDestination;

8
src/fsfw/tmtcservices/PusServiceBase.cpp
View File

@ -82,9 +82,9 @@ void PusServiceBase::handleRequestQueue() {
}
}
uint32_t PusServiceBase::getIdentifier() { return psbParams.serviceId; }
uint32_t PusServiceBase::getIdentifier() const { return psbParams.serviceId; }
MessageQueueId_t PusServiceBase::getRequestQueue() {
MessageQueueId_t PusServiceBase::getRequestQueue() const {
if (psbParams.reqQueue == nullptr) {
return MessageQueueIF::NO_QUEUE;
}
@ -194,7 +194,7 @@ void PusServiceBase::setVerificationReporter(VerificationReporterIF& reporter) {
}
ReturnValue_t PusServiceBase::registerService(PusDistributorIF& distributor) {
return distributor.registerService(this);
return distributor.registerService(*this);
}
void PusServiceBase::setTmReceiver(AcceptsTelemetryIF& tmReceiver_) {
@ -202,3 +202,5 @@ void PusServiceBase::setTmReceiver(AcceptsTelemetryIF& tmReceiver_) {
}
void PusServiceBase::setRequestQueue(MessageQueueIF& reqQueue) { psbParams.reqQueue = &reqQueue; }
const char* PusServiceBase::getName() const { return psbParams.name; }

12
src/fsfw/tmtcservices/PusServiceBase.h
View File

@ -22,9 +22,13 @@ class StorageManagerIF;
struct PsbParams {
PsbParams() = default;
PsbParams(uint16_t apid, AcceptsTelemetryIF* tmReceiver) : apid(apid), tmReceiver(tmReceiver) {}
PsbParams(const char* name, uint16_t apid, AcceptsTelemetryIF* tmReceiver)
: name(name), apid(apid), tmReceiver(tmReceiver) {}
PsbParams(object_id_t objectId, uint16_t apid, uint8_t serviceId)
: objectId(objectId), apid(apid), serviceId(serviceId) {}
PsbParams(const char* name, object_id_t objectId, uint16_t apid, uint8_t serviceId)
: name(name), objectId(objectId), apid(apid), serviceId(serviceId) {}
const char* name = "";
object_id_t objectId = objects::NO_OBJECT;
uint16_t apid = 0;
uint8_t serviceId = 0;
@ -188,11 +192,12 @@ class PusServiceBase : public ExecutableObjectIF,
* @c RETURN_FAILED else.
*/
ReturnValue_t performOperation(uint8_t opCode) override;
uint32_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
ReturnValue_t initialize() override;
void setTaskIF(PeriodicTaskIF* taskHandle) override;
[[nodiscard]] const char* getName() const override;
protected:
/**
@ -201,6 +206,7 @@ class PusServiceBase : public ExecutableObjectIF,
* Will be set by setTaskIF(), which is called on task creation.
*/
PeriodicTaskIF* taskHandle = nullptr;
/**
* One of two error parameters for additional error information.
*/

14
src/fsfw/tmtcservices/TmTcBridge.cpp
View File

@ -7,9 +7,10 @@
#define TMTCBRIDGE_WIRETAPPING 0
TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId)
TmTcBridge::TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId)
: SystemObject(objectId),
name(name),
tmStoreId(tmStoreId),
tcStoreId(tcStoreId),
tcDestination(tcDestination)
@ -67,8 +68,7 @@ ReturnValue_t TmTcBridge::initialize() {
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
AcceptsTelecommandsIF* tcDistributor =
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
auto* tcDistributor = ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
if (tcDistributor == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "TmTcBridge::initialize: TC Distributor invalid" << std::endl;
@ -247,14 +247,16 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
void TmTcBridge::printData(uint8_t* data, size_t dataLen) { arrayprinter::print(data, dataLen); }
uint32_t TmTcBridge::getIdentifier() {
uint32_t TmTcBridge::getIdentifier() const {
// This is no PUS service, so we just return 0
return 0;
}
MessageQueueId_t TmTcBridge::getRequestQueue() {
MessageQueueId_t TmTcBridge::getRequestQueue() const {
// Default implementation: Relay TC messages to TC distributor directly.
return tmTcReceptionQueue->getDefaultDestination();
}
void TmTcBridge::setFifoToOverwriteOldData(bool overwriteOld) { this->overwriteOld = overwriteOld; }
const char* TmTcBridge::getName() const { return name; }

19
src/fsfw/tmtcservices/TmTcBridge.h
View File

@ -23,9 +23,9 @@ class TmTcBridge : public AcceptsTelemetryIF,
static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
TmTcBridge(object_id_t objectId, object_id_t tcDestination, object_id_t tmStoreId,
object_id_t tcStoreId);
virtual ~TmTcBridge();
TmTcBridge(const char* name, object_id_t objectId, object_id_t tcDestination,
object_id_t tmStoreId, object_id_t tcStoreId);
~TmTcBridge() override;
/**
* Set number of packets sent per performOperation().Please note that this
@ -58,21 +58,24 @@ class TmTcBridge : public AcceptsTelemetryIF,
* Initializes necessary FSFW components for the TMTC Bridge
* @return
*/
virtual ReturnValue_t initialize() override;
ReturnValue_t initialize() override;
/**
* @brief Handles TMTC reception
*/
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
/** AcceptsTelemetryIF override */
virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;
/** AcceptsTelecommandsIF override */
virtual uint32_t getIdentifier() override;
virtual MessageQueueId_t getRequestQueue() override;
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
const char* getName() const override;
protected:
const char* name = "";
//! Cached for initialize function.
object_id_t tmStoreId = objects::NO_OBJECT;
object_id_t tcStoreId = objects::NO_OBJECT;