From 133ed9586b2ecceccdf92316f25d7cbf2c551c0d Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 9 Jul 2020 19:31:28 +0200 Subject: [PATCH 1/2] tmtc bridge improvements --- tmtcservices/TmTcBridge.cpp | 58 +++++++++++++++++++++++-------------- tmtcservices/TmTcBridge.h | 53 +++++++++++++++++---------------- 2 files changed, 63 insertions(+), 48 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index f9a7d3bc5..8c44f7de0 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -5,11 +5,13 @@ #include #include -TmTcBridge::TmTcBridge(object_id_t objectId_, - object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), - ccsdsPacketDistributor(ccsdsPacketDistributor_) +TmTcBridge::TmTcBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId): + SystemObject(objectId),tmStoreId(tmStoreId), tcStoreId(tcStoreId), + tcDestination(tcDestination) + { - TmTcReceptionQueue = QueueFactory::instance()-> + tmTcReceptionQueue = QueueFactory::instance()-> createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); } @@ -42,20 +44,27 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( } ReturnValue_t TmTcBridge::initialize() { - tcStore = objectManager->get(objects::TC_STORE); - if (tcStore == NULL) { - return RETURN_FAILED; + tcStore = objectManager->get(tcStoreId); + if (tcStore == nullptr) { + sif::error << "TmTcBridge::initialize: TC store invalid. Make sure" + "it is created and set up properly." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; } - tmStore = objectManager->get(objects::TM_STORE); - if (tmStore == NULL) { - return RETURN_FAILED; + tmStore = objectManager->get(tmStoreId); + if (tmStore == nullptr) { + sif::error << "TmTcBridge::initialize: TM store invalid. Make sure" + "it is created and set up properly." << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; } AcceptsTelecommandsIF* tcDistributor = - objectManager->get(ccsdsPacketDistributor); - if (tcDistributor == NULL) { - return RETURN_FAILED; + objectManager->get(tcDestination); + if (tcDistributor == nullptr) { + sif::error << "TmTcBridge::initialize: TC Distributor invalid" + << std::endl; + return ObjectManagerIF::CHILD_INIT_FAILED; } - TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue()); + + tmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue()); return RETURN_OK; } @@ -73,10 +82,7 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { } ReturnValue_t TmTcBridge::handleTc() { - uint8_t * recvBuffer = nullptr; - size_t recvLen = 0; - ReturnValue_t result = receiveTc(&recvBuffer, &recvLen); - return result; + return HasReturnvaluesIF::RETURN_OK; } ReturnValue_t TmTcBridge::handleTm() { @@ -97,8 +103,8 @@ ReturnValue_t TmTcBridge::handleTmQueue() { TmTcMessage message; const uint8_t* data = nullptr; size_t size = 0; - for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message); - result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message)) + for (ReturnValue_t result = tmTcReceptionQueue->receiveMessage(&message); + result == RETURN_OK; result = tmTcReceptionQueue->receiveMessage(&message)) { if(communicationLinkUp == false) { result = storeDownlinkData(&message); @@ -183,10 +189,20 @@ void TmTcBridge::registerCommDisconnect() { } MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { - return TmTcReceptionQueue->getId(); + return tmTcReceptionQueue->getId(); } void TmTcBridge::printData(uint8_t * data, size_t dataLen) { arrayprinter::print(data, dataLen); } + +uint16_t TmTcBridge::getIdentifier() { + // This is no PUS service, so we just return 0 + return 0; +} + +MessageQueueId_t TmTcBridge::getRequestQueue() { + // Default implementation: Relay TC messages to TC distributor directly. + return tmTcReceptionQueue->getDefaultDestination(); +} diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 3e0432d8a..3e3d1b714 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -1,16 +1,18 @@ #ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ #define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ +#include #include #include #include #include -#include +#include -#include #include +#include class TmTcBridge : public AcceptsTelemetryIF, + public AcceptsTelecommandsIF, public ExecutableObjectIF, public HasReturnvaluesIF, public SystemObject { @@ -22,7 +24,8 @@ public: 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 ccsdsPacketDistributor_); + TmTcBridge(object_id_t objectId, object_id_t tcDestination, + object_id_t tmStoreId, object_id_t tcStoreId); virtual ~TmTcBridge(); /** @@ -57,45 +60,41 @@ public: */ virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; - /** - * Return TMTC Reception Queue - * @param virtualChannel - * @return - */ - MessageQueueId_t getReportReceptionQueue( + + /** AcceptsTelemetryIF override */ + virtual MessageQueueId_t getReportReceptionQueue( uint8_t virtualChannel = 0) override; + + /** AcceptsTelecommandsIF override */ + virtual uint16_t getIdentifier() override; + virtual MessageQueueId_t getRequestQueue() override; + protected: + //! Cached for initialize function. + object_id_t tmStoreId = objects::NO_OBJECT; + object_id_t tcStoreId = objects::NO_OBJECT; + object_id_t tcDestination = objects::NO_OBJECT; + //! Used to send and receive TMTC messages. //! TmTcMessage is used to transport messages between tasks. - MessageQueueIF* TmTcReceptionQueue = nullptr; - StorageManagerIF* tcStore = nullptr; + MessageQueueIF* tmTcReceptionQueue = nullptr; + StorageManagerIF* tmStore = nullptr; - object_id_t ccsdsPacketDistributor = 0; - //! Used to specify whether communication link is up - bool communicationLinkUp = false; + StorageManagerIF* tcStore = nullptr; + + //! Used to specify whether communication link is up by default. + bool communicationLinkUp = true; bool tmStored = false; /** * @brief Handle TC reception * @details * Default implementation provided, but is empty. - * Child handler should override this in most cases orsend TC to the - * TC distributor directly with the address of the reception queue by - * calling getReportRecptionQueue() + * In most cases, TC reception will be handled in a separate task anyway. * @return */ virtual ReturnValue_t handleTc(); - /** - * Implemented by child class. Perform receiving of Telecommand, - * for example by implementing specific drivers or wrappers, - * e.g. UART Communication or an ethernet stack - * @param recvBuffer [out] Received data - * @param size [out] Size of received data - * @return - */ - virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0; - /** * Handle Telemetry. Default implementation provided. * Calls sendTm() From 90e299977bcb0d32672d520ecf94fee666913923 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 9 Jul 2020 19:41:16 +0200 Subject: [PATCH 2/2] minor formatting improvements --- tmtcservices/TmTcBridge.cpp | 27 +++++++++++++++------------ tmtcservices/TmTcBridge.h | 11 +++++++---- 2 files changed, 22 insertions(+), 16 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 8c44f7de0..b55803cbc 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -24,8 +24,9 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( return RETURN_OK; } else { - sif::warning << "TmTcBridge: Number of packets sent per cycle " - "exceeds limits. Keeping default value." << std::endl; + sif::warning << "TmTcBridge::setNumberOfSentPacketsPerCycle: Number of " + << "packets sent per cycle exceeds limits. " + << "Keeping default value." << std::endl; return RETURN_FAILED; } } @@ -37,8 +38,9 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( return RETURN_OK; } else { - sif::warning << "TmTcBridge: Number of packets stored " - "exceeds limits. Keeping default value." << std::endl; + sif::warning << "TmTcBridge::setMaxNumberOfPacketsStored: Number of " + << "packets stored exceeds limits. " + << "Keeping default value." << std::endl; return RETURN_FAILED; } } @@ -72,11 +74,13 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { ReturnValue_t result; result = handleTc(); if(result != RETURN_OK) { - sif::error << "TMTC Bridge: Error handling TCs" << std::endl; + sif::debug << "TmTcBridge::performOperation: " + << "Error handling TCs" << std::endl; } result = handleTm(); if (result != RETURN_OK) { - sif::error << "TMTC Bridge: Error handling TMs" << std::endl; + sif::debug << "TmTcBridge::performOperation: " + << "Error handling TMs" << std::endl; } return result; } @@ -88,7 +92,7 @@ ReturnValue_t TmTcBridge::handleTc() { ReturnValue_t TmTcBridge::handleTm() { ReturnValue_t result = handleTmQueue(); if(result != RETURN_OK) { - sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl; + sif::warning << "TmTcBridge: Reading TM Queue failed" << std::endl; return RETURN_FAILED; } @@ -118,7 +122,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() { result = sendTm(data, size); if (result != RETURN_OK) { - sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl; + sif::warning << "TmTcBridge: Could not send TM packet" << std::endl; tmStore->deleteData(message.getStorageId()); return result; @@ -129,13 +133,12 @@ ReturnValue_t TmTcBridge::handleTmQueue() { } ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { - //debug << "TMTC Bridge: Comm Link down. " - // "Saving packet ID to be sent later\r\n" << std::flush; store_address_t storeId = 0; if(tmFifo.full()) { - sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs " - "reached! Overwriting old data" << std::endl; + sif::error << "TmTcBridge::storeDownlinkData: TM downlink max. number " + << "of stored packet IDs reached! " + << "Overwriting old data" << std::endl; tmFifo.retrieve(&storeId); tmStore->deleteData(storeId); } diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 3e3d1b714..993cd5b99 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -76,13 +76,14 @@ protected: object_id_t tcDestination = objects::NO_OBJECT; //! Used to send and receive TMTC messages. - //! TmTcMessage is used to transport messages between tasks. + //! The TmTcMessage class is used to transport messages between tasks. MessageQueueIF* tmTcReceptionQueue = nullptr; StorageManagerIF* tmStore = nullptr; StorageManagerIF* tcStore = nullptr; - //! Used to specify whether communication link is up by default. + //! Used to specify whether communication link is up. Will be true + //! by default, so telemetry will be handled immediately. bool communicationLinkUp = true; bool tmStored = false; @@ -103,7 +104,8 @@ protected: virtual ReturnValue_t handleTm(); /** - * Read the TM Queue and send TM if necessary. Default implementation provided + * Read the TM Queue and send TM if necessary. + * Default implementation provided * @return */ virtual ReturnValue_t handleTmQueue(); @@ -116,7 +118,8 @@ protected: /** * Implemented by child class. Perform sending of Telemetry by implementing - * communication drivers or wrappers, e.g. UART communication or lwIP stack. + * communication drivers or wrappers, e.g. serial communication or a socket + * call. * @param data * @param dataLen * @return