Merge pull request 'mueller_TmTcBridge_cherryPicked' (#40) from KSat/fsfw:mueller_TmTcBridge_cherryPicked into master
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#include <framework/tmtcservices/TmTcBridge.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <framework/globalfunctions/arrayprinter.h>
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TmTcBridge::TmTcBridge(object_id_t objectId_,
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object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
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ccsdsPacketDistributor(ccsdsPacketDistributor_)
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{
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TmTcReceptionQueue = QueueFactory::instance()->
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createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
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}
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TmTcBridge::~TmTcBridge() {}
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ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
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uint8_t sentPacketsPerCycle) {
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if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
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this->sentPacketsPerCycle = sentPacketsPerCycle;
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return RETURN_OK;
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}
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else {
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sif::warning << "TmTcBridge: Number of packets sent per cycle "
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"exceeds limits. Keeping default value." << std::endl;
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return RETURN_FAILED;
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}
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}
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ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored(
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uint8_t maxNumberOfPacketsStored) {
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if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) {
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this->maxNumberOfPacketsStored = maxNumberOfPacketsStored;
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return RETURN_OK;
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}
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else {
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sif::warning << "TmTcBridge: Number of packets stored "
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"exceeds limits. Keeping default value." << std::endl;
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return RETURN_FAILED;
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}
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}
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ReturnValue_t TmTcBridge::initialize() {
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tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
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if (tcStore == NULL) {
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return RETURN_FAILED;
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}
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tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
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if (tmStore == NULL) {
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return RETURN_FAILED;
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}
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AcceptsTelecommandsIF* tcDistributor =
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objectManager->get<AcceptsTelecommandsIF>(ccsdsPacketDistributor);
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if (tcDistributor == NULL) {
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return RETURN_FAILED;
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}
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TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue());
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return RETURN_OK;
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}
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ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) {
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ReturnValue_t result;
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result = handleTc();
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if(result != RETURN_OK) {
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sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
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}
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result = handleTm();
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if (result != RETURN_OK) {
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sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
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}
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return result;
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}
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ReturnValue_t TmTcBridge::handleTc() {
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uint8_t * recvBuffer = nullptr;
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size_t recvLen = 0;
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ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
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return result;
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}
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ReturnValue_t TmTcBridge::handleTm() {
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ReturnValue_t result = handleTmQueue();
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if(result != RETURN_OK) {
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sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
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return RETURN_FAILED;
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}
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if(tmStored and communicationLinkUp) {
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result = handleStoredTm();
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}
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return result;
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}
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ReturnValue_t TmTcBridge::handleTmQueue() {
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TmTcMessage message;
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const uint8_t* data = nullptr;
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size_t size = 0;
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for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
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result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
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{
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if(communicationLinkUp == false) {
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result = storeDownlinkData(&message);
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return result;
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}
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result = tmStore->getData(message.getStorageId(), &data, &size);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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result = sendTm(data, size);
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if (result != RETURN_OK) {
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sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl;
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tmStore->deleteData(message.getStorageId());
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return result;
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}
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tmStore->deleteData(message.getStorageId());
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}
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return RETURN_OK;
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}
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ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) {
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//debug << "TMTC Bridge: Comm Link down. "
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// "Saving packet ID to be sent later\r\n" << std::flush;
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store_address_t storeId = 0;
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if(tmFifo.full()) {
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sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
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"reached! Overwriting old data" << std::endl;
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tmFifo.retrieve(&storeId);
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tmStore->deleteData(storeId);
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}
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storeId = message->getStorageId();
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tmFifo.insert(storeId);
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tmStored = true;
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return RETURN_OK;
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}
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ReturnValue_t TmTcBridge::handleStoredTm() {
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uint8_t counter = 0;
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ReturnValue_t result = RETURN_OK;
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while(not tmFifo.empty() and counter < sentPacketsPerCycle) {
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//info << "TMTC Bridge: Sending stored TM data. There are "
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// << (int) fifo.size() << " left to send\r\n" << std::flush;
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store_address_t storeId;
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const uint8_t* data = nullptr;
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size_t size = 0;
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tmFifo.retrieve(&storeId);
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result = tmStore->getData(storeId, &data, &size);
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sendTm(data,size);
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if(result != RETURN_OK) {
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sif::error << "TMTC Bridge: Could not send stored downlink data"
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<< std::endl;
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result = RETURN_FAILED;
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}
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counter ++;
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if(tmFifo.empty()) {
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tmStored = false;
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}
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tmStore->deleteData(storeId);
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}
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return result;
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}
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void TmTcBridge::registerCommConnect() {
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if(not communicationLinkUp) {
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//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
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communicationLinkUp = true;
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}
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}
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void TmTcBridge::registerCommDisconnect() {
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//info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl;
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if(communicationLinkUp) {
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communicationLinkUp = false;
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}
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}
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MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) {
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return TmTcReceptionQueue->getId();
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}
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void TmTcBridge::printData(uint8_t * data, size_t dataLen) {
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arrayprinter::print(data, dataLen);
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}
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#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
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#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
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#include <framework/tmtcservices/AcceptsTelemetryIF.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/ipc/MessageQueueIF.h>
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#include <framework/storagemanager/StorageManagerIF.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/tmtcservices/TmTcMessage.h>
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#include <framework/container/FIFO.h>
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class TmTcBridge : public AcceptsTelemetryIF,
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public ExecutableObjectIF,
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public HasReturnvaluesIF,
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public SystemObject {
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public:
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static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
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static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
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static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
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static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
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static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
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TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
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virtual ~TmTcBridge();
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/**
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* Set number of packets sent per performOperation().Please note that this
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* value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
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* @param sentPacketsPerCycle
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* @return -@c RETURN_OK if value was set successfully
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* -@c RETURN_FAILED otherwise, stored value stays the same
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*/
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ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
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/**
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* Set number of packets sent per performOperation().Please note that this
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* value must be smaller than MAX_DOWNLINK_PACKETS_STORED
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* @param sentPacketsPerCycle
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* @return -@c RETURN_OK if value was set successfully
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* -@c RETURN_FAILED otherwise, stored value stays the same
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*/
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ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
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virtual void registerCommConnect();
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virtual void registerCommDisconnect();
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/**
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* Initializes necessary FSFW components for the TMTC Bridge
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* @return
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*/
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virtual ReturnValue_t initialize() override;
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/**
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* @brief Handles TMTC reception
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*/
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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/**
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* Return TMTC Reception Queue
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* @param virtualChannel
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* @return
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*/
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MessageQueueId_t getReportReceptionQueue(
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uint8_t virtualChannel = 0) override;
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protected:
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//! Used to send and receive TMTC messages.
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//! TmTcMessage is used to transport messages between tasks.
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MessageQueueIF* TmTcReceptionQueue = nullptr;
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StorageManagerIF* tcStore = nullptr;
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StorageManagerIF* tmStore = nullptr;
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object_id_t ccsdsPacketDistributor = 0;
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//! Used to specify whether communication link is up
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bool communicationLinkUp = false;
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bool tmStored = false;
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/**
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* @brief Handle TC reception
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* @details
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* Default implementation provided, but is empty.
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* Child handler should override this in most cases orsend TC to the
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* TC distributor directly with the address of the reception queue by
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* calling getReportRecptionQueue()
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* @return
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*/
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virtual ReturnValue_t handleTc();
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/**
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* Implemented by child class. Perform receiving of Telecommand,
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* for example by implementing specific drivers or wrappers,
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* e.g. UART Communication or an ethernet stack
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* @param recvBuffer [out] Received data
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* @param size [out] Size of received data
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* @return
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*/
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virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 0;
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/**
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* Handle Telemetry. Default implementation provided.
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* Calls sendTm()
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* @return
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*/
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virtual ReturnValue_t handleTm();
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/**
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* Read the TM Queue and send TM if necessary. Default implementation provided
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* @return
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*/
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virtual ReturnValue_t handleTmQueue();
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/**
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* Send stored data if communication link is active
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* @return
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*/
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virtual ReturnValue_t handleStoredTm();
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/**
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* Implemented by child class. Perform sending of Telemetry by implementing
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* communication drivers or wrappers, e.g. UART communication or lwIP stack.
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* @param data
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* @param dataLen
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* @return
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*/
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virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
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/**
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* Store data to be sent later if communication link is not up.
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* @param message
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* @return
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*/
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virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
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/**
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* Print data as hexidecimal array
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* @param data
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* @param dataLen
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*/
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void printData(uint8_t * data, size_t dataLen);
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/**
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* This fifo can be used to store downlink data
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* which can not be sent at the moment.
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*/
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FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
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uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
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uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
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};
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#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */
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