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moved srv2 to framework

This commit is contained in:
Robin Müller 2020-07-07 17:18:33 +02:00
parent 359163886b
commit 7698f3f13e
4 changed files with 359 additions and 16 deletions
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178
pus/Service2DeviceAccess.cpp Normal file
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#include <framework/pus/Service2DeviceAccess.h>
#include <framework/pus/servicepackets/Service2Packets.h>
#include <framework/devicehandlers/DeviceHandlerIF.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/devicehandlers/DeviceHandlerMessage.h>
#include <framework/serialize/EndianConverter.h>
#include <framework/action/ActionMessage.h>
#include <framework/serialize/SerializeAdapter.h>
#include <framework/serialize/SerialLinkedListAdapter.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
Service2DeviceAccess::Service2DeviceAccess(object_id_t objectId,
uint16_t apid, uint8_t serviceId, object_id_t tcSource,
object_id_t tmDestination):
CommandingServiceBase(objectId, apid, serviceId,
NUM_OF_PARALLEL_COMMANDS, COMMAND_TIMEOUT_SECONDS,
tcSource, tmDestination) {}
Service2DeviceAccess::~Service2DeviceAccess() {}
ReturnValue_t Service2DeviceAccess::isValidSubservice(uint8_t subservice) {
switch(static_cast<Subservice>(subservice)){
case Subservice::RAW_COMMANDING:
case Subservice::TOGGLE_WIRETAPPING:
return HasReturnvaluesIF::RETURN_OK;
default:
sif::error << "Invalid Subservice" << std::endl;
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t Service2DeviceAccess::getMessageQueueAndObject(
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
MessageQueueId_t* id, object_id_t* objectId) {
ReturnValue_t result = checkAndAcquireTargetID(objectId,tcData,tcDataLen);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = checkInterfaceAndAcquireMessageQueue(id,objectId);
return result;
}
ReturnValue_t Service2DeviceAccess::checkAndAcquireTargetID(
object_id_t* objectIdToSet, const uint8_t* tcData, size_t tcDataLen) {
if(SerializeAdapter::deSerialize(objectIdToSet, &tcData,
&tcDataLen, SerializeIF::Endianness::BIG) != RETURN_OK) {
sif::error << "Service 2: Target ID not found. ID: " <<
std::hex << objectIdToSet ;
return CommandingServiceBase::INVALID_TC;
}
else {
return HasReturnvaluesIF::RETURN_OK;
}
}
ReturnValue_t Service2DeviceAccess::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t * messageQueueToSet, object_id_t *objectId) {
DeviceHandlerIF* possibleTarget =
objectManager->get<DeviceHandlerIF>(*objectId);
if(possibleTarget == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = possibleTarget->getCommandQueue();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t Service2DeviceAccess::prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t* tcData, size_t tcDataLen,
uint32_t* state, object_id_t objectId) {
switch(static_cast<Subservice>(subservice)){
case Subservice::RAW_COMMANDING: {
return prepareRawCommand(dynamic_cast<CommandMessage*>(message),
tcData, tcDataLen);
}
break;
case Subservice::TOGGLE_WIRETAPPING: {
return prepareWiretappingCommand(dynamic_cast<CommandMessage*>(message),
tcData, tcDataLen);
}
break;
default:
return HasReturnvaluesIF::RETURN_FAILED;
}
}
ReturnValue_t Service2DeviceAccess::prepareRawCommand(
CommandMessage* messageToSet, const uint8_t *tcData,size_t tcDataLen) {
RawCommand RawCommand(tcData,tcDataLen);
// store command into the Inter Process Communication Store
store_address_t storeAddress;
ReturnValue_t result = IPCStore->addData(&storeAddress,
RawCommand.getCommand(), RawCommand.getCommandSize());
DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(messageToSet,
storeAddress);
return result;
}
ReturnValue_t Service2DeviceAccess::prepareWiretappingCommand(
CommandMessage *messageToSet, const uint8_t *tcData,
size_t tcDataLen) {
if(tcDataLen != WiretappingToggle::WIRETAPPING_COMMAND_SIZE) {
return CommandingServiceBase::INVALID_TC;
}
WiretappingToggle command;
ReturnValue_t result = command.deSerialize(&tcData, &tcDataLen,
SerializeIF::Endianness::BIG);
DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(messageToSet,
command.getWiretappingMode());
return result;
}
ReturnValue_t Service2DeviceAccess::handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t* state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool* isStep) {
switch(reply->getCommand()) {
case CommandMessage::REPLY_COMMAND_OK:
return HasReturnvaluesIF::RETURN_OK;
case CommandMessage::REPLY_REJECTED:
return reply->getReplyRejectedReason();
default:
return CommandingServiceBase::INVALID_REPLY;
}
}
// All device handlers set service 2 as default raw receiver for wiretapping
// so we have to handle those unrequested messages.
void Service2DeviceAccess::handleUnrequestedReply(CommandMessage* reply) {
switch(reply->getCommand()) {
case DeviceHandlerMessage::REPLY_RAW_COMMAND:
sendWiretappingTm(reply,
static_cast<uint8_t>(Subservice::WIRETAPPING_RAW_TC));
break;
case DeviceHandlerMessage::REPLY_RAW_REPLY:
sendWiretappingTm(reply,
static_cast<uint8_t>(Subservice::RAW_REPLY));
break;
default:
sif::error << "Unknown message in Service2DeviceAccess::"
"handleUnrequestedReply with command ID " <<
reply->getCommand() << std::endl;
break;
}
//Must be reached by all cases to clear message
reply->clear();
}
void Service2DeviceAccess::sendWiretappingTm(CommandMessage *reply,
uint8_t subservice) {
// Raw Wiretapping
// Get Address of Data from Message
store_address_t storeAddress = DeviceHandlerMessage::getStoreAddress(reply);
const uint8_t* data = nullptr;
size_t size = 0;
ReturnValue_t result = IPCStore->getData(storeAddress,&data,&size);
if(result != HasReturnvaluesIF::RETURN_OK){
sif::error << "Service2DeviceAccess::sendWiretappingTm: Data Lost in "
"handleUnrequestedReply with failure ID "<< result
<< std::endl;
return;
}
// Init our dummy packet and correct endianness of object ID before
// sending it back.
WiretappingPacket TmPacket(DeviceHandlerMessage::getDeviceObjectId(reply),
data);
TmPacket.objectId = EndianConverter::convertBigEndian(TmPacket.objectId);
sendTmPacket(subservice,TmPacket.data,size,reinterpret_cast<uint8_t*>(
&TmPacket.objectId),sizeof(TmPacket.objectId));
}
MessageQueueId_t Service2DeviceAccess::getDeviceQueue() {
return commandQueue->getId();
}

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pus/Service2DeviceAccess.h Normal file
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#ifndef FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
#define FRAMEWORK_PUS_SERVICE2DEVICEACCESS_H_
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
#include <framework/tmtcservices/CommandingServiceBase.h>
/**
* @brief Raw Commanding and Wiretapping of devices.
* @details
* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
* Dissertation Baetz p. 115, 116, 165-167.
*
* This service provides the capability to communicate with devices in their
* native protocols with raw commands through the DeviceHandlerIF.
*
* This is a gateway service. It relays device commands using the software bus.
* This service is very closely tied to the Commanding Service Base
* template class. There is constant interaction between this Service Base und
* a Subclass like this service
* There are 4 adaption points for component implementation through the
* Commanding Service Base.
*
* This service employs custom subservices exclusively. This includes a
* wiretapping subservice to monitor all traffic between target devices and
* this service.
*
* - TC[2,128]: Raw Commanding
* - TC[2,129]: Toggle Wiretapping
* - TM[2,130]: Wiretapping Packet TM
* - TM[2,131]: Wiretapping Packet TC
* @ingroup pus_services
*/
class Service2DeviceAccess : public CommandingServiceBase,
public AcceptsDeviceResponsesIF
{
public:
Service2DeviceAccess(object_id_t objectId, uint16_t apid,
uint8_t serviceId, object_id_t tcSource,
object_id_t tmDestination);
virtual ~Service2DeviceAccess();
static constexpr uint8_t NUM_OF_PARALLEL_COMMANDS = 4;
static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;
protected:
//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, uint32_t *state,
object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
/**
* @brief Generates TM packets containing either the TC wiretapping
* packets or the TM wiretapping packets.
* Note that for service 2, all telemetry will be treated as an
* unrequested reply regardless of wiretapping mode.
* @param reply
*/
void handleUnrequestedReply(CommandMessage* reply) override;
MessageQueueId_t getDeviceQueue() override;
private:
/**
* Generates TM packets for Wiretapping Service
* @param reply
* @param subservice
*/
void sendWiretappingTm(CommandMessage* reply,uint8_t subservice);
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareRawCommand(CommandMessage* messageToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t prepareWiretappingCommand(CommandMessage* messageToSet,
const uint8_t* tcData, size_t tcDataLen);
enum class Subservice {
RAW_COMMANDING = 128, //!< [EXPORT] : [COMMAND] Command in device native protocol
TOGGLE_WIRETAPPING = 129, //!< [EXPORT] : [COMMAND] Toggle wiretapping of raw communication
RAW_REPLY = 130, //!< [EXPORT] : [REPLY] Includes wiretapping TM and normal TM raw replies from device
WIRETAPPING_RAW_TC = 131 //!< [EXPORT] : [REPLY] Wiretapping packets of commands built by device handler
};
};
#endif /* MISSION_PUS_DEVICE2DEVICECOMMANDING_H_ */

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pus/servicepackets/Service2Packets.h Normal file
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#ifndef FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
#define FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_
#include <framework/action/ActionMessage.h>
#include <framework/objectmanager/SystemObjectIF.h>
#include <framework/serialize/SerialLinkedListAdapter.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
/**
* @brief Subservice 128
* @ingroup spacepackets
*/
class RawCommand { //!< [EXPORT] : [SUBSERVICE] 128
public:
RawCommand(const uint8_t* buffer, size_t size) {
// Deserialize Adapter to get correct endianness
SerializeAdapter::deSerialize(&objectId, &buffer, &size,
SerializeIF::Endianness::BIG);
commandBuffer = buffer;
// size is decremented by AutoSerializeAdapter,
// remaining size is data size
dataSize = size;
}
object_id_t getObjectId() const {
return objectId;
}
const uint8_t* getCommand() {
return commandBuffer;
}
size_t getCommandSize() const {
return dataSize;
}
private:
object_id_t objectId = 0;
const uint8_t* commandBuffer = nullptr; //!< [EXPORT] : [MAXSIZE] 256 Bytes
size_t dataSize = 0; //!< [EXPORT] : [IGNORE]
};
/**
* @brief Subservice 129: Command packet to set wiretapping mode
* @ingroup spacepackets
*/
class WiretappingToggle: public SerialLinkedListAdapter<SerializeIF>{ //!< [EXPORT] : [SUBSERVICE] 129
public:
static const size_t WIRETAPPING_COMMAND_SIZE = 5;
WiretappingToggle(){
setStart(&objectId);
objectId.setNext(&wiretappingMode);
}
uint8_t getWiretappingMode() const {
return wiretappingMode.entry;
}
private:
SerializeElement<object_id_t> objectId;
SerializeElement<uint8_t> wiretappingMode; //!< [EXPORT] : [INPUT] Mode 0: OFF, Mode 1: RAW
};
/**
* @brief Subservices 130 and 131: TM packets
* @ingroup spacepackets
*/
class WiretappingPacket { //!< [EXPORT] : [SUBSERVICE] 130, 131
public:
object_id_t objectId; //!< [EXPORT] : [COMMENT] Object ID of source object
const uint8_t* data; //!< [EXPORT] : [MAXSIZE] Raw Command Max. Size
WiretappingPacket(object_id_t objectId, const uint8_t* buffer):
objectId(objectId), data(buffer) {
}
};
#endif /* FRAMEWORK_PUS_SERVICEPACKETS_SERVICE2PACKETS_H_ */

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pus/servicepackets/Service5Packets.h
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/**
* \file Service5Packets.h
*
* Structure of Event Report.
* It consists of:
* 1. Report ID(RID). This is the Event ID in the FSFW
* 2. Object ID of the reporter (e.g. subsystem)
* 2. Parameter 1
* 3. Parameter 2
*
* Created on: 21.05.2019
* Author: R. Mueller, J. Meier
*/
#ifndef MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
#define MISSION_PUS_SERVICEPACKETS_SERVICE5PACKETS_H_
@ -20,8 +6,15 @@
/**
* \brief Subservice 1, 2, 3, 4
* \ingroup spacepackets
* @brief Subservice 1, 2, 3, 4
* Structure of Event Report.
* It consists of:
* 1. Report ID(RID). This is the Event ID in the FSFW
* 2. Object ID of the reporter (e.g. subsystem)
* 2. Parameter 1
* 3. Parameter 2
*
* @ingroup spacepackets
*/
class EventReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 2, 3, 4
public: