update tmtcservices module
This commit is contained in:
parent
eb00c50950
commit
96e56ddc64
|
|
@ -13,300 +13,300 @@ object_id_t CommandingServiceBase::defaultPacketSource = objects::NO_OBJECT;
|
||||||
object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
|
object_id_t CommandingServiceBase::defaultPacketDestination = objects::NO_OBJECT;
|
||||||
|
|
||||||
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
|
CommandingServiceBase::CommandingServiceBase(object_id_t setObjectId,
|
||||||
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
|
uint16_t apid, uint8_t service, uint8_t numberOfParallelCommands,
|
||||||
uint16_t commandTimeoutSeconds, size_t queueDepth) :
|
uint16_t commandTimeoutSeconds, size_t queueDepth) :
|
||||||
SystemObject(setObjectId), apid(apid), service(service),
|
SystemObject(setObjectId), apid(apid), service(service),
|
||||||
timeoutSeconds(commandTimeoutSeconds),
|
timeoutSeconds(commandTimeoutSeconds),
|
||||||
commandMap(numberOfParallelCommands) {
|
commandMap(numberOfParallelCommands) {
|
||||||
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
commandQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||||
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
requestQueue = QueueFactory::instance()->createMessageQueue(queueDepth);
|
||||||
}
|
}
|
||||||
|
|
||||||
void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
|
void CommandingServiceBase::setPacketSource(object_id_t packetSource) {
|
||||||
this->packetSource = packetSource;
|
this->packetSource = packetSource;
|
||||||
}
|
}
|
||||||
|
|
||||||
void CommandingServiceBase::setPacketDestination(
|
void CommandingServiceBase::setPacketDestination(
|
||||||
object_id_t packetDestination) {
|
object_id_t packetDestination) {
|
||||||
this->packetDestination = packetDestination;
|
this->packetDestination = packetDestination;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
CommandingServiceBase::~CommandingServiceBase() {
|
CommandingServiceBase::~CommandingServiceBase() {
|
||||||
QueueFactory::instance()->deleteMessageQueue(commandQueue);
|
QueueFactory::instance()->deleteMessageQueue(commandQueue);
|
||||||
QueueFactory::instance()->deleteMessageQueue(requestQueue);
|
QueueFactory::instance()->deleteMessageQueue(requestQueue);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
|
ReturnValue_t CommandingServiceBase::performOperation(uint8_t opCode) {
|
||||||
handleCommandQueue();
|
handleCommandQueue();
|
||||||
handleRequestQueue();
|
handleRequestQueue();
|
||||||
checkTimeout();
|
checkTimeout();
|
||||||
doPeriodicOperation();
|
doPeriodicOperation();
|
||||||
return RETURN_OK;
|
return RETURN_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
uint16_t CommandingServiceBase::getIdentifier() {
|
uint16_t CommandingServiceBase::getIdentifier() {
|
||||||
return service;
|
return service;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
MessageQueueId_t CommandingServiceBase::getRequestQueue() {
|
MessageQueueId_t CommandingServiceBase::getRequestQueue() {
|
||||||
return requestQueue->getId();
|
return requestQueue->getId();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
ReturnValue_t CommandingServiceBase::initialize() {
|
ReturnValue_t CommandingServiceBase::initialize() {
|
||||||
ReturnValue_t result = SystemObject::initialize();
|
ReturnValue_t result = SystemObject::initialize();
|
||||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
|
|
||||||
if(packetDestination == objects::NO_OBJECT) {
|
if(packetDestination == objects::NO_OBJECT) {
|
||||||
packetDestination = defaultPacketDestination;
|
packetDestination = defaultPacketDestination;
|
||||||
}
|
}
|
||||||
AcceptsTelemetryIF* packetForwarding =
|
AcceptsTelemetryIF* packetForwarding =
|
||||||
ObjectManager::instance()->get<AcceptsTelemetryIF>(packetDestination);
|
ObjectManager::instance()->get<AcceptsTelemetryIF>(packetDestination);
|
||||||
|
|
||||||
if(packetSource == objects::NO_OBJECT) {
|
if(packetSource == objects::NO_OBJECT) {
|
||||||
packetSource = defaultPacketSource;
|
packetSource = defaultPacketSource;
|
||||||
}
|
}
|
||||||
PUSDistributorIF* distributor = ObjectManager::instance()->get<PUSDistributorIF>(
|
PUSDistributorIF* distributor = ObjectManager::instance()->get<PUSDistributorIF>(
|
||||||
packetSource);
|
packetSource);
|
||||||
|
|
||||||
if (packetForwarding == nullptr or distributor == nullptr) {
|
if (packetForwarding == nullptr or distributor == nullptr) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::error << "CommandingServiceBase::intialize: Packet source or "
|
sif::error << "CommandingServiceBase::intialize: Packet source or "
|
||||||
"packet destination invalid!" << std::endl;
|
"packet destination invalid!" << std::endl;
|
||||||
#endif
|
#endif
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||||
}
|
}
|
||||||
|
|
||||||
distributor->registerService(this);
|
distributor->registerService(this);
|
||||||
requestQueue->setDefaultDestination(
|
requestQueue->setDefaultDestination(
|
||||||
packetForwarding->getReportReceptionQueue());
|
packetForwarding->getReportReceptionQueue());
|
||||||
|
|
||||||
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
|
||||||
TCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
|
TCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
|
||||||
|
|
||||||
if (IPCStore == nullptr or TCStore == nullptr) {
|
if (IPCStore == nullptr or TCStore == nullptr) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
|
sif::error << "CommandingServiceBase::intialize: IPC store or TC store "
|
||||||
"not initialized yet!" << std::endl;
|
"not initialized yet!" << std::endl;
|
||||||
#endif
|
#endif
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||||
}
|
}
|
||||||
|
|
||||||
return RETURN_OK;
|
return RETURN_OK;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void CommandingServiceBase::handleCommandQueue() {
|
void CommandingServiceBase::handleCommandQueue() {
|
||||||
CommandMessage reply;
|
CommandMessage reply;
|
||||||
ReturnValue_t result = RETURN_FAILED;
|
ReturnValue_t result = RETURN_FAILED;
|
||||||
while(true) {
|
while(true) {
|
||||||
result = commandQueue->receiveMessage(&reply);
|
result = commandQueue->receiveMessage(&reply);
|
||||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||||
handleCommandMessage(&reply);
|
handleCommandMessage(&reply);
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
else if(result == MessageQueueIF::EMPTY) {
|
else if(result == MessageQueueIF::EMPTY) {
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
#if FSFW_VERBOSE_LEVEL >= 1
|
#if FSFW_VERBOSE_LEVEL >= 1
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::warning << "CommandingServiceBase::handleCommandQueue: Receiving message failed"
|
sif::warning << "CommandingServiceBase::handleCommandQueue: Receiving message failed"
|
||||||
"with code" << result << std::endl;
|
"with code" << result << std::endl;
|
||||||
#else
|
#else
|
||||||
sif::printWarning("CommandingServiceBase::handleCommandQueue: Receiving message "
|
sif::printWarning("CommandingServiceBase::handleCommandQueue: Receiving message "
|
||||||
"failed with code %d\n", result);
|
"failed with code %d\n", result);
|
||||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
|
void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
|
||||||
bool isStep = false;
|
bool isStep = false;
|
||||||
CommandMessage nextCommand;
|
CommandMessage nextCommand;
|
||||||
CommandMapIter iter = commandMap.find(reply->getSender());
|
CommandMapIter iter = commandMap.find(reply->getSender());
|
||||||
|
|
||||||
// handle unrequested reply first
|
// handle unrequested reply first
|
||||||
if (reply->getSender() == MessageQueueIF::NO_QUEUE or
|
if (reply->getSender() == MessageQueueIF::NO_QUEUE or
|
||||||
iter == commandMap.end()) {
|
iter == commandMap.end()) {
|
||||||
handleUnrequestedReply(reply);
|
handleUnrequestedReply(reply);
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
nextCommand.setCommand(CommandMessage::CMD_NONE);
|
nextCommand.setCommand(CommandMessage::CMD_NONE);
|
||||||
|
|
||||||
|
|
||||||
// Implemented by child class, specifies what to do with reply.
|
// Implemented by child class, specifies what to do with reply.
|
||||||
ReturnValue_t result = handleReply(reply, iter->second.command, &iter->second.state,
|
ReturnValue_t result = handleReply(reply, iter->second.command, &iter->second.state,
|
||||||
&nextCommand, iter->second.objectId, &isStep);
|
&nextCommand, iter->second.objectId, &isStep);
|
||||||
|
|
||||||
/* If the child implementation does not implement special handling for
|
/* If the child implementation does not implement special handling for
|
||||||
* rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
|
* rejected replies (RETURN_FAILED or INVALID_REPLY is returned), a
|
||||||
* failure verification will be generated with the reason as the
|
* failure verification will be generated with the reason as the
|
||||||
* return code and the initial command as failure parameter 1 */
|
* return code and the initial command as failure parameter 1 */
|
||||||
if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
|
if((reply->getCommand() == CommandMessage::REPLY_REJECTED) and
|
||||||
(result == RETURN_FAILED or result == INVALID_REPLY)) {
|
(result == RETURN_FAILED or result == INVALID_REPLY)) {
|
||||||
result = reply->getReplyRejectedReason();
|
result = reply->getReplyRejectedReason();
|
||||||
failureParameter1 = iter->second.command;
|
failureParameter1 = iter->second.command;
|
||||||
}
|
}
|
||||||
|
|
||||||
switch (result) {
|
switch (result) {
|
||||||
case EXECUTION_COMPLETE:
|
case EXECUTION_COMPLETE:
|
||||||
case RETURN_OK:
|
case RETURN_OK:
|
||||||
case NO_STEP_MESSAGE:
|
case NO_STEP_MESSAGE:
|
||||||
// handle result of reply handler implemented by developer.
|
// handle result of reply handler implemented by developer.
|
||||||
handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
|
handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
|
||||||
break;
|
break;
|
||||||
case INVALID_REPLY:
|
case INVALID_REPLY:
|
||||||
//might be just an unrequested reply at a bad moment
|
//might be just an unrequested reply at a bad moment
|
||||||
handleUnrequestedReply(reply);
|
handleUnrequestedReply(reply);
|
||||||
break;
|
break;
|
||||||
default:
|
default:
|
||||||
if (isStep) {
|
if (isStep) {
|
||||||
verificationReporter.sendFailureReport(
|
verificationReporter.sendFailureReport(
|
||||||
tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
|
tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
|
||||||
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
||||||
result, ++iter->second.step, failureParameter1,
|
result, ++iter->second.step, failureParameter1,
|
||||||
failureParameter2);
|
failureParameter2);
|
||||||
} else {
|
} else {
|
||||||
verificationReporter.sendFailureReport(
|
verificationReporter.sendFailureReport(
|
||||||
tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
|
tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
|
||||||
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
||||||
result, 0, failureParameter1, failureParameter2);
|
result, 0, failureParameter1, failureParameter2);
|
||||||
}
|
}
|
||||||
failureParameter1 = 0;
|
failureParameter1 = 0;
|
||||||
failureParameter2 = 0;
|
failureParameter2 = 0;
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
|
void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
|
||||||
CommandMapIter iter, CommandMessage* nextCommand,
|
CommandMapIter iter, CommandMessage* nextCommand,
|
||||||
CommandMessage* reply, bool& isStep) {
|
CommandMessage* reply, bool& isStep) {
|
||||||
iter->second.command = nextCommand->getCommand();
|
iter->second.command = nextCommand->getCommand();
|
||||||
|
|
||||||
// In case a new command is to be sent immediately, this is performed here.
|
// In case a new command is to be sent immediately, this is performed here.
|
||||||
// If no new command is sent, only analyse reply result by initializing
|
// If no new command is sent, only analyse reply result by initializing
|
||||||
// sendResult as RETURN_OK
|
// sendResult as RETURN_OK
|
||||||
ReturnValue_t sendResult = RETURN_OK;
|
ReturnValue_t sendResult = RETURN_OK;
|
||||||
if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
|
if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
|
||||||
sendResult = commandQueue->sendMessage(reply->getSender(),
|
sendResult = commandQueue->sendMessage(reply->getSender(),
|
||||||
nextCommand);
|
nextCommand);
|
||||||
}
|
}
|
||||||
|
|
||||||
if (sendResult == RETURN_OK) {
|
if (sendResult == RETURN_OK) {
|
||||||
if (isStep and result != NO_STEP_MESSAGE) {
|
if (isStep and result != NO_STEP_MESSAGE) {
|
||||||
verificationReporter.sendSuccessReport(
|
verificationReporter.sendSuccessReport(
|
||||||
tc_verification::PROGRESS_SUCCESS,
|
tc_verification::PROGRESS_SUCCESS,
|
||||||
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
||||||
iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
|
iter->second.tcInfo.tcSequenceControl, ++iter->second.step);
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
verificationReporter.sendSuccessReport(
|
verificationReporter.sendSuccessReport(
|
||||||
tc_verification::COMPLETION_SUCCESS,
|
tc_verification::COMPLETION_SUCCESS,
|
||||||
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
||||||
iter->second.tcInfo.tcSequenceControl, 0);
|
iter->second.tcInfo.tcSequenceControl, 0);
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
if (isStep) {
|
if (isStep) {
|
||||||
nextCommand->clearCommandMessage();
|
nextCommand->clearCommandMessage();
|
||||||
verificationReporter.sendFailureReport(
|
verificationReporter.sendFailureReport(
|
||||||
tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
|
tc_verification::PROGRESS_FAILURE, iter->second.tcInfo.ackFlags,
|
||||||
iter->second.tcInfo.tcPacketId,
|
iter->second.tcInfo.tcPacketId,
|
||||||
iter->second.tcInfo.tcSequenceControl, sendResult,
|
iter->second.tcInfo.tcSequenceControl, sendResult,
|
||||||
++iter->second.step, failureParameter1, failureParameter2);
|
++iter->second.step, failureParameter1, failureParameter2);
|
||||||
} else {
|
} else {
|
||||||
nextCommand->clearCommandMessage();
|
nextCommand->clearCommandMessage();
|
||||||
verificationReporter.sendFailureReport(
|
verificationReporter.sendFailureReport(
|
||||||
tc_verification::COMPLETION_FAILURE,
|
tc_verification::COMPLETION_FAILURE,
|
||||||
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
iter->second.tcInfo.ackFlags, iter->second.tcInfo.tcPacketId,
|
||||||
iter->second.tcInfo.tcSequenceControl, sendResult, 0,
|
iter->second.tcInfo.tcSequenceControl, sendResult, 0,
|
||||||
failureParameter1, failureParameter2);
|
failureParameter1, failureParameter2);
|
||||||
}
|
}
|
||||||
failureParameter1 = 0;
|
failureParameter1 = 0;
|
||||||
failureParameter2 = 0;
|
failureParameter2 = 0;
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void CommandingServiceBase::handleRequestQueue() {
|
void CommandingServiceBase::handleRequestQueue() {
|
||||||
TmTcMessage message;
|
TmTcMessage message;
|
||||||
ReturnValue_t result;
|
ReturnValue_t result;
|
||||||
store_address_t address;
|
store_address_t address;
|
||||||
TcPacketStoredPus packet;
|
TcPacketStoredPus packet;
|
||||||
MessageQueueId_t queue;
|
MessageQueueId_t queue;
|
||||||
object_id_t objectId;
|
object_id_t objectId;
|
||||||
for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
|
for (result = requestQueue->receiveMessage(&message); result == RETURN_OK;
|
||||||
result = requestQueue->receiveMessage(&message)) {
|
result = requestQueue->receiveMessage(&message)) {
|
||||||
address = message.getStorageId();
|
address = message.getStorageId();
|
||||||
packet.setStoreAddress(address);
|
packet.setStoreAddress(address, &packet);
|
||||||
|
|
||||||
if ((packet.getSubService() == 0)
|
if ((packet.getSubService() == 0)
|
||||||
or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
|
or (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
|
||||||
rejectPacket(tc_verification::START_FAILURE, &packet, INVALID_SUBSERVICE);
|
rejectPacket(tc_verification::START_FAILURE, &packet, INVALID_SUBSERVICE);
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
|
||||||
result = getMessageQueueAndObject(packet.getSubService(),
|
result = getMessageQueueAndObject(packet.getSubService(),
|
||||||
packet.getApplicationData(), packet.getApplicationDataSize(),
|
packet.getApplicationData(), packet.getApplicationDataSize(),
|
||||||
&queue, &objectId);
|
&queue, &objectId);
|
||||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||||
rejectPacket(tc_verification::START_FAILURE, &packet, result);
|
rejectPacket(tc_verification::START_FAILURE, &packet, result);
|
||||||
continue;
|
continue;
|
||||||
}
|
}
|
||||||
|
|
||||||
//Is a command already active for the target object?
|
//Is a command already active for the target object?
|
||||||
CommandMapIter iter;
|
CommandMapIter iter;
|
||||||
iter = commandMap.find(queue);
|
iter = commandMap.find(queue);
|
||||||
|
|
||||||
if (iter != commandMap.end()) {
|
if (iter != commandMap.end()) {
|
||||||
result = iter->second.fifo.insert(address);
|
result = iter->second.fifo.insert(address);
|
||||||
if (result != RETURN_OK) {
|
if (result != RETURN_OK) {
|
||||||
rejectPacket(tc_verification::START_FAILURE, &packet, OBJECT_BUSY);
|
rejectPacket(tc_verification::START_FAILURE, &packet, OBJECT_BUSY);
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
CommandInfo newInfo; //Info will be set by startExecution if neccessary
|
CommandInfo newInfo; //Info will be set by startExecution if neccessary
|
||||||
newInfo.objectId = objectId;
|
newInfo.objectId = objectId;
|
||||||
result = commandMap.insert(queue, newInfo, &iter);
|
result = commandMap.insert(queue, newInfo, &iter);
|
||||||
if (result != RETURN_OK) {
|
if (result != RETURN_OK) {
|
||||||
rejectPacket(tc_verification::START_FAILURE, &packet, BUSY);
|
rejectPacket(tc_verification::START_FAILURE, &packet, BUSY);
|
||||||
} else {
|
} else {
|
||||||
startExecution(&packet, iter);
|
startExecution(&packet, iter);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||||
const uint8_t* data, size_t dataLen, const uint8_t* headerData,
|
const uint8_t* data, size_t dataLen, const uint8_t* headerData,
|
||||||
size_t headerSize) {
|
size_t headerSize) {
|
||||||
#if FSFW_USE_PUS_C_TELEMETRY == 0
|
#if FSFW_USE_PUS_C_TELEMETRY == 0
|
||||||
TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
|
TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
|
||||||
this->tmPacketCounter, data, dataLen, headerData, headerSize);
|
this->tmPacketCounter, data, dataLen, headerData, headerSize);
|
||||||
#else
|
#else
|
||||||
TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
|
TmPacketStoredPusC tmPacketStored(this->apid, this->service, subservice,
|
||||||
this->tmPacketCounter, data, dataLen, headerData, headerSize);
|
this->tmPacketCounter, data, dataLen, headerData, headerSize);
|
||||||
#endif
|
#endif
|
||||||
ReturnValue_t result = tmPacketStored.sendPacket(
|
ReturnValue_t result = tmPacketStored.sendPacket(
|
||||||
requestQueue->getDefaultDestination(), requestQueue->getId());
|
requestQueue->getDefaultDestination(), requestQueue->getId());
|
||||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||||
this->tmPacketCounter++;
|
this->tmPacketCounter++;
|
||||||
}
|
}
|
||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -316,7 +316,7 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||||
uint8_t* pBuffer = buffer;
|
uint8_t* pBuffer = buffer;
|
||||||
size_t size = 0;
|
size_t size = 0;
|
||||||
SerializeAdapter::serialize(&objectId, &pBuffer, &size,
|
SerializeAdapter::serialize(&objectId, &pBuffer, &size,
|
||||||
sizeof(object_id_t), SerializeIF::Endianness::BIG);
|
sizeof(object_id_t), SerializeIF::Endianness::BIG);
|
||||||
#if FSFW_USE_PUS_C_TELEMETRY == 0
|
#if FSFW_USE_PUS_C_TELEMETRY == 0
|
||||||
TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
|
TmPacketStoredPusA tmPacketStored(this->apid, this->service, subservice,
|
||||||
this->tmPacketCounter, data, dataLen, buffer, size);
|
this->tmPacketCounter, data, dataLen, buffer, size);
|
||||||
|
|
@ -351,95 +351,96 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void CommandingServiceBase::startExecution(TcPacketStoredBase *storedPacket,
|
void CommandingServiceBase::startExecution(TcPacketStoredPus* storedPacket,
|
||||||
CommandMapIter iter) {
|
CommandMapIter iter) {
|
||||||
ReturnValue_t result = RETURN_OK;
|
ReturnValue_t result = RETURN_OK;
|
||||||
CommandMessage command;
|
CommandMessage command;
|
||||||
TcPacketBase* tcPacketBase = storedPacket->getPacketBase();
|
//TcPacketPusBase* tcPacketBase = storedPacket->getPacketBase();
|
||||||
if(tcPacketBase == nullptr) {
|
if(storedPacket == nullptr) {
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
iter->second.subservice = tcPacketBase->getSubService();
|
iter->second.subservice = storedPacket->getSubService();
|
||||||
result = prepareCommand(&command, iter->second.subservice,
|
result = prepareCommand(&command, iter->second.subservice,
|
||||||
tcPacketBase->getApplicationData(),
|
storedPacket->getApplicationData(),
|
||||||
tcPacketBase->getApplicationDataSize(), &iter->second.state,
|
storedPacket->getApplicationDataSize(), &iter->second.state,
|
||||||
iter->second.objectId);
|
iter->second.objectId);
|
||||||
|
|
||||||
ReturnValue_t sendResult = RETURN_OK;
|
ReturnValue_t sendResult = RETURN_OK;
|
||||||
switch (result) {
|
switch (result) {
|
||||||
case RETURN_OK:
|
case RETURN_OK:
|
||||||
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
||||||
sendResult = commandQueue->sendMessage(iter.value->first,
|
sendResult = commandQueue->sendMessage(iter.value->first,
|
||||||
&command);
|
&command);
|
||||||
}
|
}
|
||||||
if (sendResult == RETURN_OK) {
|
if (sendResult == RETURN_OK) {
|
||||||
Clock::getUptime(&iter->second.uptimeOfStart);
|
Clock::getUptime(&iter->second.uptimeOfStart);
|
||||||
iter->second.step = 0;
|
iter->second.step = 0;
|
||||||
iter->second.subservice = tcPacketBase->getSubService();
|
iter->second.subservice = storedPacket->getSubService();
|
||||||
iter->second.command = command.getCommand();
|
iter->second.command = command.getCommand();
|
||||||
iter->second.tcInfo.ackFlags = tcPacketBase->getAcknowledgeFlags();
|
iter->second.tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
|
||||||
iter->second.tcInfo.tcPacketId = tcPacketBase->getPacketId();
|
iter->second.tcInfo.tcPacketId = storedPacket->getPacketId();
|
||||||
iter->second.tcInfo.tcSequenceControl =
|
iter->second.tcInfo.tcSequenceControl =
|
||||||
tcPacketBase->getPacketSequenceControl();
|
storedPacket->getPacketSequenceControl();
|
||||||
acceptPacket(tc_verification::START_SUCCESS, storedPacket);
|
acceptPacket(tc_verification::START_SUCCESS, storedPacket);
|
||||||
} else {
|
} else {
|
||||||
command.clearCommandMessage();
|
command.clearCommandMessage();
|
||||||
rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
|
rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
case EXECUTION_COMPLETE:
|
case EXECUTION_COMPLETE:
|
||||||
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
if (command.getCommand() != CommandMessage::CMD_NONE) {
|
||||||
//Fire-and-forget command.
|
//Fire-and-forget command.
|
||||||
sendResult = commandQueue->sendMessage(iter.value->first,
|
sendResult = commandQueue->sendMessage(iter.value->first,
|
||||||
&command);
|
&command);
|
||||||
}
|
}
|
||||||
if (sendResult == RETURN_OK) {
|
if (sendResult == RETURN_OK) {
|
||||||
verificationReporter.sendSuccessReport(tc_verification::START_SUCCESS,
|
verificationReporter.sendSuccessReport(tc_verification::START_SUCCESS,
|
||||||
storedPacket->getPacketBase());
|
storedPacket->getPacketBase());
|
||||||
acceptPacket(tc_verification::COMPLETION_SUCCESS, storedPacket);
|
acceptPacket(tc_verification::COMPLETION_SUCCESS, storedPacket);
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
} else {
|
} else {
|
||||||
command.clearCommandMessage();
|
command.clearCommandMessage();
|
||||||
rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
|
rejectPacket(tc_verification::START_FAILURE, storedPacket, sendResult);
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
default:
|
default:
|
||||||
rejectPacket(tc_verification::START_FAILURE, storedPacket, result);
|
rejectPacket(tc_verification::START_FAILURE, storedPacket, result);
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void CommandingServiceBase::rejectPacket(uint8_t reportId,
|
void CommandingServiceBase::rejectPacket(uint8_t reportId,
|
||||||
TcPacketStoredBase* packet, ReturnValue_t errorCode) {
|
TcPacketStoredPus* packet, ReturnValue_t errorCode) {
|
||||||
verificationReporter.sendFailureReport(reportId, packet->getPacketBase(), errorCode);
|
verificationReporter.sendFailureReport(reportId, dynamic_cast<TcPacketPusBase*>(packet),
|
||||||
packet->deletePacket();
|
errorCode);
|
||||||
|
packet->deletePacket();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void CommandingServiceBase::acceptPacket(uint8_t reportId,
|
void CommandingServiceBase::acceptPacket(uint8_t reportId,
|
||||||
TcPacketStoredBase* packet) {
|
TcPacketStoredPus* packet) {
|
||||||
verificationReporter.sendSuccessReport(reportId, packet->getPacketBase());
|
verificationReporter.sendSuccessReport(reportId, dynamic_cast<TcPacketPusBase*>(packet));
|
||||||
packet->deletePacket();
|
packet->deletePacket();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
|
void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter& iter) {
|
||||||
store_address_t address;
|
store_address_t address;
|
||||||
if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
|
if (iter->second.fifo.retrieve(&address) != RETURN_OK) {
|
||||||
commandMap.erase(&iter);
|
commandMap.erase(&iter);
|
||||||
} else {
|
} else {
|
||||||
TcPacketStoredPus newPacket(address);
|
TcPacketStoredPus newPacket(address);
|
||||||
startExecution(&newPacket, iter);
|
startExecution(&newPacket, iter);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
|
void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
|
||||||
reply->clearCommandMessage();
|
reply->clearCommandMessage();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -447,22 +448,22 @@ inline void CommandingServiceBase::doPeriodicOperation() {
|
||||||
}
|
}
|
||||||
|
|
||||||
MessageQueueId_t CommandingServiceBase::getCommandQueue() {
|
MessageQueueId_t CommandingServiceBase::getCommandQueue() {
|
||||||
return commandQueue->getId();
|
return commandQueue->getId();
|
||||||
}
|
}
|
||||||
|
|
||||||
void CommandingServiceBase::checkTimeout() {
|
void CommandingServiceBase::checkTimeout() {
|
||||||
uint32_t uptime;
|
uint32_t uptime;
|
||||||
Clock::getUptime(&uptime);
|
Clock::getUptime(&uptime);
|
||||||
CommandMapIter iter;
|
CommandMapIter iter;
|
||||||
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
|
for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
|
||||||
if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
|
if ((iter->second.uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
|
||||||
verificationReporter.sendFailureReport(
|
verificationReporter.sendFailureReport(
|
||||||
tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
|
tc_verification::COMPLETION_FAILURE, iter->second.tcInfo.ackFlags,
|
||||||
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
iter->second.tcInfo.tcPacketId, iter->second.tcInfo.tcSequenceControl,
|
||||||
TIMEOUT);
|
TIMEOUT);
|
||||||
checkAndExecuteFifo(iter);
|
checkAndExecuteFifo(iter);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
|
void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
|
||||||
|
|
|
||||||
|
|
@ -14,8 +14,8 @@
|
||||||
#include "fsfw/container/FIFO.h"
|
#include "fsfw/container/FIFO.h"
|
||||||
#include "fsfw/serialize/SerializeIF.h"
|
#include "fsfw/serialize/SerializeIF.h"
|
||||||
|
|
||||||
class TcPacketStored;
|
|
||||||
class TcPacketStoredBase;
|
class TcPacketStoredBase;
|
||||||
|
class TcPacketStoredPus;
|
||||||
|
|
||||||
namespace Factory{
|
namespace Factory{
|
||||||
void setStaticFrameworkObjectIds();
|
void setStaticFrameworkObjectIds();
|
||||||
|
|
@ -36,333 +36,333 @@ void setStaticFrameworkObjectIds();
|
||||||
* @ingroup pus_services
|
* @ingroup pus_services
|
||||||
*/
|
*/
|
||||||
class CommandingServiceBase: public SystemObject,
|
class CommandingServiceBase: public SystemObject,
|
||||||
public AcceptsTelecommandsIF,
|
public AcceptsTelecommandsIF,
|
||||||
public ExecutableObjectIF,
|
public ExecutableObjectIF,
|
||||||
public HasReturnvaluesIF {
|
public HasReturnvaluesIF {
|
||||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||||
public:
|
public:
|
||||||
// We could make this configurable via preprocessor and the FSFWConfig file.
|
// We could make this configurable via preprocessor and the FSFWConfig file.
|
||||||
static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH =
|
static constexpr uint8_t COMMAND_INFO_FIFO_DEPTH =
|
||||||
fsfwconfig::FSFW_CSB_FIFO_DEPTH;
|
fsfwconfig::FSFW_CSB_FIFO_DEPTH;
|
||||||
|
|
||||||
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
|
static const uint8_t INTERFACE_ID = CLASS_ID::COMMAND_SERVICE_BASE;
|
||||||
|
|
||||||
static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
|
static const ReturnValue_t EXECUTION_COMPLETE = MAKE_RETURN_CODE(1);
|
||||||
static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
|
static const ReturnValue_t NO_STEP_MESSAGE = MAKE_RETURN_CODE(2);
|
||||||
static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
|
static const ReturnValue_t OBJECT_BUSY = MAKE_RETURN_CODE(3);
|
||||||
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(4);
|
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(4);
|
||||||
static const ReturnValue_t INVALID_TC = MAKE_RETURN_CODE(5);
|
static const ReturnValue_t INVALID_TC = MAKE_RETURN_CODE(5);
|
||||||
static const ReturnValue_t INVALID_OBJECT = MAKE_RETURN_CODE(6);
|
static const ReturnValue_t INVALID_OBJECT = MAKE_RETURN_CODE(6);
|
||||||
static const ReturnValue_t INVALID_REPLY = MAKE_RETURN_CODE(7);
|
static const ReturnValue_t INVALID_REPLY = MAKE_RETURN_CODE(7);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Class constructor. Initializes two important MessageQueues:
|
* Class constructor. Initializes two important MessageQueues:
|
||||||
* commandQueue for command reception and requestQueue for device reception
|
* commandQueue for command reception and requestQueue for device reception
|
||||||
* @param setObjectId
|
* @param setObjectId
|
||||||
* @param apid
|
* @param apid
|
||||||
* @param service
|
* @param service
|
||||||
* @param numberOfParallelCommands
|
* @param numberOfParallelCommands
|
||||||
* @param commandTimeout_seconds
|
* @param commandTimeout_seconds
|
||||||
* @param setPacketSource
|
* @param setPacketSource
|
||||||
* @param setPacketDestination
|
* @param setPacketDestination
|
||||||
* @param queueDepth
|
* @param queueDepth
|
||||||
*/
|
*/
|
||||||
CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
|
CommandingServiceBase(object_id_t setObjectId, uint16_t apid,
|
||||||
uint8_t service, uint8_t numberOfParallelCommands,
|
uint8_t service, uint8_t numberOfParallelCommands,
|
||||||
uint16_t commandTimeoutSeconds, size_t queueDepth = 20);
|
uint16_t commandTimeoutSeconds, size_t queueDepth = 20);
|
||||||
virtual ~CommandingServiceBase();
|
virtual ~CommandingServiceBase();
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* This setter can be used to set the packet source individually instead
|
* This setter can be used to set the packet source individually instead
|
||||||
* of using the default static framework ID set in the factory.
|
* of using the default static framework ID set in the factory.
|
||||||
* This should be called at object initialization and not during run-time!
|
* This should be called at object initialization and not during run-time!
|
||||||
* @param packetSource
|
* @param packetSource
|
||||||
*/
|
*/
|
||||||
void setPacketSource(object_id_t packetSource);
|
void setPacketSource(object_id_t packetSource);
|
||||||
/**
|
/**
|
||||||
* This setter can be used to set the packet destination individually
|
* This setter can be used to set the packet destination individually
|
||||||
* instead of using the default static framework ID set in the factory.
|
* instead of using the default static framework ID set in the factory.
|
||||||
* This should be called at object initialization and not during run-time!
|
* This should be called at object initialization and not during run-time!
|
||||||
* @param packetDestination
|
* @param packetDestination
|
||||||
*/
|
*/
|
||||||
void setPacketDestination(object_id_t packetDestination);
|
void setPacketDestination(object_id_t packetDestination);
|
||||||
|
|
||||||
/***
|
/***
|
||||||
* This is the periodically called function.
|
* This is the periodically called function.
|
||||||
* Handle request queue for external commands.
|
* Handle request queue for external commands.
|
||||||
* Handle command Queue for internal commands.
|
* Handle command Queue for internal commands.
|
||||||
* @param opCode is unused here at the moment
|
* @param opCode is unused here at the moment
|
||||||
* @return RETURN_OK
|
* @return RETURN_OK
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t performOperation(uint8_t opCode) override;
|
virtual ReturnValue_t performOperation(uint8_t opCode) override;
|
||||||
|
|
||||||
virtual uint16_t getIdentifier();
|
virtual uint16_t getIdentifier();
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Returns the requestQueue MessageQueueId_t
|
* Returns the requestQueue MessageQueueId_t
|
||||||
*
|
*
|
||||||
* The requestQueue is the queue for external commands (TC)
|
* The requestQueue is the queue for external commands (TC)
|
||||||
*
|
*
|
||||||
* @return requestQueue messageQueueId_t
|
* @return requestQueue messageQueueId_t
|
||||||
*/
|
*/
|
||||||
virtual MessageQueueId_t getRequestQueue();
|
virtual MessageQueueId_t getRequestQueue();
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Returns the commandQueue MessageQueueId_t
|
* Returns the commandQueue MessageQueueId_t
|
||||||
*
|
*
|
||||||
* Remember the CommandQueue is the queue for internal communication
|
* Remember the CommandQueue is the queue for internal communication
|
||||||
* @return commandQueue messageQueueId_t
|
* @return commandQueue messageQueueId_t
|
||||||
*/
|
*/
|
||||||
virtual MessageQueueId_t getCommandQueue();
|
virtual MessageQueueId_t getCommandQueue();
|
||||||
|
|
||||||
virtual ReturnValue_t initialize() override;
|
virtual ReturnValue_t initialize() override;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Implementation of ExecutableObjectIF function
|
* Implementation of ExecutableObjectIF function
|
||||||
*
|
*
|
||||||
* Used to setup the reference of the task, that executes this component
|
* Used to setup the reference of the task, that executes this component
|
||||||
* @param task Pointer to the taskIF of this task
|
* @param task Pointer to the taskIF of this task
|
||||||
*/
|
*/
|
||||||
virtual void setTaskIF(PeriodicTaskIF* task) override;
|
virtual void setTaskIF(PeriodicTaskIF* task) override;
|
||||||
|
|
||||||
protected:
|
protected:
|
||||||
/**
|
/**
|
||||||
* Check the target subservice
|
* Check the target subservice
|
||||||
* @param subservice[in]
|
* @param subservice[in]
|
||||||
* @return
|
* @return
|
||||||
* -@c RETURN_OK Subservice valid, continue message handling
|
* -@c RETURN_OK Subservice valid, continue message handling
|
||||||
* -@c INVALID_SUBSERVICE if service is not known, rejects packet.
|
* -@c INVALID_SUBSERVICE if service is not known, rejects packet.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
|
virtual ReturnValue_t isValidSubservice(uint8_t subservice) = 0;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Once a TC Request is valid, the existence of the destination and its
|
* Once a TC Request is valid, the existence of the destination and its
|
||||||
* target interface is checked and retrieved. The target message queue ID
|
* target interface is checked and retrieved. The target message queue ID
|
||||||
* can then be acquired by using the target interface.
|
* can then be acquired by using the target interface.
|
||||||
* @param subservice
|
* @param subservice
|
||||||
* @param tcData Application Data of TC Packet
|
* @param tcData Application Data of TC Packet
|
||||||
* @param tcDataLen
|
* @param tcDataLen
|
||||||
* @param id MessageQueue ID is stored here
|
* @param id MessageQueue ID is stored here
|
||||||
* @param objectId Object ID is extracted and stored here
|
* @param objectId Object ID is extracted and stored here
|
||||||
* @return
|
* @return
|
||||||
* - @c RETURN_OK Cotinue message handling
|
* - @c RETURN_OK Cotinue message handling
|
||||||
* - @c RETURN_FAILED Reject the packet and generates a start failure
|
* - @c RETURN_FAILED Reject the packet and generates a start failure
|
||||||
* verification
|
* verification
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
|
virtual ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
|
||||||
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
|
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
|
||||||
object_id_t *objectId) = 0;
|
object_id_t *objectId) = 0;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* After the Message Queue and Object ID are determined, the command is
|
* After the Message Queue and Object ID are determined, the command is
|
||||||
* prepared by using an implementation specific CommandMessage type
|
* prepared by using an implementation specific CommandMessage type
|
||||||
* which is sent to the target object. It contains all necessary information
|
* which is sent to the target object. It contains all necessary information
|
||||||
* for the device to execute telecommands.
|
* for the device to execute telecommands.
|
||||||
* @param message [out] message which can be set and is sent to the object
|
* @param message [out] message which can be set and is sent to the object
|
||||||
* @param subservice Subservice of the current communication
|
* @param subservice Subservice of the current communication
|
||||||
* @param tcData Application data of command
|
* @param tcData Application data of command
|
||||||
* @param tcDataLen Application data length
|
* @param tcDataLen Application data length
|
||||||
* @param state [out/in] Setable state of the communication.
|
* @param state [out/in] Setable state of the communication.
|
||||||
* communication
|
* communication
|
||||||
* @param objectId Target object ID
|
* @param objectId Target object ID
|
||||||
* @return
|
* @return
|
||||||
* - @c RETURN_OK to generate a verification start message
|
* - @c RETURN_OK to generate a verification start message
|
||||||
* - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
|
* - @c EXECUTION_COMPELTE Fire-and-forget command. Generate a completion
|
||||||
* verification message.
|
* verification message.
|
||||||
* - @c Anything else rejects the packets and generates a start failure
|
* - @c Anything else rejects the packets and generates a start failure
|
||||||
* verification.
|
* verification.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t prepareCommand(CommandMessage* message,
|
virtual ReturnValue_t prepareCommand(CommandMessage* message,
|
||||||
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
|
||||||
uint32_t *state, object_id_t objectId) = 0;
|
uint32_t *state, object_id_t objectId) = 0;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* This function is implemented by child services to specify how replies
|
* This function is implemented by child services to specify how replies
|
||||||
* to a command from another software component are handled.
|
* to a command from another software component are handled.
|
||||||
* @param reply
|
* @param reply
|
||||||
* This is the reply in form of a generic read-only command message.
|
* This is the reply in form of a generic read-only command message.
|
||||||
* @param previousCommand
|
* @param previousCommand
|
||||||
* Command_t of related command
|
* Command_t of related command
|
||||||
* @param state [out/in]
|
* @param state [out/in]
|
||||||
* Additional parameter which can be used to pass state information.
|
* Additional parameter which can be used to pass state information.
|
||||||
* State of the communication
|
* State of the communication
|
||||||
* @param optionalNextCommand [out]
|
* @param optionalNextCommand [out]
|
||||||
* An optional next command which can be set in this function
|
* An optional next command which can be set in this function
|
||||||
* @param objectId Source object ID
|
* @param objectId Source object ID
|
||||||
* @param isStep Flag value to mark steps of command execution
|
* @param isStep Flag value to mark steps of command execution
|
||||||
* @return
|
* @return
|
||||||
* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
|
* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
|
||||||
* generate TC verification success
|
* generate TC verification success
|
||||||
* - @c INVALID_REPLY Calls handleUnrequestedReply
|
* - @c INVALID_REPLY Calls handleUnrequestedReply
|
||||||
* - Anything else triggers a TC verification failure. If RETURN_FAILED or
|
* - Anything else triggers a TC verification failure. If RETURN_FAILED or
|
||||||
* INVALID_REPLY is returned and the command ID is
|
* INVALID_REPLY is returned and the command ID is
|
||||||
* CommandMessage::REPLY_REJECTED, a failure verification message with
|
* CommandMessage::REPLY_REJECTED, a failure verification message with
|
||||||
* the reason as the error parameter and the initial command as
|
* the reason as the error parameter and the initial command as
|
||||||
* failure parameter 1 is generated.
|
* failure parameter 1 is generated.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t handleReply(const CommandMessage* reply,
|
virtual ReturnValue_t handleReply(const CommandMessage* reply,
|
||||||
Command_t previousCommand, uint32_t *state,
|
Command_t previousCommand, uint32_t *state,
|
||||||
CommandMessage* optionalNextCommand, object_id_t objectId,
|
CommandMessage* optionalNextCommand, object_id_t objectId,
|
||||||
bool *isStep) = 0;
|
bool *isStep) = 0;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* This function can be overidden to handle unrequested reply,
|
* This function can be overidden to handle unrequested reply,
|
||||||
* when the reply sender ID is unknown or is not found is the command map.
|
* when the reply sender ID is unknown or is not found is the command map.
|
||||||
* The default implementation will clear the command message and all
|
* The default implementation will clear the command message and all
|
||||||
* its contents.
|
* its contents.
|
||||||
* @param reply
|
* @param reply
|
||||||
* Reply which is non-const so the default implementation can clear the
|
* Reply which is non-const so the default implementation can clear the
|
||||||
* message.
|
* message.
|
||||||
*/
|
*/
|
||||||
virtual void handleUnrequestedReply(CommandMessage* reply);
|
virtual void handleUnrequestedReply(CommandMessage* reply);
|
||||||
|
|
||||||
virtual void doPeriodicOperation();
|
virtual void doPeriodicOperation();
|
||||||
|
|
||||||
struct CommandInfo: public SerializeIF{
|
struct CommandInfo: public SerializeIF{
|
||||||
struct tcInfo {
|
struct tcInfo {
|
||||||
uint8_t ackFlags;
|
uint8_t ackFlags;
|
||||||
uint16_t tcPacketId;
|
uint16_t tcPacketId;
|
||||||
uint16_t tcSequenceControl;
|
uint16_t tcSequenceControl;
|
||||||
} tcInfo;
|
} tcInfo;
|
||||||
uint32_t uptimeOfStart;
|
uint32_t uptimeOfStart;
|
||||||
uint8_t step;
|
uint8_t step;
|
||||||
uint8_t subservice;
|
uint8_t subservice;
|
||||||
uint32_t state;
|
uint32_t state;
|
||||||
Command_t command;
|
Command_t command;
|
||||||
object_id_t objectId;
|
object_id_t objectId;
|
||||||
FIFO<store_address_t, COMMAND_INFO_FIFO_DEPTH> fifo;
|
FIFO<store_address_t, COMMAND_INFO_FIFO_DEPTH> fifo;
|
||||||
|
|
||||||
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
|
virtual ReturnValue_t serialize(uint8_t **buffer, size_t *size,
|
||||||
size_t maxSize, Endianness streamEndianness) const override{
|
size_t maxSize, Endianness streamEndianness) const override{
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
};
|
};
|
||||||
|
|
||||||
virtual size_t getSerializedSize() const override {
|
virtual size_t getSerializedSize() const override {
|
||||||
return 0;
|
return 0;
|
||||||
};
|
};
|
||||||
|
|
||||||
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
|
virtual ReturnValue_t deSerialize(const uint8_t **buffer, size_t *size,
|
||||||
Endianness streamEndianness) override {
|
Endianness streamEndianness) override {
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
};
|
};
|
||||||
};
|
};
|
||||||
|
|
||||||
using CommandMapIter = FixedMap<MessageQueueId_t,
|
using CommandMapIter = FixedMap<MessageQueueId_t,
|
||||||
CommandingServiceBase::CommandInfo>::Iterator;
|
CommandingServiceBase::CommandInfo>::Iterator;
|
||||||
|
|
||||||
const uint16_t apid;
|
const uint16_t apid;
|
||||||
|
|
||||||
const uint8_t service;
|
const uint8_t service;
|
||||||
|
|
||||||
const uint16_t timeoutSeconds;
|
const uint16_t timeoutSeconds;
|
||||||
|
|
||||||
uint8_t tmPacketCounter = 0;
|
uint8_t tmPacketCounter = 0;
|
||||||
|
|
||||||
StorageManagerIF *IPCStore = nullptr;
|
StorageManagerIF *IPCStore = nullptr;
|
||||||
|
|
||||||
StorageManagerIF *TCStore = nullptr;
|
StorageManagerIF *TCStore = nullptr;
|
||||||
|
|
||||||
MessageQueueIF* commandQueue = nullptr;
|
MessageQueueIF* commandQueue = nullptr;
|
||||||
|
|
||||||
MessageQueueIF* requestQueue = nullptr;
|
MessageQueueIF* requestQueue = nullptr;
|
||||||
|
|
||||||
VerificationReporter verificationReporter;
|
VerificationReporter verificationReporter;
|
||||||
|
|
||||||
FixedMap<MessageQueueId_t, CommandInfo> commandMap;
|
FixedMap<MessageQueueId_t, CommandInfo> commandMap;
|
||||||
|
|
||||||
/* May be set be children to return a more precise failure condition. */
|
/* May be set be children to return a more precise failure condition. */
|
||||||
uint32_t failureParameter1 = 0;
|
uint32_t failureParameter1 = 0;
|
||||||
uint32_t failureParameter2 = 0;
|
uint32_t failureParameter2 = 0;
|
||||||
|
|
||||||
static object_id_t defaultPacketSource;
|
static object_id_t defaultPacketSource;
|
||||||
object_id_t packetSource = objects::NO_OBJECT;
|
object_id_t packetSource = objects::NO_OBJECT;
|
||||||
static object_id_t defaultPacketDestination;
|
static object_id_t defaultPacketDestination;
|
||||||
object_id_t packetDestination = objects::NO_OBJECT;
|
object_id_t packetDestination = objects::NO_OBJECT;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Pointer to the task which executes this component,
|
* Pointer to the task which executes this component,
|
||||||
* is invalid before setTaskIF was called.
|
* is invalid before setTaskIF was called.
|
||||||
*/
|
*/
|
||||||
PeriodicTaskIF* executingTask = nullptr;
|
PeriodicTaskIF* executingTask = nullptr;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Send TM data from pointer to data.
|
* @brief Send TM data from pointer to data.
|
||||||
* If a header is supplied it is added before data
|
* If a header is supplied it is added before data
|
||||||
* @param subservice Number of subservice
|
* @param subservice Number of subservice
|
||||||
* @param data Pointer to the data in the Packet
|
* @param data Pointer to the data in the Packet
|
||||||
* @param dataLen Lenght of data in the Packet
|
* @param dataLen Lenght of data in the Packet
|
||||||
* @param headerData HeaderData will be placed before data
|
* @param headerData HeaderData will be placed before data
|
||||||
* @param headerSize Size of HeaderData
|
* @param headerSize Size of HeaderData
|
||||||
*/
|
*/
|
||||||
ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
|
ReturnValue_t sendTmPacket(uint8_t subservice, const uint8_t *data,
|
||||||
size_t dataLen, const uint8_t* headerData = nullptr,
|
size_t dataLen, const uint8_t* headerData = nullptr,
|
||||||
size_t headerSize = 0);
|
size_t headerSize = 0);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief To send TM packets of objects that still need to be serialized
|
* @brief To send TM packets of objects that still need to be serialized
|
||||||
* and consist of an object ID with appended data.
|
* and consist of an object ID with appended data.
|
||||||
* @param subservice Number of subservice
|
* @param subservice Number of subservice
|
||||||
* @param objectId ObjectId is placed before data
|
* @param objectId ObjectId is placed before data
|
||||||
* @param data Data to append to the packet
|
* @param data Data to append to the packet
|
||||||
* @param dataLen Length of Data
|
* @param dataLen Length of Data
|
||||||
*/
|
*/
|
||||||
ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
|
ReturnValue_t sendTmPacket(uint8_t subservice, object_id_t objectId,
|
||||||
const uint8_t *data, size_t dataLen);
|
const uint8_t *data, size_t dataLen);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief To send packets which are contained inside a class implementing
|
* @brief To send packets which are contained inside a class implementing
|
||||||
* SerializeIF.
|
* SerializeIF.
|
||||||
* @param subservice Number of subservice
|
* @param subservice Number of subservice
|
||||||
* @param content This is a pointer to the serialized packet
|
* @param content This is a pointer to the serialized packet
|
||||||
* @param header Serialize IF header which will be placed before content
|
* @param header Serialize IF header which will be placed before content
|
||||||
*/
|
*/
|
||||||
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
|
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
|
||||||
SerializeIF* header = nullptr);
|
SerializeIF* header = nullptr);
|
||||||
|
|
||||||
void checkAndExecuteFifo(CommandMapIter& iter);
|
void checkAndExecuteFifo(CommandMapIter& iter);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
/**
|
/**
|
||||||
* This method handles internal execution of a command,
|
* This method handles internal execution of a command,
|
||||||
* once it has been started by @sa{startExecution()} in the request
|
* once it has been started by @sa{startExecution()} in the request
|
||||||
* queue handler.
|
* queue handler.
|
||||||
* It handles replies generated by the devices and relayed by the specific
|
* It handles replies generated by the devices and relayed by the specific
|
||||||
* service implementation. This means that it determines further course of
|
* service implementation. This means that it determines further course of
|
||||||
* action depending on the return values specified in the service
|
* action depending on the return values specified in the service
|
||||||
* implementation.
|
* implementation.
|
||||||
* This includes the generation of TC verification messages. Note that
|
* This includes the generation of TC verification messages. Note that
|
||||||
* the static framework object ID @c VerificationReporter::messageReceiver
|
* the static framework object ID @c VerificationReporter::messageReceiver
|
||||||
* needs to be set.
|
* needs to be set.
|
||||||
* - TM[1,5] Step Successs
|
* - TM[1,5] Step Successs
|
||||||
* - TM[1,6] Step Failure
|
* - TM[1,6] Step Failure
|
||||||
* - TM[1,7] Completion Success
|
* - TM[1,7] Completion Success
|
||||||
* - TM[1,8] Completion Failure
|
* - TM[1,8] Completion Failure
|
||||||
*/
|
*/
|
||||||
void handleCommandQueue();
|
void handleCommandQueue();
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Handler function for request queue
|
* @brief Handler function for request queue
|
||||||
* @details
|
* @details
|
||||||
* Sequence of request queue handling:
|
* Sequence of request queue handling:
|
||||||
* isValidSubservice -> getMessageQueueAndObject -> startExecution
|
* isValidSubservice -> getMessageQueueAndObject -> startExecution
|
||||||
* Generates a Start Success Reports TM[1,3] in subfunction
|
* Generates a Start Success Reports TM[1,3] in subfunction
|
||||||
* @sa{startExecution()} or a Start Failure Report TM[1,4] by using the
|
* @sa{startExecution()} or a Start Failure Report TM[1,4] by using the
|
||||||
* TC Verification Service.
|
* TC Verification Service.
|
||||||
*/
|
*/
|
||||||
void handleRequestQueue();
|
void handleRequestQueue();
|
||||||
|
|
||||||
void rejectPacket(uint8_t reportId, TcPacketStoredBase* packet,
|
void rejectPacket(uint8_t reportId, TcPacketStoredPus* packet,
|
||||||
ReturnValue_t errorCode);
|
ReturnValue_t errorCode);
|
||||||
|
|
||||||
void acceptPacket(uint8_t reportId, TcPacketStoredBase* packet);
|
void acceptPacket(uint8_t reportId, TcPacketStoredPus* packet);
|
||||||
|
|
||||||
void startExecution(TcPacketStoredBase *storedPacket, CommandMapIter iter);
|
void startExecution(TcPacketStoredPus* storedPacket, CommandMapIter iter);
|
||||||
|
|
||||||
void handleCommandMessage(CommandMessage* reply);
|
void handleCommandMessage(CommandMessage* reply);
|
||||||
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
|
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
|
||||||
CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
|
CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
|
||||||
|
|
||||||
void checkTimeout();
|
void checkTimeout();
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ */
|
#endif /* FSFW_TMTCSERVICES_COMMANDINGSERVICEBASE_H_ */
|
||||||
|
|
|
||||||
|
|
@ -12,28 +12,28 @@ object_id_t PusServiceBase::packetSource = 0;
|
||||||
object_id_t PusServiceBase::packetDestination = 0;
|
object_id_t PusServiceBase::packetDestination = 0;
|
||||||
|
|
||||||
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
|
PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
|
||||||
uint8_t setServiceId) :
|
uint8_t setServiceId):
|
||||||
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
|
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
|
||||||
requestQueue = QueueFactory::instance()->
|
requestQueue = QueueFactory::instance()->
|
||||||
createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
|
createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
|
||||||
}
|
}
|
||||||
|
|
||||||
PusServiceBase::~PusServiceBase() {
|
PusServiceBase::~PusServiceBase() {
|
||||||
QueueFactory::instance()->deleteMessageQueue(requestQueue);
|
QueueFactory::instance()->deleteMessageQueue(requestQueue);
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
|
ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) {
|
||||||
handleRequestQueue();
|
handleRequestQueue();
|
||||||
ReturnValue_t result = this->performService();
|
ReturnValue_t result = this->performService();
|
||||||
if (result != RETURN_OK) {
|
if (result != RETURN_OK) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::error << "PusService " << (uint16_t) this->serviceId
|
sif::error << "PusService " << (uint16_t) this->serviceId
|
||||||
<< ": performService returned with " << (int16_t) result
|
<< ": performService returned with " << (int16_t) result
|
||||||
<< std::endl;
|
<< std::endl;
|
||||||
#endif
|
#endif
|
||||||
return RETURN_FAILED;
|
return RETURN_FAILED;
|
||||||
}
|
}
|
||||||
return RETURN_OK;
|
return RETURN_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
|
void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
|
||||||
|
|
@ -41,88 +41,88 @@ void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) {
|
||||||
}
|
}
|
||||||
|
|
||||||
void PusServiceBase::handleRequestQueue() {
|
void PusServiceBase::handleRequestQueue() {
|
||||||
TmTcMessage message;
|
TmTcMessage message;
|
||||||
ReturnValue_t result = RETURN_FAILED;
|
ReturnValue_t result = RETURN_FAILED;
|
||||||
for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
|
for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) {
|
||||||
ReturnValue_t status = this->requestQueue->receiveMessage(&message);
|
ReturnValue_t status = this->requestQueue->receiveMessage(&message);
|
||||||
// if(status != MessageQueueIF::EMPTY) {
|
// if(status != MessageQueueIF::EMPTY) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
// sif::debug << "PusServiceBase::performOperation: Receiving from "
|
// sif::debug << "PusServiceBase::performOperation: Receiving from "
|
||||||
// << "MQ ID: " << std::hex << "0x" << std::setw(8)
|
// << "MQ ID: " << std::hex << "0x" << std::setw(8)
|
||||||
// << std::setfill('0') << this->requestQueue->getId()
|
// << std::setfill('0') << this->requestQueue->getId()
|
||||||
// << std::dec << " returned: " << status << std::setfill(' ')
|
// << std::dec << " returned: " << status << std::setfill(' ')
|
||||||
// << std::endl;
|
// << std::endl;
|
||||||
#endif
|
#endif
|
||||||
// }
|
// }
|
||||||
|
|
||||||
if (status == RETURN_OK) {
|
if (status == RETURN_OK) {
|
||||||
this->currentPacket.setStoreAddress(message.getStorageId());
|
this->currentPacket.setStoreAddress(message.getStorageId(), ¤tPacket);
|
||||||
//info << "Service " << (uint16_t) this->serviceId <<
|
//info << "Service " << (uint16_t) this->serviceId <<
|
||||||
// ": new packet!" << std::endl;
|
// ": new packet!" << std::endl;
|
||||||
|
|
||||||
result = this->handleRequest(currentPacket.getSubService());
|
result = this->handleRequest(currentPacket.getSubService());
|
||||||
|
|
||||||
// debug << "Service " << (uint16_t)this->serviceId <<
|
// debug << "Service " << (uint16_t)this->serviceId <<
|
||||||
// ": handleRequest returned: " << (int)return_code << std::endl;
|
// ": handleRequest returned: " << (int)return_code << std::endl;
|
||||||
if (result == RETURN_OK) {
|
if (result == RETURN_OK) {
|
||||||
this->verifyReporter.sendSuccessReport(
|
this->verifyReporter.sendSuccessReport(
|
||||||
tc_verification::COMPLETION_SUCCESS, &this->currentPacket);
|
tc_verification::COMPLETION_SUCCESS, &this->currentPacket);
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
this->verifyReporter.sendFailureReport(
|
this->verifyReporter.sendFailureReport(
|
||||||
tc_verification::COMPLETION_FAILURE, &this->currentPacket,
|
tc_verification::COMPLETION_FAILURE, &this->currentPacket,
|
||||||
result, 0, errorParameter1, errorParameter2);
|
result, 0, errorParameter1, errorParameter2);
|
||||||
}
|
}
|
||||||
this->currentPacket.deletePacket();
|
this->currentPacket.deletePacket();
|
||||||
errorParameter1 = 0;
|
errorParameter1 = 0;
|
||||||
errorParameter2 = 0;
|
errorParameter2 = 0;
|
||||||
}
|
}
|
||||||
else if (status == MessageQueueIF::EMPTY) {
|
else if (status == MessageQueueIF::EMPTY) {
|
||||||
status = RETURN_OK;
|
status = RETURN_OK;
|
||||||
// debug << "PusService " << (uint16_t)this->serviceId <<
|
// debug << "PusService " << (uint16_t)this->serviceId <<
|
||||||
// ": no new packet." << std::endl;
|
// ": no new packet." << std::endl;
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::error << "PusServiceBase::performOperation: Service "
|
sif::error << "PusServiceBase::performOperation: Service "
|
||||||
<< this->serviceId << ": Error receiving packet. Code: "
|
<< this->serviceId << ": Error receiving packet. Code: "
|
||||||
<< std::hex << status << std::dec << std::endl;
|
<< std::hex << status << std::dec << std::endl;
|
||||||
#endif
|
#endif
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
uint16_t PusServiceBase::getIdentifier() {
|
uint16_t PusServiceBase::getIdentifier() {
|
||||||
return this->serviceId;
|
return this->serviceId;
|
||||||
}
|
}
|
||||||
|
|
||||||
MessageQueueId_t PusServiceBase::getRequestQueue() {
|
MessageQueueId_t PusServiceBase::getRequestQueue() {
|
||||||
return this->requestQueue->getId();
|
return this->requestQueue->getId();
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t PusServiceBase::initialize() {
|
ReturnValue_t PusServiceBase::initialize() {
|
||||||
ReturnValue_t result = SystemObject::initialize();
|
ReturnValue_t result = SystemObject::initialize();
|
||||||
if (result != RETURN_OK) {
|
if (result != RETURN_OK) {
|
||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
AcceptsTelemetryIF* destService = ObjectManager::instance()->get<AcceptsTelemetryIF>(
|
AcceptsTelemetryIF* destService = ObjectManager::instance()->get<AcceptsTelemetryIF>(
|
||||||
packetDestination);
|
packetDestination);
|
||||||
PUSDistributorIF* distributor = ObjectManager::instance()->get<PUSDistributorIF>(
|
PUSDistributorIF* distributor = ObjectManager::instance()->get<PUSDistributorIF>(
|
||||||
packetSource);
|
packetSource);
|
||||||
if (destService == nullptr or distributor == nullptr) {
|
if (destService == nullptr or distributor == nullptr) {
|
||||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||||
sif::error << "PusServiceBase::PusServiceBase: Service "
|
sif::error << "PusServiceBase::PusServiceBase: Service "
|
||||||
<< this->serviceId << ": Configuration error. Make sure "
|
<< this->serviceId << ": Configuration error. Make sure "
|
||||||
<< "packetSource and packetDestination are defined correctly"
|
<< "packetSource and packetDestination are defined correctly"
|
||||||
<< std::endl;
|
<< std::endl;
|
||||||
#endif
|
#endif
|
||||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||||
}
|
}
|
||||||
this->requestQueue->setDefaultDestination(
|
this->requestQueue->setDefaultDestination(
|
||||||
destService->getReportReceptionQueue());
|
destService->getReportReceptionQueue());
|
||||||
distributor->registerService(this);
|
distributor->registerService(this);
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
|
ReturnValue_t PusServiceBase::initializeAfterTaskCreation() {
|
||||||
|
|
|
||||||
|
|
@ -35,126 +35,126 @@ void setStaticFrameworkObjectIds();
|
||||||
* @ingroup pus_services
|
* @ingroup pus_services
|
||||||
*/
|
*/
|
||||||
class PusServiceBase : public ExecutableObjectIF,
|
class PusServiceBase : public ExecutableObjectIF,
|
||||||
public AcceptsTelecommandsIF,
|
public AcceptsTelecommandsIF,
|
||||||
public SystemObject,
|
public SystemObject,
|
||||||
public HasReturnvaluesIF {
|
public HasReturnvaluesIF {
|
||||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||||
public:
|
public:
|
||||||
/**
|
/**
|
||||||
* @brief The passed values are set, but inter-object initialization is
|
* @brief The passed values are set, but inter-object initialization is
|
||||||
* done in the initialize method.
|
* done in the initialize method.
|
||||||
* @param setObjectId
|
* @param setObjectId
|
||||||
* The system object identifier of this Service instance.
|
* The system object identifier of this Service instance.
|
||||||
* @param setApid
|
* @param setApid
|
||||||
* The APID the Service is instantiated for.
|
* The APID the Service is instantiated for.
|
||||||
* @param setServiceId
|
* @param setServiceId
|
||||||
* The Service Identifier as specified in ECSS PUS.
|
* The Service Identifier as specified in ECSS PUS.
|
||||||
*/
|
*/
|
||||||
PusServiceBase( object_id_t setObjectId, uint16_t setApid,
|
PusServiceBase( object_id_t setObjectId, uint16_t setApid,
|
||||||
uint8_t setServiceId);
|
uint8_t setServiceId);
|
||||||
/**
|
/**
|
||||||
* The destructor is empty.
|
* The destructor is empty.
|
||||||
*/
|
*/
|
||||||
virtual ~PusServiceBase();
|
virtual ~PusServiceBase();
|
||||||
/**
|
/**
|
||||||
* @brief The handleRequest method shall handle any kind of Telecommand
|
* @brief The handleRequest method shall handle any kind of Telecommand
|
||||||
* Request immediately.
|
* Request immediately.
|
||||||
* @details
|
* @details
|
||||||
* Implemetations can take the Telecommand in currentPacket and perform
|
* Implemetations can take the Telecommand in currentPacket and perform
|
||||||
* any kind of operation.
|
* any kind of operation.
|
||||||
* They may send additional "Start Success (1,3)" messages with the
|
* They may send additional "Start Success (1,3)" messages with the
|
||||||
* verifyReporter, but Completion Success or Failure Reports are generated
|
* verifyReporter, but Completion Success or Failure Reports are generated
|
||||||
* automatically after execution of this method.
|
* automatically after execution of this method.
|
||||||
*
|
*
|
||||||
* If a Telecommand can not be executed within one call cycle,
|
* If a Telecommand can not be executed within one call cycle,
|
||||||
* this Base class is not the right parent.
|
* this Base class is not the right parent.
|
||||||
*
|
*
|
||||||
* The child class may add additional error information by setting
|
* The child class may add additional error information by setting
|
||||||
* #errorParameters which aren attached to the generated verification
|
* #errorParameters which aren attached to the generated verification
|
||||||
* message.
|
* message.
|
||||||
*
|
*
|
||||||
* Subservice checking should be implemented in this method.
|
* Subservice checking should be implemented in this method.
|
||||||
*
|
*
|
||||||
* @return The returned status_code is directly taken as main error code
|
* @return The returned status_code is directly taken as main error code
|
||||||
* in the Verification Report.
|
* in the Verification Report.
|
||||||
* On success, RETURN_OK shall be returned.
|
* On success, RETURN_OK shall be returned.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
|
virtual ReturnValue_t handleRequest(uint8_t subservice) = 0;
|
||||||
/**
|
/**
|
||||||
* In performService, implementations can handle periodic,
|
* In performService, implementations can handle periodic,
|
||||||
* non-TC-triggered activities.
|
* non-TC-triggered activities.
|
||||||
* The performService method is always called.
|
* The performService method is always called.
|
||||||
* @return Currently, everything other that RETURN_OK only triggers
|
* @return Currently, everything other that RETURN_OK only triggers
|
||||||
* diagnostic output.
|
* diagnostic output.
|
||||||
*/
|
*/
|
||||||
virtual ReturnValue_t performService() = 0;
|
virtual ReturnValue_t performService() = 0;
|
||||||
/**
|
/**
|
||||||
* This method implements the typical activity of a simple PUS Service.
|
* This method implements the typical activity of a simple PUS Service.
|
||||||
* It checks for new requests, and, if found, calls handleRequest, sends
|
* It checks for new requests, and, if found, calls handleRequest, sends
|
||||||
* completion verification messages and deletes
|
* completion verification messages and deletes
|
||||||
* the TC requests afterwards.
|
* the TC requests afterwards.
|
||||||
* performService is always executed afterwards.
|
* performService is always executed afterwards.
|
||||||
* @return @c RETURN_OK if the periodic performService was successful.
|
* @return @c RETURN_OK if the periodic performService was successful.
|
||||||
* @c RETURN_FAILED else.
|
* @c RETURN_FAILED else.
|
||||||
*/
|
*/
|
||||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||||
virtual uint16_t getIdentifier() override;
|
virtual uint16_t getIdentifier() override;
|
||||||
MessageQueueId_t getRequestQueue() override;
|
MessageQueueId_t getRequestQueue() override;
|
||||||
virtual ReturnValue_t initialize() override;
|
virtual ReturnValue_t initialize() override;
|
||||||
|
|
||||||
virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
|
virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
|
||||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||||
protected:
|
protected:
|
||||||
/**
|
/**
|
||||||
* @brief Handle to the underlying task
|
* @brief Handle to the underlying task
|
||||||
* @details
|
* @details
|
||||||
* Will be set by setTaskIF(), which is called on task creation.
|
* Will be set by setTaskIF(), which is called on task creation.
|
||||||
*/
|
*/
|
||||||
PeriodicTaskIF* taskHandle = nullptr;
|
PeriodicTaskIF* taskHandle = nullptr;
|
||||||
/**
|
/**
|
||||||
* The APID of this instance of the Service.
|
* The APID of this instance of the Service.
|
||||||
*/
|
*/
|
||||||
uint16_t apid;
|
uint16_t apid;
|
||||||
/**
|
/**
|
||||||
* The Service Identifier.
|
* The Service Identifier.
|
||||||
*/
|
*/
|
||||||
uint8_t serviceId;
|
uint8_t serviceId;
|
||||||
/**
|
/**
|
||||||
* One of two error parameters for additional error information.
|
* One of two error parameters for additional error information.
|
||||||
*/
|
*/
|
||||||
uint32_t errorParameter1 = 0;
|
uint32_t errorParameter1 = 0;
|
||||||
/**
|
/**
|
||||||
* One of two error parameters for additional error information.
|
* One of two error parameters for additional error information.
|
||||||
*/
|
*/
|
||||||
uint32_t errorParameter2 = 0;
|
uint32_t errorParameter2 = 0;
|
||||||
/**
|
/**
|
||||||
* This is a complete instance of the telecommand reception queue
|
* This is a complete instance of the telecommand reception queue
|
||||||
* of the class. It is initialized on construction of the class.
|
* of the class. It is initialized on construction of the class.
|
||||||
*/
|
*/
|
||||||
MessageQueueIF* requestQueue = nullptr;
|
MessageQueueIF* requestQueue = nullptr;
|
||||||
/**
|
/**
|
||||||
* An instance of the VerificationReporter class, that simplifies
|
* An instance of the VerificationReporter class, that simplifies
|
||||||
* sending any kind of verification message to the TC Verification Service.
|
* sending any kind of verification message to the TC Verification Service.
|
||||||
*/
|
*/
|
||||||
VerificationReporter verifyReporter;
|
VerificationReporter verifyReporter;
|
||||||
/**
|
/**
|
||||||
* The current Telecommand to be processed.
|
* The current Telecommand to be processed.
|
||||||
* It is deleted after handleRequest was executed.
|
* It is deleted after handleRequest was executed.
|
||||||
*/
|
*/
|
||||||
TcPacketStoredPus currentPacket;
|
TcPacketStoredPus currentPacket;
|
||||||
|
|
||||||
static object_id_t packetSource;
|
static object_id_t packetSource;
|
||||||
|
|
||||||
static object_id_t packetDestination;
|
static object_id_t packetDestination;
|
||||||
private:
|
private:
|
||||||
/**
|
/**
|
||||||
* This constant sets the maximum number of packets accepted per call.
|
* This constant sets the maximum number of packets accepted per call.
|
||||||
* Remember that one packet must be completely handled in one
|
* Remember that one packet must be completely handled in one
|
||||||
* #handleRequest call.
|
* #handleRequest call.
|
||||||
*/
|
*/
|
||||||
static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
|
static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
|
||||||
|
|
||||||
void handleRequestQueue();
|
void handleRequestQueue();
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* FSFW_TMTCSERVICES_PUSSERVICEBASE_H_ */
|
#endif /* FSFW_TMTCSERVICES_PUSSERVICEBASE_H_ */
|
||||||
|
|
|
||||||
|
|
@ -4,7 +4,7 @@
|
||||||
#include "VerificationCodes.h"
|
#include "VerificationCodes.h"
|
||||||
|
|
||||||
#include "fsfw/ipc/MessageQueueMessage.h"
|
#include "fsfw/ipc/MessageQueueMessage.h"
|
||||||
#include "fsfw/tmtcpacket/pus/tc/TcPacketBase.h"
|
#include "fsfw/tmtcpacket/pus/tc/TcPacketPusBase.h"
|
||||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||||
|
|
||||||
class PusVerificationMessage: public MessageQueueMessage {
|
class PusVerificationMessage: public MessageQueueMessage {
|
||||||
|
|
|
||||||
|
|
@ -17,7 +17,7 @@ VerificationReporter::VerificationReporter() :
|
||||||
VerificationReporter::~VerificationReporter() {}
|
VerificationReporter::~VerificationReporter() {}
|
||||||
|
|
||||||
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
|
void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
|
||||||
TcPacketBase* currentPacket, uint8_t set_step) {
|
TcPacketPusBase* currentPacket, uint8_t set_step) {
|
||||||
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
|
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
|
||||||
this->initialize();
|
this->initialize();
|
||||||
}
|
}
|
||||||
|
|
@ -59,7 +59,7 @@ void VerificationReporter::sendSuccessReport(uint8_t set_report_id,
|
||||||
}
|
}
|
||||||
|
|
||||||
void VerificationReporter::sendFailureReport(uint8_t report_id,
|
void VerificationReporter::sendFailureReport(uint8_t report_id,
|
||||||
TcPacketBase* currentPacket, ReturnValue_t error_code, uint8_t step,
|
TcPacketPusBase* currentPacket, ReturnValue_t error_code, uint8_t step,
|
||||||
uint32_t parameter1, uint32_t parameter2) {
|
uint32_t parameter1, uint32_t parameter2) {
|
||||||
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
|
if (acknowledgeQueue == MessageQueueIF::NO_QUEUE) {
|
||||||
this->initialize();
|
this->initialize();
|
||||||
|
|
|
||||||
|
|
@ -25,13 +25,13 @@ public:
|
||||||
VerificationReporter();
|
VerificationReporter();
|
||||||
virtual ~VerificationReporter();
|
virtual ~VerificationReporter();
|
||||||
|
|
||||||
void sendSuccessReport( uint8_t set_report_id, TcPacketBase* current_packet,
|
void sendSuccessReport( uint8_t set_report_id, TcPacketPusBase* current_packet,
|
||||||
uint8_t set_step = 0 );
|
uint8_t set_step = 0 );
|
||||||
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
|
void sendSuccessReport(uint8_t set_report_id, uint8_t ackFlags,
|
||||||
uint16_t tcPacketId, uint16_t tcSequenceControl,
|
uint16_t tcPacketId, uint16_t tcSequenceControl,
|
||||||
uint8_t set_step = 0);
|
uint8_t set_step = 0);
|
||||||
|
|
||||||
void sendFailureReport( uint8_t report_id, TcPacketBase* current_packet,
|
void sendFailureReport( uint8_t report_id, TcPacketPusBase* current_packet,
|
||||||
ReturnValue_t error_code = 0,
|
ReturnValue_t error_code = 0,
|
||||||
uint8_t step = 0, uint32_t parameter1 = 0,
|
uint8_t step = 0, uint32_t parameter1 = 0,
|
||||||
uint32_t parameter2 = 0 );
|
uint32_t parameter2 = 0 );
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user