diff --git a/tmtcservices/PusServiceBase.cpp b/tmtcservices/PusServiceBase.cpp index b1d972933..82e5ff5cc 100644 --- a/tmtcservices/PusServiceBase.cpp +++ b/tmtcservices/PusServiceBase.cpp @@ -9,10 +9,11 @@ object_id_t PusServiceBase::packetSource = 0; object_id_t PusServiceBase::packetDestination = 0; -PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId) : - SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1( - 0), errorParameter2(0), requestQueue(NULL) { - requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); +PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid, + uint8_t setServiceId) : + SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) { + requestQueue = QueueFactory::instance()-> + createMessageQueue(PUS_SERVICE_MAX_RECEPTION); } PusServiceBase::~PusServiceBase() { @@ -20,50 +21,64 @@ PusServiceBase::~PusServiceBase() { } ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { + handleRequestQueue(); + ReturnValue_t result = this->performService(); + if (result != RETURN_OK) { + sif::error << "PusService " << (uint16_t) this->serviceId + << ": performService returned with " << (int16_t) result + << std::endl; + return RETURN_FAILED; + } + return RETURN_OK; +} + +void PusServiceBase::setTaskIF(PeriodicTaskIF* taskHandle) { + this->taskHandle = taskHandle; +} + +void PusServiceBase::handleRequestQueue() { TmTcMessage message; + ReturnValue_t result = RETURN_FAILED; for (uint8_t count = 0; count < PUS_SERVICE_MAX_RECEPTION; count++) { ReturnValue_t status = this->requestQueue->receiveMessage(&message); - // debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() - // << std::dec << " returned: " << status << std::endl; + // debug << "PusServiceBase::performOperation: Receiving from MQ ID: " + // << std::hex << this->requestQueue.getId() + // << std::dec << " returned: " << status << std::endl; if (status == RETURN_OK) { this->currentPacket.setStoreAddress(message.getStorageId()); - // info << "Service " << (uint16_t) this->serviceId << ": new packet!" << std::endl; + //info << "Service " << (uint16_t) this->serviceId << + // ": new packet!" << std::endl; - ReturnValue_t return_code = this->handleRequest(); - // debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl; - if (return_code == RETURN_OK) { + result = this->handleRequest(currentPacket.getSubService()); + + // debug << "Service " << (uint16_t)this->serviceId << + // ": handleRequest returned: " << (int)return_code << std::endl; + if (result == RETURN_OK) { this->verifyReporter.sendSuccessReport( TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket); - } else { + } + else { this->verifyReporter.sendFailureReport( TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket, - return_code, 0, errorParameter1, errorParameter2); + result, 0, errorParameter1, errorParameter2); } this->currentPacket.deletePacket(); errorParameter1 = 0; errorParameter2 = 0; - } else if (status == MessageQueueIF::EMPTY) { + } + else if (status == MessageQueueIF::EMPTY) { status = RETURN_OK; - // debug << "PusService " << (uint16_t)this->serviceId << ": no new packet." << std::endl; + // debug << "PusService " << (uint16_t)this->serviceId << + // ": no new packet." << std::endl; break; - } else { - + } + else { sif::error << "PusServiceBase::performOperation: Service " << (uint16_t) this->serviceId << ": Error receiving packet. Code: " << std::hex << status << std::dec << std::endl; } } - ReturnValue_t return_code = this->performService(); - if (return_code == RETURN_OK) { - return RETURN_OK; - } else { - - sif::error << "PusService " << (uint16_t) this->serviceId - << ": performService returned with " << (int16_t) return_code - << std::endl; - return RETURN_FAILED; - } } uint16_t PusServiceBase::getIdentifier() { @@ -79,19 +94,28 @@ ReturnValue_t PusServiceBase::initialize() { if (result != RETURN_OK) { return result; } - AcceptsTelemetryIF* dest_service = objectManager->get( + AcceptsTelemetryIF* destService = objectManager->get( packetDestination); PUSDistributorIF* distributor = objectManager->get( packetSource); - if ((dest_service != NULL) && (distributor != NULL)) { + if ((destService != nullptr) && (distributor != nullptr)) { this->requestQueue->setDefaultDestination( - dest_service->getReportReceptionQueue()); + destService->getReportReceptionQueue()); distributor->registerService(this); return RETURN_OK; - } else { + } + else { sif::error << "PusServiceBase::PusServiceBase: Service " << (uint32_t) this->serviceId << ": Configuration error." - << " Make sure packetSource and packetDestination are defined correctly" << std::endl; + << " Make sure packetSource and packetDestination are defined " + "correctly" << std::endl; return RETURN_FAILED; } } + +ReturnValue_t PusServiceBase::initializeAfterTaskCreation() { + // If task parameters, for example task frequency are required, this + // function should be overriden and the system object task IF can + // be used to get those parameters. + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/tmtcservices/PusServiceBase.h b/tmtcservices/PusServiceBase.h index d318ff1e0..6d3d9bac6 100644 --- a/tmtcservices/PusServiceBase.h +++ b/tmtcservices/PusServiceBase.h @@ -1,5 +1,5 @@ -#ifndef PUSSERVICEBASE_H_ -#define PUSSERVICEBASE_H_ +#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ +#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_ #include #include @@ -9,7 +9,6 @@ #include #include #include -#include #include namespace Factory{ @@ -17,72 +16,100 @@ void setStaticFrameworkObjectIds(); } /** - * \defgroup pus_services PUS Service Framework + * @defgroup pus_services PUS Service Framework * These group contains all implementations of PUS Services in the OBSW. * Most of the Services are directly taken from the ECSS PUS Standard. */ /** - * \brief This class is the basis for all PUS Services, which can immediately process Telecommand Packets. - * It manages Telecommand reception and the generation of Verification Reports. Every class that inherits - * from this abstract class has to implement handleRequest and performService. Services that are created with this + * @brief This class is the basis for all PUS Services, + * which can immediately process Telecommand Packets. + * @details + * It manages Telecommand reception and the generation of Verification Reports. + * Every class that inherits from this abstract class has to implement + * handleRequest and performService. Services that are created with this * Base class have to handle any kind of request immediately on reception. - * All PUS Services are System Objects, so an Object ID needs to be specified on construction. - * \ingroup pus_services + * All PUS Services are System Objects, so an Object ID needs to be specified + * on construction. + * @ingroup pus_services */ -class PusServiceBase : public ExecutableObjectIF, public AcceptsTelecommandsIF, public SystemObject, public HasReturnvaluesIF { +class PusServiceBase : public ExecutableObjectIF, + public AcceptsTelecommandsIF, + public SystemObject, + public HasReturnvaluesIF { friend void (Factory::setStaticFrameworkObjectIds)(); public: /** - * The constructor for the class. - * The passed values are set, but inter-object initialization is done in the initialize method. - * @param setObjectId The system object identifier of this Service instance. - * @param set_apid The APID the Service is instantiated for. - * @param set_service_id The Service Identifier as specified in ECSS PUS. + * @brief The passed values are set, but inter-object initialization is + * done in the initialize method. + * @param setObjectId + * The system object identifier of this Service instance. + * @param setApid + * The APID the Service is instantiated for. + * @param setServiceId + * The Service Identifier as specified in ECSS PUS. */ - PusServiceBase( object_id_t setObjectId, uint16_t setApid, uint8_t setServiceId); + PusServiceBase( object_id_t setObjectId, uint16_t setApid, + uint8_t setServiceId); /** * The destructor is empty. */ virtual ~PusServiceBase(); /** - * @brief The handleRequest method shall handle any kind of Telecommand Request immediately. + * @brief The handleRequest method shall handle any kind of Telecommand + * Request immediately. * @details - * Implemetations can take the Telecommand in currentPacket and perform any kind of operation. - * They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion - * Success or Failure Reports are generated automatically after execution of this method. + * Implemetations can take the Telecommand in currentPacket and perform + * any kind of operation. + * They may send additional "Start Success (1,3)" messages with the + * verifyReporter, but Completion Success or Failure Reports are generated + * automatically after execution of this method. * * If a Telecommand can not be executed within one call cycle, * this Base class is not the right parent. * - * The child class may add additional error information by setting #errorParameters which are - * attached to the generated verification message. + * The child class may add additional error information by setting + * #errorParameters which aren attached to the generated verification + * message. * * Subservice checking should be implemented in this method. * - * @return The returned status_code is directly taken as main error code in the Verification Report. + * @return The returned status_code is directly taken as main error code + * in the Verification Report. * On success, RETURN_OK shall be returned. */ - virtual ReturnValue_t handleRequest() = 0; + virtual ReturnValue_t handleRequest(uint8_t subservice) = 0; /** - * In performService, implementations can handle periodic, non-TC-triggered activities. + * In performService, implementations can handle periodic, + * non-TC-triggered activities. * The performService method is always called. - * @return A success or failure code that does not trigger any kind of verification message. + * @return Currently, everything other that RETURN_OK only triggers + * diagnostic output. */ virtual ReturnValue_t performService() = 0; /** * This method implements the typical activity of a simple PUS Service. - * It checks for new requests, and, if found, calls handleRequest, sends completion verification messages and deletes + * It checks for new requests, and, if found, calls handleRequest, sends + * completion verification messages and deletes * the TC requests afterwards. * performService is always executed afterwards. - * @return \c RETURN_OK if the periodic performService was successful. - * \c RETURN_FAILED else. + * @return @c RETURN_OK if the periodic performService was successful. + * @c RETURN_FAILED else. */ - ReturnValue_t performOperation(uint8_t opCode); - virtual uint16_t getIdentifier(); - MessageQueueId_t getRequestQueue(); - virtual ReturnValue_t initialize(); + ReturnValue_t performOperation(uint8_t opCode) override; + virtual uint16_t getIdentifier() override; + MessageQueueId_t getRequestQueue() override; + virtual ReturnValue_t initialize() override; + + virtual void setTaskIF(PeriodicTaskIF* taskHandle) override; + virtual ReturnValue_t initializeAfterTaskCreation() override; protected: + /** + * @brief Handle to the underlying task + * @details + * Will be set by setTaskIF(), which is called on task creation. + */ + PeriodicTaskIF* taskHandle = nullptr; /** * The APID of this instance of the Service. */ @@ -94,19 +121,19 @@ protected: /** * One of two error parameters for additional error information. */ - uint32_t errorParameter1; + uint32_t errorParameter1 = 0; /** * One of two error parameters for additional error information. */ - uint32_t errorParameter2; + uint32_t errorParameter2 = 0; /** - * This is a complete instance of the Telecommand reception queue of the class. - * It is initialized on construction of the class. + * This is a complete instance of the telecommand reception queue + * of the class. It is initialized on construction of the class. */ - MessageQueueIF* requestQueue; + MessageQueueIF* requestQueue = nullptr; /** - * An instance of the VerificationReporter class, that simplifies sending any kind of - * Verification Message to the TC Verification Service. + * An instance of the VerificationReporter class, that simplifies + * sending any kind of verification message to the TC Verification Service. */ VerificationReporter verifyReporter; /** @@ -121,9 +148,12 @@ protected: private: /** * This constant sets the maximum number of packets accepted per call. - * Remember that one packet must be completely handled in one #handleRequest call. + * Remember that one packet must be completely handled in one + * #handleRequest call. */ static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10; + + void handleRequestQueue(); }; #endif /* PUSSERVICEBASE_H_ */