PusServiceBase enhancements #103

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gaisser merged 5 commits from KSat/fsfw:mueller_PSB_improvement into master 2020-07-28 12:10:19 +02:00
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@ -1,5 +1,5 @@
#ifndef PUSSERVICEBASE_H_
#define PUSSERVICEBASE_H_
#ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
#define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
#include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h>
@ -9,7 +9,6 @@
#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/VerificationCodes.h>
#include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h>
#include <framework/ipc/MessageQueueIF.h>
namespace Factory{
@ -17,18 +16,22 @@ 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,
@ -37,49 +40,61 @@ class PusServiceBase : public ExecutableObjectIF,
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(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();
@ -103,13 +118,13 @@ protected:
*/
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 = 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;
/**
@ -124,7 +139,8 @@ 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;