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PusServiceBase enhancements #103

Merged
gaisser merged 5 commits from KSat/fsfw:mueller_PSB_improvement into master 2020-07-28 12:10:19 +02:00
Conversation 0 Commits 5 Files Changed 2 +126 -72
2 changed files with 126 additions and 72 deletions
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86
tmtcservices/PusServiceBase.cpp
View File

@ -9,10 +9,11 @@
object_id_t PusServiceBase::packetSource = 0; 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, uint8_t setServiceId) : PusServiceBase::PusServiceBase(object_id_t setObjectId, uint16_t setApid,
SystemObject(setObjectId), apid(setApid), serviceId(setServiceId), errorParameter1( uint8_t setServiceId) :
0), errorParameter2(0), requestQueue(NULL) { SystemObject(setObjectId), apid(setApid), serviceId(setServiceId) {
requestQueue = QueueFactory::instance()->createMessageQueue(PUS_SERVICE_MAX_RECEPTION); requestQueue = QueueFactory::instance()->
createMessageQueue(PUS_SERVICE_MAX_RECEPTION);
} }
PusServiceBase::~PusServiceBase() { PusServiceBase::~PusServiceBase() {
@ -20,50 +21,64 @@ PusServiceBase::~PusServiceBase() {
} }
ReturnValue_t PusServiceBase::performOperation(uint8_t opCode) { 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; TmTcMessage message;
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);
// debug << "PusServiceBase::performOperation: Receiving from MQ ID: " << std::hex << this->requestQueue.getId() // debug << "PusServiceBase::performOperation: Receiving from MQ ID: "
// << std::dec << " returned: " << status << std::endl; // << std::hex << this->requestQueue.getId()
// << std::dec << " returned: " << status << std::endl;
if (status == RETURN_OK) { if (status == RETURN_OK) {
this->currentPacket.setStoreAddress(message.getStorageId()); 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(); result = this->handleRequest(currentPacket.getSubService());
// debug << "Service " << (uint16_t)this->serviceId << ": handleRequest returned: " << (int)return_code << std::endl;
if (return_code == RETURN_OK) { // debug << "Service " << (uint16_t)this->serviceId <<
// ": handleRequest returned: " << (int)return_code << std::endl;
if (result == RETURN_OK) {
this->verifyReporter.sendSuccessReport( this->verifyReporter.sendSuccessReport(
TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket); TC_VERIFY::COMPLETION_SUCCESS, &this->currentPacket);
} else { }
else {
this->verifyReporter.sendFailureReport( this->verifyReporter.sendFailureReport(
TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket, TC_VERIFY::COMPLETION_FAILURE, &this->currentPacket,
return_code, 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 << ": no new packet." << std::endl; // debug << "PusService " << (uint16_t)this->serviceId <<
// ": no new packet." << std::endl;
break; break;
} else { }
else {
sif::error << "PusServiceBase::performOperation: Service " sif::error << "PusServiceBase::performOperation: Service "
<< (uint16_t) this->serviceId << (uint16_t) this->serviceId
<< ": Error receiving packet. Code: " << std::hex << status << ": Error receiving packet. Code: " << std::hex << status
<< std::dec << std::endl; << 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() { uint16_t PusServiceBase::getIdentifier() {
@ -79,19 +94,28 @@ ReturnValue_t PusServiceBase::initialize() {
if (result != RETURN_OK) { if (result != RETURN_OK) {
return result; return result;
} }
AcceptsTelemetryIF* dest_service = objectManager->get<AcceptsTelemetryIF>( AcceptsTelemetryIF* destService = objectManager->get<AcceptsTelemetryIF>(
packetDestination); packetDestination);
PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>( PUSDistributorIF* distributor = objectManager->get<PUSDistributorIF>(
packetSource); packetSource);
if ((dest_service != NULL) && (distributor != NULL)) { if ((destService != nullptr) && (distributor != nullptr)) {
this->requestQueue->setDefaultDestination( this->requestQueue->setDefaultDestination(
dest_service->getReportReceptionQueue()); destService->getReportReceptionQueue());
distributor->registerService(this); distributor->registerService(this);
return RETURN_OK; return RETURN_OK;
} else { }
else {
sif::error << "PusServiceBase::PusServiceBase: Service " sif::error << "PusServiceBase::PusServiceBase: Service "
<< (uint32_t) this->serviceId << ": Configuration error." << (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; 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;
}

112
tmtcservices/PusServiceBase.h
View File

@ -1,5 +1,5 @@
#ifndef PUSSERVICEBASE_H_ #ifndef FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
#define PUSSERVICEBASE_H_ #define FRAMEWORK_TMTCSERVICES_PUSSERVICEBASE_H_
#include <framework/objectmanager/ObjectManagerIF.h> #include <framework/objectmanager/ObjectManagerIF.h>
#include <framework/objectmanager/SystemObject.h> #include <framework/objectmanager/SystemObject.h>
@ -9,7 +9,6 @@
#include <framework/tmtcservices/AcceptsTelecommandsIF.h> #include <framework/tmtcservices/AcceptsTelecommandsIF.h>
#include <framework/tmtcservices/VerificationCodes.h> #include <framework/tmtcservices/VerificationCodes.h>
#include <framework/tmtcservices/VerificationReporter.h> #include <framework/tmtcservices/VerificationReporter.h>
#include <framework/internalError/InternalErrorReporterIF.h>
#include <framework/ipc/MessageQueueIF.h> #include <framework/ipc/MessageQueueIF.h>
namespace Factory{ 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. * These group contains all implementations of PUS Services in the OBSW.
* Most of the Services are directly taken from the ECSS PUS Standard. * 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. * @brief This class is the basis for all PUS Services,
* It manages Telecommand reception and the generation of Verification Reports. Every class that inherits * which can immediately process Telecommand Packets.
* from this abstract class has to implement handleRequest and performService. Services that are created with this * @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. * 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. * All PUS Services are System Objects, so an Object ID needs to be specified
* \ingroup pus_services * 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)(); friend void (Factory::setStaticFrameworkObjectIds)();
public: public:
/** /**
* The constructor for the class. * @brief The passed values are set, but inter-object initialization is
* The passed values are set, but inter-object initialization is done in the initialize method. * done in the initialize method.
* @param setObjectId The system object identifier of this Service instance. * @param setObjectId
* @param set_apid The APID the Service is instantiated for. * The system object identifier of this Service instance.
* @param set_service_id The Service Identifier as specified in ECSS PUS. * @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. * The destructor is empty.
*/ */
virtual ~PusServiceBase(); 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 * @details
* Implemetations can take the Telecommand in currentPacket and perform any kind of operation. * Implemetations can take the Telecommand in currentPacket and perform
* They may send additional "Start Success (1,3)" messages with the verifyReporter, but Completion * any kind of operation.
* Success or Failure Reports are generated automatically after execution of this method. * 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, * 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 #errorParameters which are * The child class may add additional error information by setting
* attached to the generated verification message. * #errorParameters which aren attached to the generated verification
* 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 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. * 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. * 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; 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 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. * 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); ReturnValue_t performOperation(uint8_t opCode) override;
virtual uint16_t getIdentifier(); virtual uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue(); MessageQueueId_t getRequestQueue() override;
virtual ReturnValue_t initialize(); virtual ReturnValue_t initialize() override;
virtual void setTaskIF(PeriodicTaskIF* taskHandle) override;
virtual ReturnValue_t initializeAfterTaskCreation() override;
protected: 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. * The APID of this instance of the Service.
*/ */
@ -94,19 +121,19 @@ protected:
/** /**
* One of two error parameters for additional error information. * 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. * 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. * This is a complete instance of the telecommand reception queue
* It is initialized on construction of the class. * 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 * An instance of the VerificationReporter class, that simplifies
* Verification Message to the TC Verification Service. * sending any kind of verification message to the TC Verification Service.
*/ */
VerificationReporter verifyReporter; VerificationReporter verifyReporter;
/** /**
@ -121,9 +148,12 @@ protected:
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 #handleRequest call. * Remember that one packet must be completely handled in one
* #handleRequest call.
*/ */
static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10; static const uint8_t PUS_SERVICE_MAX_RECEPTION = 10;
void handleRequestQueue();
}; };
#endif /* PUSSERVICEBASE_H_ */ #endif /* PUSSERVICEBASE_H_ */