From 2173d43d92b38ca5d2e64017ca3738e353d2d494 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 26 Dec 2019 19:47:46 +0100 Subject: [PATCH 01/27] Generic TMTC Bridge added --- tmtcservices/TmTcBridge.cpp | 173 ++++++++++++++++++++++++++++++++++++ tmtcservices/TmTcBridge.h | 121 +++++++++++++++++++++++++ 2 files changed, 294 insertions(+) create mode 100644 tmtcservices/TmTcBridge.cpp create mode 100644 tmtcservices/TmTcBridge.h diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp new file mode 100644 index 000000000..e79283173 --- /dev/null +++ b/tmtcservices/TmTcBridge.cpp @@ -0,0 +1,173 @@ +/** + * @file TmTcBridge.cpp + * + * @date 26.12.2019 + */ + +#include + +#include +#include +#include + +TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): + SystemObject(objectId_),tcStore(NULL), tmStore(NULL), + ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false), + tmStored(false) { + TmTcReceptionQueue = QueueFactory::instance()-> + createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); + +} + +TmTcBridge::~TmTcBridge() { +} + +ReturnValue_t TmTcBridge::initialize() { + tcStore = objectManager->get(objects::TC_STORE); + if (tcStore == NULL) { + return RETURN_FAILED; + } + tmStore = objectManager->get(objects::TM_STORE); + if (tmStore == NULL) { + return RETURN_FAILED; + } + AcceptsTelecommandsIF* tcDistributor = + objectManager->get(ccsdsPacketDistributor); + if (tcDistributor == NULL) { + return RETURN_FAILED; + } + TmTcReceptionQueue->setDefaultDestination(tcDistributor->getRequestQueue()); + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { + ReturnValue_t result; + result = handleTc(); + if(result != RETURN_OK) { + error << "TMTC Bridge: Error handling TCs" << std::endl; + } + result = handleTm(); + if (result != RETURN_OK) { + error << "TMTC Bridge: Error handling TMs" << std::endl; + } + return result; +} + +ReturnValue_t TmTcBridge::handleTc() { + ReturnValue_t result = receiveTc(); + return result; +} + +ReturnValue_t TmTcBridge::handleTm() { + ReturnValue_t result = readTmQueue(); + if(result != RETURN_OK) { + error << "TMTC Bridge: Reading TM Queue failed" << std::endl; + return RETURN_FAILED; + } + + if(tmStored && communicationLinkUp) { + result = sendStoredTm(); + } + return result; + +} + +ReturnValue_t TmTcBridge::readTmQueue() { + TmTcMessage message; + const uint8_t* data = NULL; + uint32_t size = 0; + for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message); + result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message)) + { + if(not communicationLinkUp) { + result = storeDownlinkData(&message); + return result; + } + + result = tmStore->getData(message.getStorageId(), &data, &size); + if (result != HasReturnvaluesIF::RETURN_OK) { + continue; + } + + result = sendTm(data, size); + if (result != RETURN_OK) { + error << "UDP Server: Could not send TM packet"<< std::endl; + tmStore->deleteData(message.getStorageId()); + return result; + + } + tmStore->deleteData(message.getStorageId()); + } + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { + info << "UDP Server: Client address not bound yet. Packet can not be sent. " + "Saving packet to be sent later " << std::endl; + store_address_t storeId; + + if(fifo.full()) { + info << "UDP Server: TM downlink store is full. Overwriting old data" << std::endl; + fifo.retrieve(&storeId); + } + storeId = message->getStorageId(); + fifo.insert(storeId); + //storageIdBufferCounter ++; + tmStored = true; + return RETURN_OK; +} + +ReturnValue_t TmTcBridge::sendStoredTm() { + uint8_t counter = 0; + ReturnValue_t result = RETURN_OK; + while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) { + info << "UDP Server: Sending stored TM data. There are " + << (int) fifo.size() << " left to send" << std::endl; + store_address_t storeId; + const uint8_t* data = NULL; + uint32_t size = 0; + fifo.retrieve(&storeId); + result = tmStore->getData(storeId, &data, &size); + sendTm(data,size); + if(result != RETURN_OK) { + error << "UDP Server: Could not send stored downlink data" << std::endl; + result = RETURN_FAILED; + } + counter ++; + + if(fifo.empty()) { + tmStored = false; + } + tmStore->deleteData(storeId); + } + return result; +} + +void TmTcBridge::registerCommConnect() { + info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; + if(not communicationLinkUp) { + communicationLinkUp = true; + } +} + +void TmTcBridge::registerCommDisconnect() { + info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; + if(communicationLinkUp) { + communicationLinkUp = false; + } +} + +MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { + return TmTcReceptionQueue->getId(); +} + +void TmTcBridge::printData(uint8_t * data, uint32_t dataLen) { + info << "TMTC Bridge: Printing data: ["; + for(uint32_t i=0;i +#include +#include +#include +#include + +#include +#include + +class TmTcBridge : public AcceptsTelemetryIF, + public ExecutableObjectIF, + public HasReturnvaluesIF, + public SystemObject { +public: + TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_); + virtual ~TmTcBridge(); + + /** + * Initializes basic FSFW components for TMTC Bridge + * @return + */ + virtual ReturnValue_t initialize(); + + /** + * @brief The performOperation method is executed in a task. + * @details There are no restrictions for calls within this method, so any + * other member of the class can be used. + * @return Currently, the return value is ignored. + */ + virtual ReturnValue_t performOperation(uint8_t operationCode = 0); + + /** + * Return TMTC Reception Queue + * @param virtualChannel + * @return + */ + virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0); + +protected: + MessageQueueIF* TmTcReceptionQueue; //!< Used to send and receive TMTC messages. TmTcMessage is used to transport messages between tasks. + StorageManagerIF* tcStore; + StorageManagerIF* tmStore; + object_id_t ccsdsPacketDistributor; + bool communicationLinkUp; //!< Used to specify whether communication link is up + bool tmStored; + + /** + * Handle TC reception. Default implementation provided + * @return + */ + virtual ReturnValue_t handleTc(); + + /** + * Implemented by child class. Perform receiving of Telecommand + * @return + */ + virtual ReturnValue_t receiveTc() = 0; + + /** + * Handle Telemetry. Default implementation provided. + * Calls sendTm() + * @return + */ + virtual ReturnValue_t handleTm(); + + /** + * Read the TM Queue and send TM if necessary. Default implementation provided + * @return + */ + virtual ReturnValue_t readTmQueue(); + + /** + * Implemented by child class. Perform sending of Telemetry + * @param data + * @param dataLen + * @return + */ + virtual ReturnValue_t sendTm(const uint8_t * data, uint32_t dataLen) = 0; + + /** + * Store data to be sent later if communication link is not up. + * @param message + * @return + */ + ReturnValue_t storeDownlinkData(TmTcMessage * message); + + /** + * Send stored data if communication link is active + * @return + */ + ReturnValue_t sendStoredTm(); + + /** + * Print data as hexidecimal array + * @param data + * @param dataLen + */ + void printData(uint8_t * data, uint32_t dataLen); + + void registerCommConnect(); + void registerCommDisconnect(); + +private: + static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; + static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10; + static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 20; + + FIFO fifo; +}; + + +#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */ -- 2.34.1 From ceb688daf4ed1c35fc9b6f637cca07cb850d43de Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:14:11 +0200 Subject: [PATCH 02/27] tmtc bridge bugfix --- tmtcservices/TmTcBridge.cpp | 5 +++-- tmtcservices/TmTcBridge.h | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index e79283173..9e863ffd0 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -2,6 +2,7 @@ * @file TmTcBridge.cpp * * @date 26.12.2019 + * @author R. Mueller */ #include @@ -144,8 +145,8 @@ ReturnValue_t TmTcBridge::sendStoredTm() { } void TmTcBridge::registerCommConnect() { - info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; - if(not communicationLinkUp) { + if(!communicationLinkUp) { + info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; communicationLinkUp = true; } } diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index ad09bf7ce..0f045e474 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -25,7 +25,7 @@ public: virtual ~TmTcBridge(); /** - * Initializes basic FSFW components for TMTC Bridge + * Initializes basic FSFW components for the TMTC Bridge * @return */ virtual ReturnValue_t initialize(); -- 2.34.1 From c867b8354176a05a048db02a843af62bec8d3636 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:17:04 +0200 Subject: [PATCH 03/27] doc extended, instructions for sendTm and recvTc --- tmtcservices/TmTcBridge.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 0f045e474..216dae8ba 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -60,7 +60,8 @@ protected: virtual ReturnValue_t handleTc(); /** - * Implemented by child class. Perform receiving of Telecommand + * Implemented by child class. Perform receiving of Telecommand, for example by implementing + * specific drivers or wrappers, e.g. UART Communication or lwIP stack * @return */ virtual ReturnValue_t receiveTc() = 0; @@ -79,7 +80,8 @@ protected: virtual ReturnValue_t readTmQueue(); /** - * Implemented by child class. Perform sending of Telemetry + * Implemented by child class. Perform sending of Telemetry by implementing + * communication drivers or wrappers, e.g. UART communication or lwIP stack. * @param data * @param dataLen * @return -- 2.34.1 From f3af2987e661b5515a5119fd2b0f201720410c8d Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:17:32 +0200 Subject: [PATCH 04/27] receiveTc function adapted --- tmtcservices/TmTcBridge.cpp | 4 ++-- tmtcservices/TmTcBridge.h | 6 +++++- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 9e863ffd0..58f17a861 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -14,7 +14,7 @@ TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),tcStore(NULL), tmStore(NULL), ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false), - tmStored(false) { + tmStored(false), size(0) { TmTcReceptionQueue = QueueFactory::instance()-> createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); @@ -55,7 +55,7 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { } ReturnValue_t TmTcBridge::handleTc() { - ReturnValue_t result = receiveTc(); + ReturnValue_t result = receiveTc(&recvBuffer, &size); return result; } diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 216dae8ba..8edf3f376 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -62,9 +62,11 @@ protected: /** * Implemented by child class. Perform receiving of Telecommand, for example by implementing * specific drivers or wrappers, e.g. UART Communication or lwIP stack + * @param recvBuffer [out] Received data + * @param size [out] Size of received data * @return */ - virtual ReturnValue_t receiveTc() = 0; + virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, uint32_t * size) = 0; /** * Handle Telemetry. Default implementation provided. @@ -117,6 +119,8 @@ private: static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 20; FIFO fifo; + uint8_t * recvBuffer; + uint32_t size; }; -- 2.34.1 From b422ff601a523ee4001d36a151e0ecd8972e82c3 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:17:59 +0200 Subject: [PATCH 05/27] connect and disconnect functions public --- tmtcservices/TmTcBridge.h | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 8edf3f376..7870e79b7 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -45,6 +45,8 @@ public: */ virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0); + void registerCommConnect(); + void registerCommDisconnect(); protected: MessageQueueIF* TmTcReceptionQueue; //!< Used to send and receive TMTC messages. TmTcMessage is used to transport messages between tasks. StorageManagerIF* tcStore; @@ -110,9 +112,6 @@ protected: */ void printData(uint8_t * data, uint32_t dataLen); - void registerCommConnect(); - void registerCommDisconnect(); - private: static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10; -- 2.34.1 From 4a218470cffda54b9ed2611e615d0070dfb1f990 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:18:16 +0200 Subject: [PATCH 06/27] max number of stored packets lowered --- tmtcservices/TmTcBridge.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 7870e79b7..8e4124e08 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -115,7 +115,7 @@ protected: private: static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10; - static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 20; + static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 15; FIFO fifo; uint8_t * recvBuffer; -- 2.34.1 From 8cb4a9897e963ea1d0ca0238303ae81428dfa60a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:20:10 +0200 Subject: [PATCH 07/27] tmtc bridge debug output corrected --- tmtcservices/TmTcBridge.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 58f17a861..12771bbf0 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -103,12 +103,13 @@ ReturnValue_t TmTcBridge::readTmQueue() { } ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { - info << "UDP Server: Client address not bound yet. Packet can not be sent. " - "Saving packet to be sent later " << std::endl; + info << "TMTC Bridge: Comm Link down. " + "Saving packet ID to be sent later " << std::endl; store_address_t storeId; if(fifo.full()) { - info << "UDP Server: TM downlink store is full. Overwriting old data" << std::endl; + info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached." + " Overwriting old data" << std::endl; fifo.retrieve(&storeId); } storeId = message->getStorageId(); -- 2.34.1 From 20c67c4aa3d1de8b3dbf9b11ee1ca8dae8ef10b9 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:20:47 +0200 Subject: [PATCH 08/27] tmtc bridge bugfix: tm data deleted when overwriting old data --- tmtcservices/TmTcBridge.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 12771bbf0..ddeacd162 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -111,6 +111,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached." " Overwriting old data" << std::endl; fifo.retrieve(&storeId); + tmStore->deleteData(storeId); } storeId = message->getStorageId(); fifo.insert(storeId); -- 2.34.1 From 8a6a2bf840c47480a1c7182101d4bb381fde05bf Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 26 Dec 2019 22:15:19 +0100 Subject: [PATCH 09/27] comment deleted --- tmtcservices/TmTcBridge.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index ddeacd162..ddd63d477 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -115,7 +115,6 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { } storeId = message->getStorageId(); fifo.insert(storeId); - //storageIdBufferCounter ++; tmStored = true; return RETURN_OK; } -- 2.34.1 From 2e95906f278948c591fc0d59605013059040a054 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 1 Jan 2020 17:31:17 +0100 Subject: [PATCH 10/27] recvBuffer and recvSize initialized --- tmtcservices/TmTcBridge.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index ddd63d477..7cc97d0d0 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -14,7 +14,7 @@ TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),tcStore(NULL), tmStore(NULL), ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false), - tmStored(false), size(0) { + tmStored(false),recvBuffer(NULL), size(0) { TmTcReceptionQueue = QueueFactory::instance()-> createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); -- 2.34.1 From 914dec3691b1bdb1737afc1a4fcfcc9ae117a683 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 2 Jan 2020 21:12:21 +0100 Subject: [PATCH 11/27] debug output change --- tmtcservices/TmTcBridge.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 7cc97d0d0..e402d79eb 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -80,7 +80,7 @@ ReturnValue_t TmTcBridge::readTmQueue() { for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message); result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message)) { - if(not communicationLinkUp) { + if(communicationLinkUp == false) { result = storeDownlinkData(&message); return result; } @@ -92,7 +92,7 @@ ReturnValue_t TmTcBridge::readTmQueue() { result = sendTm(data, size); if (result != RETURN_OK) { - error << "UDP Server: Could not send TM packet"<< std::endl; + error << "TMTC Bridge: Could not send TM packet"<< std::endl; tmStore->deleteData(message.getStorageId()); return result; -- 2.34.1 From ad01a36c0275996a266435cd968fc5b841f0caae Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Fri, 17 Apr 2020 23:25:08 +0200 Subject: [PATCH 12/27] std::flush instead of std::endl --- tmtcservices/TmTcBridge.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index e402d79eb..af4d0d611 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -104,7 +104,7 @@ ReturnValue_t TmTcBridge::readTmQueue() { ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { info << "TMTC Bridge: Comm Link down. " - "Saving packet ID to be sent later " << std::endl; + "Saving packet ID to be sent later\r\n" << std::flush; store_address_t storeId; if(fifo.full()) { @@ -124,7 +124,7 @@ ReturnValue_t TmTcBridge::sendStoredTm() { ReturnValue_t result = RETURN_OK; while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) { info << "UDP Server: Sending stored TM data. There are " - << (int) fifo.size() << " left to send" << std::endl; + << (int) fifo.size() << " left to send\r\n" << std::flush; store_address_t storeId; const uint8_t* data = NULL; uint32_t size = 0; -- 2.34.1 From 98c0b2c9ac252e63d5962713de3176703d89b050 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 18 Apr 2020 13:16:00 +0200 Subject: [PATCH 13/27] null replaced by nullptr. storeID initialization added, all nullptr/0 initializations in header --- tmtcservices/TmTcBridge.cpp | 18 ++++++++---------- tmtcservices/TmTcBridge.h | 25 ++++++++++++++----------- 2 files changed, 22 insertions(+), 21 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index af4d0d611..6442f2454 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -11,17 +11,15 @@ #include #include -TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): - SystemObject(objectId_),tcStore(NULL), tmStore(NULL), - ccsdsPacketDistributor(ccsdsPacketDistributor_), communicationLinkUp(false), - tmStored(false),recvBuffer(NULL), size(0) { - TmTcReceptionQueue = QueueFactory::instance()-> +TmTcBridge::TmTcBridge(object_id_t objectId_, + object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), + ccsdsPacketDistributor(ccsdsPacketDistributor_) +{ + TmTcReceptionQueue = QueueFactory::instance()-> createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); - } -TmTcBridge::~TmTcBridge() { -} +TmTcBridge::~TmTcBridge() {} ReturnValue_t TmTcBridge::initialize() { tcStore = objectManager->get(objects::TC_STORE); @@ -75,7 +73,7 @@ ReturnValue_t TmTcBridge::handleTm() { ReturnValue_t TmTcBridge::readTmQueue() { TmTcMessage message; - const uint8_t* data = NULL; + const uint8_t* data = nullptr; uint32_t size = 0; for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message); result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message)) @@ -105,7 +103,7 @@ ReturnValue_t TmTcBridge::readTmQueue() { ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { info << "TMTC Bridge: Comm Link down. " "Saving packet ID to be sent later\r\n" << std::flush; - store_address_t storeId; + store_address_t storeId = 0; if(fifo.full()) { info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached." diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 8e4124e08..e0634098e 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -48,12 +48,15 @@ public: void registerCommConnect(); void registerCommDisconnect(); protected: - MessageQueueIF* TmTcReceptionQueue; //!< Used to send and receive TMTC messages. TmTcMessage is used to transport messages between tasks. - StorageManagerIF* tcStore; - StorageManagerIF* tmStore; - object_id_t ccsdsPacketDistributor; - bool communicationLinkUp; //!< Used to specify whether communication link is up - bool tmStored; + //! Used to send and receive TMTC messages. + //! TmTcMessage is used to transport messages between tasks. + MessageQueueIF* TmTcReceptionQueue = nullptr; + StorageManagerIF* tcStore = nullptr; + StorageManagerIF* tmStore = nullptr; + object_id_t ccsdsPacketDistributor = 0; + //! Used to specify whether communication link is up + bool communicationLinkUp = false; + bool tmStored = false; /** * Handle TC reception. Default implementation provided @@ -113,13 +116,13 @@ protected: void printData(uint8_t * data, uint32_t dataLen); private: - static const uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; - static const uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10; - static const uint8_t MAX_DOWNLINK_PACKETS_STORED = 15; + static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20; + static constexpr uint8_t MAX_STORED_DATA_SENT_PER_CYCLE = 10; + static constexpr uint8_t MAX_DOWNLINK_PACKETS_STORED = 15; FIFO fifo; - uint8_t * recvBuffer; - uint32_t size; + uint8_t * recvBuffer = nullptr; + uint32_t size = 0; }; -- 2.34.1 From 502651702845452441fd107d75820593bb51ecf2 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 18 Apr 2020 13:35:41 +0200 Subject: [PATCH 14/27] info output correction --- tmtcservices/TmTcBridge.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 6442f2454..3ba00ba2b 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -121,8 +121,8 @@ ReturnValue_t TmTcBridge::sendStoredTm() { uint8_t counter = 0; ReturnValue_t result = RETURN_OK; while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) { - info << "UDP Server: Sending stored TM data. There are " - << (int) fifo.size() << " left to send\r\n" << std::flush; + info << "TMTC Bridge: Sending stored TM data. There are " + << (int) fifo.size() << " left to send\r\n" << std::flush; store_address_t storeId; const uint8_t* data = NULL; uint32_t size = 0; @@ -130,7 +130,8 @@ ReturnValue_t TmTcBridge::sendStoredTm() { result = tmStore->getData(storeId, &data, &size); sendTm(data,size); if(result != RETURN_OK) { - error << "UDP Server: Could not send stored downlink data" << std::endl; + error << "TMTC Bridge: Could not send stored downlink data" + << std::endl; result = RETURN_FAILED; } counter ++; -- 2.34.1 From b252299bdb9627b4319b94b186be31f6165278f2 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 21 Apr 2020 14:51:26 +0200 Subject: [PATCH 15/27] U. Mohr suggestions worked in Furthermore, some enhancements added: delay between sent tm and max number of sent tm per cycle can be specified --- tmtcservices/TmTcBridge.cpp | 58 ++++++++++++++++++++++++--------- tmtcservices/TmTcBridge.h | 65 +++++++++++++++++++------------------ 2 files changed, 77 insertions(+), 46 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 3ba00ba2b..d63d44059 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -1,19 +1,16 @@ -/** - * @file TmTcBridge.cpp - * - * @date 26.12.2019 - * @author R. Mueller - */ - #include #include +#include +#include #include #include +#include TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), - ccsdsPacketDistributor(ccsdsPacketDistributor_) + ccsdsPacketDistributor(ccsdsPacketDistributor_), + sentPacketsPerCycle(5), delayBetweenSentPacketsMs(0) { TmTcReceptionQueue = QueueFactory::instance()-> createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); @@ -21,6 +18,21 @@ TmTcBridge::TmTcBridge(object_id_t objectId_, TmTcBridge::~TmTcBridge() {} +void TmTcBridge::setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets) { + this->delayBetweenSentPacketsMs = delayBetweenSentPackets; +} + +ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( + uint8_t sentPacketsPerCycle) { + if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) { + this->sentPacketsPerCycle = sentPacketsPerCycle; + return RETURN_OK; + } + else { + return RETURN_FAILED; + } +} + ReturnValue_t TmTcBridge::initialize() { tcStore = objectManager->get(objects::TC_STORE); if (tcStore == NULL) { @@ -53,7 +65,21 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { } ReturnValue_t TmTcBridge::handleTc() { - ReturnValue_t result = receiveTc(&recvBuffer, &size); + uint8_t * recvBuffer = nullptr; + size_t recvLen = 0; + ReturnValue_t result = receiveTc(&recvBuffer, &recvLen); + if(result == RETURN_OK and recvLen > 0 and recvBuffer != nullptr) { + store_address_t storeId = 0; + ReturnValue_t result = tcStore->addData(&storeId, + recvBuffer, (uint32_t)recvLen); + if(result != RETURN_OK) { + return result; + } + TmTcMessage message(storeId); + if (TmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) { + tcStore->deleteData(storeId); + } + } return result; } @@ -106,8 +132,8 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { store_address_t storeId = 0; if(fifo.full()) { - info << "TMTC Bridge: TM downlink max. number of stored packet IDs reached." - " Overwriting old data" << std::endl; + error << "TMTC Bridge: TM downlink max. number of stored packet IDs " + "reached! Overwriting old data" << std::endl; fifo.retrieve(&storeId); tmStore->deleteData(storeId); } @@ -120,14 +146,16 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { ReturnValue_t TmTcBridge::sendStoredTm() { uint8_t counter = 0; ReturnValue_t result = RETURN_OK; - while(!fifo.empty() && counter < MAX_STORED_DATA_SENT_PER_CYCLE) { - info << "TMTC Bridge: Sending stored TM data. There are " - << (int) fifo.size() << " left to send\r\n" << std::flush; + while(!fifo.empty() && counter < sentPacketsPerCycle) { + //info << "TMTC Bridge: Sending stored TM data. There are " + // << (int) fifo.size() << " left to send\r\n" << std::flush; store_address_t storeId; const uint8_t* data = NULL; uint32_t size = 0; fifo.retrieve(&storeId); result = tmStore->getData(storeId, &data, &size); + // This does not work yet: is not static function + //PeriodicTaskIF::sleepFor(delayBetweenSentPacketsMs); sendTm(data,size); if(result != RETURN_OK) { error << "TMTC Bridge: Could not send stored downlink data" @@ -162,7 +190,7 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { return TmTcReceptionQueue->getId(); } -void TmTcBridge::printData(uint8_t * data, uint32_t dataLen) { +void TmTcBridge::printData(uint8_t * data, size_t dataLen) { info << "TMTC Bridge: Printing data: ["; for(uint32_t i=0;i fifo; - uint8_t * recvBuffer = nullptr; - uint32_t size = 0; + uint8_t sentPacketsPerCycle = 10; + uint32_t delayBetweenSentPacketsMs = 0; }; -- 2.34.1 From fdbc5d5c570ee4017dd482c18b2309515db12067 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 21 Apr 2020 14:54:04 +0200 Subject: [PATCH 16/27] com downlink message now debug and commented out --- tmtcservices/TmTcBridge.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index d63d44059..0040b163b 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -127,8 +127,8 @@ ReturnValue_t TmTcBridge::readTmQueue() { } ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { - info << "TMTC Bridge: Comm Link down. " - "Saving packet ID to be sent later\r\n" << std::flush; + //debug << "TMTC Bridge: Comm Link down. " + // "Saving packet ID to be sent later\r\n" << std::flush; store_address_t storeId = 0; if(fifo.full()) { -- 2.34.1 From 7a79fab52aef5e0fad3c54c991977a96d436bec6 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 21 Apr 2020 21:48:47 +0200 Subject: [PATCH 17/27] receiveTc (almost) empty now --- tmtcservices/TmTcBridge.cpp | 12 ------------ tmtcservices/TmTcBridge.h | 7 ++++++- 2 files changed, 6 insertions(+), 13 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 0040b163b..471fe8287 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -68,18 +68,6 @@ ReturnValue_t TmTcBridge::handleTc() { uint8_t * recvBuffer = nullptr; size_t recvLen = 0; ReturnValue_t result = receiveTc(&recvBuffer, &recvLen); - if(result == RETURN_OK and recvLen > 0 and recvBuffer != nullptr) { - store_address_t storeId = 0; - ReturnValue_t result = tcStore->addData(&storeId, - recvBuffer, (uint32_t)recvLen); - if(result != RETURN_OK) { - return result; - } - TmTcMessage message(storeId); - if (TmTcReceptionQueue->sendToDefault(&message) != RETURN_OK) { - tcStore->deleteData(storeId); - } - } return result; } diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 865cd001e..ef1602577 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -65,7 +65,12 @@ protected: bool tmStored = false; /** - * Handle TC reception. Default implementation provided + * @brief Handle TC reception + * @details + * Default implementation provided, but is empty. + * Child handler should override this in most cases orsend TC to the + * TC distributor directly with the address of the reception queue by + * calling getReportRecptionQueue() * @return */ virtual ReturnValue_t handleTc(); -- 2.34.1 From 57c225d4fcf9978796b58cf76c5e42f434ca8640 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 22 Apr 2020 18:15:45 +0200 Subject: [PATCH 18/27] faulty includes removed --- tmtcservices/TmTcBridge.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 471fe8287..827e855e0 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -2,10 +2,8 @@ #include #include -#include #include #include -#include TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), -- 2.34.1 From 04835587a7d31487d0707ebfdfdbbd076ebf7175 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 22 Apr 2020 18:20:04 +0200 Subject: [PATCH 19/27] delay variable removed --- tmtcservices/TmTcBridge.cpp | 7 +------ tmtcservices/TmTcBridge.h | 3 +-- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 827e855e0..f24b2561e 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -8,18 +8,13 @@ TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), ccsdsPacketDistributor(ccsdsPacketDistributor_), - sentPacketsPerCycle(5), delayBetweenSentPacketsMs(0) -{ + sentPacketsPerCycle(5) { TmTcReceptionQueue = QueueFactory::instance()-> createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); } TmTcBridge::~TmTcBridge() {} -void TmTcBridge::setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets) { - this->delayBetweenSentPacketsMs = delayBetweenSentPackets; -} - ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( uint8_t sentPacketsPerCycle) { if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) { diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index ef1602577..b3a583290 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -112,7 +112,7 @@ protected: * @param message * @return */ - ReturnValue_t storeDownlinkData(TmTcMessage * message); + virtual ReturnValue_t storeDownlinkData(TmTcMessage * message); /** * Send stored data if communication link is active @@ -130,7 +130,6 @@ protected: private: FIFO fifo; uint8_t sentPacketsPerCycle = 10; - uint32_t delayBetweenSentPacketsMs = 0; }; -- 2.34.1 From d0ce075e0d70332a1cee51d777338b3808a689cc Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Wed, 22 Apr 2020 18:21:50 +0200 Subject: [PATCH 20/27] added old comment --- tmtcservices/TmTcBridge.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index f24b2561e..9408df2f9 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -135,9 +135,9 @@ ReturnValue_t TmTcBridge::sendStoredTm() { uint32_t size = 0; fifo.retrieve(&storeId); result = tmStore->getData(storeId, &data, &size); - // This does not work yet: is not static function - //PeriodicTaskIF::sleepFor(delayBetweenSentPacketsMs); + sendTm(data,size); + if(result != RETURN_OK) { error << "TMTC Bridge: Could not send stored downlink data" << std::endl; -- 2.34.1 From d7278c449327c435f3cbf84da22a1a847cbfff4f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 23 Apr 2020 10:20:19 +0200 Subject: [PATCH 21/27] adapting tmtc bridge --- tmtcservices/TmTcBridge.cpp | 31 ++++++++++++++++++++++++------- tmtcservices/TmTcBridge.h | 32 +++++++++++++++++++++++--------- 2 files changed, 47 insertions(+), 16 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 9408df2f9..06c5bf660 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -7,25 +7,40 @@ TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), - ccsdsPacketDistributor(ccsdsPacketDistributor_), - sentPacketsPerCycle(5) { - TmTcReceptionQueue = QueueFactory::instance()-> - createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); + ccsdsPacketDistributor(ccsdsPacketDistributor_) +{ + TmTcReceptionQueue = QueueFactory::instance()-> + createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH); } TmTcBridge::~TmTcBridge() {} ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( uint8_t sentPacketsPerCycle) { - if(sentPacketsPerCycle <= MAX_STORED_DATA_SENT_PER_CYCLE) { + if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) { this->sentPacketsPerCycle = sentPacketsPerCycle; return RETURN_OK; } else { + warning << "TmTcBridge: Number of packets sent per cycle " + "exceeds limits" << std::endl; return RETURN_FAILED; } } +ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( + uint8_t maxNumberOfPacketsStored) { + if(maxNumberOfPacketsStored <= LIMIT_DOWNLINK_PACKETS_STORED) { + this->maxNumberOfPacketsStored = maxNumberOfPacketsStored; + return RETURN_OK; + } + else { + warning << "TmTcBridge: Number of packets stored " + "exceeds limits" << std::endl; + return RETURN_FAILED; + } +} + ReturnValue_t TmTcBridge::initialize() { tcStore = objectManager->get(objects::TC_STORE); if (tcStore == NULL) { @@ -72,7 +87,7 @@ ReturnValue_t TmTcBridge::handleTm() { } if(tmStored && communicationLinkUp) { - result = sendStoredTm(); + result = handleStoredTm(); } return result; @@ -124,7 +139,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { return RETURN_OK; } -ReturnValue_t TmTcBridge::sendStoredTm() { +ReturnValue_t TmTcBridge::handleStoredTm() { uint8_t counter = 0; ReturnValue_t result = RETURN_OK; while(!fifo.empty() && counter < sentPacketsPerCycle) { @@ -171,6 +186,8 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { return TmTcReceptionQueue->getId(); } + + void TmTcBridge::printData(uint8_t * data, size_t dataLen) { info << "TMTC Bridge: Printing data: ["; for(uint32_t i=0;i fifo; - uint8_t sentPacketsPerCycle = 10; + FIFO fifo; + uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; + uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; }; -- 2.34.1 From e3a4eca3f90fc573c917aca0b0be3a6ea7809ca2 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 23 Apr 2020 10:22:25 +0200 Subject: [PATCH 22/27] info output commented out --- tmtcservices/TmTcBridge.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 06c5bf660..aa0a05391 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -170,13 +170,13 @@ ReturnValue_t TmTcBridge::handleStoredTm() { void TmTcBridge::registerCommConnect() { if(!communicationLinkUp) { - info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; + //info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; communicationLinkUp = true; } } void TmTcBridge::registerCommDisconnect() { - info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; + //info << "TMTC Bridge: Registered Comm Link Disconnect" << std::endl; if(communicationLinkUp) { communicationLinkUp = false; } -- 2.34.1 From ab2794e2d8b12634b32463e7a4a2d05eb0967cbf Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 23 Apr 2020 10:24:34 +0200 Subject: [PATCH 23/27] minor form changes --- tmtcservices/TmTcBridge.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index aa0a05391..6a7bbcad8 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -23,7 +23,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( } else { warning << "TmTcBridge: Number of packets sent per cycle " - "exceeds limits" << std::endl; + "exceeds limits. Keeping default value." << std::endl; return RETURN_FAILED; } } @@ -36,7 +36,7 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( } else { warning << "TmTcBridge: Number of packets stored " - "exceeds limits" << std::endl; + "exceeds limits. Keeping default value." << std::endl; return RETURN_FAILED; } } @@ -142,7 +142,7 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { ReturnValue_t TmTcBridge::handleStoredTm() { uint8_t counter = 0; ReturnValue_t result = RETURN_OK; - while(!fifo.empty() && counter < sentPacketsPerCycle) { + while(not fifo.empty() && counter < sentPacketsPerCycle) { //info << "TMTC Bridge: Sending stored TM data. There are " // << (int) fifo.size() << " left to send\r\n" << std::flush; store_address_t storeId; @@ -169,7 +169,7 @@ ReturnValue_t TmTcBridge::handleStoredTm() { } void TmTcBridge::registerCommConnect() { - if(!communicationLinkUp) { + if(not communicationLinkUp) { //info << "TMTC Bridge: Registered Comm Link Connect" << std::endl; communicationLinkUp = true; } @@ -190,7 +190,7 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { void TmTcBridge::printData(uint8_t * data, size_t dataLen) { info << "TMTC Bridge: Printing data: ["; - for(uint32_t i=0;i Date: Thu, 23 Apr 2020 10:32:05 +0200 Subject: [PATCH 24/27] better names --- tmtcservices/TmTcBridge.cpp | 4 ++-- tmtcservices/TmTcBridge.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index 6a7bbcad8..b4732a853 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -80,7 +80,7 @@ ReturnValue_t TmTcBridge::handleTc() { } ReturnValue_t TmTcBridge::handleTm() { - ReturnValue_t result = readTmQueue(); + ReturnValue_t result = handleTmQueue(); if(result != RETURN_OK) { error << "TMTC Bridge: Reading TM Queue failed" << std::endl; return RETURN_FAILED; @@ -93,7 +93,7 @@ ReturnValue_t TmTcBridge::handleTm() { } -ReturnValue_t TmTcBridge::readTmQueue() { +ReturnValue_t TmTcBridge::handleTmQueue() { TmTcMessage message; const uint8_t* data = nullptr; uint32_t size = 0; diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 815d6a877..c6c79d6c0 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -108,7 +108,7 @@ protected: * Read the TM Queue and send TM if necessary. Default implementation provided * @return */ - virtual ReturnValue_t readTmQueue(); + virtual ReturnValue_t handleTmQueue(); /** * Send stored data if communication link is active -- 2.34.1 From 07247dbf403b625dcc1b5c54241243ad19219288 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 23 Apr 2020 11:50:13 +0200 Subject: [PATCH 25/27] added virtual keyword for init and performOp() --- tmtcservices/TmTcBridge.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index c6c79d6c0..9fb00ef12 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -52,12 +52,12 @@ public: * Initializes necessary FSFW components for the TMTC Bridge * @return */ - ReturnValue_t initialize() override; + virtual ReturnValue_t initialize() override; /** * @brief Handles TMTC reception */ - ReturnValue_t performOperation(uint8_t operationCode = 0) override; + virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override; /** * Return TMTC Reception Queue -- 2.34.1 From 6be607e4220141111c67a2a611fc1e62517e269c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 4 May 2020 17:33:56 +0200 Subject: [PATCH 26/27] FIFO protected --- tmtcservices/TmTcBridge.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 9fb00ef12..15fd42c1b 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -75,6 +75,7 @@ protected: //! Used to specify whether communication link is up bool communicationLinkUp = false; bool tmStored = false; + FIFO fifo; /** * @brief Handle TC reception @@ -141,7 +142,6 @@ protected: void printData(uint8_t * data, size_t dataLen); private: - FIFO fifo; uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; }; -- 2.34.1 From e935b8bd04ee349e45c4bdcd60a2fa306cc73d74 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 23 Jun 2020 10:45:47 +0200 Subject: [PATCH 27/27] some minor improvements --- tmtcservices/TmTcBridge.cpp | 50 ++++++++++++++++--------------------- tmtcservices/TmTcBridge.h | 20 ++++++++------- 2 files changed, 32 insertions(+), 38 deletions(-) diff --git a/tmtcservices/TmTcBridge.cpp b/tmtcservices/TmTcBridge.cpp index b4732a853..f9a7d3bc5 100644 --- a/tmtcservices/TmTcBridge.cpp +++ b/tmtcservices/TmTcBridge.cpp @@ -1,9 +1,9 @@ #include #include -#include #include #include +#include TmTcBridge::TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_): SystemObject(objectId_), @@ -22,7 +22,7 @@ ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle( return RETURN_OK; } else { - warning << "TmTcBridge: Number of packets sent per cycle " + sif::warning << "TmTcBridge: Number of packets sent per cycle " "exceeds limits. Keeping default value." << std::endl; return RETURN_FAILED; } @@ -35,7 +35,7 @@ ReturnValue_t TmTcBridge::setMaxNumberOfPacketsStored( return RETURN_OK; } else { - warning << "TmTcBridge: Number of packets stored " + sif::warning << "TmTcBridge: Number of packets stored " "exceeds limits. Keeping default value." << std::endl; return RETURN_FAILED; } @@ -63,11 +63,11 @@ ReturnValue_t TmTcBridge::performOperation(uint8_t operationCode) { ReturnValue_t result; result = handleTc(); if(result != RETURN_OK) { - error << "TMTC Bridge: Error handling TCs" << std::endl; + sif::error << "TMTC Bridge: Error handling TCs" << std::endl; } result = handleTm(); if (result != RETURN_OK) { - error << "TMTC Bridge: Error handling TMs" << std::endl; + sif::error << "TMTC Bridge: Error handling TMs" << std::endl; } return result; } @@ -82,11 +82,11 @@ ReturnValue_t TmTcBridge::handleTc() { ReturnValue_t TmTcBridge::handleTm() { ReturnValue_t result = handleTmQueue(); if(result != RETURN_OK) { - error << "TMTC Bridge: Reading TM Queue failed" << std::endl; + sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl; return RETURN_FAILED; } - if(tmStored && communicationLinkUp) { + if(tmStored and communicationLinkUp) { result = handleStoredTm(); } return result; @@ -95,8 +95,8 @@ ReturnValue_t TmTcBridge::handleTm() { ReturnValue_t TmTcBridge::handleTmQueue() { TmTcMessage message; - const uint8_t* data = nullptr; - uint32_t size = 0; + const uint8_t* data = nullptr; + size_t size = 0; for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message); result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message)) { @@ -112,7 +112,7 @@ ReturnValue_t TmTcBridge::handleTmQueue() { result = sendTm(data, size); if (result != RETURN_OK) { - error << "TMTC Bridge: Could not send TM packet"<< std::endl; + sif::error << "TMTC Bridge: Could not send TM packet"<< std::endl; tmStore->deleteData(message.getStorageId()); return result; @@ -127,14 +127,14 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { // "Saving packet ID to be sent later\r\n" << std::flush; store_address_t storeId = 0; - if(fifo.full()) { - error << "TMTC Bridge: TM downlink max. number of stored packet IDs " + if(tmFifo.full()) { + sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs " "reached! Overwriting old data" << std::endl; - fifo.retrieve(&storeId); + tmFifo.retrieve(&storeId); tmStore->deleteData(storeId); } storeId = message->getStorageId(); - fifo.insert(storeId); + tmFifo.insert(storeId); tmStored = true; return RETURN_OK; } @@ -142,25 +142,25 @@ ReturnValue_t TmTcBridge::storeDownlinkData(TmTcMessage *message) { ReturnValue_t TmTcBridge::handleStoredTm() { uint8_t counter = 0; ReturnValue_t result = RETURN_OK; - while(not fifo.empty() && counter < sentPacketsPerCycle) { + while(not tmFifo.empty() and counter < sentPacketsPerCycle) { //info << "TMTC Bridge: Sending stored TM data. There are " // << (int) fifo.size() << " left to send\r\n" << std::flush; store_address_t storeId; - const uint8_t* data = NULL; - uint32_t size = 0; - fifo.retrieve(&storeId); + const uint8_t* data = nullptr; + size_t size = 0; + tmFifo.retrieve(&storeId); result = tmStore->getData(storeId, &data, &size); sendTm(data,size); if(result != RETURN_OK) { - error << "TMTC Bridge: Could not send stored downlink data" + sif::error << "TMTC Bridge: Could not send stored downlink data" << std::endl; result = RETURN_FAILED; } counter ++; - if(fifo.empty()) { + if(tmFifo.empty()) { tmStored = false; } tmStore->deleteData(storeId); @@ -187,14 +187,6 @@ MessageQueueId_t TmTcBridge::getReportReceptionQueue(uint8_t virtualChannel) { } - void TmTcBridge::printData(uint8_t * data, size_t dataLen) { - info << "TMTC Bridge: Printing data: ["; - for(uint32_t i = 0; i < dataLen; i++) { - info << std::hex << (int)data[i]; - if(i < dataLen-1){ - info << " , "; - } - } - info << " ] " << std::endl; + arrayprinter::print(data, dataLen); } diff --git a/tmtcservices/TmTcBridge.h b/tmtcservices/TmTcBridge.h index 15fd42c1b..3e0432d8a 100644 --- a/tmtcservices/TmTcBridge.h +++ b/tmtcservices/TmTcBridge.h @@ -25,8 +25,6 @@ public: TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_); virtual ~TmTcBridge(); - void setDelayBetweenSentPackets(uint32_t delayBetweenSentPackets); - /** * Set number of packets sent per performOperation().Please note that this * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE @@ -45,8 +43,8 @@ public: */ ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored); - void registerCommConnect(); - void registerCommDisconnect(); + virtual void registerCommConnect(); + virtual void registerCommDisconnect(); /** * Initializes necessary FSFW components for the TMTC Bridge @@ -64,7 +62,8 @@ public: * @param virtualChannel * @return */ - MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override; + MessageQueueId_t getReportReceptionQueue( + uint8_t virtualChannel = 0) override; protected: //! Used to send and receive TMTC messages. //! TmTcMessage is used to transport messages between tasks. @@ -75,7 +74,6 @@ protected: //! Used to specify whether communication link is up bool communicationLinkUp = false; bool tmStored = false; - FIFO fifo; /** * @brief Handle TC reception @@ -141,9 +139,13 @@ protected: */ void printData(uint8_t * data, size_t dataLen); -private: - uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; - uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; + /** + * This fifo can be used to store downlink data + * which can not be sent at the moment. + */ + FIFO tmFifo; + uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE; + uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED; }; -- 2.34.1