tmtcservices/TmTcBridge.cpp

@@ -0,0 +1,192 @@
+#include <framework/tmtcservices/TmTcBridge.h>
+
+#include <framework/ipc/QueueFactory.h>
+#include <framework/tmtcservices/AcceptsTelecommandsIF.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include <framework/globalfunctions/arrayprinter.h>
+
+TmTcBridge::TmTcBridge(object_id_t objectId_,
+        object_id_t ccsdsPacketDistributor_): SystemObject(objectId_),
+        ccsdsPacketDistributor(ccsdsPacketDistributor_)
+{
+    TmTcReceptionQueue = QueueFactory::instance()->
+            createMessageQueue(TMTC_RECEPTION_QUEUE_DEPTH);
+}
+
+TmTcBridge::~TmTcBridge() {}
+
+ReturnValue_t TmTcBridge::setNumberOfSentPacketsPerCycle(
+		uint8_t sentPacketsPerCycle) {
+	if(sentPacketsPerCycle <= LIMIT_STORED_DATA_SENT_PER_CYCLE) {
+		this->sentPacketsPerCycle = sentPacketsPerCycle;
+		return RETURN_OK;
+	}
+	else {
+	    sif::warning << "TmTcBridge: Number of packets sent per cycle "
+	               "exceeds limits. Keeping default value." << 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 {
+        sif::warning << "TmTcBridge: Number of packets stored "
+                   "exceeds limits. Keeping default value." << std::endl;
+        return RETURN_FAILED;
+    }
+}
+
+ReturnValue_t TmTcBridge::initialize() {
+	tcStore = objectManager->get<StorageManagerIF>(objects::TC_STORE);
+	if (tcStore == NULL) {
+		return RETURN_FAILED;
+	}
+	tmStore = objectManager->get<StorageManagerIF>(objects::TM_STORE);
+	if (tmStore == NULL) {
+		return RETURN_FAILED;
+	}
+	AcceptsTelecommandsIF* tcDistributor =
+			objectManager->get<AcceptsTelecommandsIF>(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) {
+		sif::error << "TMTC Bridge: Error handling TCs" << std::endl;
+	}
+	result = handleTm();
+	if (result != RETURN_OK) {
+		sif::error << "TMTC Bridge: Error handling TMs" << std::endl;
+	}
+	return result;
+}
+
+ReturnValue_t TmTcBridge::handleTc() {
+	uint8_t * recvBuffer = nullptr;
+	size_t recvLen = 0;
+	ReturnValue_t result = receiveTc(&recvBuffer, &recvLen);
+	return result;
+}
+
+ReturnValue_t TmTcBridge::handleTm() {
+	ReturnValue_t result = handleTmQueue();
+	if(result != RETURN_OK) {
+		sif::error << "TMTC Bridge: Reading TM Queue failed" << std::endl;
+		return RETURN_FAILED;
+	}
+
+	if(tmStored and communicationLinkUp) {
+		result = handleStoredTm();
+	}
+	return result;
+
+}
+
+ReturnValue_t TmTcBridge::handleTmQueue() {
+	TmTcMessage message;
+	const uint8_t* data = nullptr;
+	size_t size = 0;
+	for (ReturnValue_t result = TmTcReceptionQueue->receiveMessage(&message);
+		 result == RETURN_OK; result = TmTcReceptionQueue->receiveMessage(&message))
+	{
+		if(communicationLinkUp == false) {
+			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) {
+			sif::error << "TMTC Bridge: 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) {
+	//debug << "TMTC Bridge: Comm Link down. "
+	//		 "Saving packet ID to be sent later\r\n" << std::flush;
+	store_address_t storeId = 0;
+
+	if(tmFifo.full()) {
+		sif::error << "TMTC Bridge: TM downlink max. number of stored packet IDs "
+				 "reached! Overwriting old data" << std::endl;
+		tmFifo.retrieve(&storeId);
+		tmStore->deleteData(storeId);
+	}
+	storeId = message->getStorageId();
+	tmFifo.insert(storeId);
+	tmStored = true;
+	return RETURN_OK;
+}
+
+ReturnValue_t TmTcBridge::handleStoredTm() {
+	uint8_t counter = 0;
+	ReturnValue_t result = RETURN_OK;
+	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 = nullptr;
+		size_t size = 0;
+		tmFifo.retrieve(&storeId);
+		result = tmStore->getData(storeId, &data, &size);
+
+		sendTm(data,size);
+
+		if(result != RETURN_OK) {
+			sif::error << "TMTC Bridge: Could not send stored downlink data"
+			      << std::endl;
+			result = RETURN_FAILED;
+		}
+		counter ++;
+
+		if(tmFifo.empty()) {
+			tmStored = false;
+		}
+		tmStore->deleteData(storeId);
+	}
+	return result;
+}
+
+void TmTcBridge::registerCommConnect() {
+	if(not communicationLinkUp) {
+		//info << "TMTC Bridge: Registered Comm Link Connect" << std::endl;
+		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, size_t dataLen) {
+	arrayprinter::print(data, dataLen);
+}

tmtcservices/TmTcBridge.h

@@ -0,0 +1,152 @@
+#ifndef FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+#define FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_
+
+#include <framework/tmtcservices/AcceptsTelemetryIF.h>
+#include <framework/tasks/ExecutableObjectIF.h>
+#include <framework/ipc/MessageQueueIF.h>
+#include <framework/storagemanager/StorageManagerIF.h>
+#include <framework/objectmanager/SystemObject.h>
+
+#include <framework/tmtcservices/TmTcMessage.h>
+#include <framework/container/FIFO.h>
+
+class TmTcBridge : public AcceptsTelemetryIF,
+		public ExecutableObjectIF,
+		public HasReturnvaluesIF,
+		public SystemObject {
+public:
+	static constexpr uint8_t TMTC_RECEPTION_QUEUE_DEPTH = 20;
+	static constexpr uint8_t LIMIT_STORED_DATA_SENT_PER_CYCLE = 15;
+	static constexpr uint8_t LIMIT_DOWNLINK_PACKETS_STORED = 20;
+
+	static constexpr uint8_t DEFAULT_STORED_DATA_SENT_PER_CYCLE = 5;
+	static constexpr uint8_t DEFAULT_DOWNLINK_PACKETS_STORED = 10;
+
+	TmTcBridge(object_id_t objectId_, object_id_t ccsdsPacketDistributor_);
+	virtual ~TmTcBridge();
+
+	/**
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_STORED_DATA_SENT_PER_CYCLE
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 * 		   -@c RETURN_FAILED otherwise, stored value stays the same
+	 */
+	ReturnValue_t setNumberOfSentPacketsPerCycle(uint8_t sentPacketsPerCycle);
+
+	/**
+	 * Set number of packets sent per performOperation().Please note that this
+	 * value must be smaller than MAX_DOWNLINK_PACKETS_STORED
+	 * @param sentPacketsPerCycle
+	 * @return -@c RETURN_OK if value was set successfully
+	 *         -@c RETURN_FAILED otherwise, stored value stays the same
+	 */
+	ReturnValue_t setMaxNumberOfPacketsStored(uint8_t maxNumberOfPacketsStored);
+
+	virtual void registerCommConnect();
+	virtual void registerCommDisconnect();
+
+	/**
+	 * Initializes necessary FSFW components for the TMTC Bridge
+	 * @return
+	 */
+	virtual ReturnValue_t initialize() override;
+
+	/**
+	 * @brief	Handles TMTC reception
+	 */
+	virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
+
+	/**
+	 * Return TMTC Reception Queue
+	 * @param virtualChannel
+	 * @return
+	 */
+	MessageQueueId_t getReportReceptionQueue(
+			uint8_t virtualChannel = 0) override;
+protected:
+	//! 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;
+
+	/**
+	 * @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();
+
+	/**
+	 * Implemented by child class. Perform receiving of Telecommand,
+	 * for example by implementing specific drivers or wrappers,
+	 * e.g. UART Communication or an ethernet stack
+	 * @param recvBuffer [out] Received data
+	 * @param size [out] Size of received data
+	 * @return
+	 */
+	virtual ReturnValue_t receiveTc(uint8_t ** recvBuffer, size_t * size) = 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 handleTmQueue();
+
+	/**
+	 * Send stored data if communication link is active
+	 * @return
+	 */
+	virtual ReturnValue_t handleStoredTm();
+
+	/**
+	 * 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
+	 */
+	virtual ReturnValue_t sendTm(const uint8_t * data, size_t dataLen) = 0;
+
+	/**
+	 * Store data to be sent later if communication link is not up.
+	 * @param message
+	 * @return
+	 */
+	virtual ReturnValue_t storeDownlinkData(TmTcMessage * message);
+
+
+	/**
+	 * Print data as hexidecimal array
+	 * @param data
+	 * @param dataLen
+	 */
+	void printData(uint8_t * data, size_t dataLen);
+
+	/**
+	 * This fifo can be used to store downlink data
+	 * which can not be sent at the moment.
+	 */
+	FIFO<store_address_t, LIMIT_DOWNLINK_PACKETS_STORED> tmFifo;
+    uint8_t sentPacketsPerCycle = DEFAULT_STORED_DATA_SENT_PER_CYCLE;
+    uint8_t maxNumberOfPacketsStored = DEFAULT_DOWNLINK_PACKETS_STORED;
+};
+
+
+#endif /* FRAMEWORK_TMTCSERVICES_TMTCBRIDGE_H_ */