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Add Health Service Announce All Health Info #725

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mohr merged 9 commits from eive/fsfw:add_health_service_announce_all into development 2023-02-23 13:13:57 +01:00
Conversation 0 Commits 9 Files Changed 6 +79 -41
4 changed files with 79 additions and 41 deletions
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2
src/fsfw/health/HealthTable.h
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@ -8,7 +8,7 @@
#include "HealthTableIF.h"
class HealthTable : public HealthTableIF, public SystemObject {
friend class CService201HealthCommanding;
friend class CServiceHealthCommanding;
public:
explicit HealthTable(object_id_t objectid);

2
src/fsfw/pus/CMakeLists.txt
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@ -9,4 +9,4 @@ target_sources(
Service17Test.cpp
Service20ParameterManagement.cpp
CService200ModeCommanding.cpp
CService201HealthCommanding.cpp)
CServiceHealthCommanding.cpp)

88
src/fsfw/pus/CService201HealthCommanding.cpp → src/fsfw/pus/CServiceHealthCommanding.cpp
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@ -1,6 +1,5 @@
#include "fsfw/pus/CService201HealthCommanding.h"
#include <fsfw/events/EventManagerIF.h>
#include <fsfw/pus/CServiceHealthCommanding.h>
#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthMessage.h"
@ -8,15 +7,13 @@
#include "fsfw/pus/servicepackets/Service201Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId, HealthTable &table,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds),
healthTable(table) {}
CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
: CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
args.numParallelCommands, args.commandTimeoutSeconds),
healthTable(args.table),
maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH):
@ -30,24 +27,31 @@ ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice)
}
}
ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData,
size_t tcDataLen,
MessageQueueId_t *id,
object_id_t *objectId) {
if (subservice == Subservice::COMMAND_SET_HEALTH and
subservice == Subservice::COMMAND_ANNOUNCE_HEALTH) {
if (tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
ReturnValue_t CServiceHealthCommanding::getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData,
size_t tcDataLen,
MessageQueueId_t *id,
object_id_t *objectId) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
if (tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id, objectId);
return checkInterfaceAndAcquireMessageQueue(id, objectId);
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
return returnvalue::OK;
}
default: {
return returnvalue::FAILED;
}
}
return returnvalue::OK;
}
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
if (destination == nullptr) {
@ -58,10 +62,9 @@ ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
return returnvalue::OK;
}
ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *message,
uint8_t subservice, const uint8_t *tcData,
size_t tcDataLen, uint32_t *state,
object_id_t objectId) {
ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message, uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) {
ReturnValue_t result = returnvalue::OK;
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH): {
@ -80,6 +83,11 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
ReturnValue_t result = iterateHealthTable(true);
if (result == returnvalue::OK) {
reportAllHealth = true;
return EXECUTION_COMPLETE;
}
return result;
while (true) {
ReturnValue_t result = iterateHealthTable(false);
if (result != returnvalue::OK) {
@ -97,10 +105,10 @@ ReturnValue_t CService201HealthCommanding::prepareCommand(CommandMessage *messag
return result;
}
ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand,
object_id_t objectId, bool *isStep) {
ReturnValue_t CServiceHealthCommanding::handleReply(const CommandMessage *reply,
Command_t previousCommand, uint32_t *state,
CommandMessage *optionalNextCommand,
object_id_t objectId, bool *isStep) {
Command_t replyId = reply->getCommand();
if (replyId == HealthMessage::REPLY_HEALTH_SET) {
return EXECUTION_COMPLETE;
@ -110,8 +118,20 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
return CommandingServiceBase::INVALID_REPLY;
}
void CServiceHealthCommanding::doPeriodicOperation() {
if (reportAllHealth) {
for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
ReturnValue_t result = iterateHealthTable(true);
if (result != returnvalue::OK) {
reportAllHealth = false;
break;
}
}
}
}
// Not used for now, health state already reported by event
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
[[maybe_unused]] ReturnValue_t CServiceHealthCommanding::prepareHealthSetReply(
const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
@ -119,7 +139,7 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
}
ReturnValue_t CService201HealthCommanding::iterateHealthTable(bool reset) {
ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
std::pair<object_id_t, HasHealthIF::HealthState> pair;
ReturnValue_t result = healthTable.iterate(&pair, reset);

28
src/fsfw/pus/CService201HealthCommanding.h → src/fsfw/pus/CServiceHealthCommanding.h
View File

@ -5,6 +5,22 @@
#include "fsfw/tmtcservices/CommandingServiceBase.h"
struct HealthServiceCfg {
HealthServiceCfg(object_id_t objectId, uint16_t apid, HealthTable &healthTable,
uint16_t maxNumHealthInfoPerCycle)
: objectId(objectId),
apid(apid),
table(healthTable),
maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
object_id_t objectId;
uint16_t apid;
HealthTable &table;
mohr marked this conversation as resolved Outdated
mohr commented 2023-02-09 11:59:41 +01:00
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Other system objects should not be passed by reference but by objectId and then gotten in initialize() from the ObjectManager.

Other system objects should not be passed by reference but by objectId and then gotten in initialize() from the ObjectManager.
muellerr commented 2023-02-09 14:54:01 +01:00
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Isn't it better to explicitily specify what is expected here? object_id_t yields 0 information in an API context, and I need to build a custom error in the init function.

Isn't it better to explicitily specify what is expected here? `object_id_t` yields 0 information in an API context, and I need to build a custom error in the init function.
mohr commented 2023-02-09 15:29:30 +01:00
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Understood, this is just a core principle in the fsfw.

Understood, this is just a core principle in the fsfw.
uint16_t maxNumHealthInfoPerCycle;
uint8_t service = 201;
uint8_t numParallelCommands = 4;
uint16_t commandTimeoutSeconds = 60;
};
/**
* @brief Custom PUS service to set health of all objects
* implementing hasHealthIF.
@ -19,12 +35,10 @@
* child class like this service
*
*/
class CService201HealthCommanding : public CommandingServiceBase {
class CServiceHealthCommanding : public CommandingServiceBase {
public:
CService201HealthCommanding(object_id_t objectId, uint16_t apid, uint8_t serviceId,
HealthTable &table, uint8_t numParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
~CService201HealthCommanding() override = default;
CServiceHealthCommanding(HealthServiceCfg args);
~CServiceHealthCommanding() override = default;
protected:
/* CSB abstract function implementations */
@ -40,8 +54,12 @@ class CService201HealthCommanding : public CommandingServiceBase {
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) override;
void doPeriodicOperation() override;
private:
HealthTable &healthTable;
uint16_t maxNumHealthInfoPerCycle = 0;
bool reportAllHealth = false;
ReturnValue_t iterateHealthTable(bool reset);
static ReturnValue_t checkInterfaceAndAcquireMessageQueue(MessageQueueId_t *MessageQueueToSet,
const object_id_t *objectId);