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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 +197 -131
6 changed files with 197 additions and 131 deletions
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26
CHANGELOG.md
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@ -9,26 +9,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
# [unreleased]
# [v6.0.0] 2023-02-10
## Fixes
@ -67,6 +47,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
- `TcpTmTcServer.cpp`: The server was actually not able to handle
CCSDS packets which were clumped together. This has been fixed now.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/673
- `CServiceHealthCommanding`: Add announce all health info implementation
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
- various fixes related to linux Unittests and memory leaks
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/715
- small fix to allow teardown handling
@ -133,6 +115,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes
- `CService201HealthCommanding` renamed to `CServiceHealthCommanding`,
service ID customizable now. `CServiceHealthCommanding` expects configuration struct
`HealthServiceCfg` now
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/122
- `AcceptsTelemetryIF`: `getReportReceptionQueue` is const now
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/712
- Moved some container returnvalues to dedicated header and namespace

2
src/fsfw/health/HealthTable.h
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@ -8,6 +8,8 @@
#include "HealthTableIF.h"
class HealthTable : public HealthTableIF, public SystemObject {
friend class CServiceHealthCommanding;
public:
explicit HealthTable(object_id_t objectid);
~HealthTable() override;

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)

106
src/fsfw/pus/CService201HealthCommanding.cpp
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@ -1,106 +0,0 @@
#include "fsfw/pus/CService201HealthCommanding.h"
#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/pus/servicepackets/Service201Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
CService201HealthCommanding::CService201HealthCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId,
uint8_t numParallelCommands,
uint16_t commandTimeoutSeconds)
: CommandingServiceBase(objectId, apid, "PUS 201 Health MGMT", serviceId, numParallelCommands,
commandTimeoutSeconds) {}
ReturnValue_t CService201HealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
return returnvalue::OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice" << std::endl;
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
ReturnValue_t CService201HealthCommanding::getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData,
size_t tcDataLen,
MessageQueueId_t *id,
object_id_t *objectId) {
if (tcDataLen < sizeof(object_id_t)) {
return CommandingServiceBase::INVALID_TC;
}
SerializeAdapter::deSerialize(objectId, &tcData, &tcDataLen, SerializeIF::Endianness::BIG);
return checkInterfaceAndAcquireMessageQueue(id, objectId);
}
ReturnValue_t CService201HealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
if (destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = destination->getCommandQueue();
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 result = returnvalue::OK;
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH): {
HealthSetCommand healthCommand;
result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
break;
}
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
healthCommand.getHealth());
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE_ALL);
break;
}
default: {
// Should never happen, subservice was already checked
result = returnvalue::FAILED;
}
}
return result;
}
ReturnValue_t CService201HealthCommanding::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;
} else if (replyId == CommandMessageIF::REPLY_REJECTED) {
return reply->getReplyRejectedReason();
}
return CommandingServiceBase::INVALID_REPLY;
}
// Not used for now, health state already reported by event
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);
return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
}

158
src/fsfw/pus/CServiceHealthCommanding.cpp Normal file
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@ -0,0 +1,158 @@
#include <fsfw/events/EventManagerIF.h>
#include <fsfw/pus/CServiceHealthCommanding.h>
#include "fsfw/health/HasHealthIF.h"
#include "fsfw/health/HealthMessage.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/pus/servicepackets/Service201Packets.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
CServiceHealthCommanding::CServiceHealthCommanding(HealthServiceCfg args)
: CommandingServiceBase(args.objectId, args.apid, "PUS 201 Health MGMT", args.service,
args.numParallelCommands, args.commandTimeoutSeconds),
healthTableId(args.table),
maxNumHealthInfoPerCycle(args.maxNumHealthInfoPerCycle) {}
ReturnValue_t CServiceHealthCommanding::initialize() {
ReturnValue_t result = CommandingServiceBase::initialize();
if (result != returnvalue::OK) {
return result;
}
healthTable = ObjectManager::instance()->get<HealthTable>(healthTableId);
if(healthTable == nullptr) {
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t CServiceHealthCommanding::isValidSubservice(uint8_t subservice) {
switch (subservice) {
case (Subservice::COMMAND_SET_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH):
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL):
return returnvalue::OK;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Invalid Subservice" << std::endl;
#endif
return AcceptsTelecommandsIF::INVALID_SUBSERVICE;
}
}
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);
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
return returnvalue::OK;
}
default: {
return returnvalue::FAILED;
}
}
}
ReturnValue_t CServiceHealthCommanding::checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t *messageQueueToSet, const object_id_t *objectId) {
auto *destination = ObjectManager::instance()->get<HasHealthIF>(*objectId);
if (destination == nullptr) {
return CommandingServiceBase::INVALID_OBJECT;
}
*messageQueueToSet = destination->getCommandQueue();
return returnvalue::OK;
}
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): {
HealthSetCommand healthCommand;
result = healthCommand.deSerialize(&tcData, &tcDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
break;
}
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_SET,
healthCommand.getHealth());
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
break;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
ReturnValue_t result = iterateHealthTable(true);
if (result == returnvalue::OK) {
reportAllHealth = true;
return EXECUTION_COMPLETE;
}
return result;
}
default: {
// Should never happen, subservice was already checked
result = returnvalue::FAILED;
}
}
return result;
}
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;
} else if (replyId == CommandMessageIF::REPLY_REJECTED) {
return reply->getReplyRejectedReason();
}
return CommandingServiceBase::INVALID_REPLY;
}
void CServiceHealthCommanding::doPeriodicOperation() {
if (reportAllHealth) {
for (uint8_t i = 0; i < maxNumHealthInfoPerCycle; i++) {
ReturnValue_t result = iterateHealthTable(false);
if (result != returnvalue::OK) {
reportAllHealth = false;
break;
}
}
}
}
// Not used for now, health state already reported by event
[[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));
HealthSetReply healthSetReply(health, oldHealth);
return sendTmPacket(Subservice::REPLY_HEALTH_SET, healthSetReply);
}
ReturnValue_t CServiceHealthCommanding::iterateHealthTable(bool reset) {
std::pair<object_id_t, HasHealthIF::HealthState> pair;
ReturnValue_t result = healthTable->iterate(&pair, reset);
if (result != returnvalue::OK) {
return result;
} else {
EventManagerIF::triggerEvent(pair.first, HasHealthIF::HEALTH_INFO, pair.second, pair.second);
return returnvalue::OK;
}
}

34
src/fsfw/pus/CService201HealthCommanding.h → src/fsfw/pus/CServiceHealthCommanding.h
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@ -1,8 +1,26 @@
#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#include <fsfw/health/HealthTable.h>
#include "fsfw/tmtcservices/CommandingServiceBase.h"
struct HealthServiceCfg {
HealthServiceCfg(object_id_t objectId, uint16_t apid, object_id_t healthTable,
uint16_t maxNumHealthInfoPerCycle)
: objectId(objectId),
apid(apid),
table(healthTable),
maxNumHealthInfoPerCycle(maxNumHealthInfoPerCycle) {}
object_id_t objectId;
uint16_t apid;
object_id_t 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.
@ -17,11 +35,12 @@
* 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,
uint8_t numParallelCommands = 4, uint16_t commandTimeoutSeconds = 60);
~CService201HealthCommanding() override = default;
CServiceHealthCommanding(HealthServiceCfg args);
~CServiceHealthCommanding() override = default;
ReturnValue_t initialize() override;
protected:
/* CSB abstract function implementations */
@ -37,7 +56,14 @@ class CService201HealthCommanding : public CommandingServiceBase {
CommandMessage *optionalNextCommand, object_id_t objectId,
bool *isStep) override;
void doPeriodicOperation() override;
private:
const object_id_t healthTableId;
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);