fsfw/pus/Service8FunctionManagement.h

70 lines
2.7 KiB
C++

#ifndef FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
#define FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_
#include "../action/ActionMessage.h"
#include "../tmtcservices/CommandingServiceBase.h"
/**
* @brief Functional commanding.
* Full Documentation: ECSS-E-ST-70-41C p.64, p. 451
* Dissertation Baetz p. 115, 116, 165-167
*
* This service provides the capability to perform functions of an
* application process and provides high-level commanding as opposed to the
* Raw Access provided by Service 2. Examples for these functions can include
* control and operation of payload or the AOCS subsystem.
* This service will be the primary means to control the spacecraft as it is
* considered safer than the Raw Access provided
* by Service 2 and is generally sufficient for most tasks.
*
* This is a gateway service. It relays device commands using the software bus.
* This service is very closely tied to the Commanding Service Base template
* class. There is constant interaction between this Service Base und a
* subclass like this service.
*
* Service Capability:
* - TC[8,128]: Direct Commanding
* - TM[8,130]: Direct Commanding Data Reply
*
* @ingroup pus_services
*/
class Service8FunctionManagement : public CommandingServiceBase
{
public:
Service8FunctionManagement(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
virtual ~Service8FunctionManagement();
protected:
/* CSB abstract functions implementation . See CSB documentation. */
ReturnValue_t isValidSubservice(uint8_t subservice) override;
ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
object_id_t *objectId) override;
ReturnValue_t prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) override;
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
private:
enum class Subservice {
//!< [EXPORT] : [COMMAND] Functional commanding
COMMAND_DIRECT_COMMANDING = 128,
//!< [EXPORT] : [REPLY] Data reply
REPLY_DIRECT_COMMANDING_DATA = 130,
};
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* messageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareDirectCommand(CommandMessage* message,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t handleDataReply(const CommandMessage* reply,
object_id_t objectId, ActionId_t actionId);
};
#endif /* FSFW_PUS_SERVICE8FUNCTIONMANAGEMENT_H_ */