Robin Mueller
0ac1d1c1ca
This PR adds the packet stack for the CCSDS File Delivery Protocol. It also refactors the existing TMTC infastructure to allow sending of CFDP packets to the CCSDS handlers. This includes the whole PDU (Protocol Data Unit) stack: - File Data PDUs and all file directive PDUs - ACK PDU - NAK PDU - Metadata PDU - Finished PDU - Prompt PDU - Keep Alive PDU - EOF PDU The PR includes a full set of unittests for the packet stack with a coverage of 90+ %. The refactoring of the existing TMTC infastructure includes non-ideal solutions like diamond inheritance. Avoiding this solution would require refactoring the packet stack. This would be a good idea anyway because the existing stack is tightly coupled to the FSFW, making reuse more difficult if only the stack is planned to be used without the store functionalities etc. The PDU implementation provided here is only weakly coupled to the FSFW, only using components like returnvalues or the Serialization modules. There are dedicated serializers and deserializers, which also helps in creating small focused modules which are easy to test. Some of the modules here were provied by Matthias Tompert.
76 lines
2.5 KiB
C++
76 lines
2.5 KiB
C++
#ifndef FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
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#define FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_
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#include "ControllerBase.h"
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#include "fsfw/action.h"
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#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
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#include "fsfw/datapoollocal/LocalDataPoolManager.h"
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/**
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* @brief Extends the basic ControllerBase with commonly used components
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* @details
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* HasActionsIF for commandability and HasLocalDataPoolIF to keep a pool of local data pool
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* variables. Default implementations required for the interfaces will be empty and have
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* to be implemented by child class.
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*/
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class ExtendedControllerBase: public ControllerBase,
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public HasActionsIF,
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public HasLocalDataPoolIF {
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public:
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ExtendedControllerBase(object_id_t objectId, object_id_t parentId,
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size_t commandQueueDepth = 3);
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virtual ~ExtendedControllerBase();
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/* SystemObjectIF overrides */
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virtual ReturnValue_t initialize() override;
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virtual MessageQueueId_t getCommandQueue() const override;
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/* ExecutableObjectIF overrides */
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virtual ReturnValue_t performOperation(uint8_t opCode) override;
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virtual ReturnValue_t initializeAfterTaskCreation() override;
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protected:
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LocalDataPoolManager poolManager;
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ActionHelper actionHelper;
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/**
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* Implemented by child class. Handle all command messages which are
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* not health, mode, action or housekeeping messages.
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* @param message
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* @return
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*/
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virtual ReturnValue_t handleCommandMessage(CommandMessage *message) = 0;
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/**
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* Periodic helper from ControllerBase, implemented by child class.
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*/
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virtual void performControlOperation() = 0;
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/* Handle the four messages mentioned above */
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void handleQueue() override;
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/* HasActionsIF overrides */
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virtual ReturnValue_t executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t* data,
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size_t size) override;
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/* HasLocalDatapoolIF overrides */
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virtual LocalDataPoolManager* getHkManagerHandle() override;
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virtual object_id_t getObjectId() const override;
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virtual uint32_t getPeriodicOperationFrequency() const override;
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virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override = 0;
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virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
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// Mode abstract functions
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virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t *msToReachTheMode) override = 0;
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};
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#endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */
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