fsfw/pus/CService201HealthCommanding.h

64 lines
2.4 KiB
C++

#ifndef FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#define FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_
#include "../tmtcservices/CommandingServiceBase.h"
/**
* @brief Custom PUS service to set health of all objects
* implementing hasHealthIF.
*
* Examples: Device Handlers, Assemblies or Subsystems.
* Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
* Dissertation Baetz p. 115, 116, 165-167.
*
* 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
* child class like this service
*
*/
class CService201HealthCommanding: public CommandingServiceBase {
public:
CService201HealthCommanding(object_id_t objectId, uint16_t apid,
uint8_t serviceId, uint8_t numParallelCommands = 4,
uint16_t commandTimeoutSeconds = 60);
virtual~ CService201HealthCommanding();
protected:
/* CSB abstract function implementations */
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;
/** Prepare health command */
ReturnValue_t prepareCommand(CommandMessage* message,
uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
uint32_t *state, object_id_t objectId) override;
/** Handle health reply */
ReturnValue_t handleReply(const CommandMessage* reply,
Command_t previousCommand, uint32_t *state,
CommandMessage* optionalNextCommand, object_id_t objectId,
bool *isStep) override;
private:
ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
const uint8_t* tcData, size_t tcDataLen);
ReturnValue_t checkInterfaceAndAcquireMessageQueue(
MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);
ReturnValue_t prepareHealthSetReply(const CommandMessage *reply);
enum Subservice {
//! [EXPORT] : [TC] Set health of target object
COMMAND_SET_HEALTH = 1,
//! [EXPORT] : [TM] Reply to health set command which also provides old health
REPLY_HEALTH_SET = 2,
//! [EXPORT] : [TC] Commands object to announce their health as an event
COMMAND_ANNOUNCE_HEALTH = 3,
//! [EXPORT] : [TC] Commands all objects in the health map to announce their health
COMMAND_ANNOUNCE_HEALTH_ALL = 4
};
};
#endif /* FSFW_PUS_CSERVICE201HEALTHCOMMANDING_H_ */