tm path

src/fsfw/action/ActionHelper.cpp

@@ -118,29 +118,12 @@ void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, size_t offset,
   action->commandedBy = commandedBy;
   result = owner->executeAction(action);
 
-  TmManager::protocolInformation information;
-  result = tmManager->getProtocolInformation(dataAddress, &information);
+  result =
+      tmManager->sendTmPacket(0xff, HasActionsIF::INTERFACE_ID, 0x13, action, dataAddress, offset);
   if (result != returnvalue::OK) {
-    // HTF did we get here?
+    sif::error << "replying action failed " << std::hex << result << std::dec << std::endl;
   }
 
-  store_address_t replyStoreId;
-  uint8_t* replyPointer;
-  result = ipcStore->getFreeElement(&replyStoreId, information.offset + 4, &replyPointer);
-
-  if (result != returnvalue::OK) {
-    return;
-  }
-
-  memset(replyPointer, 0xfd, 4);
-
-  CommandMessage message;
-
-  ipcStore->deleteData(dataAddress);
-  TmMessage::setCommand(&message, replyStoreId, store_address_t());
-
-  queueToUse->sendMessage(information.reportingQueue, &message);
-
   // ipcStore->deleteData(dataAddress);
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;

src/fsfw/housekeeping/HousekeepingHelper.h

@@ -8,7 +8,7 @@
 #include "HousekeepingSet.h"
 
 class HousekeepingHelper {
-  friend class HousekeepingHelper;
+  friend class HousekeepingSet;
 
  public:
   HousekeepingHelper();
@@ -20,10 +20,10 @@ class HousekeepingHelper {
     return &housekeepingSets;
   }
 
+ protected:
   void registerSet(HousekeepingSet* set);
 
- protected:
-  ReturnValue_t reportHousekeeping(SerializeIF* data, const Action* action = nullptr);
+  ReturnValue_t reportHousekeeping(HousekeepingSet* set, const Action* action = nullptr);
 
  private:
   std::map<HousekeepingSetId_t, HousekeepingSet*> housekeepingSets;

src/fsfw/housekeeping/HousekeepingSet.cpp

@@ -4,7 +4,8 @@
 
 #ifdef FSFW_INTROSPECTION
 HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id) {
-  owner->getHelper()->registerSet(this);
+  helper = owner->getHelper();
+  helper->registerSet(this);
 }
 
 void HousekeepingSet::setEnum(EnumIF* theEnum) {
@@ -13,13 +14,17 @@ void HousekeepingSet::setEnum(EnumIF* theEnum) {
 }
 #else
 HousekeepingSet::HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id) : id(id) {
-  owner->getHelper()->registerSet(this);
+  helper = owner->getHelper();
+  helper->registerSet(this);
 }
 #endif
 
+void HousekeepingSet::report(const Action* action) {
+  helper->reportHousekeeping(this, action);
+}
+
 void HousekeepingSet::registerParameter(ParameterIF* parameter) {
   parameterList.push_back(parameter);
 }
 
-
 std::vector<ParameterIF*> const* HousekeepingSet::getParameters() { return &parameterList; }

src/fsfw/housekeeping/HousekeepingSet.h

@@ -4,6 +4,7 @@
 #include <fsfw/introspection/Enum.h>
 #include <fsfw/introspection/HasTmTcParametersIF.h>
 #include <fsfw/introspection/ParameterIF.h>
+#include <fsfw/serialize/SerializeIF.h>
 
 #include <cstdint>
 
@@ -12,20 +13,21 @@ class GeneratesHousekeepingIF;
 
 using HousekeepingSetId_t = uint32_t;
 
-class HousekeepingSet : public HasTmTcParametersIF {
+class HousekeepingSet : public HasTmTcParametersIF, public SerializeIF {
+  friend class ParameterIF;
+
  public:
 #ifdef FSFW_INTROSPECTION
   HousekeepingSet(GeneratesHousekeepingIF* owner);
   void setEnum(EnumIF* theEnum);
 #else
-  HousekeepingSet(GeneratesHousekeepingIF *owner, HousekeepingSetId_t id);
+  HousekeepingSet(GeneratesHousekeepingIF* owner, HousekeepingSetId_t id);
 #endif
 
   HousekeepingSetId_t getId() const { return id; }
 
   void report(const Action* action = nullptr);
 
-  void registerParameter(ParameterIF* parameter) override;
   std::vector<ParameterIF*> const* getParameters() override;
 
  protected:
@@ -35,4 +37,6 @@ class HousekeepingSet : public HasTmTcParametersIF {
   const char* description;
 #endif
   std::vector<ParameterIF*> parameterList;
+
+  void registerParameter(ParameterIF* parameter) override;
 };

src/fsfw/tmtc/FsfwProtocolHeader.h

@@ -5,10 +5,13 @@
 
 class FsfwProtocolHeader : public SerializeIF {
  public:
+  using InterfaceType_t = uint8_t;
+  using FunctionType_t = uint8_t;
+
   static const size_t HEADER_SIZE = 6;
 
   FsfwProtocolHeader();
-  FsfwProtocolHeader(object_id_t objectID, uint8_t interface, uint8_t function);
+  FsfwProtocolHeader(object_id_t objectID, InterfaceType_t interface, FunctionType_t function);
   ~FsfwProtocolHeader() override;
 
   ReturnValue_t serialize(uint8_t **buffer, size_t *size, size_t maxSize,
@@ -20,11 +23,11 @@ class FsfwProtocolHeader : public SerializeIF {
                             Endianness streamEndianness) override;
 
   object_id_t getObjectId() const;
-  uint8_t getInterface() const;
-  uint8_t getFunction() const;
+  InterfaceType_t getInterface() const;
+  FunctionType_t getFunction() const;
 
  private:
   object_id_t objectId;
-  uint8_t interface;
-  uint8_t function;
+  InterfaceType_t interface;
+  FunctionType_t function;
 };

src/fsfw/tmtc/TmManager.cpp

@@ -1,7 +1,10 @@
 #include "TmManager.h"
 
+#include <fsfw/ipc/MessageQueueSenderIF.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 
+#include "TmMessage.h"
+
 TmManager::TmManager(object_id_t setObjectId) : SystemObject(setObjectId) {}
 
 ReturnValue_t TmManager::initialize() {
@@ -18,8 +21,62 @@ ReturnValue_t TmManager::initialize() {
   return returnvalue::OK;
 }
 
+ReturnValue_t TmManager::sendTmPacket(object_id_t objectId,
+                                      FsfwProtocolHeader::InterfaceType_t interface,
+                                      FsfwProtocolHeader::FunctionType_t function,
+                                      SerializeIF* applicationData, store_address_t tc,
+                                      size_t tcOffset) {
+  ProtocolInformation information;
+
+  ReturnValue_t result = getProtocolInformation(tc, &information);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  const FsfwProtocolHeader tmHeader = FsfwProtocolHeader(objectId, interface, function);
+
+  const size_t storedTcSize =
+      information.offset + tmHeader.getSerializedSize() + applicationData->getSerializedSize();
+
+  store_address_t tm;
+  uint8_t* dataPointer;
+  result = IPCStore->getFreeElement(&tm, storedTcSize, &dataPointer);
+  if (result != returnvalue::OK) {
+    return result;
+  }
+
+  *dataPointer = information.protocol;
+
+  size_t serializedSize = information.offset;
+  dataPointer += information.offset;
+
+  result = tmHeader.serialize(&dataPointer, &serializedSize, storedTcSize,
+                              SerializeIF::Endianness::NETWORK);
+  if (result != returnvalue::OK) {
+    IPCStore->deleteData(tm);
+    return result;
+  }
+  result = applicationData->serialize(&dataPointer, &serializedSize, storedTcSize,
+                                      SerializeIF::Endianness::NETWORK);
+  if (result != returnvalue::OK) {
+    IPCStore->deleteData(tm);
+    return result;
+  }
+
+  CommandMessage tmMessage;
+  TmMessage::setCommand(&tmMessage, tm, tc);
+
+  result = MessageQueueSenderIF::sendMessage(information.reportingQueue, &tmMessage);
+  if (result != returnvalue::OK) {
+    IPCStore->deleteData(tm);
+    return result;
+  }
+
+  return returnvalue::OK;
+}
+
 ReturnValue_t TmManager::getProtocolInformation(store_address_t tc,
-                                                protocolInformation* information) const {
+                                                ProtocolInformation* information) const {
   const uint8_t* tcData;
   size_t tcDataSize;
   ReturnValue_t result = IPCStore->getData(tc, &tcData, &tcDataSize);
@@ -47,12 +104,13 @@ ReturnValue_t TmManager::registerNetworkProtocolInterface(AcceptsTelemetryIF2* o
     return returnvalue::FAILED;
   }
 
-  protocolMap.emplace(protocol, ProtocolInformation({object->getReportReceptionQueue(), offset}));
+  protocolMap.emplace(protocol,
+                      StoredProtocolInformation({object->getReportReceptionQueue(), offset}));
 
   return returnvalue::OK;
 }
 
-ReturnValue_t TmManager::getDefaultProtocolInformation(protocolInformation* information) const {
+ReturnValue_t TmManager::getDefaultProtocolInformation(ProtocolInformation* information) const {
   if (protocolMap.empty()) {
     return returnvalue::FAILED;
   }

src/fsfw/tmtc/TmManager.h

@@ -6,51 +6,62 @@
 #include <map>
 
 #include "AcceptsTelemetryIF.h"
+#include "FsfwProtocolHeader.h"
 #include "FsfwProtocols.h"
 
 // TODO handle VCs and backpressure
+// TODO trailing space?
 
 class TmManager : public SystemObject {
  public:
-    struct protocolInformation {
+  struct ProtocolInformation {
     neither_type protocol;
     size_t offset;
     MessageQueueId_t reportingQueue;
   };
 
-
   TmManager(object_id_t setObjectId);
 
   virtual ~TmManager() = default;
 
   ReturnValue_t initialize() override;
 
+  /**
+   * send a tm packet
+   *
+   *
+   */
+  ReturnValue_t sendTmPacket(object_id_t objectId, FsfwProtocolHeader::InterfaceType_t interface,
+                                FsfwProtocolHeader::FunctionType_t function,
+                                SerializeIF *applicationData,
+                                store_address_t tc = store_address_t(), size_t tcOffset = 0);
+
   /**
    * returns the offset which the application data should start at, using the same network layer as
    * the tc, as well as the protocol type which should be the first byte of the tm
    *
    */
-  ReturnValue_t getProtocolInformation(store_address_t tc, protocolInformation *information) const;
+  ReturnValue_t getProtocolInformation(store_address_t tc, ProtocolInformation *information) const;
 
   /**
    * If tm is unrequested, get Default path
    */
-  ReturnValue_t getDefaultProtocolInformation(protocolInformation *information) const;
+  ReturnValue_t getDefaultProtocolInformation(ProtocolInformation *information) const;
 
   /**
-   * Offset is where application data should start in a preset zero-copy packet. If no fixed value,
-   * report 0 and allocate and copy yourself
+   * Offset is where application data should start in a preallocated zero-copy packet. If no fixed
+   * value, report 0 and allocate and copy yourself
    */
   ReturnValue_t registerNetworkProtocolInterface(AcceptsTelemetryIF2 *object, neither_type protocol,
                                                  size_t offset);
 
  protected:
-  struct ProtocolInformation {
+  struct StoredProtocolInformation {
     MessageQueueId_t queue;
     size_t offset;
   };
 
   StorageManagerIF *IPCStore;
 
-  std::map<neither_type, ProtocolInformation> protocolMap;
+  std::map<neither_type, StoredProtocolInformation> protocolMap;
 };