CommandManager.h

Go to the documentation of this file.

/******************************************************************************
* Copyright (c) ATTX INC 2025. All Rights Reserved.
*
* This software and associated documentation (the "Software") are the
* proprietary and confidential information of ATTX, INC. The Software is
* furnished under a license agreement between ATTX and the user organization
* and may be used or copied only in accordance with the terms of the agreement.
* Refer to 'license/attx_license.adoc' for standard license terms.
*
* EXPORT CONTROL NOTICE: THIS SOFTWARE MAY INCLUDE CONTENT CONTROLLED UNDER THE
* INTERNATIONAL TRAFFIC IN ARMS REGULATIONS (ITAR) OR THE EXPORT ADMINISTRATION
* REGULATIONS (EAR99). No part of the Software may be used, reproduced, or
* transmitted in any form or by any means, for any purpose, without the express
* written permission of ATTX, INC.
******************************************************************************/
/*
Command Manager header file
 
Author: Alex Reynolds
*/
#ifndef FLIGHT_COMMANDMANAGER_H
#define FLIGHT_COMMANDMANAGER_H
 
#include "architecture/CircularBuffer.hpp"
#include "flight/App.h"
#include "flight/Setup.h"
#include "types.h"
#include "command/cmd_CommandManager.h"
#include "telemetry/tlm_CommandManager.h"
namespace warpos {

#define MAX_CMD_TABLE_SIZE 100

#define CMD_INPUT_BUFFER_SIZE 256

struct RegisteredCommandInfo {
    App* assoc_app; // App associated with the command
    uint16 apid;    // Apid for the registered command
    uint8 instance; // Instance for the apid
};

class CommandManager : public App {
public:
    START_PARAMS
        SIGNAL(queue_clear_timeout,             clockwerk::Time,            clockwerk::Time(1, 0))
    END_PARAMS

    CommandManager(FlightExecutive& exc);
    virtual ~CommandManager();

    int16 registerCmdPacket(App* cmd_app, uint16 cmd_apid);

    int16 command(uint16 apid, uint8* buffer, uint16 size) override;

    uint16 numRegisteredPackets() {return _cmd_table_idx;}
 
protected:
    int16 start() override;
    int16 execute() override;
 

    int16 handleCommands();

    bool ingestCommand();

    bool scanForHeader();

    int16 routeCommand(App *cmd_app_ptr, uint16 apid, uint8 instance, uint8 *buffer, uint16 length);

    int16 softResetCmd(uint8 *buffer, uint16 size);
    int16 logLevelCmd(uint8 *buffer, uint16 size);
    int16 scheduleCmd(uint8 *buffer, uint16 size);
    int16 activateCmd(uint8 *buffer, uint16 size);
    int16 deactivateCmd(uint8 *buffer, uint16 size);
 
    RegisteredCommandInfo _reg_cmd_table[MAX_CMD_TABLE_SIZE];   
 
    clockwerk::Time _last_read_time;                            
 
    uint16 _cmd_table_idx = 0;                                  
 
    clockwerk::CircularBuffer<uint8, CMD_INPUT_BUFFER_SIZE> _cmd_input_byte_buff;   
 
    uint8 _ccsds_data[CCSDS_FULL_HDR_LEN_BYTES]; 

    uint16 _exc_error_count = 0;                            
    uint16 _pkt_not_registered_count = 0;                   
    uint16 _crc_error_count = 0;                            
    uint16 _timeout_count = 0;                              
    uint16 _successful_cmd_count = 0;                       

    tlm_cmd_mngr_error _tlm_cmd_mngr_error;                 
    tlm_cmd_mngr_status _tlm_cmd_mngr_status;               
};
}
 
#endif