This class routes commands from the HAL to associated Apps. More...

#include <CommandManager.h>

Inheritance diagram for warpos::CommandManager:

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Classes
struct	Params

Public Member Functions
	CommandManager (FlightExecutive &exc)
	Only available flight executive constructor.
virtual	~CommandManager ()
int16	registerCmdPacket (App *cmd_app, uint16 cmd_apid)
	Register a command with the command manager.
int16	command (uint16 apid, uint8 *buffer, uint16 size) override
	Process commands issued to the app.
uint16	numRegisteredPackets ()
	Get the number of registered command packets.
Public Member Functions inherited from warpos::App
	App (FlightExecutive &executive, const char *name, uint16 apid, uint8 instance=0)
	Executive-based constructor for the task.
virtual	~App ()
	Destructor. Doesn't really do anything.
int16	startup ()
	Initialize the app. Should be called once before step.
int16	step ()
	Step the app by a single step. Maps params, inputs, etc. to outputs.
virtual int16	activate ()
	Activate the app. The app will step when active.
virtual int16	deactivate ()
	Deactivate the app. The app will not step when deactivated.
log_level_e	logLevel ()
	Get the log level set for the executive.
void	logLevel (log_level_e log_level)
	Set the executive log level.
bool	isStarted ()
	Return whether task startup has been run.
uint16	apid ()
	Get the apid for this app.
uint8 &	instance ()
	Get the instance of this app (used to differentiate between multiple instances of the same app).
Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default.
virtual	~GraphTreeObject ()
	Destructor.
GraphTreeObject *	parent ()
	Functions to get object's parent/children.
GraphTreeObject **	children ()
GraphTreeObject *	childAtIndex (uint8 i) const
int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer.
int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference.
uint8	nChildren () const
	Getters for number of children and descendants.
uint16	nDescendants () const
uint8	capacity () const
const char *	name () const
	Getter and setter for object name.
int16	name (const char *new_name)
uint8	rank ()
	Getter for the object rank.
int8	type ()
	Function to indicate type – -1 by default unless implemented downstream.
bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition.
GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree.
virtual int16	str (char *output, size_t size) const
	Get object represented as string.
virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string.

Public Attributes
Params	params = Params(this, "params")
Public Attributes inherited from warpos::App
clockwerk::DataIO< bool >	active = clockwerk::DataIO<bool>(this, "active", true)
	The active flag for the task – set to true by default.

Protected Member Functions
int16	start () override
int16	execute () override
int16	handleCommands ()
	Function to handle ingesting and routing commands.
bool	ingestCommand ()
	Function to ingest commands from the HAL.
bool	scanForHeader ()
	Scans through the bytes in the command buffer for a valid CCSDS header.
int16	routeCommand (App cmd_app_ptr, uint16 apid, uint8 instance, uint8 buffer, uint16 length)
	Routes a command to an associated app.
int16	softResetCmd (uint8 *buffer, uint16 size)
	Function to handle a received softResetCommand.
int16	logLevelCmd (uint8 *buffer, uint16 size)
	Function to handle LogLevel change commands.
int16	scheduleCmd (uint8 *buffer, uint16 size)
	Function to handle Schedule change commands.
int16	activateCmd (uint8 *buffer, uint16 size)
	Function to handle activate commands.
int16	deactivateCmd (uint8 *buffer, uint16 size)
	Function to handle a deactivate command.
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address.
void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree.
void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree.
int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing.
int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children.

Protected Attributes
RegisteredCommandInfo	_reg_cmd_table [100]
	Table of registered commands.
clockwerk::Time	_last_read_time
	Last time bytes were read from input hw queue.
uint16	_cmd_table_idx = 0
	Current index in the command table.
clockwerk::CircularBuffer< uint8, 256 >	_cmd_input_byte_buff
	Buffer of bytes input from hardware device.
uint8	_ccsds_data [CCSDS_FULL_HDR_LEN_BYTES]
	Buffer to hold CCSDS header data when processing commands.
uint16	_exc_error_count = 0
	Counters for various command manager stats, used in telemetry.
uint16	_pkt_not_registered_count = 0
	Count of commands received for unregistered packets.
uint16	_crc_error_count = 0
	Count of commands received with CRC errors.
uint16	_timeout_count = 0
	Count of times the command queue has been cleared due to timeout.
uint16	_successful_cmd_count = 0
	Count of successfully processed commands.
tlm_cmd_mngr_error	_tlm_cmd_mngr_error
	Telemetry Definitions.
tlm_cmd_mngr_status	_tlm_cmd_mngr_status
	Command manager status telemetry packet.
Protected Attributes inherited from warpos::App
FlightExecutive &	exc
	Override our executive to include the FlightExecutive instead.
int16	_error = 0
	Internal variable to track and return error on app step through.
uint16	_apid = 0
	Internal variable to hold the APID for this app.
bool	_is_started = false
	Flag indicating whether app has been started or not.
log_level_e	_local_log_level = log_level_e::LOG_WARNING
	The log level for this particular app.
GraphTreeObject *	_app_children [MAXIMUM_APP_CHILDREN]
	Local storage for App children so it can live on the graph tree.
uint8	_instance
	Instance number of this app. Used to differentiate between multiple instances of the same app.
Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr
GraphTreeObject **	_children_ptr = nullptr
uint32	_max_num_children = 0
uint16	_num_descendants = 0
char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object.
uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself).
uint8	_rank = 0
int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type.
bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default.
uint32	_index = 0
	Index pointing to the next write location for the graph tree children.

Detailed Description

This class routes commands from the HAL to associated Apps.

The class allows for apps to register their APID, then when the HAL receives commands, this class pulls data from it, checks for a valid CCSDS header, length, APID, and CRC before passing the command to the registered app.

Parameters

queue_clear_timeout defines time the system waits before deleting partial command

Constructor & Destructor Documentation

◆ CommandManager()

warpos::CommandManager::CommandManager ( FlightExecutive & exc )

Only available flight executive constructor.

Parameters

exc	Pointer to executive object
setup	Handle to hardware setup for writeCommand

Note: Implicitly names task "command". Cannot have any other name

◆ ~CommandManager()

warpos::CommandManager::~CommandManager ( )

virtual

Member Function Documentation

◆ activateCmd()

int16 warpos::CommandManager::activateCmd	(	uint8 *	buffer,
		uint16	size )

protected

Function to handle activate commands.

Parameters

buffer	pointer to buffer of data
size	Size of data

Returns: Error code corresponding to success/failure

◆ command()

int16 warpos::CommandManager::command	(	uint16	apid,
		uint8 *	buffer,
		uint16	size )

overridevirtual

Process commands issued to the app.

Parameters

apid	The apid of the command to execute
buffer	The buffer of command data
size	The size of the command data buffer

Returns: Flag indicating success/failure

Reimplemented from warpos::App.

◆ deactivateCmd()

int16 warpos::CommandManager::deactivateCmd	(	uint8 *	buffer,
		uint16	size )

protected

Function to handle a deactivate command.

Parameters

buffer	pointer to buffer of data
size	Size of data

Returns: Error code corresponding to success/failure

◆ execute()

int16 warpos::CommandManager::execute ( )

overrideprotectedvirtual

Reimplemented from warpos::App.

◆ handleCommands()

int16 warpos::CommandManager::handleCommands ( )

protected

Function to handle ingesting and routing commands.

Returns: Error code indication success/failure

◆ ingestCommand()

bool warpos::CommandManager::ingestCommand ( )

protected

Function to ingest commands from the HAL.

Return values

TRUE	if bytes were read
FALSE	if bytes were not read

◆ logLevelCmd()

int16 warpos::CommandManager::logLevelCmd	(	uint8 *	buffer,
		uint16	size )

protected

Function to handle LogLevel change commands.

Parameters

buffer	pointer to buffer of data
size	Size of data

Returns: Error code corresponding to success/failure

◆ numRegisteredPackets()

uint16 warpos::CommandManager::numRegisteredPackets ( )

inline

Get the number of registered command packets.

Returns: Number of registered command packets

◆ registerCmdPacket()

int16 warpos::CommandManager::registerCmdPacket	(	App *	cmd_app,
		uint16	cmd_apid )

Register a command with the command manager.

Parameters

cmd_app	The app which will execute the command
cmd_apid	The APID of the command

Returns: Error code corresponding to success/failure

◆ routeCommand()

int16 warpos::CommandManager::routeCommand	(	App *	cmd_app_ptr,
		uint16	apid,
		uint8	instance,
		uint8 *	buffer,
		uint16	length )

protected

Routes a command to an associated app.

Returns: Error code indicating success/failure

◆ scanForHeader()

bool warpos::CommandManager::scanForHeader ( )

protected

Scans through the bytes in the command buffer for a valid CCSDS header.

Returns: True if a valid header was found, false otherwise

◆ scheduleCmd()

int16 warpos::CommandManager::scheduleCmd	(	uint8 *	buffer,
		uint16	size )

protected

Function to handle Schedule change commands.

Parameters

buffer	pointer to buffer of data
size	Size of data

Returns: Error code corresponding to success/failure

◆ softResetCmd()

int16 warpos::CommandManager::softResetCmd	(	uint8 *	buffer,
		uint16	size )

protected

Function to handle a received softResetCommand.

Parameters

buffer	pointer to buffer of data
size	Size of data

Returns: Error code corresponding to success/failure

◆ start()

int16 warpos::CommandManager::start ( )

overrideprotectedvirtual

Reimplemented from warpos::App.

Member Data Documentation

◆ _ccsds_data

uint8 warpos::CommandManager::_ccsds_data[CCSDS_FULL_HDR_LEN_BYTES]

protected

Buffer to hold CCSDS header data when processing commands.

◆ _cmd_input_byte_buff

clockwerk::CircularBuffer<uint8, 256 > warpos::CommandManager::_cmd_input_byte_buff

protected

Buffer of bytes input from hardware device.

◆ _cmd_table_idx

uint16 warpos::CommandManager::_cmd_table_idx = 0

protected

Current index in the command table.

◆ _crc_error_count

uint16 warpos::CommandManager::_crc_error_count = 0

protected

Count of commands received with CRC errors.

◆ _exc_error_count

uint16 warpos::CommandManager::_exc_error_count = 0

protected

Counters for various command manager stats, used in telemetry.

Count of command execution errors

◆ _last_read_time

clockwerk::Time warpos::CommandManager::_last_read_time

protected

Last time bytes were read from input hw queue.

◆ _pkt_not_registered_count

uint16 warpos::CommandManager::_pkt_not_registered_count = 0

protected

Count of commands received for unregistered packets.

◆ _reg_cmd_table

RegisteredCommandInfo warpos::CommandManager::_reg_cmd_table[100]

protected

Table of registered commands.

◆ _successful_cmd_count

uint16 warpos::CommandManager::_successful_cmd_count = 0

protected

Count of successfully processed commands.

◆ _timeout_count

uint16 warpos::CommandManager::_timeout_count = 0

protected

Count of times the command queue has been cleared due to timeout.

◆ _tlm_cmd_mngr_error

tlm_cmd_mngr_error warpos::CommandManager::_tlm_cmd_mngr_error

protected

Telemetry Definitions.

Command manager error telemetry packet

◆ _tlm_cmd_mngr_status

tlm_cmd_mngr_status warpos::CommandManager::_tlm_cmd_mngr_status

protected

Command manager status telemetry packet.

◆ params

Params warpos::CommandManager::params = Params(this, "params")

The documentation for this class was generated from the following files:

/Users/mickey/Documents/Projects/warptwin/warpos/src/flight/CommandManager.h
/Users/mickey/Documents/Projects/warptwin/warpos/src/flight/CommandManager.cpp

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CommandManager()

◆ ~CommandManager()

Member Function Documentation

◆ activateCmd()

◆ command()

◆ deactivateCmd()

◆ execute()

◆ handleCommands()

◆ ingestCommand()

◆ logLevelCmd()

◆ numRegisteredPackets()

◆ registerCmdPacket()

◆ routeCommand()

◆ scanForHeader()

◆ scheduleCmd()

◆ softResetCmd()

◆ start()

Member Data Documentation

◆ _ccsds_data

◆ _cmd_input_byte_buff

◆ _cmd_table_idx

◆ _crc_error_count

◆ _exc_error_count

◆ _last_read_time

◆ _pkt_not_registered_count

◆ _reg_cmd_table

◆ _successful_cmd_count

◆ _timeout_count

◆ _tlm_cmd_mngr_error

◆ _tlm_cmd_mngr_status

◆ params