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device handler uses local pools now

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This commit is contained in:
Robin Müller 2020-12-08 15:59:30 +01:00
parent faedd40665
commit 5e2e18ac07
2 changed files with 193 additions and 124 deletions
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146
devicehandlers/DeviceHandlerBase.cpp
View File

@ -3,8 +3,6 @@
#include "DeviceTmReportingWrapper.h"
#include "../serviceinterface/ServiceInterfaceStream.h"
#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../thermal/ThermalComponentIF.h"
@ -13,9 +11,11 @@
#include "../ipc/MessageQueueMessage.h"
#include "../ipc/QueueFactory.h"
#include "../subsystem/SubsystemBase.h"
#include "../datapoollocal/LocalPoolVariable.h"
#include <iomanip>
object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
@ -56,9 +56,10 @@ void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
}
void DeviceHandlerBase::setThermalStateRequestPoolIds(
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
this->deviceThermalRequestPoolId = thermalStatePoolId;
this->deviceThermalRequestPoolId = thermalRequestPoolId;
lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId,
uint32_t thermalSetId) {
thermalSet = new DeviceHandlerThermalSet(this, thermalSetId,
thermalStatePoolId, heaterRequestPoolId);
}
@ -86,7 +87,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
decrementDeviceReplyMap();
fdirInstance->checkForFailures();
hkSwitcher.performOperation();
hkManager.performHkOperation();
performOperationHook();
return RETURN_OK;
}
@ -111,6 +111,9 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
break;
case CommunicationAction::GET_READ:
doGetRead();
// This will be performed after datasets have been updated by the
// custom device implementation.
hkManager.performHkOperation();
break;
default:
break;
@ -208,16 +211,18 @@ ReturnValue_t DeviceHandlerBase::initialize() {
fillCommandAndReplyMap();
if(thermalSet != nullptr) {
//Set temperature target state to NON_OP.
GlobDataSet mySet;
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_WRITE);
mySet.read();
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
mySet.commit(PoolVariableIF::VALID);
result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
thermalSet->heaterRequest.value =
ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
thermalSet->commit(PoolVariableIF::VALID);
}
}
return RETURN_OK;
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
@ -505,15 +510,17 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
}
Clock::getUptime(&timeoutStart);
if (mode == MODE_OFF) {
GlobDataSet mySet;
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
if (mode == MODE_OFF and thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if (thermalSet->heaterRequest.value !=
ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest.value = ThermalComponentIF::
STATE_REQUEST_NON_OPERATIONAL;
}
mySet.commit(PoolVariableIF::VALID);
thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
}
}
changeHK(mode, submode, true);
}
@ -976,17 +983,15 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
}
if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
GlobDataSet mySet;
gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
PoolVariableIF::VAR_READ);
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
if (!ThermalComponentIF::isOperational(thermalState)) {
and (thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if((thermalSet->heaterRequest.value !=
ThermalComponentIF::STATE_REQUEST_IGNORE) and (not
ThermalComponentIF::isOperational(
thermalSet->thermalState.value))) {
triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE,
thermalState);
thermalSet->thermalState.value);
return NON_OP_TEMPERATURE;
}
}
@ -999,32 +1004,15 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
Submode_t commandedSubmode) {
switch (commandedMode) {
case MODE_ON:
if (mode == MODE_OFF) {
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = SUBMODE_NONE;
setMode(_MODE_POWER_ON, commandedSubmode);
//already set the delay for the child transition so we don't need to call it twice
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
GlobDataSet mySet;
gp_int8_t thermalRequest(deviceThermalRequestPoolId,
&mySet, PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalRequest = ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
mySet.commit(PoolVariableIF::VALID);
}
} else {
setTransition(MODE_ON, commandedSubmode);
}
handleTransitionToOnMode(commandedMode, commandedSubmode);
break;
case MODE_OFF:
if (mode == MODE_OFF) {
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
setMode(_MODE_POWER_DOWN, commandedSubmode);
} else {
//already set the delay for the child transition so we don't need to call it twice
// already set the delay for the child transition
// so we don't need to call it twice
childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN);
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = commandedSubmode;
@ -1050,6 +1038,33 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
}
}
void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode,
Submode_t commandedSubmode) {
if (mode == MODE_OFF) {
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = SUBMODE_NONE;
setMode(_MODE_POWER_ON, commandedSubmode);
// already set the delay for the child transition so we don't
// need to call it twice
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
if(thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if(thermalSet->heaterRequest !=
ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest =
ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
thermalSet->commit();
}
}
}
} else {
setTransition(MODE_ON, commandedSubmode);
}
}
void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode;
*submode = this->submode;
@ -1222,10 +1237,12 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
}
}
//Try to cast to GlobDataSet and commit data.
if (!neverInDataPool) {
GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
if (dataSet != NULL) {
dataSet->commit(PoolVariableIF::VALID);
if (not neverInDataPool) {
LocalPoolDataSetBase* dataSet =
dynamic_cast<LocalPoolDataSetBase*>(data);
if (dataSet != nullptr) {
dataSet->setValidity(true, true);
dataSet->commit();
}
}
}
@ -1262,7 +1279,8 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand: Busy" << std::dec << std::endl;
<< ": DHB::buildInternalCommand: Busy" << std::dec
<< std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
}
@ -1371,8 +1389,8 @@ bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
}
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_;
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){
executingTask = task;
}
// Default implementations empty.
@ -1385,6 +1403,12 @@ void DeviceHandlerBase::performOperationHook() {
ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
LocalDataPool &localDataPoolMap,
LocalDataPoolManager& poolManager) {
if(thermalSet != nullptr) {
localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
}
return RETURN_OK;
}
@ -1429,3 +1453,9 @@ dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
return pstIntervalMs;
}
DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
return cookieInfo.pendingCommand->first;
}
return DeviceHandlerIF::NO_COMMAND;
}

167
devicehandlers/DeviceHandlerBase.h
View File

@ -4,6 +4,7 @@
#include "DeviceHandlerIF.h"
#include "DeviceCommunicationIF.h"
#include "DeviceHandlerFailureIsolation.h"
#include "DeviceHandlerThermalSet.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/ExecutableObjectIF.h"
@ -103,8 +104,21 @@ public:
size_t cmdQueueSize = 20);
void setHkDestination(object_id_t hkDestination);
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId);
/**
* If the device handler is controlled by the FSFW thermal building blocks,
* this function should be called to initialize all required components.
* The device handler will then take care of creating local pool entries
* for the device thermal state and device heating request.
* Custom local pool IDs can be assigned as well.
* @param thermalStatePoolId
* @param thermalRequestPoolId
*/
void setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId =
DeviceHandlerIF::DEFAULT_THERMAL_STATE_POOL_ID,
lp_id_t thermalRequestPoolId =
DeviceHandlerIF::DEFAULT_THERMAL_HEATING_REQUEST_POOL_ID,
uint32_t thermalSetId = DeviceHandlerIF::DEFAULT_THERMAL_SET_ID);
/**
* @brief Helper function to ease device handler development.
* This will instruct the transition to MODE_ON immediately
@ -694,19 +708,7 @@ protected:
//! and to send replies.
MessageQueueIF* commandQueue = nullptr;
/**
* this is the datapool variable with the thermal state of the device
*
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
*/
uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
/**
* this is the datapool variable with the thermal request of the device
*
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
*/
uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
DeviceHandlerThermalSet* thermalSet = nullptr;
/**
* Optional Error code. Can be set in doStartUp(), doShutDown() and
@ -732,15 +734,27 @@ protected:
//! before setTaskIF was called.
PeriodicTaskIF* executingTask = nullptr;
static object_id_t powerSwitcherId; //!< Object which switches power on and off.
//!< Object which switches power on and off.
static object_id_t powerSwitcherId;
static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
//!< Object which receives RAW data by default.
static object_id_t rawDataReceiverId;
//!< Object which may be the root cause of an identified fault.
static object_id_t defaultFdirParentId;
/**
* Helper function to get pending command. This is useful for devices
* like SPI sensors to identify the last sent command.
* @return
*/
DeviceCommandId_t getPendingCommand() const;
static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
/**
* Helper function to report a missed reply
*
* Can be overwritten by children to act on missed replies or to fake reporting Id.
* Can be overwritten by children to act on missed replies or to fake
* reporting Id.
*
* @param id of the missed reply
*/
@ -847,15 +861,18 @@ protected:
/**
* Build the device command to send for raw mode.
*
* This is only called in @c MODE_RAW. It is for the rare case that in raw mode packets
* are to be sent by the handler itself. It is NOT needed for the raw commanding service.
* Its only current use is in the STR handler which gets its raw packets from a different
* source.
* Also it can be used for transitional commands, to get the device ready for @c MODE_RAW
* This is only called in @c MODE_RAW. It is for the rare case that in
* raw mode packets are to be sent by the handler itself. It is NOT needed
* for the raw commanding service. Its only current use is in the STR
* handler which gets its raw packets from a different source.
* Also it can be used for transitional commands, to get the device ready
* for @c MODE_RAW
*
* As it is almost never used, there is a default implementation returning @c NOTHING_TO_SEND.
* As it is almost never used, there is a default implementation
* returning @c NOTHING_TO_SEND.
*
* #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
* #rawPacket and #rawPacketLen must be set by this method to the packet
* to be sent.
*
* @param[out] id the device command id built
* @return
@ -868,7 +885,9 @@ protected:
* Returns the delay cycle count of a reply.
* A count != 0 indicates that the command is already executed.
* @param deviceCommand The command to look for
* @return The current delay count. If the command does not exist (should never happen) it returns 0.
* @return
* The current delay count. If the command does not exist (should never
* happen) it returns 0.
*/
uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
@ -878,20 +897,22 @@ protected:
* It gets space in the #IPCStore, copies data there, then sends a raw reply
* containing the store address.
*
* This method is virtual, as the STR has a different channel to send raw replies
* and overwrites it accordingly.
* This method is virtual, as the STR has a different channel to send
* raw replies and overwrites it accordingly.
*
* @param data data to send
* @param len length of @c data
* @param sendTo the messageQueueId of the one to send to
* @param isCommand marks the raw data as a command, the message then will be of type raw_command
* @param isCommand marks the raw data as a command, the message then
* will be of type raw_command
*/
virtual void replyRawData(const uint8_t *data, size_t len,
MessageQueueId_t sendTo, bool isCommand = false);
/**
* Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping is active and if so,
* does not send the Data as the wiretapping will have sent it already
* Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping
* is active and if so, does not send the data as the wiretapping will have
* sent it already
*/
void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
@ -903,17 +924,19 @@ protected:
/**
* Enable the reply checking for a command
*
* Is only called, if the command was sent (ie the getWriteReply was successful).
* Must ensure that all replies are activated and correctly linked to the command that initiated it.
* The default implementation looks for a reply with the same id as the command id in the replyMap or
* uses the alternativeReplyId if flagged so.
* When found, copies maxDelayCycles to delayCycles in the reply information and sets the command to
* expect one reply.
* Is only called, if the command was sent (i.e. the getWriteReply was
* successful). Must ensure that all replies are activated and correctly
* linked to the command that initiated it.
* The default implementation looks for a reply with the same id as the
* command id in the replyMap or uses the alternativeReplyId if flagged so.
* When found, copies maxDelayCycles to delayCycles in the reply information
* and sets the command to expect one reply.
*
* Can be overwritten by the child, if a command activates multiple replies
* or replyId differs from commandId.
* Notes for child implementations:
* - If the command was not found in the reply map, NO_REPLY_EXPECTED MUST be returned.
* - If the command was not found in the reply map,
* NO_REPLY_EXPECTED MUST be returned.
* - A failure code may be returned if something went fundamentally wrong.
*
* @param deviceCommand
@ -929,17 +952,20 @@ protected:
* get the state of the PCDU switches in the datapool
*
* @return
* - @c PowerSwitchIF::SWITCH_ON if all switches specified by #switches are on
* - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by #switches are off
* - @c PowerSwitchIF::SWITCH_ON if all switches specified
* by #switches are on
* - @c PowerSwitchIF::SWITCH_OFF one of the switches specified by
* #switches are off
* - @c PowerSwitchIF::RETURN_FAILED if an error occured
*/
ReturnValue_t getStateOfSwitches(void);
/**
* set all datapool variables that are update periodically in normal mode invalid
*
* Child classes should provide an implementation which sets all those variables invalid
* which are set periodically during any normal mode.
* @brief Set all datapool variables that are update periodically in
* normal mode invalid
* @details TODO: Use local pools
* Child classes should provide an implementation which sets all those
* variables invalid which are set periodically during any normal mode.
*/
virtual void setNormalDatapoolEntriesInvalid() = 0;
@ -949,11 +975,12 @@ protected:
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
/**
* Children can overwrite this function to suppress checking of the command Queue
* Children can overwrite this function to suppress checking of the
* command Queue
*
* This can be used when the child does not want to receive a command in a certain
* situation. Care must be taken that checking is not permanentely disabled as this
* would render the handler unusable.
* This can be used when the child does not want to receive a command in
* a certain situation. Care must be taken that checking is not
* permanentely disabled as this would render the handler unusable.
*
* @return whether checking the queue should NOT be done
*/
@ -992,17 +1019,20 @@ protected:
virtual void forwardEvent(Event event, uint32_t parameter1 = 0,
uint32_t parameter2 = 0) const;
/**
* Checks state of switches in conjunction with mode and triggers an event if they don't fit.
* Checks state of switches in conjunction with mode and triggers an event
* if they don't fit.
*/
virtual void checkSwitchState();
/**
* Reserved for the rare case where a device needs to perform additional operation cyclically in OFF mode.
* Reserved for the rare case where a device needs to perform additional
* operation cyclically in OFF mode.
*/
virtual void doOffActivity();
/**
* Reserved for the rare case where a device needs to perform additional operation cyclically in ON mode.
* Reserved for the rare case where a device needs to perform additional
* operation cyclically in ON mode.
*/
virtual void doOnActivity();
@ -1043,9 +1073,10 @@ private:
/**
* Information about a cookie.
*
* This is stored in a map for each cookie, to not only track the state, but also information
* about the sent command. Tracking this information is needed as
* the state of a commandId (waiting for reply) is done when a RMAP write reply is received.
* This is stored in a map for each cookie, to not only track the state,
* but also information about the sent command. Tracking this information
* is needed as the state of a commandId (waiting for reply) is done when a
* write reply is received.
*/
struct CookieInfo {
CookieState_t state;
@ -1102,10 +1133,14 @@ private:
/**
* Handle the device handler mode.
*
* - checks whether commands are valid for the current mode, rejects them accordingly
* - checks whether commanded mode transitions are required and calls handleCommandedModeTransition()
* - does the necessary action for the current mode or calls doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
* - actions that happen in transitions (eg setting a timeout) are handled in setMode()
* - checks whether commands are valid for the current mode, rejects
* them accordingly
* - checks whether commanded mode transitions are required and calls
* handleCommandedModeTransition()
* - does the necessary action for the current mode or calls
* doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
* - actions that happen in transitions (e.g. setting a timeout) are
* handled in setMode()
*/
void doStateMachine(void);
@ -1115,16 +1150,17 @@ private:
/**
* Decrement the counter for the timout of replies.
*
* This is called at the beginning of each cycle. It checks whether a reply has timed out (that means a reply was expected
* but not received).
* This is called at the beginning of each cycle. It checks whether a
* reply has timed out (that means a reply was expected but not received).
*/
void decrementDeviceReplyMap(void);
/**
* Convenience function to handle a reply.
*
* Called after scanForReply() has found a packet. Checks if the found id is in the #deviceCommandMap, if so,
* calls interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) for further action.
* Called after scanForReply() has found a packet. Checks if the found ID
* is in the #deviceCommandMap, if so, calls
* #interpretDeviceReply for further action.
*
* It also resets the timeout counter for the command id.
*
@ -1184,7 +1220,7 @@ private:
* @param[out] len
* @return
* - @c RETURN_OK @c data is valid
* - @c RETURN_FAILED IPCStore is NULL
* - @c RETURN_FAILED IPCStore is nullptr
* - the return value from the IPCStore if it was not @c RETURN_OK
*/
ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
@ -1208,6 +1244,9 @@ private:
void parseReply(const uint8_t* receivedData,
size_t receivedDataLen);
void handleTransitionToOnMode(Mode_t commandedMode,
Submode_t commandedSubmode);
};
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */