DHB improvements
This commit is contained in:
parent
b673e13892
commit
da972e1b58
@ -1,14 +1,14 @@
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#include <framework/datapool/DataSet.h>
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#include <framework/datapool/PoolVariable.h>
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#include <framework/datapool/PoolVector.h>
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#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
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#include <framework/devicehandlers/DeviceHandlerBase.h>
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#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
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#include <framework/globalfunctions/CRC.h>
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#include <framework/objectmanager/ObjectManager.h>
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#include <framework/storagemanager/StorageManagerIF.h>
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#include <framework/subsystem/SubsystemBase.h>
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#include <framework/thermal/ThermalComponentIF.h>
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#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
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#include <framework/datapool/DataSet.h>
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#include <framework/datapool/PoolVariable.h>
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#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
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#include <framework/globalfunctions/CRC.h>
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#include <framework/subsystem/SubsystemBase.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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@ -17,29 +17,29 @@ object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
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object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
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DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
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object_id_t deviceCommunication, CookieIF * comCookie_,
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object_id_t deviceCommunication, CookieIF * comCookie,
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uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
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uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
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size_t cmdQueueSize) :
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SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
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wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
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deviceCommunicationId(deviceCommunication), comCookie(comCookie_),
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deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(thermalRequestPoolId),
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healthHelper(this, setObjectId), modeHelper(this), parameterHelper(this),
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fdirInstance(fdirInstance), hkSwitcher(this),
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defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
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executingTask(nullptr), actionHelper(this, nullptr), cookieInfo(),
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childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
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transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
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{
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commandQueue = QueueFactory::instance()->
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createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
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deviceCommunicationId(deviceCommunication), comCookie(comCookie),
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deviceThermalStatePoolId(thermalStatePoolId),
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deviceThermalRequestPoolId(thermalRequestPoolId),
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healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
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childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
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hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
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switchOffWasReported(false), actionHelper(this, nullptr), cookieInfo(),
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childTransitionDelay(5000),
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transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
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SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
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commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
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CommandMessage::MAX_MESSAGE_SIZE);
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cookieInfo.state = COOKIE_UNUSED;
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insertInCommandMap(RAW_COMMAND_ID);
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if (this->fdirInstance == nullptr) {
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this->fdirInstance =
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new DeviceHandlerFailureIsolation(setObjectId,
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defaultFDIRParentId);
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this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
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defaultFDIRParentId);
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}
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}
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@ -53,7 +53,8 @@ DeviceHandlerBase::~DeviceHandlerBase() {
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ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
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this->pstStep = counter;
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if (counter == 0) {
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if (getComAction() == SEND_WRITE) {
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cookieInfo.state = COOKIE_UNUSED;
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readCommandQueue();
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doStateMachine();
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@ -66,7 +67,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
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if (mode == MODE_OFF) {
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return RETURN_OK;
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}
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switch (getComAction()) {
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case SEND_WRITE:
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if ((cookieInfo.state == COOKIE_UNUSED)) {
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@ -87,7 +87,6 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
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default:
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break;
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}
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return RETURN_OK;
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}
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@ -116,7 +115,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
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AcceptsDeviceResponsesIF>(rawDataReceiverId);
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if (rawReceiver == nullptr) {
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if (rawReceiver == NULL) {
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return RETURN_FAILED;
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}
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@ -166,6 +165,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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mySet.commit(PoolVariableIF::VALID);
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return RETURN_OK;
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}
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void DeviceHandlerBase::decrementDeviceReplyMap() {
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@ -353,11 +353,11 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
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info.delayCycles = 0;
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info.replyLen = replyLen;
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info.command = deviceCommandMap.end();
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std::pair<DeviceReplyIter, bool> result = deviceReplyMap.emplace(replyId, info);
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if (result.second) {
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return RETURN_OK;
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auto resultPair = deviceReplyMap.emplace(replyId, info);
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if (resultPair.second) {
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return RETURN_FAILED;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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@ -366,11 +366,11 @@ ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceComm
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info.expectedReplies = 0;
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info.isExecuting = false;
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info.sendReplyTo = NO_COMMANDER;
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std::pair<DeviceCommandIter, bool> result = deviceCommandMap.emplace(deviceCommand,info);
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if (result.second) {
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return RETURN_OK;
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auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
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if (resultPair.second) {
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return HasReturnvaluesIF::RETURN_OK;
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} else {
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return RETURN_FAILED;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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@ -487,7 +487,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
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return;
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}
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//Check if more replies are expected. If so, do nothing.
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DeviceCommandInfo * info = &(iter->second.command->second);
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DeviceCommandInfo* info = &(iter->second.command->second);
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if (--info->expectedReplies == 0) {
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//Check if it was transition or internal command. Don't send any replies in that case.
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if (info->sendReplyTo != NO_COMMANDER) {
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@ -526,6 +526,7 @@ void DeviceHandlerBase::doGetWrite() {
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if (wiretappingMode == RAW) {
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replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
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}
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//We need to distinguish here, because a raw command never expects a reply.
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//(Could be done in eRIRM, but then child implementations need to be careful.
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result = enableReplyInReplyMap(cookieInfo.pendingCommand);
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@ -541,25 +542,22 @@ void DeviceHandlerBase::doGetWrite() {
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}
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void DeviceHandlerBase::doSendRead() {
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ReturnValue_t result = RETURN_FAILED;
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ReturnValue_t result;
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size_t requestLen = 0;
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// If the device handler can only request replies after a command
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// has been sent, there should be only one reply enabled and the
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// correct reply length will be mapped.
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for(DeviceReplyIter iter = deviceReplyMap.begin();
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iter != deviceReplyMap.end();iter++)
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{
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if(iter->second.delayCycles != 0) {
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requestLen = iter->second.replyLen;
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break;
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}
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DeviceReplyIter iter = deviceReplyMap.find(cookieInfo.pendingCommand->first);
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if(iter != deviceReplyMap.end()) {
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requestLen = iter->second.replyLen;
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}
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else {
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requestLen = 0;
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}
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result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
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if (result == RETURN_OK) {
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cookieInfo.state = COOKIE_READ_SENT;
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}
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else {
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} else {
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triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
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//We can't inform anyone, because we don't know which command was sent last.
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//So, we need to wait for a timeout.
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@ -583,8 +581,8 @@ void DeviceHandlerBase::doGetRead() {
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cookieInfo.state = COOKIE_UNUSED;
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result = communicationInterface->readReceivedMessage(comCookie, &receivedData,
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&receivedDataLen);
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result = communicationInterface->readReceivedMessage(comCookie,
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&receivedData, &receivedDataLen);
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if (result != RETURN_OK) {
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triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
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@ -644,7 +642,7 @@ void DeviceHandlerBase::doGetRead() {
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}
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ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
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uint8_t ** data, size_t * len) {
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uint8_t * *data, uint32_t * len) {
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size_t lenTmp;
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if (IPCStore == NULL) {
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@ -663,10 +661,8 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
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*len = 0;
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return result;
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}
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}
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void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
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MessageQueueId_t sendTo, bool isCommand) {
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if (IPCStore == NULL || len == 0) {
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@ -681,6 +677,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
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}
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CommandMessage message;
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DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
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getObjectId(), address, isCommand);
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@ -690,14 +687,12 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
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if (result != RETURN_OK) {
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IPCStore->deleteData(address);
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// Silently discard data, this indicates heavy TM traffic which should
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// not be increased by additional events.
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//Silently discard data, this indicates heavy TM traffic which should not be increased by additional events.
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}
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}
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//Default child implementations
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DeviceHandlerBase::CommunicationAction_t DeviceHandlerBase::getComAction() {
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DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
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switch (pstStep) {
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case 0:
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return SEND_WRITE;
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@ -762,8 +757,8 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
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// DeviceCommunicationIF>(newChannelId);
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//
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// if (newCommunication != NULL) {
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// ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
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// maxDeviceReplyLen, comParameter1, comParameter2);
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// ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
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// maxDeviceReplyLen);
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// if (result != RETURN_OK) {
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// return result;
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// }
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@ -780,8 +775,8 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
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replyReturnvalueToCommand(result, RAW_COMMAND_ID);
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storedRawData.raw = StorageManagerIF::INVALID_ADDRESS;
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} else {
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cookieInfo.pendingCommand = deviceCommandMap.
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find((DeviceCommandId_t) RAW_COMMAND_ID);
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cookieInfo.pendingCommand = deviceCommandMap.find(
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(DeviceCommandId_t) RAW_COMMAND_ID);
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cookieInfo.pendingCommand->second.isExecuting = true;
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cookieInfo.state = COOKIE_WRITE_READY;
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}
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@ -820,7 +815,7 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
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iter = deviceReplyMap.find(command->first);
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}
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if (iter != deviceReplyMap.end()) {
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DeviceReplyInfo * info = &(iter->second);
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DeviceReplyInfo *info = &(iter->second);
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info->delayCycles = info->maxDelayCycles;
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info->command = command;
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command->second.expectedReplies = expectedReplies;
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@ -846,9 +841,8 @@ ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
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ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
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if ((result == RETURN_OK) && (numberOfSwitches != 0)) {
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while (numberOfSwitches > 0) {
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if (powerSwitcher-> getSwitchState(switches[numberOfSwitches - 1])
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== PowerSwitchIF::SWITCH_OFF)
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{
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if (powerSwitcher->getSwitchState(switches[numberOfSwitches - 1])
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== PowerSwitchIF::SWITCH_OFF) {
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return PowerSwitchIF::SWITCH_OFF;
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}
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numberOfSwitches--;
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@ -1032,7 +1026,6 @@ void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
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ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
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CommandMessage * message) {
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ReturnValue_t result;
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switch (message->getCommand()) {
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case DeviceHandlerMessage::CMD_WIRETAPPING:
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switch (DeviceHandlerMessage::getWiretappingMode(message)) {
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@ -1054,21 +1047,19 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
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}
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replyReturnvalueToCommand(RETURN_OK);
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return RETURN_OK;
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case DeviceHandlerMessage::CMD_SWITCH_ADDRESS:
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if (mode != MODE_OFF) {
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replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
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} else {
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// rework in progress
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result = RETURN_OK;
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//result = switchCookieChannel(
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// DeviceHandlerMessage::getIoBoardObjectId(message));
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if (result == RETURN_OK) {
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replyReturnvalueToCommand(RETURN_OK);
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} else {
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replyReturnvalueToCommand(CANT_SWITCH_ADDRESS);
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}
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}
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return RETURN_OK;
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// case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
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// if (mode != MODE_OFF) {
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// replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
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// } else {
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// result = switchCookieChannel(
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// DeviceHandlerMessage::getIoBoardObjectId(message));
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// if (result == RETURN_OK) {
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// replyReturnvalueToCommand(RETURN_OK);
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// } else {
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// replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
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// }
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// }
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// return RETURN_OK;
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case DeviceHandlerMessage::CMD_RAW:
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if ((mode != MODE_RAW)) {
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DeviceHandlerMessage::clear(message);
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@ -1124,7 +1115,8 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
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// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
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//(progress or completed) it is in
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actionHelper.reportData(defaultRawReceiver, replyId, &wrapper, true);
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actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
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true);
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}
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} else { //unrequested/aperiodic replies
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@ -1152,7 +1144,6 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
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if (iter == deviceCommandMap.end()) {
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result = COMMAND_NOT_SUPPORTED;
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@ -1171,7 +1162,7 @@ ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
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}
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void DeviceHandlerBase::buildInternalCommand(void) {
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// Neither Raw nor Direct could build a command
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//Neither Raw nor Direct could build a command
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ReturnValue_t result = NOTHING_TO_SEND;
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DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
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if (mode == MODE_NORMAL) {
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@ -1189,13 +1180,12 @@ void DeviceHandlerBase::buildInternalCommand(void) {
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} else {
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return;
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}
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if (result == NOTHING_TO_SEND) {
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return;
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}
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if (result == RETURN_OK) {
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DeviceCommandMap::iterator iter =
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deviceCommandMap.find(deviceCommandId);
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DeviceCommandMap::iterator iter = deviceCommandMap.find(
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deviceCommandId);
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if (iter == deviceCommandMap.end()) {
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result = COMMAND_NOT_SUPPORTED;
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} else if (iter->second.isExecuting) {
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@ -1210,7 +1200,6 @@ void DeviceHandlerBase::buildInternalCommand(void) {
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cookieInfo.state = COOKIE_WRITE_READY;
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}
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}
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if (result != RETURN_OK) {
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triggerEvent(DEVICE_BUILDING_COMMAND_FAILED, result, deviceCommandId);
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}
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@ -1285,8 +1274,8 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
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executingTask = task_;
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}
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void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t objectId, uint32_t parameter) {
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}
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// Default implementations empty.
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void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
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object_id_t objectId, uint32_t parameter) {}
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void DeviceHandlerBase::performOperationHook() {
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}
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void DeviceHandlerBase::performOperationHook() {}
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@ -1,26 +1,23 @@
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#ifndef DEVICEHANDLERBASE_H_
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#define DEVICEHANDLERBASE_H_
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#include <framework/action/ActionHelper.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/devicehandlers/DeviceHandlerIF.h>
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/action/HasActionsIF.h>
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#include <framework/datapool/DataSet.h>
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#include <framework/datapool/PoolVariableIF.h>
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#include <framework/devicehandlers/DeviceCommunicationIF.h>
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#include <framework/devicehandlers/DeviceHandlerIF.h>
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#include <framework/health/HealthHelper.h>
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#include <framework/modes/HasModesIF.h>
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#include <framework/objectmanager/SystemObject.h>
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#include <framework/objectmanager/SystemObjectIF.h>
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#include <framework/parameters/ParameterHelper.h>
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#include <framework/power/PowerSwitchIF.h>
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#include <framework/returnvalues/HasReturnvaluesIF.h>
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#include <framework/tasks/ExecutableObjectIF.h>
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#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
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#include <framework/datapool/HkSwitchHelper.h>
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#include <framework/devicehandlers/CookieIF.h>
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#include <framework/serialize/SerialFixedArrayListAdapter.h>
|
||||
#include <framework/ipc/MessageQueueIF.h>
|
||||
#include <framework/tasks/PeriodicTaskIF.h>
|
||||
|
||||
#include <framework/action/ActionHelper.h>
|
||||
#include <framework/health/HealthHelper.h>
|
||||
#include <framework/parameters/ParameterHelper.h>
|
||||
#include <framework/datapool/HkSwitchHelper.h>
|
||||
#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
|
||||
|
||||
#include <map>
|
||||
|
||||
namespace Factory{
|
||||
@ -92,21 +89,22 @@ public:
|
||||
* The constructor passes the objectId to the SystemObject().
|
||||
*
|
||||
* @param setObjectId the ObjectId to pass to the SystemObject() Constructor
|
||||
* @param maxDeviceReplyLen the largest allowed reply size
|
||||
* @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
|
||||
* @param setDeviceSwitch the switch the device is connected to,
|
||||
* for devices using two switches, overwrite getSwitches()
|
||||
* @param deviceCommuncation Communcation Interface object which is
|
||||
* used to implement communication functions
|
||||
* for devices using two switches, overwrite getSwitches()
|
||||
* @param deviceCommuncation Communcation Interface object which is used
|
||||
* to implement communication functions
|
||||
* @param thermalStatePoolId
|
||||
* @param thermalRequestPoolId
|
||||
* @param fdirInstance
|
||||
* @param cmdQueueSize
|
||||
*/
|
||||
DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
|
||||
CookieIF * comCookie_, uint8_t setDeviceSwitch,
|
||||
CookieIF * comCookie, uint8_t setDeviceSwitch,
|
||||
uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
|
||||
uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
|
||||
FailureIsolationBase* fdirInstance = nullptr, size_t cmdQueueSize = 20);
|
||||
FailureIsolationBase* fdirInstance = nullptr,
|
||||
size_t cmdQueueSize = 20);
|
||||
|
||||
/**
|
||||
* @brief This function is the device handler base core component and is
|
||||
@ -213,12 +211,13 @@ protected:
|
||||
/**
|
||||
* Build the device command to send for normal mode.
|
||||
*
|
||||
* This is only called in @c MODE_NORMAL. If multiple submodes for @c MODE_NORMAL are supported,
|
||||
* different commands can built returned depending on the submode.
|
||||
* This is only called in @c MODE_NORMAL. If multiple submodes for
|
||||
* @c MODE_NORMAL are supported, different commands can built,
|
||||
* depending on the submode.
|
||||
*
|
||||
* #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
|
||||
* If variable command frequence is required, a counter can be used and
|
||||
* the frequency in the reply map has to be set manually
|
||||
* #rawPacket and #rawPacketLen must be set by this method to the
|
||||
* packet to be sent. If variable command frequence is required, a counter
|
||||
* can be used and the frequency in the reply map has to be set manually
|
||||
* by calling updateReplyMap().
|
||||
*
|
||||
* @param[out] id the device command id that has been built
|
||||
@ -233,10 +232,13 @@ protected:
|
||||
* Build the device command to send for a transitional mode.
|
||||
*
|
||||
* This is only called in @c _MODE_TO_NORMAL, @c _MODE_TO_ON, @c _MODE_TO_RAW,
|
||||
* @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp() and doShutDown() as well as doTransition()
|
||||
* @c _MODE_START_UP and @c _MODE_TO_POWER_DOWN. So it is used by doStartUp()
|
||||
* and doShutDown() as well as doTransition()
|
||||
*
|
||||
* A good idea is to implement a flag indicating a command has to be built and a variable containing the command number to be built
|
||||
* and filling them in doStartUp(), doShutDown() and doTransition() so no modes have to be checked here.
|
||||
* A good idea is to implement a flag indicating a command has to be built
|
||||
* and a variable containing the command number to be built
|
||||
* and filling them in doStartUp(), doShutDown() and doTransition() so no
|
||||
* modes have to be checked here.
|
||||
*
|
||||
* #rawPacket and #rawPacketLen must be set by this method to the packet to be sent.
|
||||
*
|
||||
@ -266,6 +268,63 @@ protected:
|
||||
virtual ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t * commandData, size_t commandDataLen) = 0;
|
||||
|
||||
/**
|
||||
* @brief Scans a buffer for a valid reply.
|
||||
* @details
|
||||
* This is used by the base class to check the data received for valid packets.
|
||||
* It only checks if a valid packet starts at @c start.
|
||||
* It also only checks the structural validy of the packet,
|
||||
* e.g. checksums lengths and protocol data. No information check is done,
|
||||
* e.g. range checks etc.
|
||||
*
|
||||
* Errors should be reported directly, the base class does NOT report any
|
||||
* errors based on the return value of this function.
|
||||
*
|
||||
* @param start start of remaining buffer to be scanned
|
||||
* @param len length of remaining buffer to be scanned
|
||||
* @param[out] foundId the id of the data found in the buffer.
|
||||
* @param[out] foundLen length of the data found. Is to be set in function,
|
||||
* buffer is scanned at previous position + foundLen.
|
||||
* @return
|
||||
* - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
|
||||
* - @c RETURN_FAILED no reply could be found starting at @c start,
|
||||
* implies @c foundLen is not valid, base class will call scanForReply()
|
||||
* again with ++start
|
||||
* - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid,
|
||||
* e.g. checksum error, implies @c foundLen is valid, can be used to
|
||||
* skip some bytes
|
||||
* - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
|
||||
* - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of
|
||||
* the packet
|
||||
* - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
|
||||
* - @c APERIODIC_REPLY if a valid reply is received that has not been
|
||||
* requested by a command, but should be handled anyway
|
||||
* (@see also fillCommandAndCookieMap() )
|
||||
*/
|
||||
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) = 0;
|
||||
|
||||
/**
|
||||
* @brief Interpret a reply from the device.
|
||||
* @details
|
||||
* This is called after scanForReply() found a valid packet, it can be
|
||||
* assumed that the length and structure is valid.
|
||||
* This routine extracts the data from the packet into a DataSet and then
|
||||
* calls handleDeviceTM(), which either sends a TM packet or stores the
|
||||
* data in the DataPool depending on whether it was an external command.
|
||||
* No packet length is given, as it should be defined implicitly by the id.
|
||||
*
|
||||
* @param id the id found by scanForReply()
|
||||
* @param packet
|
||||
* @return
|
||||
* - @c RETURN_OK when the reply was interpreted.
|
||||
* - @c RETURN_FAILED when the reply could not be interpreted,
|
||||
* e.g. logical errors or range violations occurred
|
||||
*/
|
||||
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) = 0;
|
||||
|
||||
/**
|
||||
* @brief fill the #deviceCommandMap
|
||||
* called by the initialize() of the base class
|
||||
@ -312,85 +371,83 @@ protected:
|
||||
virtual void fillCommandAndReplyMap() = 0;
|
||||
|
||||
/**
|
||||
* @brief Scans a buffer for a valid reply.
|
||||
* @details
|
||||
* This is used by the base class to check the data received for valid packets.
|
||||
* It only checks if a valid packet starts at @c start.
|
||||
* It also only checks the structural validy of the packet,
|
||||
* e.g. checksums lengths and protocol data.
|
||||
* No information check is done, e.g. range checks etc.
|
||||
*
|
||||
* Errors should be reported directly, the base class does NOT report
|
||||
* any errors based on the returnvalue of this function.
|
||||
*
|
||||
* @param start start of remaining buffer to be scanned
|
||||
* @param len length of remaining buffer to be scanned
|
||||
* @param[out] foundId the id of the data found in the buffer.
|
||||
* @param[out] foundLen length of the data found. Is to be set in function,
|
||||
* buffer is scanned at previous position + foundLen.
|
||||
* @return
|
||||
* - @c RETURN_OK a valid packet was found at @c start, @c foundLen is valid
|
||||
* - @c RETURN_FAILED no reply could be found starting at @c start,
|
||||
* implies @c foundLen is not valid,
|
||||
* base class will call scanForReply() again with ++start
|
||||
* - @c DeviceHandlerIF::INVALID_DATA a packet was found but it is invalid,
|
||||
* e.g. checksum error, implies @c foundLen is valid, can be used to skip some bytes
|
||||
* - @c DeviceHandlerIF::LENGTH_MISSMATCH @c len is invalid
|
||||
* - @c DeviceHandlerIF::IGNORE_REPLY_DATA Ignore this specific part of the packet
|
||||
* - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
|
||||
* - @c APERIODIC_REPLY if a valid reply is received that has not been
|
||||
* requested by a command, but should be handled anyway
|
||||
* (@see also fillCommandAndCookieMap() )
|
||||
* This is a helper method to facilitate inserting entries in the command map.
|
||||
* @param deviceCommand Identifier of the command to add.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the command
|
||||
* waits until it times out.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0)
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) = 0;
|
||||
ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
|
||||
uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
|
||||
bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
|
||||
|
||||
/**
|
||||
* @brief Interpret a reply from the device.
|
||||
* @details
|
||||
* This is called after scanForReply() found a valid packet, it can be assumed that the length and structure is valid.
|
||||
* This routine extracts the data from the packet into a DataSet and then calls handleDeviceTM(), which either sends
|
||||
* a TM packet or stores the data in the DataPool depending on whether the it was an external command.
|
||||
* No packet length is given, as it should be defined implicitly by the id.
|
||||
*
|
||||
* @param id the id found by scanForReply()
|
||||
* @param packet
|
||||
* @return
|
||||
* - @c RETURN_OK when the reply was interpreted.
|
||||
* - @c RETURN_FAILED when the reply could not be interpreted, eg. logical errors or range violations occurred
|
||||
* @brief This is a helper method to insert replies in the reply map.
|
||||
* @param deviceCommand Identifier of the reply to add.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the reply waits
|
||||
* until it times out.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0)
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) = 0;
|
||||
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
|
||||
uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
|
||||
|
||||
/**
|
||||
* 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 A simple command to add a command to the commandList.
|
||||
* @param deviceCommand The command to add
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
virtual void setNormalDatapoolEntriesInvalid() = 0;
|
||||
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
|
||||
/**
|
||||
* @brief This is a helper method to facilitate updating entries
|
||||
* in the reply map.
|
||||
* @param deviceCommand Identifier of the reply to update.
|
||||
* @param delayCycles The current number of delay cycles to wait.
|
||||
* As stated in #fillCommandAndCookieMap, to disable periodic commands,
|
||||
* this is set to zero.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the reply waits
|
||||
* until it times out. By passing 0 the entry remains untouched.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent
|
||||
* by the device repeatedly without request) or not.Default is aperiodic (0).
|
||||
* Warning: The setting always overrides the value that was entered in the map.
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
|
||||
uint16_t delayCycles, uint16_t maxDelayCycles,
|
||||
uint8_t periodic = 0);
|
||||
|
||||
/**
|
||||
* @brief Can be implemented by child handler to
|
||||
* perform debugging
|
||||
* @details Example: Calling this in performOperation
|
||||
* to track values like mode.
|
||||
* @param positionTracker Provide the child handler a way to know where the debugInterface was called
|
||||
* @param objectId Provide the child handler object Id to specify actions for spefic devices
|
||||
* @param parameter Supply a parameter of interest
|
||||
* @param positionTracker Provide the child handler a way to know
|
||||
* where the debugInterface was called
|
||||
* @param objectId Provide the child handler object Id to
|
||||
* specify actions for spefic devices
|
||||
* @param parameter Supply a parameter of interest
|
||||
* Please delete all debugInterface calls in DHB after debugging is finished !
|
||||
*/
|
||||
virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0, uint32_t parameter = 0);
|
||||
virtual void debugInterface(uint8_t positionTracker = 0,
|
||||
object_id_t objectId = 0, uint32_t parameter = 0);
|
||||
|
||||
/**
|
||||
* Get the time needed to transit from modeFrom to modeTo.
|
||||
*
|
||||
* Used for the following transitions:
|
||||
* modeFrom -> modeTo:
|
||||
* - MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
|
||||
* - MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
|
||||
* - MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
|
||||
* - _MODE_START_UP -> MODE_ON (do not include time to set the switches, the base class got you covered)
|
||||
* MODE_ON -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
|
||||
* MODE_NORMAL -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
|
||||
* MODE_RAW -> [MODE_ON, MODE_NORMAL, MODE_RAW, _MODE_POWER_DOWN]
|
||||
* _MODE_START_UP -> MODE_ON (do not include time to set the switches,
|
||||
* the base class got you covered)
|
||||
*
|
||||
* The default implementation returns 0 !
|
||||
* @param modeFrom
|
||||
@ -408,40 +465,25 @@ protected:
|
||||
* @param[out] numberOfSwitches length of returned array
|
||||
* @return
|
||||
* - @c RETURN_OK if the parameters were set
|
||||
* - @c NO_SWITCH or any other returnvalue if no switches exist
|
||||
* - @c RETURN_FAILED if no switches exist
|
||||
*/
|
||||
virtual ReturnValue_t getSwitches(const uint8_t **switches,
|
||||
uint8_t *numberOfSwitches);
|
||||
|
||||
/**
|
||||
* Can be used to perform device specific periodic operations.
|
||||
* This is called on the SEND_READ step of the performOperation() call
|
||||
* @brief Hook function for child handlers which is called once per
|
||||
* performOperation(). Default implementation is empty.
|
||||
*/
|
||||
virtual void performOperationHook();
|
||||
|
||||
/**
|
||||
* The Returnvalues id of this class, required by HasReturnvaluesIF
|
||||
*/
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
|
||||
|
||||
public:
|
||||
/**
|
||||
* @param parentQueueId
|
||||
*/
|
||||
virtual void setParentQueue(MessageQueueId_t parentQueueId);
|
||||
|
||||
/**
|
||||
* This function call handles the execution of external commands as required
|
||||
* by the HasActionIF.
|
||||
* @param actionId
|
||||
* @param commandedBy
|
||||
* @param data
|
||||
* @param size
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t* data, size_t size);
|
||||
|
||||
MessageQueueId_t commandedBy, const uint8_t* data,
|
||||
size_t size) override;
|
||||
Mode_t getTransitionSourceMode() const;
|
||||
Submode_t getTransitionSourceSubMode() const;
|
||||
virtual void getMode(Mode_t *mode, Submode_t *submode);
|
||||
@ -460,6 +502,28 @@ public:
|
||||
virtual MessageQueueId_t getCommandQueue(void) const;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* The Returnvalues id of this class, required by HasReturnvaluesIF
|
||||
*/
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
|
||||
|
||||
/**
|
||||
* These returnvalues can be returned from abstract functions
|
||||
* to alter the behaviour of DHB.For error values, refer to
|
||||
* DeviceHandlerIF.h returnvalues.
|
||||
*/
|
||||
static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
|
||||
// Returnvalues for scanForReply()
|
||||
static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5); //!< This is used to specify for replies from a device which are not replies to requests
|
||||
static const ReturnValue_t IGNORE_REPLY_DATA = MAKE_RETURN_CODE(6); //!< Ignore parts of the received packet
|
||||
static const ReturnValue_t IGNORE_FULL_PACKET = MAKE_RETURN_CODE(7); //!< Ignore full received packet
|
||||
|
||||
// static const ReturnValue_t ONE_SWITCH = MAKE_RETURN_CODE(8);
|
||||
// static const ReturnValue_t TWO_SWITCHES = MAKE_RETURN_CODE(9);
|
||||
static const ReturnValue_t NO_SWITCH = MAKE_RETURN_CODE(10);
|
||||
static const ReturnValue_t COMMAND_MAP_ERROR = MAKE_RETURN_CODE(11);
|
||||
static const ReturnValue_t NOTHING_TO_SEND = MAKE_RETURN_CODE(12);
|
||||
|
||||
//Mode handling error Codes
|
||||
static const ReturnValue_t CHILD_TIMEOUT = MAKE_RETURN_CODE(0xE1);
|
||||
static const ReturnValue_t SWITCH_FAILED = MAKE_RETURN_CODE(0xE2);
|
||||
@ -475,7 +539,7 @@ protected:
|
||||
/**
|
||||
* Size of the #rawPacket.
|
||||
*/
|
||||
size_t rawPacketLen = 0;
|
||||
uint32_t rawPacketLen = 0;
|
||||
|
||||
/**
|
||||
* The mode the device handler is currently in.
|
||||
@ -502,7 +566,7 @@ protected:
|
||||
* indicates either that all raw messages to and from the device should be sent to #theOneWhoWantsToReadRawTraffic
|
||||
* or that all device TM should be downlinked to #theOneWhoWantsToReadRawTraffic
|
||||
*/
|
||||
enum WiretappingMode: uint8_t {
|
||||
enum WiretappingMode {
|
||||
OFF = 0, RAW = 1, TM = 2
|
||||
} wiretappingMode;
|
||||
|
||||
@ -543,21 +607,19 @@ protected:
|
||||
/**
|
||||
* Communication object used for device communication
|
||||
*/
|
||||
DeviceCommunicationIF *communicationInterface = nullptr;
|
||||
DeviceCommunicationIF * communicationInterface = nullptr;
|
||||
|
||||
/**
|
||||
* Cookie used for communication. This is passed to the communication
|
||||
* interface.
|
||||
* Cookie used for communication
|
||||
*/
|
||||
CookieIF *comCookie;
|
||||
CookieIF * comCookie;
|
||||
|
||||
struct DeviceCommandInfo {
|
||||
bool isExecuting; //!< Indicates if the command is already executing.
|
||||
uint8_t expectedReplies; //!< Dynamic value to indicate how many replies are expected. Inititated with 0.
|
||||
MessageQueueId_t sendReplyTo; //!< if this is != NO_COMMANDER, DHB was commanded externally and shall report everything to commander.
|
||||
};
|
||||
typedef std::map<DeviceCommandId_t, DeviceCommandInfo> DeviceCommandMap;
|
||||
typedef DeviceCommandMap::iterator DeviceCommandIter;
|
||||
using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo> ;
|
||||
|
||||
/**
|
||||
* @brief Information about expected replies
|
||||
@ -568,15 +630,12 @@ protected:
|
||||
uint16_t maxDelayCycles; //!< The maximum number of cycles the handler should wait for a reply to this command.
|
||||
uint16_t delayCycles; //!< The currently remaining cycles the handler should wait for a reply, 0 means there is no reply expected
|
||||
size_t replyLen = 0; //!< Expected size of the reply.
|
||||
//(Robin): This is a flag, isnt it? could we declare it bool? uint8_t always
|
||||
// gives away the impression that this variable is more than a simple flag
|
||||
// and true/false are also more explicit.
|
||||
uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
|
||||
DeviceCommandMap::iterator command; //!< The command that expects this reply.
|
||||
};
|
||||
|
||||
typedef std::map<DeviceCommandId_t, DeviceReplyInfo> DeviceReplyMap;
|
||||
typedef DeviceReplyMap::iterator DeviceReplyIter;
|
||||
using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo> ;
|
||||
using DeviceReplyIter = DeviceReplyMap::iterator;
|
||||
|
||||
/**
|
||||
* The MessageQueue used to receive device handler commands and to send replies.
|
||||
@ -610,7 +669,7 @@ protected:
|
||||
* Optional Error code
|
||||
* Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
|
||||
*/
|
||||
ReturnValue_t childTransitionFailure = RETURN_OK;
|
||||
ReturnValue_t childTransitionFailure = HasReturnvaluesIF::RETURN_OK;
|
||||
|
||||
uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
|
||||
|
||||
@ -622,35 +681,13 @@ protected:
|
||||
|
||||
bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
|
||||
|
||||
PeriodicTaskIF* executingTask;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
|
||||
PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
|
||||
|
||||
static object_id_t powerSwitcherId; //!< Object which switches power on and off.
|
||||
|
||||
static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
|
||||
|
||||
static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
|
||||
|
||||
/**
|
||||
* Set the device handler mode
|
||||
*
|
||||
* Sets #timeoutStart with every call.
|
||||
*
|
||||
* Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
|
||||
* (which relies on a correct #transitionTargetMode).
|
||||
*
|
||||
* The submode is left unchanged.
|
||||
*
|
||||
*
|
||||
* @param newMode
|
||||
*/
|
||||
void setMode(Mode_t newMode);
|
||||
|
||||
/**
|
||||
* @overload
|
||||
* @param submode
|
||||
*/
|
||||
void setMode(Mode_t newMode, Submode_t submode);
|
||||
|
||||
/**
|
||||
* Helper function to report a missed reply
|
||||
*
|
||||
@ -671,14 +708,30 @@ protected:
|
||||
void replyReturnvalueToCommand(ReturnValue_t status,
|
||||
uint32_t parameter = 0);
|
||||
|
||||
/**
|
||||
* Send reply to a command, differentiate between raw command
|
||||
* and normal command.
|
||||
* @param status
|
||||
* @param parameter
|
||||
*/
|
||||
void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
|
||||
|
||||
/**
|
||||
* Set the device handler mode
|
||||
*
|
||||
* Sets #timeoutStart with every call.
|
||||
*
|
||||
* Sets #transitionTargetMode if necessary so transitional states can be
|
||||
* entered from everywhere without breaking the state machine
|
||||
* (which relies on a correct #transitionTargetMode).
|
||||
*
|
||||
* The submode is left unchanged.
|
||||
*
|
||||
*
|
||||
* @param newMode
|
||||
*/
|
||||
void setMode(Mode_t newMode);
|
||||
|
||||
/**
|
||||
* @overload
|
||||
* @param submode
|
||||
*/
|
||||
void setMode(Mode_t newMode, Submode_t submode);
|
||||
|
||||
/**
|
||||
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
|
||||
*
|
||||
@ -708,55 +761,6 @@ protected:
|
||||
*/
|
||||
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
|
||||
|
||||
/**
|
||||
* This is a helper method to facilitate inserting entries in the command map.
|
||||
* @param deviceCommand Identifier of the command to add.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the command waits until it times out.
|
||||
* @param periodic Indicates if the reply is periodic (i.e. it is sent by the device repeatedly without request) or not.
|
||||
* Default is aperiodic (0)
|
||||
* @param hasDifferentReplyId
|
||||
* @param replyId
|
||||
* @return RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
|
||||
*/
|
||||
ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
|
||||
uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0,
|
||||
bool hasDifferentReplyId = false, DeviceCommandId_t replyId = 0);
|
||||
/**
|
||||
* This is a helper method to insert replies in the reply map.
|
||||
* @param deviceCommand Identifier of the reply to add.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the reply waits until it times out.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
|
||||
* Default is aperiodic (0)
|
||||
* @return RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
|
||||
*/
|
||||
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand,
|
||||
uint16_t maxDelayCycles, size_t replyLen = 0, uint8_t periodic = 0);
|
||||
/**
|
||||
* A simple command to add a command to the commandList.
|
||||
* @param deviceCommand The command to add
|
||||
* @return RETURN_OK if the command was successfully inserted, RETURN_FAILED else.
|
||||
*/
|
||||
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
|
||||
/**
|
||||
* This is a helper method to facilitate updating entries in the reply map.
|
||||
* @param deviceCommand Identifier of the reply to update.
|
||||
* @param delayCycles The current number of delay cycles to wait. As stated in #fillCommandAndCookieMap, to disable periodic commands, this is set to zero.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the reply waits until it times out. By passing 0 the entry remains untouched.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
|
||||
* Default is aperiodic (0). Warning: The setting always overrides the value that was entered in the map.
|
||||
* @return RETURN_OK when the reply was successfully updated, COMMAND_MAP_ERROR else.
|
||||
*/
|
||||
ReturnValue_t updateReplyMapEntry(DeviceCommandId_t deviceReply,
|
||||
uint16_t delayCycles, uint16_t maxDelayCycles,
|
||||
uint8_t periodic = 0);
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
|
||||
|
||||
/**
|
||||
* Is the combination of mode and submode valid?
|
||||
*
|
||||
@ -776,6 +780,7 @@ protected:
|
||||
*
|
||||
* @return The Rmap action to execute in this step
|
||||
*/
|
||||
|
||||
virtual CommunicationAction_t getComAction();
|
||||
|
||||
/**
|
||||
@ -798,6 +803,14 @@ protected:
|
||||
*/
|
||||
virtual ReturnValue_t buildChildRawCommand();
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
uint8_t getReplyDelayCycles(DeviceCommandId_t deviceCommand);
|
||||
|
||||
/**
|
||||
* Construct a command reply containing a raw reply.
|
||||
*
|
||||
@ -861,6 +874,14 @@ protected:
|
||||
*/
|
||||
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.
|
||||
*/
|
||||
virtual void setNormalDatapoolEntriesInvalid() = 0;
|
||||
|
||||
/**
|
||||
* build a list of sids and pass it to the #hkSwitcher
|
||||
*/
|
||||
@ -889,6 +910,7 @@ protected:
|
||||
virtual void startTransition(Mode_t mode, Submode_t submode);
|
||||
virtual void setToExternalControl();
|
||||
virtual void announceMode(bool recursive);
|
||||
|
||||
virtual ReturnValue_t letChildHandleMessage(CommandMessage *message);
|
||||
|
||||
/**
|
||||
@ -954,13 +976,12 @@ protected:
|
||||
DeviceCommandMap deviceCommandMap;
|
||||
|
||||
ActionHelper actionHelper;
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* State a cookie is in.
|
||||
*
|
||||
* Used to keep track of the state of the communication.
|
||||
* Used to keep track of the state of the RMAP communication.
|
||||
*/
|
||||
enum CookieState_t {
|
||||
COOKIE_UNUSED, //!< The Cookie is unused
|
||||
@ -1034,20 +1055,22 @@ private:
|
||||
* - 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()
|
||||
* - Maybe export this into own class to increase modularity of software
|
||||
* and reduce the massive class size ?
|
||||
*/
|
||||
void doStateMachine(void);
|
||||
|
||||
void buildRawDeviceCommand(CommandMessage* message);
|
||||
void buildInternalCommand(void);
|
||||
|
||||
// /**
|
||||
// * Send a reply with the current mode and submode.
|
||||
// */
|
||||
// void announceMode(void);
|
||||
|
||||
/**
|
||||
* 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).
|
||||
* In case the reply is periodic, the counter is simply set back to a specified value.
|
||||
*/
|
||||
void decrementDeviceReplyMap(void);
|
||||
|
||||
@ -1114,8 +1137,8 @@ private:
|
||||
* - @c RETURN_FAILED IPCStore is NULL
|
||||
* - the return value from the IPCStore if it was not @c RETURN_OK
|
||||
*/
|
||||
ReturnValue_t getStorageData(store_address_t storageAddress,
|
||||
uint8_t ** data, size_t * len);
|
||||
ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
|
||||
uint32_t *len);
|
||||
|
||||
/**
|
||||
* set all switches returned by getSwitches()
|
||||
@ -1144,16 +1167,9 @@ private:
|
||||
* - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
|
||||
* - @c returnvalues of RMAPChannelIF::isActive()
|
||||
*/
|
||||
//ReturnValue_t switchCookieChannel(object_id_t newChannelId);
|
||||
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
|
||||
|
||||
/**
|
||||
* Handle device handler messages (e.g. commands sent by PUS Service 2)
|
||||
* @param message
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif /* DEVICEHANDLERBASE_H_ */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user