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new adaptions for cookie + comIF changes

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hook for performOp() added
This commit is contained in:
Robin Müller 2020-03-23 18:03:00 +01:00
parent e03aff3731
commit 029b2133e6
2 changed files with 151 additions and 114 deletions
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101
devicehandlers/DeviceHandlerBase.cpp
View File

@ -16,37 +16,34 @@ object_id_t DeviceHandlerBase::powerSwitcherId = 0;
object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
DeviceHandlerBase::DeviceHandlerBase(uint32_t logicalAddress_,
object_id_t setObjectId, uint32_t maxDeviceReplyLen,
uint8_t setDeviceSwitch, object_id_t deviceCommunication,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
cookie(NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this, setObjectId),
modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
defaultFDIRUsed(fdirInstance == NULL), switchOffWasReported(false),
executingTask(NULL), actionHelper(this, NULL), cookieInfo(), logicalAddress(logicalAddress_),
timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
object_id_t deviceCommunication, Cookie * cookie_, size_t maxReplyLen,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication), cookie(cookie_),
deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(thermalRequestPoolId),
healthHelper(this, setObjectId), modeHelper(this), parameterHelper(this),
fdirInstance(fdirInstance), hkSwitcher(this),
defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
executingTask(nullptr), actionHelper(this, nullptr), cookieInfo(),
logicalAddress(logicalAddress_), childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE),
deviceSwitch(setDeviceSwitch)
{
this->cookie->setMaxReplyLen(maxReplyLen);
commandQueue = QueueFactory::instance()->
createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
cookieInfo.state = COOKIE_UNUSED;
insertInCommandMap(RAW_COMMAND_ID);
if (this->fdirInstance == NULL) {
if (this->fdirInstance == nullptr) {
this->fdirInstance =
new DeviceHandlerFailureIsolation(setObjectId, defaultFDIRParentId);
}
}
DeviceHandlerBase::~DeviceHandlerBase() {
communicationInterface->close(cookie);
if (defaultFDIRUsed) {
delete fdirInstance;
}
@ -63,10 +60,12 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
decrementDeviceReplyMap();
fdirInstance->checkForFailures();
hkSwitcher.performOperation();
performOperationHook();
}
if (mode == MODE_OFF) {
return RETURN_OK;
}
switch (getRmapAction()) {
case SEND_WRITE:
if ((cookieInfo.state == COOKIE_UNUSED)) {
@ -87,6 +86,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
default:
break;
}
return RETURN_OK;
}
@ -102,11 +102,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
return RETURN_FAILED;
}
result = communicationInterface->open(&cookie, logicalAddress,
maxDeviceReplyLen);
if (result != RETURN_OK) {
return result;
}
// result = communicationInterface->open(&cookie, logicalAddress,
// maxDeviceReplyLen, comParameter1, comParameter2);
// if (result != RETURN_OK) {
// return result;
// }
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == NULL) {
@ -166,7 +166,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
mySet.commit(PoolVariableIF::VALID);
return RETURN_OK;
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
@ -549,7 +548,7 @@ void DeviceHandlerBase::doGetWrite() {
void DeviceHandlerBase::doSendRead() {
ReturnValue_t result;
result = communicationInterface->requestReceiveMessage(cookie);
result = communicationInterface->requestReceiveMessage(cookie, requestLen);
if (result == RETURN_OK) {
cookieInfo.state = COOKIE_READ_SENT;
} else {
@ -563,10 +562,10 @@ void DeviceHandlerBase::doSendRead() {
}
void DeviceHandlerBase::doGetRead() {
uint32_t receivedDataLen;
size_t receivedDataLen;
uint8_t *receivedData;
DeviceCommandId_t foundId = 0xFFFFFFFF;
uint32_t foundLen = 0;
size_t foundLen = 0;
ReturnValue_t result;
if (cookieInfo.state != COOKIE_READ_SENT) {
@ -637,8 +636,8 @@ void DeviceHandlerBase::doGetRead() {
}
ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
uint8_t * *data, uint32_t * len) {
uint32_t lenTmp;
uint8_t ** data, size_t * len) {
size_t lenTmp;
if (IPCStore == NULL) {
*data = NULL;
@ -689,7 +688,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
//Default child implementations
DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
DeviceHandlerBase::CommunicationAction_t DeviceHandlerBase::getRmapAction() {
switch (pstStep) {
case 0:
return SEND_WRITE;
@ -749,20 +748,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
}
}
ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
DeviceCommunicationIF *newCommunication = objectManager->get<
DeviceCommunicationIF>(newChannelId);
if (newCommunication != NULL) {
ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
maxDeviceReplyLen);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
return RETURN_FAILED;
}
//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
// DeviceCommunicationIF *newCommunication = objectManager->get<
// DeviceCommunicationIF>(newChannelId);
//
// if (newCommunication != NULL) {
// ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
// maxDeviceReplyLen, comParameter1, comParameter2);
// if (result != RETURN_OK) {
// return result;
// }
// return RETURN_OK;
// }
// return RETURN_FAILED;
//}
void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
@ -1046,12 +1045,13 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
}
replyReturnvalueToCommand(RETURN_OK);
return RETURN_OK;
case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
case DeviceHandlerMessage::CMD_SWITCH_ADDRESS:
if (mode != MODE_OFF) {
replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
} else {
result = switchCookieChannel(
DeviceHandlerMessage::getIoBoardObjectId(message));
// rework in progress
//result = switchCookieChannel(
// DeviceHandlerMessage::getIoBoardObjectId(message));
if (result == RETURN_OK) {
replyReturnvalueToCommand(RETURN_OK);
} else {
@ -1278,3 +1278,6 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t obje
uint32_t DeviceHandlerBase::getLogicalAddress() {
return logicalAddress;
}
void DeviceHandlerBase::performOperationHook() {
}

164
devicehandlers/DeviceHandlerBase.h
View File

@ -18,9 +18,9 @@
#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
#include <framework/datapool/HkSwitchHelper.h>
#include <framework/serialize/SerialFixedArrayListAdapter.h>
#include <map>
#include <framework/ipc/MessageQueueIF.h>
#include <framework/tasks/PeriodicTaskIF.h>
#include <map>
namespace Factory{
void setStaticFrameworkObjectIds();
@ -29,7 +29,7 @@ void setStaticFrameworkObjectIds();
class StorageManagerIF;
/**
* \defgroup devices Devices
* @defgroup devices Devices
* Contains all devices and the DeviceHandlerBase class.
*/
@ -38,18 +38,20 @@ class StorageManagerIF;
* @details
* Documentation: Dissertation Baetz p.138,139, p.141-149
*
* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, communication with
* physical devices, using the @link DeviceCommunicationIF @endlink, and communication with commanding objects.
* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
* communication with physical devices, using the @link DeviceCommunicationIF @endlink,
* and communication with commanding objects.
* It inherits SystemObject and thus can be created by the ObjectManagerIF.
*
* This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
* For each step an RMAP action is selected and executed.
* If data has been received (GET_READ), the data will be interpreted.
* The action for each step can be defined by the child class but as most device handlers share a 4-call
* (sendRead-getRead-sendWrite-getWrite) structure, a default implementation is provided.
* NOTE: RMAP is a standard which is used for FLP.
* The action for each step can be defined by the child class but as most
* device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
* a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
* RMAP communication is not mandatory for projects implementing the FSFW.
* However, the communication principles are similar to RMAP as there are two write and two send calls involved.
* However, the communication principles are similar to RMAP as there are
* two write and two send calls involved.
*
* Device handler instances should extend this class and implement the abstract functions.
* Components and drivers can send so called cookies which are used for communication
@ -83,7 +85,7 @@ public:
* The constructor passes the objectId to the SystemObject().
*
* @param setObjectId the ObjectId to pass to the SystemObject() Constructor
* @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
* @param maxDeviceReplyLen the largest allowed reply size
* @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
* @param thermalStatePoolId
@ -91,12 +93,11 @@ public:
* @param fdirInstance
* @param cmdQueueSize
*/
DeviceHandlerBase(uint32_t logicalAddress, object_id_t setObjectId,
uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
object_id_t deviceCommunication,
uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
object_id_t deviceCommunication, Cookie* cookie_, size_t maxReplyLen,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
FailureIsolationBase* fdirInstance = nullptr, size_t cmdQueueSize = 20);
/**
* @brief This function is the device handler base core component and is called periodically.
@ -281,8 +282,8 @@ protected:
* - @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, uint32_t len,
DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
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.
@ -301,6 +302,14 @@ protected:
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) = 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.
*/
virtual void setNormalDatapoolEntriesInvalid() = 0;
/**
* @brief Can be implemented by child handler to
* perform debugging
@ -344,6 +353,12 @@ protected:
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
*/
virtual void performOperationHook();
public:
/**
* @param parentQueueId
@ -396,11 +411,32 @@ protected:
/**
* Pointer to the raw packet that will be sent.
*/
uint8_t *rawPacket;
uint8_t *rawPacket = nullptr;
/**
* Size of the #rawPacket.
*/
uint32_t rawPacketLen;
size_t rawPacketLen = 0;
/**
* Size of data to request.
*/
size_t requestLen = 0;
// /**
// * This union (or std::variant) type can be used to set comParameters which
// * are passed in the open() and reOpen() calls to the communication
// * interface
// * TODO: I don't know if we should use C++17 features but if we do we propably
// * should also write a function to get either a storeId handle
// * or an array handle so these values can be set conveniently.
// * The good think is that if there are many parameters, they can
// * be stored in the IPC pool. But maybe two uint32_t parameters are enough.
// * Simple = Good. It is downwards compatible and one can still store
// * 4 bytes of parameters AND a store ID.
// */
// comParameters_t comParameters;
// uint32_t comParameter1 = 0;
// uint32_t comParameter2 = 0;
/**
* The mode the device handler is currently in.
@ -419,12 +455,12 @@ protected:
/**
* This is the counter value from performOperation().
*/
uint8_t pstStep;
uint8_t pstStep = 0;
/**
* This will be used in the RMAP getRead command as expected length, is set by the constructor, can be modiefied at will.
*/
const uint32_t maxDeviceReplyLen;
const uint32_t maxDeviceReplyLen = 0;
/**
* wiretapping flag:
@ -442,7 +478,7 @@ protected:
* Statically initialized in initialize() to a configurable object. Used when there is no method
* of finding a recipient, ie raw mode and reporting erreonous replies
*/
MessageQueueId_t defaultRawReceiver;
MessageQueueId_t defaultRawReceiver = 0;
store_address_t storedRawData;
@ -451,19 +487,19 @@ protected:
*
* if #isWiretappingActive all raw communication from and to the device will be sent to this queue
*/
MessageQueueId_t requestedRawTraffic;
MessageQueueId_t requestedRawTraffic = 0;
/**
* the object used to set power switches
*/
PowerSwitchIF *powerSwitcher;
PowerSwitchIF *powerSwitcher = nullptr;
/**
* Pointer to the IPCStore.
*
* This caches the pointer received from the objectManager in the constructor.
*/
StorageManagerIF *IPCStore;
StorageManagerIF *IPCStore = nullptr;
/**
* cached for init
@ -473,17 +509,18 @@ protected:
/**
* Communication object used for device communication
*/
DeviceCommunicationIF *communicationInterface;
DeviceCommunicationIF *communicationInterface = nullptr;
/**
* Cookie used for communication
* Cookie used for communication. This is passed to the communication
* interface.
*/
Cookie *cookie;
/**
* The MessageQueue used to receive device handler commands and to send replies.
*/
MessageQueueIF* commandQueue;
MessageQueueIF* commandQueue = nullptr;
/**
* this is the datapool variable with the thermal state of the device
@ -512,9 +549,9 @@ protected:
* Optional Error code
* Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
*/
ReturnValue_t childTransitionFailure;
ReturnValue_t childTransitionFailure = RETURN_OK;
uint32_t ignoreMissedRepliesCount; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
@ -531,6 +568,28 @@ protected:
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
*
@ -559,27 +618,6 @@ protected:
*/
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).
*
@ -628,7 +666,7 @@ protected:
*
* @return The Rmap action to execute in this step
*/
virtual RmapAction_t getRmapAction();
virtual CommunicationAction_t getRmapAction();
/**
* Build the device command to send for raw mode.
@ -655,8 +693,10 @@ protected:
* 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.
* @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,
@ -769,14 +809,6 @@ 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
*/
@ -897,7 +929,7 @@ private:
/**
* State a cookie is in.
*
* Used to keep track of the state of the RMAP communication.
* Used to keep track of the state of the communication.
*/
enum CookieState_t {
COOKIE_UNUSED, //!< The Cookie is unused
@ -934,7 +966,7 @@ private:
*
* Set when setMode() is called.
*/
uint32_t timeoutStart;
uint32_t timeoutStart = 0;
/**
* Delay for the current mode transition, used for time out
@ -976,6 +1008,8 @@ 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);
@ -1054,8 +1088,8 @@ 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,
uint32_t *len);
ReturnValue_t getStorageData(store_address_t storageAddress,
uint8_t ** data, size_t * len);
/**
* set all switches returned by getSwitches()
@ -1084,7 +1118,7 @@ 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)