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Merge remote-tracking branch 'upstream/development' into mueller/parameter-convergence

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This commit is contained in:
Robin Müller 2020-12-08 15:55:49 +01:00
commit 1d6402a0c0
20 changed files with 217 additions and 186 deletions
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5
CHANGELOG
View File

@ -29,6 +29,11 @@ information as well as the rows and column number. Rows and column will
default to one, which is equivalent to one scalar parameter (the most
important use-case)
### Device Handler Base
- There is an additional `PERFORM_OPERATION` step for the device handler base. It is important
that DHB users adapt their polling sequence tables to perform this step. This steps allows for aclear distinction between operation and communication steps
### Events
- makeEvent function: Now takes three input parameters instead of two and

20
devicehandlers/AcceptsDeviceResponsesIF.h
View File

@ -1,23 +1,19 @@
/**
* @file AcceptsDeviceResponsesIF.h
* @brief This file defines the AcceptsDeviceResponsesIF class.
* @date 15.05.2013
* @author baetz
*/
#ifndef ACCEPTSDEVICERESPONSESIF_H_
#define ACCEPTSDEVICERESPONSESIF_H_
#ifndef FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
#define FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_
#include "../ipc/MessageQueueSenderIF.h"
/**
* This interface is used by the device handler to send a device response
* to the queue ID, which is returned in the implemented abstract method.
*/
class AcceptsDeviceResponsesIF {
public:
/**
* Default empty virtual destructor.
*/
virtual ~AcceptsDeviceResponsesIF() {
}
virtual ~AcceptsDeviceResponsesIF() {}
virtual MessageQueueId_t getDeviceQueue() = 0;
};
#endif /* ACCEPTSDEVICERESPONSESIF_H_ */
#endif /* FSFW_DEVICEHANDLERS_ACCEPTSDEVICERESPONSESIF_H_ */

13
devicehandlers/AssemblyBase.cpp
View File

@ -2,10 +2,10 @@
AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
uint16_t commandQueueDepth) :
SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth), internalState(
STATE_NONE), recoveryState(RECOVERY_IDLE), recoveringDevice(
childrenMap.end()), targetMode(MODE_OFF), targetSubmode(
SUBMODE_NONE) {
SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
targetSubmode(SUBMODE_NONE) {
recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
}
@ -165,9 +165,8 @@ ReturnValue_t AssemblyBase::checkChildrenState() {
}
ReturnValue_t AssemblyBase::checkChildrenStateOff() {
for (std::map<object_id_t, ChildInfo>::iterator iter = childrenMap.begin();
iter != childrenMap.end(); iter++) {
if (checkChildOff(iter->first) != RETURN_OK) {
for (const auto& childIter: childrenMap) {
if (checkChildOff(childIter.first) != RETURN_OK) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
}

90
devicehandlers/AssemblyBase.h
View File

@ -1,10 +1,30 @@
#ifndef ASSEMBLYBASE_H_
#define ASSEMBLYBASE_H_
#ifndef FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
#define FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_
#include "../container/FixedArrayList.h"
#include "DeviceHandlerBase.h"
#include "../container/FixedArrayList.h"
#include "../subsystem/SubsystemBase.h"
/**
* @brief Base class to implement reconfiguration and failure handling for
* redundant devices by monitoring their modes health states.
* @details
* Documentation: Dissertation Baetz p.156, 157.
*
* This class reduces the complexity of controller components which would
* otherwise be needed for the handling of redundant devices.
*
* The template class monitors mode and health state of its children
* and checks availability of devices on every detected change.
* AssemblyBase does not implement any redundancy logic by itself, but provides
* adaptation points for implementations to do so. Since most monitoring
* activities rely on mode and health state only and are therefore
* generic, it is sufficient for subclasses to provide:
*
* 1. check logic when active-> checkChildrenStateOn
* 2. transition logic to change the mode -> commandChildren
*
*/
class AssemblyBase: public SubsystemBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ASSEMBLY_BASE;
@ -16,10 +36,41 @@ public:
static const ReturnValue_t NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE =
MAKE_RETURN_CODE(0xa1);
AssemblyBase(object_id_t objectId, object_id_t parentId, uint16_t commandQueueDepth = 8);
AssemblyBase(object_id_t objectId, object_id_t parentId,
uint16_t commandQueueDepth = 8);
virtual ~AssemblyBase();
protected:
// SHOULDDO: Change that OVERWRITE_HEALTH may be returned
// (or return internalState directly?)
/**
* Command children to reach [mode,submode] combination
* Can be done by setting #commandsOutstanding correctly,
* or using executeTable()
* @param mode
* @param submode
* @return
* - @c RETURN_OK if ok
* - @c NEED_SECOND_STEP if children need to be commanded again
*/
virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
/**
* Check whether desired assembly mode was achieved by checking the modes
* or/and health states of child device handlers.
* The assembly template class will also call this function if a health
* or mode change of a child device handler was detected.
* @param wantedMode
* @param wantedSubmode
* @return
*/
virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) = 0;
virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
Submode_t submode) = 0;
enum InternalState {
STATE_NONE,
STATE_OVERWRITE_HEALTH,
@ -36,6 +87,7 @@ protected:
RECOVERY_WAIT
} recoveryState; //!< Indicates if one of the children requested a recovery.
ChildrenMap::iterator recoveringDevice;
/**
* the mode the current transition is trying to achieve.
* Can be different from the modehelper.commandedMode!
@ -61,8 +113,8 @@ protected:
bool handleChildrenChanged();
/**
* This method is called if the children changed its mode in a way that the current
* mode can't be kept.
* This method is called if the children changed its mode in a way that
* the current mode can't be kept.
* Default behavior is to go to MODE_OFF.
* @param result The failure code which was returned by checkChildrenState.
*/
@ -75,9 +127,6 @@ protected:
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
virtual ReturnValue_t isModeCombinationValid(Mode_t mode,
Submode_t submode) = 0;
virtual void startTransition(Mode_t mode, Submode_t submode);
virtual void doStartTransition(Mode_t mode, Submode_t submode);
@ -90,24 +139,6 @@ protected:
void sendHealthCommand(MessageQueueId_t sendTo, HealthState health);
//SHOULDDO: Change that OVERWRITE_HEALTH may be returned (or return internalState directly?)
/**
* command children to reach mode,submode
*
* set #commandsOutstanding correctly, or use executeTable()
*
* @param mode
* @param submode
* @return
* - @c RETURN_OK if ok
* - @c NEED_SECOND_STEP if children need to be commanded again
*/
virtual ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) = 0;
//SHOULDDO: Remove wantedMode, wantedSubmode, as targetMode/submode is available?
virtual ReturnValue_t checkChildrenStateOn(Mode_t wantedMode,
Submode_t wantedSubmode) = 0;
virtual ReturnValue_t checkChildrenStateOff();
ReturnValue_t checkChildrenState();
@ -125,8 +156,9 @@ protected:
* Also sets state to STATE_OVERWRITE_HEATH.
* @param objectId Must be a registered child.
*/
void overwriteDeviceHealth(object_id_t objectId, HasHealthIF::HealthState oldHealth);
void overwriteDeviceHealth(object_id_t objectId,
HasHealthIF::HealthState oldHealth);
};
#endif /* ASSEMBLYBASE_H_ */
#endif /* FSFW_DEVICEHANDLERS_ASSEMBLYBASE_H_ */

10
devicehandlers/ChildHandlerBase.cpp
View File

@ -1,16 +1,18 @@
#include "ChildHandlerBase.h"
#include "../subsystem/SubsystemBase.h"
#include "../devicehandlers/ChildHandlerBase.h"
#include "../subsystem/SubsystemBase.h"
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * cookie,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
object_id_t parent, FailureIsolationBase* customFdir,
size_t cmdQueueSize) :
object_id_t hkDestination, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId,
object_id_t parent,
FailureIsolationBase* customFdir, size_t cmdQueueSize) :
DeviceHandlerBase(setObjectId, deviceCommunication, cookie,
(customFdir == nullptr? &childHandlerFdir : customFdir),
cmdQueueSize),
parentId(parent), childHandlerFdir(setObjectId) {
this->setHkDestination(hkDestination);
this->setThermalStateRequestPoolIds(thermalStatePoolId,
thermalRequestPoolId);

14
devicehandlers/ChildHandlerBase.h
View File

@ -1,17 +1,18 @@
#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
#define FSFW_DEVICES_CHILDHANDLERBASE_H_
#ifndef FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
#define FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_
#include "ChildHandlerFDIR.h"
#include "DeviceHandlerBase.h"
#include "ChildHandlerFDIR.h"
class ChildHandlerBase: public DeviceHandlerBase {
public:
ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF * cookie, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId,
CookieIF * cookie, object_id_t hkDestination,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
object_id_t parent = objects::NO_OBJECT,
FailureIsolationBase* customFdir = nullptr,
size_t cmdQueueSize = 20);
virtual ~ChildHandlerBase();
virtual ReturnValue_t initialize();
@ -22,5 +23,4 @@ protected:
};
#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */
#endif /* FSFW_DEVICEHANDLER_CHILDHANDLERBASE_H_ */

3
devicehandlers/ChildHandlerFDIR.cpp
View File

@ -1,6 +1,7 @@
#include "ChildHandlerFDIR.h"
ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner, object_id_t faultTreeParent, uint32_t recoveryCount) :
ChildHandlerFDIR::ChildHandlerFDIR(object_id_t owner,
object_id_t faultTreeParent, uint32_t recoveryCount) :
DeviceHandlerFailureIsolation(owner, faultTreeParent) {
recoveryCounter.setFailureThreshold(recoveryCount);
}

4
devicehandlers/ChildHandlerFDIR.h
View File

@ -1,5 +1,5 @@
#ifndef FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
#define FRAMEWORK_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
#ifndef FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
#define FSFW_DEVICEHANDLERS_CHILDHANDLERFDIR_H_
#include "DeviceHandlerFailureIsolation.h"

10
devicehandlers/CookieIF.h
View File

@ -1,11 +1,12 @@
#ifndef COOKIE_H_
#define COOKIE_H_
#ifndef FSFW_DEVICEHANDLER_COOKIE_H_
#define FSFW_DEVICEHANDLER_COOKIE_H_
#include <cstdint>
/**
* @brief Physical address type
*/
typedef std::uint32_t address_t;
using address_t = uint32_t;
/**
* @brief This datatype is used to identify different connection over a
@ -16,7 +17,6 @@ typedef std::uint32_t address_t;
* calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
* @endcode .
*
* [not implemented yet]
* This cookie is then passed to the child device handlers, which stores the
* pointer and passes it to the communication interface functions.
*
@ -31,4 +31,4 @@ public:
virtual ~CookieIF() {};
};
#endif /* COOKIE_H_ */
#endif /* FSFW_DEVICEHANDLER_COOKIE_H_ */

41
devicehandlers/DeviceCommunicationIF.h
View File

@ -1,9 +1,10 @@
#ifndef DEVICECOMMUNICATIONIF_H_
#define DEVICECOMMUNICATIONIF_H_
#ifndef FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
#define FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_
#include "CookieIF.h"
#include "DeviceHandlerIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include <cstddef>
/**
* @defgroup interfaces Interfaces
* @brief Interfaces for flight software objects
@ -19,8 +20,8 @@
* the device handler to allow reuse of these components.
* @details
* Documentation: Dissertation Baetz p.138.
* It works with the assumption that received data
* is polled by a component. There are four generic steps of device communication:
* It works with the assumption that received data is polled by a component.
* There are four generic steps of device communication:
*
* 1. Send data to a device
* 2. Get acknowledgement for sending
@ -38,24 +39,20 @@ class DeviceCommunicationIF: public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
//! Standard Error Codes
//! This is returned in readReceivedMessage() if no reply was reived.
static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0x01);
//! General protocol error. Define more concrete errors in child handler
static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x02);
//! If cookie is a null pointer
static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x04);
// is this needed if there is no open/close call?
static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
//! Can be used in readReceivedMessage() if no reply was received.
static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x06);
virtual ~DeviceCommunicationIF() {}
/**
* @brief Device specific initialization, using the cookie.
* @details
@ -76,13 +73,13 @@ public:
* by implementing and calling related drivers or wrapper functions.
* @param cookie
* @param data
* @param len
* @param len If this is 0, nothing shall be sent.
* @return
* - @c RETURN_OK for successfull send
* - Everything else triggers failure event with returnvalue as parameter 1
*/
virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) = 0;
virtual ReturnValue_t sendMessage(CookieIF *cookie,
const uint8_t * sendData, size_t sendLen) = 0;
/**
* Called by DHB in the GET_WRITE doGetWrite().
@ -124,8 +121,8 @@ public:
* - Everything else triggers failure event with
* returnvalue as parameter 1
*/
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) = 0;
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) = 0;
};
#endif /* DEVICECOMMUNICATIONIF_H_ */
#endif /* FSFW_DEVICES_DEVICECOMMUNICATIONIF_H_ */

37
devicehandlers/DeviceHandlerBase.cpp
View File

@ -72,8 +72,13 @@ DeviceHandlerBase::~DeviceHandlerBase() {
ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
this->pstStep = counter;
this->lastStep = this->pstStep;
if (getComAction() == SEND_WRITE) {
if (getComAction() == CommunicationAction::NOTHING) {
return HasReturnvaluesIF::RETURN_OK;
}
if (getComAction() == CommunicationAction::PERFORM_OPERATION) {
cookieInfo.state = COOKIE_UNUSED;
readCommandQueue();
doStateMachine();
@ -83,26 +88,29 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
hkSwitcher.performOperation();
hkManager.performHkOperation();
performOperationHook();
return RETURN_OK;
}
if (mode == MODE_OFF) {
return RETURN_OK;
}
switch (getComAction()) {
case SEND_WRITE:
if ((cookieInfo.state == COOKIE_UNUSED)) {
case CommunicationAction::SEND_WRITE:
if (cookieInfo.state == COOKIE_UNUSED) {
// if no external command was specified, build internal command.
buildInternalCommand();
}
doSendWrite();
break;
case GET_WRITE:
case CommunicationAction::GET_WRITE:
doGetWrite();
break;
case SEND_READ:
case CommunicationAction::SEND_READ:
doSendRead();
break;
case GET_READ:
case CommunicationAction::GET_READ:
doGetRead();
cookieInfo.state = COOKIE_UNUSED;
break;
default:
break;
@ -821,24 +829,27 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
}
//Default child implementations
DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
DeviceHandlerIF::CommunicationAction DeviceHandlerBase::getComAction() {
switch (pstStep) {
case 0:
return SEND_WRITE;
return CommunicationAction::PERFORM_OPERATION;
break;
case 1:
return GET_WRITE;
return CommunicationAction::SEND_WRITE;
break;
case 2:
return SEND_READ;
return CommunicationAction::GET_WRITE;
break;
case 3:
return GET_READ;
return CommunicationAction::SEND_READ;
break;
case 4:
return CommunicationAction::GET_READ;
break;
default:
break;
}
return NOTHING;
return CommunicationAction::NOTHING;
}
MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {

3
devicehandlers/DeviceHandlerBase.h
View File

@ -577,6 +577,7 @@ protected:
/** This is the counter value from performOperation(). */
uint8_t pstStep = 0;
uint8_t lastStep = 0;
uint32_t pstIntervalMs = 0;
/**
@ -841,7 +842,7 @@ protected:
* @return The Rmap action to execute in this step
*/
virtual CommunicationAction_t getComAction();
virtual CommunicationAction getComAction();
/**
* Build the device command to send for raw mode.

8
devicehandlers/DeviceHandlerFailureIsolation.cpp
View File

@ -247,6 +247,14 @@ bool DeviceHandlerFailureIsolation::isFdirInActionOrAreWeFaulty(
}
return true;
}
if (owner == nullptr) {
// Configuration error.
sif::error << "DeviceHandlerFailureIsolation::"
<< "isFdirInActionOrAreWeFaulty: Owner not set!" << std::endl;
return false;
}
if (owner->getHealth() == HasHealthIF::FAULTY
|| owner->getHealth() == HasHealthIF::PERMANENT_FAULTY) {
//Ignore all events in case device is already faulty.

23
devicehandlers/DeviceHandlerIF.h
View File

@ -1,12 +1,19 @@
#ifndef DEVICEHANDLERIF_H_
#define DEVICEHANDLERIF_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_
#include "DeviceHandlerMessage.h"
#include "../action/HasActionsIF.h"
#include "DeviceHandlerMessage.h"
#include "../events/Event.h"
#include "../modes/HasModesIF.h"
#include "../ipc/MessageQueueSenderIF.h"
/**
* This is used to uniquely identify commands that are sent to a device
* The values are defined in the device-specific implementations
*/
using DeviceCommandId_t = uint32_t;
/**
* @brief This is the Interface used to communicate with a device handler.
* @details Includes all expected return values, events and modes.
@ -15,6 +22,7 @@
class DeviceHandlerIF {
public:
static const uint8_t TRANSITION_MODE_CHILD_ACTION_MASK = 0x20;
static const uint8_t TRANSITION_MODE_BASE_ACTION_MASK = 0x10;
@ -49,6 +57,8 @@ public:
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
//! It is possible to set the mode to _MODE_SHUT_DOWN to use the to off
//! transition if available.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
@ -98,7 +108,7 @@ public:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
// Standard codes used when building commands.
static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If no command data was given when expected.
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
@ -131,7 +141,8 @@ public:
*
* This is used by the child class to tell the base class what to do.
*/
enum CommunicationAction_t: uint8_t {
enum CommunicationAction: uint8_t {
PERFORM_OPERATION,
SEND_WRITE,//!< Send write
GET_WRITE, //!< Get write
SEND_READ, //!< Send read
@ -152,4 +163,4 @@ public:
};
#endif /* DEVICEHANDLERIF_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERIF_H_ */

19
devicehandlers/DeviceHandlerMessage.cpp
View File

@ -1,10 +1,6 @@
#include "../objectmanager/ObjectManagerIF.h"
#include "DeviceHandlerMessage.h"
#include "../objectmanager/ObjectManagerIF.h"
DeviceHandlerMessage::DeviceHandlerMessage() {
}
store_address_t DeviceHandlerMessage::getStoreAddress(
const CommandMessage* message) {
return store_address_t(message->getParameter2());
@ -25,14 +21,6 @@ uint8_t DeviceHandlerMessage::getWiretappingMode(
return message->getParameter();
}
//void DeviceHandlerMessage::setDeviceHandlerDirectCommandMessage(
// CommandMessage* message, DeviceCommandId_t deviceCommand,
// store_address_t commandParametersStoreId) {
// message->setCommand(CMD_DIRECT);
// message->setParameter(deviceCommand);
// message->setParameter2(commandParametersStoreId.raw);
//}
void DeviceHandlerMessage::setDeviceHandlerRawCommandMessage(
CommandMessage* message, store_address_t rawPacketStoreId) {
message->setCommand(CMD_RAW);
@ -47,7 +35,7 @@ void DeviceHandlerMessage::setDeviceHandlerWiretappingMessage(
void DeviceHandlerMessage::setDeviceHandlerSwitchIoBoardMessage(
CommandMessage* message, uint32_t ioBoardIdentifier) {
message->setCommand(CMD_SWITCH_IOBOARD);
message->setCommand(CMD_SWITCH_ADDRESS);
message->setParameter(ioBoardIdentifier);
}
@ -79,18 +67,17 @@ void DeviceHandlerMessage::setDeviceHandlerDirectCommandReply(
void DeviceHandlerMessage::clear(CommandMessage* message) {
switch (message->getCommand()) {
case CMD_RAW:
// case CMD_DIRECT:
case REPLY_RAW_COMMAND:
case REPLY_RAW_REPLY:
case REPLY_DIRECT_COMMAND_DATA: {
StorageManagerIF *ipcStore = objectManager->get<StorageManagerIF>(
objects::IPC_STORE);
if (ipcStore != NULL) {
if (ipcStore != nullptr) {
ipcStore->deleteData(getStoreAddress(message));
}
}
/* NO BREAK falls through*/
case CMD_SWITCH_IOBOARD:
case CMD_SWITCH_ADDRESS:
case CMD_WIRETAPPING:
message->setCommand(CommandMessage::CMD_NONE);
message->setParameter(0);

78
devicehandlers/DeviceHandlerMessage.h
View File

@ -1,69 +1,56 @@
#ifndef DEVICEHANDLERMESSAGE_H_
#define DEVICEHANDLERMESSAGE_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
#define FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_
#include "../action/ActionMessage.h"
#include "../ipc/CommandMessage.h"
#include "../objectmanager/SystemObjectIF.h"
#include "../storagemanager/StorageManagerIF.h"
//SHOULDDO: rework the static constructors to name the type of command they are building, maybe even hide setting the commandID.
// SHOULDDO: rework the static constructors to name the type of command
// they are building, maybe even hide setting the commandID.
/**
* This is used to uniquely identify commands that are sent to a device
*
* The values are defined in the device-specific implementations
*/
typedef uint32_t DeviceCommandId_t;
/**
* The DeviceHandlerMessage is used to send Commands to a DeviceHandlerIF
* @brief The DeviceHandlerMessage is used to send commands to classes
* implementing DeviceHandlerIF
*/
class DeviceHandlerMessage {
private:
DeviceHandlerMessage();
public:
/**
* Instantiation forbidden. Instead, use static functions to operate
* on messages.
*/
DeviceHandlerMessage() = delete;
virtual ~DeviceHandlerMessage() {}
/**
* These are the commands that can be sent to a DeviceHandlerBase
*/
static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
// static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID( 4 ); //!< (De)Activates the monitoring of all raw traffic in DeviceHandlers, setParameter is 0 to deactivate, 1 to activate
//! Sends a raw command, setParameter is a storeId containing the
//! raw packet to send
static const Command_t CMD_RAW = MAKE_COMMAND_ID(1);
//! Requests a IO-Board switch, setParameter() is the IO-Board identifier
static const Command_t CMD_SWITCH_ADDRESS = MAKE_COMMAND_ID(3);
//! (De)Activates the monitoring of all raw traffic in DeviceHandlers,
//! setParameter is 0 to deactivate, 1 to activate
static const Command_t CMD_WIRETAPPING = MAKE_COMMAND_ID(4);
/*static const Command_t REPLY_SWITCHED_IOBOARD = MAKE_COMMAND_ID(1 );//!< Reply to a @c CMD_SWITCH_IOBOARD, indicates switch was successful, getParameter() contains the board switched to (0: nominal, 1: redundant)
static const Command_t REPLY_CANT_SWITCH_IOBOARD = MAKE_COMMAND_ID( 2); //!< Reply to a @c CMD_SWITCH_IOBOARD, indicating the switch could not be performed, getParameter() contains the error message
static const Command_t REPLY_WIRETAPPING = MAKE_COMMAND_ID( 3); //!< Reply to a @c CMD_WIRETAPPING, getParameter() is the current state, 1 enabled, 0 disabled
static const Command_t REPLY_COMMAND_WAS_SENT = MAKE_COMMAND_ID(4 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was successfully sent to the device, getParameter() contains the ::DeviceCommandId_t
static const Command_t REPLY_COMMAND_NOT_SUPPORTED = MAKE_COMMAND_ID(5 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t is not supported, getParameter() contains the requested ::DeviceCommand_t, getParameter2() contains the ::DeviceCommandId_t
static const Command_t REPLY_COMMAND_WAS_NOT_SENT = MAKE_COMMAND_ID(6 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates the command was not sent, getParameter contains the RMAP Return code (@see rmap.h), getParameter2() contains the ::DeviceCommandId_t
static const Command_t REPLY_COMMAND_ALREADY_SENT = MAKE_COMMAND_ID(7 );//!< Reply to a @c CMD_DIRECT, the requested ::DeviceCommand_t has already been sent to the device and not ye been answered
static const Command_t REPLY_WRONG_MODE_FOR_CMD = MAKE_COMMAND_ID(8 );//!< Reply to a @c CMD_RAW or @c CMD_DIRECT, indicates that the requested command can not be sent in the curent mode, getParameter() contains the DeviceHandlerCommand_t
static const Command_t REPLY_NO_DATA = MAKE_COMMAND_ID(9 ); //!< Reply to a CMD_RAW or @c CMD_DIRECT, indicates that the ::store_id_t was invalid, getParameter() contains the ::DeviceCommandId_t, getPrameter2() contains the error code
*/
static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS; //!< Signals that a direct command was sent
static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11 ); //!< Contains a raw command sent to the Device
static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID( 0x12); //!< Contains a raw reply from the Device, getParameter() is the ObjcetId of the sender, getParameter2() is a ::store_id_t containing the raw packet received
//! Signals that a direct command was sent
static const Command_t REPLY_DIRECT_COMMAND_SENT = ActionMessage::STEP_SUCCESS;
//! Contains a raw command sent to the Device
static const Command_t REPLY_RAW_COMMAND = MAKE_COMMAND_ID(0x11);
//! Contains a raw reply from the Device, getParameter() is the ObjcetId
//! of the sender, getParameter2() is a ::store_id_t containing the
//! raw packet received
static const Command_t REPLY_RAW_REPLY = MAKE_COMMAND_ID(0x12);
static const Command_t REPLY_DIRECT_COMMAND_DATA = ActionMessage::DATA_REPLY;
/**
* Default Destructor
*/
virtual ~DeviceHandlerMessage() {
}
static store_address_t getStoreAddress(const CommandMessage* message);
static uint32_t getDeviceCommandId(const CommandMessage* message);
static object_id_t getDeviceObjectId(const CommandMessage *message);
static object_id_t getIoBoardObjectId(const CommandMessage* message);
static uint8_t getWiretappingMode(const CommandMessage* message);
// static void setDeviceHandlerDirectCommandMessage(CommandMessage* message,
// DeviceCommandId_t deviceCommand,
// store_address_t commandParametersStoreId);
static void setDeviceHandlerDirectCommandReply(CommandMessage* message,
object_id_t deviceObjectid,
store_address_t commandParametersStoreId);
@ -75,11 +62,6 @@ public:
object_id_t deviceObjectid, store_address_t rawPacketStoreId,
bool isCommand);
// static void setDeviceHandlerMessage(CommandMessage* message,
// Command_t command, DeviceCommandId_t deviceCommand,
// store_address_t commandParametersStoreId);
// static void setDeviceHandlerMessage(CommandMessage* message,
// Command_t command, store_address_t rawPacketStoreId);
static void setDeviceHandlerWiretappingMessage(CommandMessage* message,
uint8_t wiretappingMode);
static void setDeviceHandlerSwitchIoBoardMessage(CommandMessage* message,
@ -88,4 +70,4 @@ public:
static void clear(CommandMessage* message);
};
#endif /* DEVICEHANDLERMESSAGE_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICEHANDLERMESSAGE_H_ */

1
devicehandlers/DeviceTmReportingWrapper.cpp
View File

@ -1,4 +1,3 @@
#include "../serialize/SerializeAdapter.h"
#include "DeviceTmReportingWrapper.h"
#include "../serialize/SerializeAdapter.h"

6
devicehandlers/DeviceTmReportingWrapper.h
View File

@ -1,5 +1,5 @@
#ifndef DEVICETMREPORTINGWRAPPER_H_
#define DEVICETMREPORTINGWRAPPER_H_
#ifndef FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
#define FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_
#include "../action/HasActionsIF.h"
#include "../objectmanager/SystemObjectIF.h"
@ -24,4 +24,4 @@ private:
SerializeIF *data;
};
#endif /* DEVICETMREPORTINGWRAPPER_H_ */
#endif /* FSFW_DEVICEHANDLERS_DEVICETMREPORTINGWRAPPER_H_ */

6
devicehandlers/HealthDevice.cpp
View File

@ -13,10 +13,10 @@ HealthDevice::~HealthDevice() {
}
ReturnValue_t HealthDevice::performOperation(uint8_t opCode) {
CommandMessage message;
ReturnValue_t result = commandQueue->receiveMessage(&message);
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result == HasReturnvaluesIF::RETURN_OK) {
healthHelper.handleHealthCommand(&message);
healthHelper.handleHealthCommand(&command);
}
return HasReturnvaluesIF::RETURN_OK;
}

6
devicehandlers/HealthDevice.h
View File

@ -1,5 +1,5 @@
#ifndef HEALTHDEVICE_H_
#define HEALTHDEVICE_H_
#ifndef FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
#define FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_
#include "../health/HasHealthIF.h"
#include "../health/HealthHelper.h"
@ -37,4 +37,4 @@ public:
HealthHelper healthHelper;
};
#endif /* HEALTHDEVICE_H_ */
#endif /* FSFW_DEVICEHANDLERS_HEALTHDEVICE_H_ */