eive/fsfw
eive/fsfw
15
1
Fork 0
forked from fsfw/fsfw
Code Issues Pull Requests Releases 1 Wiki Activity

Merge pull request 'DHB Update' (#144) from KSat/fsfw:mueller/feature/DHBupdate into master

Browse Source 
Reviewed-on: fsfw/fsfw#144
This commit is contained in:
Steffen Gaisser 2020-09-01 12:24:19 +02:00
commit 4a80872c3c
4 changed files with 430 additions and 344 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
devicehandlers/ChildHandlerBase.cpp
View File

@ -1,17 +1,19 @@
#include "../subsystem/SubsystemBase.h"
#include "ChildHandlerBase.h"
#include "../devicehandlers/ChildHandlerBase.h"
#include "../subsystem/SubsystemBase.h"
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * comCookie,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, uint32_t parent,
FailureIsolationBase* customFdir, size_t cmdQueueSize) :
DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
object_id_t deviceCommunication, CookieIF * cookie,
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->setThermalStateRequestPoolIds(thermalStatePoolId,
thermalRequestPoolId);
}
ChildHandlerBase::~ChildHandlerBase() {
@ -25,7 +27,7 @@ ReturnValue_t ChildHandlerBase::initialize() {
MessageQueueId_t parentQueue = 0;
if (parentId != 0) {
if (parentId != objects::NO_OBJECT) {
SubsystemBase *parent = objectManager->get<SubsystemBase>(parentId);
if (parent == NULL) {
return RETURN_FAILED;

15
devicehandlers/ChildHandlerBase.h
View File

@ -1,15 +1,15 @@
#ifndef PAYLOADHANDLERBASE_H_
#define PAYLOADHANDLERBASE_H_
#ifndef FSFW_DEVICES_CHILDHANDLERBASE_H_
#define FSFW_DEVICES_CHILDHANDLERBASE_H_
#include "ChildHandlerFDIR.h"
#include "DeviceHandlerBase.h"
class ChildHandlerBase: public DeviceHandlerBase {
public:
ChildHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * comCookie,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, uint32_t parent,
ChildHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF * cookie, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId,
object_id_t parent = objects::NO_OBJECT,
FailureIsolationBase* customFdir = nullptr,
size_t cmdQueueSize = 20);
virtual ~ChildHandlerBase();
@ -22,4 +22,5 @@ protected:
};
#endif /* PAYLOADHANDLERBASE_H_ */
#endif /* FSFW_DEVICES_CHILDHANDLERBASE_H_ */

340
devicehandlers/DeviceHandlerBase.cpp
View File

@ -1,12 +1,12 @@
#include "DeviceHandlerBase.h"
#include "AcceptsDeviceResponsesIF.h"
#include "DeviceTmReportingWrapper.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../thermal/ThermalComponentIF.h"
#include "AcceptsDeviceResponsesIF.h"
#include "../datapool/DataSet.h"
#include "../datapool/PoolVariable.h"
#include "DeviceTmReportingWrapper.h"
#include "../globalfunctions/CRC.h"
#include "../subsystem/SubsystemBase.h"
#include "../ipc/QueueFactory.h"
@ -14,45 +14,47 @@
#include <iomanip>
object_id_t DeviceHandlerBase::powerSwitcherId = 0;
object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * comCookie,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
size_t cmdQueueSize) :
FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication), comCookie(comCookie),
deviceThermalStatePoolId(thermalStatePoolId),
deviceThermalRequestPoolId(thermalRequestPoolId),
healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false), actionHelper(this, nullptr),
childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
actionHelper(this, nullptr), childTransitionFailure(RETURN_OK),
fdirInstance(fdirInstance), hkSwitcher(this),
defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
CommandMessage::MAX_MESSAGE_SIZE);
MessageQueueMessage::MAX_MESSAGE_SIZE);
insertInCommandMap(RAW_COMMAND_ID);
cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand = deviceCommandMap.end();
if (comCookie == nullptr) {
sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
std::setw(8) << std::setfill('0') << this->getObjectId() <<
std::dec << ": Do not pass nullptr as a cookie, consider "
<< std::setfill(' ') << "passing a dummy cookie instead!" <<
std::endl;
sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
<< std::setw(8) << std::setfill('0') << this->getObjectId()
<< std::dec << ": Do not pass nullptr as a cookie, consider "
<< std::setfill(' ') << "passing a dummy cookie instead!"
<< std::endl;
}
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
defaultFDIRParentId);
defaultFdirParentId);
}
}
void DeviceHandlerBase::setThermalStateRequestPoolIds(
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
this->deviceThermalRequestPoolId = thermalStatePoolId;
this->deviceThermalRequestPoolId = thermalRequestPoolId;
}
DeviceHandlerBase::~DeviceHandlerBase() {
delete comCookie;
if (defaultFDIRUsed) {
@ -108,8 +110,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
communicationInterface = objectManager->get<DeviceCommunicationIF>(
deviceCommunicationId);
if (communicationInterface == NULL) {
return RETURN_FAILED;
if (communicationInterface == nullptr) {
sif::error << "DeviceHandlerBase::initialize: Communication interface "
"invalid." << std::endl;
sif::error << "Make sure it is set up properly and implements"
" DeviceCommunicationIF" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = communicationInterface->initializeInterface(comCookie);
@ -118,22 +124,35 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == NULL) {
return RETURN_FAILED;
if (IPCStore == nullptr) {
sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
"factory." << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if(rawDataReceiverId != objects::NO_OBJECT) {
AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
AcceptsDeviceResponsesIF>(rawDataReceiverId);
if (rawReceiver == NULL) {
return RETURN_FAILED;
if (rawReceiver == nullptr) {
sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
"ID set but no valid object found." << std::endl;
sif::error << "Make sure the raw receiver object is set up properly"
" and implements AcceptsDeviceResponsesIF" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
defaultRawReceiver = rawReceiver->getDeviceQueue();
}
defaultRawReceiver = rawReceiver->getDeviceQueue();
if(powerSwitcherId != objects::NO_OBJECT) {
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
if (powerSwitcher == NULL) {
return RETURN_FAILED;
if (powerSwitcher == nullptr) {
sif::error << "DeviceHandlerBase::initialize: Power switcher "
<< "object ID set but no valid object found." << std::endl;
sif::error << "Make sure the raw receiver object is set up properly"
<< " and implements PowerSwitchIF" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
}
result = healthHelper.initialize();
@ -168,7 +187,7 @@ ReturnValue_t DeviceHandlerBase::initialize() {
//Set temperature target state to NON_OP.
DataSet mySet;
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_WRITE);
mySet.read();
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
@ -200,38 +219,43 @@ void DeviceHandlerBase::readCommandQueue() {
return;
}
CommandMessage message;
ReturnValue_t result = commandQueue->receiveMessage(&message);
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result != RETURN_OK) {
return;
}
result = healthHelper.handleHealthCommand(&message);
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
return;
}
result = modeHelper.handleModeCommand(&message);
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
return;
}
result = actionHelper.handleActionMessage(&message);
result = actionHelper.handleActionMessage(&command);
if (result == RETURN_OK) {
return;
}
result = parameterHelper.handleParameterMessage(&message);
result = parameterHelper.handleParameterMessage(&command);
if (result == RETURN_OK) {
return;
}
result = handleDeviceHandlerMessage(&message);
// result = hkManager.handleHousekeepingMessage(&command);
// if (result == RETURN_OK) {
// return;
// }
result = handleDeviceHandlerMessage(&command);
if (result == RETURN_OK) {
return;
}
result = letChildHandleMessage(&message);
result = letChildHandleMessage(&command);
if (result == RETURN_OK) {
return;
}
@ -273,7 +297,8 @@ void DeviceHandlerBase::doStateMachine() {
case _MODE_WAIT_ON: {
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
0);
setMode(_MODE_POWER_DOWN);
@ -293,6 +318,12 @@ void DeviceHandlerBase::doStateMachine() {
case _MODE_WAIT_OFF: {
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if(powerSwitcher == nullptr) {
setMode(MODE_OFF);
break;
}
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
0);
@ -343,9 +374,10 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
uint16_t maxDelayCycles, size_t replyLen, bool periodic,
bool hasDifferentReplyId, DeviceCommandId_t replyId) {
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
size_t replyLen, bool periodic, bool hasDifferentReplyId,
DeviceCommandId_t replyId) {
//No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand);
if (hasDifferentReplyId) {
@ -371,7 +403,8 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
ReturnValue_t DeviceHandlerBase::insertInCommandMap(
DeviceCommandId_t deviceCommand) {
DeviceCommandInfo info;
info.expectedReplies = 0;
info.isExecuting = false;
@ -437,7 +470,7 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
if (mode == MODE_OFF) {
DataSet mySet;
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@ -578,11 +611,8 @@ void DeviceHandlerBase::doSendRead() {
}
void DeviceHandlerBase::doGetRead() {
size_t receivedDataLen;
uint8_t *receivedData;
DeviceCommandId_t foundId = 0xFFFFFFFF;
size_t foundLen = 0;
ReturnValue_t result;
size_t receivedDataLen = 0;
uint8_t *receivedData = nullptr;
if (cookieInfo.state != COOKIE_READ_SENT) {
cookieInfo.state = COOKIE_UNUSED;
@ -591,8 +621,8 @@ void DeviceHandlerBase::doGetRead() {
cookieInfo.state = COOKIE_UNUSED;
result = communicationInterface->readReceivedMessage(comCookie,
&receivedData, &receivedDataLen);
ReturnValue_t result = communicationInterface->readReceivedMessage(
comCookie, &receivedData, &receivedDataLen);
if (result != RETURN_OK) {
triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@ -608,11 +638,22 @@ void DeviceHandlerBase::doGetRead() {
replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
}
if (mode == MODE_RAW) {
if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
} else {
//The loop may not execute more often than the number of received bytes (worst case).
//This approach avoids infinite loops due to buggy scanForReply routines (seen in bug 1077).
}
else {
parseReply(receivedData, receivedDataLen);
}
}
void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
size_t receivedDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
DeviceCommandId_t foundId = 0xFFFFFFFF;
size_t foundLen = 0;
// The loop may not execute more often than the number of received bytes
// (worst case). This approach avoids infinite loops due to buggy
// scanForReply routines.
uint32_t remainingLength = receivedDataLen;
for (uint32_t count = 0; count < receivedDataLen; count++) {
result = scanForReply(receivedData, remainingLength, &foundId,
@ -647,7 +688,46 @@ void DeviceHandlerBase::doGetRead() {
return;
}
}
}
void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
DeviceCommandId_t foundId, uint32_t foundLen) {
ReturnValue_t result;
DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
if (iter == deviceReplyMap.end()) {
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
return;
}
DeviceReplyInfo *info = &(iter->second);
if (info->delayCycles != 0) {
if (info->periodic != false) {
info->delayCycles = info->maxDelayCycles;
}
else {
info->delayCycles = 0;
}
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
// Report failed interpretation to FDIR.
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
}
replyToReply(iter, result);
}
else {
// Other completion failure messages are created by timeout.
// Powering down the device might take some time during which periodic
// replies may still come in.
if (mode != _MODE_WAIT_OFF) {
triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
}
}
}
@ -675,7 +755,7 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
MessageQueueId_t sendTo, bool isCommand) {
if (IPCStore == NULL || len == 0) {
if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
return;
}
store_address_t address;
@ -686,18 +766,17 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
return;
}
CommandMessage message;
CommandMessage command;
DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&message,
DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
getObjectId(), address, isCommand);
// this->DeviceHandlerCommand = CommandMessage::CMD_NONE;
result = commandQueue->sendMessage(sendTo, &message);
result = commandQueue->sendMessage(sendTo, &command);
if (result != RETURN_OK) {
IPCStore->deleteData(address);
//Silently discard data, this indicates heavy TM traffic which should not be increased by additional events.
// Silently discard data, this indicates heavy TM traffic which
// should not be increased by additional events.
}
}
@ -726,57 +805,6 @@ MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
return commandQueue->getId();
}
void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
DeviceCommandId_t foundId, uint32_t foundLen) {
ReturnValue_t result;
DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
if (iter == deviceReplyMap.end()) {
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
return;
}
DeviceReplyInfo *info = &(iter->second);
if (info->delayCycles != 0) {
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
}
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
//Report failed interpretation to FDIR.
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result, foundId);
}
replyToReply(iter, result);
} else {
//Other completion failure messages are created by timeout.
//Powering down the device might take some time during which periodic replies may still come in.
if (mode != _MODE_WAIT_OFF) {
triggerEvent(DEVICE_UNREQUESTED_REPLY, foundId);
}
}
}
//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
// DeviceCommunicationIF *newCommunication = objectManager->get<
// DeviceCommunicationIF>(newChannelId);
//
// if (newCommunication != NULL) {
// ReturnValue_t result = newCommunication->reOpen(cookie, ioBoardAddress,
// maxDeviceReplyLen);
// if (result != RETURN_OK) {
// return result;
// }
// return RETURN_OK;
// }
// return RETURN_FAILED;
//}
void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
ReturnValue_t result = getStorageData(storedRawData, &rawPacket,
@ -793,6 +821,9 @@ void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
}
void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
if(powerSwitcher == nullptr) {
return;
}
const uint8_t *switches;
uint8_t numberOfSwitches = 0;
ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
@ -807,9 +838,7 @@ void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
uint8_t *numberOfSwitches) {
*switches = &deviceSwitch;
*numberOfSwitches = 1;
return RETURN_OK;
return DeviceHandlerBase::NO_SWITCH;
}
void DeviceHandlerBase::modeChanged(void) {
@ -845,6 +874,9 @@ uint32_t DeviceHandlerBase::getTransitionDelayMs(Mode_t modeFrom,
}
ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
if(powerSwitcher == nullptr) {
return NO_SWITCH;
}
uint8_t numberOfSwitches = 0;
const uint8_t *switches;
@ -895,9 +927,9 @@ ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
&& (deviceThermalStatePoolId != PoolVariableIF::NO_PARAMETER)) {
DataSet mySet;
PoolVariable<int8_t> thermalState(deviceThermalStatePoolId, &mySet,
db_int8_t thermalState(deviceThermalStatePoolId, &mySet,
PoolVariableIF::VAR_READ);
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
db_int8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_READ);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@ -925,7 +957,7 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
DataSet mySet;
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId,
db_int8_t thermalRequest(deviceThermalRequestPoolId,
&mySet, PoolVariableIF::VAR_READ_WRITE);
mySet.read();
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
@ -1111,35 +1143,47 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
return;
}
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, data);
if (iter->second.command != deviceCommandMap.end()) {//replies to a command
//replies to a command
if (iter->second.command != deviceCommandMap.end())
{
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId != NO_COMMANDER) {
//This may fail, but we'll ignore the fault.
actionHelper.reportData(queueId, replyId, data);
}
//This check should make sure we get any TM but don't get anything doubled.
if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
} else if (forceDirectTm && (defaultRawReceiver != queueId)) {
// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
//(progress or completed) it is in
}
else if (forceDirectTm and (defaultRawReceiver != queueId) and
(defaultRawReceiver != MessageQueueIF::NO_QUEUE))
{
// hiding of sender needed so the service will handle it as
// unexpected Data, no matter what state (progress or completed)
// it is in
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
true);
}
} else { //unrequested/aperiodic replies
}
//unrequested/aperiodic replies
else
{
if (wiretappingMode == TM) {
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
} else if (forceDirectTm) {
// hiding of sender needed so the service will handle it as unexpected Data, no matter what state
//(progress or completed) it is in
}
else if (forceDirectTm and defaultRawReceiver !=
MessageQueueIF::NO_QUEUE)
{
// hiding of sender needed so the service will handle it as
// unexpected Data, no matter what state (progress or completed)
// it is in
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
true);
}
}
//Try to cast to DataSet and commit data.
//Try to cast to GlobDataSet and commit data.
if (!neverInDataPool) {
DataSet* dataSet = dynamic_cast<DataSet*>(data);
if (dataSet != NULL) {
@ -1178,18 +1222,23 @@ void DeviceHandlerBase::buildInternalCommand(void) {
if (mode == MODE_NORMAL) {
result = buildNormalDeviceCommand(&deviceCommandId);
if (result == BUSY) {
//so we can track misconfigurations
sif::debug << std::hex << getObjectId()
<< ": DHB::buildInternalCommand busy" << std::endl; //so we can track misconfigurations
<< ": DHB::buildInternalCommand: Busy" << std::endl;
result = NOTHING_TO_SEND; //no need to report this
}
} else if (mode == MODE_RAW) {
}
else if (mode == MODE_RAW) {
result = buildChildRawCommand();
deviceCommandId = RAW_COMMAND_ID;
} else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
}
else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
result = buildTransitionDeviceCommand(&deviceCommandId);
} else {
}
else {
return;
}
if (result == NOTHING_TO_SEND) {
return;
}
@ -1288,4 +1337,15 @@ void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
object_id_t objectId, uint32_t parameter) {}
void DeviceHandlerBase::performOperationHook() {}
void DeviceHandlerBase::performOperationHook() {
}
ReturnValue_t DeviceHandlerBase::initializeAfterTaskCreation() {
// In this function, the task handle should be valid if the task
// was implemented correctly. We still check to be 1000 % sure :-)
if(executingTask != nullptr) {
pstIntervalMs = executingTask->getPeriodMs();
}
return HasReturnvaluesIF::RETURN_OK;
}

299
devicehandlers/DeviceHandlerBase.h
View File

@ -1,22 +1,23 @@
#ifndef DEVICEHANDLERBASE_H_
#define DEVICEHANDLERBASE_H_
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
#include "DeviceHandlerIF.h"
#include "DeviceCommunicationIF.h"
#include "DeviceHandlerFailureIsolation.h"
#include "../objectmanager/SystemObject.h"
#include "../tasks/PeriodicTaskIF.h"
#include "../tasks/ExecutableObjectIF.h"
#include "DeviceHandlerIF.h"
#include "../returnvalues/HasReturnvaluesIF.h"
#include "../action/HasActionsIF.h"
#include "../datapool/PoolVariableIF.h"
#include "DeviceCommunicationIF.h"
#include "../modes/HasModesIF.h"
#include "../power/PowerSwitchIF.h"
#include "../ipc/MessageQueueIF.h"
#include "../action/ActionHelper.h"
#include "../health/HealthHelper.h"
#include "../parameters/ParameterHelper.h"
#include "../datapool/HkSwitchHelper.h"
#include "DeviceHandlerFailureIsolation.h"
#include <map>
@ -46,14 +47,16 @@ class StorageManagerIF;
* 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.
* 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.
*
* 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
* and contain information about the communcation (e.g. slave address for I2C or RMAP structs).
* 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 and contain information about the communcation (e.g. slave
* address for I2C or RMAP structs).
* The following abstract methods must be implemented by a device handler:
* 1. doStartUp()
* 2. doShutDown()
@ -100,12 +103,12 @@ public:
* @param cmdQueueSize
*/
DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF * comCookie, uint8_t setDeviceSwitch,
uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
FailureIsolationBase* fdirInstance = nullptr,
CookieIF * comCookie, FailureIsolationBase* fdirInstance = nullptr,
size_t cmdQueueSize = 20);
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId);
/**
* @brief This function is the device handler base core component and is
* called periodically.
@ -150,11 +153,9 @@ public:
* @return
*/
virtual ReturnValue_t initialize();
/**
* Destructor.
*/
/** Destructor. */
virtual ~DeviceHandlerBase();
protected:
/**
* @brief This is used to let the child class handle the transition from
@ -232,8 +233,9 @@ 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_SHUT_DOWN. So it is used by doStartUp()
* and doShutDown() as well as doTransition(), by setting those
* modes in the respective functions.
*
* 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
@ -321,12 +323,11 @@ protected:
* - @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
* @brief fill the #DeviceCommandMap and #DeviceReplyMap
* called by the initialize() of the base class
* @details
* This is used to let the base class know which replies are expected.
@ -470,6 +471,18 @@ protected:
virtual ReturnValue_t getSwitches(const uint8_t **switches,
uint8_t *numberOfSwitches);
/**
* This function is used to initialize the local housekeeping pool
* entries. The default implementation leaves the pool empty.
* @param localDataPoolMap
* @return
*/
//virtual ReturnValue_t initializePoolEntries(
// LocalDataPool& localDataPoolMap) override;
/** Get the HK manager object handle */
//virtual LocalDataPoolManager* getHkManagerHandle() override;
/**
* @brief Hook function for child handlers which is called once per
* performOperation(). Default implementation is empty.
@ -493,7 +506,7 @@ public:
ReturnValue_t setHealth(HealthState health);
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
const ParameterWrapper *newValues, uint16_t startAtIndex) override;
/**
* Implementation of ExecutableObjectIF function
*
@ -505,7 +518,7 @@ public:
protected:
/**
* The Returnvalues ID of this class, required by HasReturnvaluesIF
* The Returnvalues id of this class, required by HasReturnvaluesIF
*/
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
@ -527,114 +540,138 @@ protected:
static const DeviceCommandId_t NO_COMMAND_ID = -2;
static const MessageQueueId_t NO_COMMANDER = 0;
/**
* Pointer to the raw packet that will be sent.
*/
/** Pointer to the raw packet that will be sent.*/
uint8_t *rawPacket = nullptr;
/**
* Size of the #rawPacket.
*/
/** Size of the #rawPacket. */
uint32_t rawPacketLen = 0;
/**
* The mode the device handler is currently in.
*
* This should never be changed directly but only with setMode()
*/
Mode_t mode;
/**
* The submode the device handler is currently in.
*
* This should never be changed directly but only with setMode()
*/
Submode_t submode;
/**
* This is the counter value from performOperation().
*/
/** This is the counter value from performOperation(). */
uint8_t pstStep = 0;
uint32_t pstIntervalMs = 0;
/**
* wiretapping flag:
* Wiretapping flag:
*
* 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
* indicates either that all raw messages to and from the device should be
* sent to #defaultRawReceiver
* or that all device TM should be downlinked to #defaultRawReceiver.
*/
enum WiretappingMode {
OFF = 0, RAW = 1, TM = 2
} wiretappingMode;
/**
* A message queue that accepts raw replies
* @brief A message queue that accepts raw replies
*
* 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
* Statically initialized in initialize() to a configurable object.
* Used when there is no method of finding a recipient, ie raw mode and
* reporting erroneous replies
*/
MessageQueueId_t defaultRawReceiver = 0;
MessageQueueId_t defaultRawReceiver = MessageQueueIF::NO_QUEUE;
store_address_t storedRawData;
/**
* the message queue which wants to read all raw traffic
*
* if #isWiretappingActive all raw communication from and to the device will be sent to this queue
* @brief The message queue which wants to read all raw traffic
* If #isWiretappingActive all raw communication from and to the device
* will be sent to this queue
*/
MessageQueueId_t requestedRawTraffic = 0;
/**
* the object used to set power switches
*/
PowerSwitchIF *powerSwitcher = nullptr;
/**
* Pointer to the IPCStore.
*
* This caches the pointer received from the objectManager in the constructor.
*/
StorageManagerIF *IPCStore = nullptr;
/**
* cached for init
*/
/** The comIF object ID is cached for the intialize() function */
object_id_t deviceCommunicationId;
/**
* Communication object used for device communication
*/
/** Communication object used for device communication */
DeviceCommunicationIF * communicationInterface = nullptr;
/**
* Cookie used for communication
*/
/** Cookie used for communication */
CookieIF * comCookie;
/** Health helper for HasHealthIF */
HealthHelper healthHelper;
/** Mode helper for HasModesIF */
ModeHelper modeHelper;
/** Parameter helper for ReceivesParameterMessagesIF */
ParameterHelper parameterHelper;
/** Action helper for HasActionsIF */
ActionHelper actionHelper;
/** Housekeeping Manager */
//LocalDataPoolManager hkManager;
/**
* @brief Information about commands
*/
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.
//! Indicates if the command is already executing.
bool isExecuting;
//! Dynamic value to indicate how many replies are expected.
//! Inititated with 0.
uint8_t expectedReplies;
//! if this is != NO_COMMANDER, DHB was commanded externally and shall
//! report everything to commander.
MessageQueueId_t sendReplyTo;
};
using DeviceCommandMap = std::map<DeviceCommandId_t, DeviceCommandInfo> ;
/**
* Information about commands
*/
DeviceCommandMap deviceCommandMap;
/**
* @brief Information about expected replies
*
* This is used to keep track of pending replies
* This is used to keep track of pending replies.
*/
struct DeviceReplyInfo {
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
//! The maximum number of cycles the handler should wait for a reply
//! to this command.
uint16_t maxDelayCycles;
//! The currently remaining cycles the handler should wait for a reply,
//! 0 means there is no reply expected
uint16_t delayCycles;
size_t replyLen = 0; //!< Expected size of the reply.
bool 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.
//! if this is !=0, the delayCycles will not be reset to 0 but to
//! maxDelayCycles
bool periodic = false;
//! The dataset used to access housekeeping data related to the
//! respective device reply. Will point to a dataset held by
//! the child handler (if one is specified)
// DataSetIF* dataSet = nullptr;
//! The command that expects this reply.
DeviceCommandMap::iterator command;
};
using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo> ;
using DeviceReplyIter = DeviceReplyMap::iterator;
/**
* The MessageQueue used to receive device handler commands and to send replies.
* This map is used to check and track correct reception of all replies.
*
* It has multiple use:
* - It stores the information on pending replies. If a command is sent,
* the DeviceCommandInfo.count is incremented.
* - It is used to time-out missing replies. If a command is sent, the
* DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
* - It is queried to check if a reply from the device can be interpreted.
* scanForReply() returns the id of the command a reply was found for.
* The reply is ignored in the following cases:
* - No entry for the returned id was found
* - The deviceReplyInfo.delayCycles is == 0
*/
DeviceReplyMap deviceReplyMap;
//! The MessageQueue used to receive device handler commands
//! and to send replies.
MessageQueueIF* commandQueue = nullptr;
/**
@ -642,23 +679,14 @@ protected:
*
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
*/
uint32_t deviceThermalStatePoolId;
uint32_t deviceThermalStatePoolId = PoolVariableIF::NO_PARAMETER;
/**
* this is the datapool variable with the thermal request of the device
*
* can be set to PoolVariableIF::NO_PARAMETER to deactivate thermal checking
*/
uint32_t deviceThermalRequestPoolId;
/**
* Taking care of the health
*/
HealthHelper healthHelper;
ModeHelper modeHelper;
ParameterHelper parameterHelper;
uint32_t deviceThermalRequestPoolId = PoolVariableIF::NO_PARAMETER;
/**
* Optional Error code
@ -676,13 +704,15 @@ protected:
bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
PeriodicTaskIF* executingTask = nullptr;//!< Pointer to the task which executes this component, is invalid before setTaskIF was called.
//! Pointer to the task which executes this component, is invalid
//! before setTaskIF was called.
PeriodicTaskIF* executingTask = nullptr;
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.
static object_id_t defaultFdirParentId; //!< Object which may be the root cause of an identified fault.
/**
* Helper function to report a missed reply
*
@ -730,28 +760,40 @@ protected:
/**
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
*
* If the transition is complete, the mode should be set to the target mode, which can be deduced from the current mode which is
* If the transition is complete, the mode should be set to the target mode,
* which can be deduced from the current mode which is
* [_MODE_TO_ON, _MODE_TO_NORMAL, _MODE_TO_RAW]
*
* The intended target submode is already set. The origin submode can be read in subModeFrom.
* The intended target submode is already set.
* The origin submode can be read in subModeFrom.
*
* If the transition can not be completed, the child class can try to reach an working mode by setting the mode either directly
* or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW) if the device needs to be reconfigured.
* If the transition can not be completed, the child class can try to reach
* an working mode by setting the mode either directly
* or setting the mode to an transitional mode (TO_ON, TO_NORMAL, TO_RAW)
* if the device needs to be reconfigured.
*
* If nothing works, the child class can wait for the timeout and the base class will reset the mode to the mode where the transition
* If nothing works, the child class can wait for the timeout and the base
* class will reset the mode to the mode where the transition
* originated from (the child should report the reason for the failed transition).
*
* The intended way to send commands is to set a flag (enum) indicating which command is to be sent here
* and then to check in buildTransitionCommand() for the flag. This flag can also be used by doStartUp() and
* doShutDown() to get a nice and clean implementation of buildTransitionCommand() without switching through modes.
* The intended way to send commands is to set a flag (enum) indicating
* which command is to be sent here and then to check in
* buildTransitionCommand() for the flag. This flag can also be used by
* doStartUp() and doShutDown() to get a nice and clean implementation of
* buildTransitionCommand() without switching through modes.
*
* When the the condition for the completion of the transition is met, the mode can be set, for example in the parseReply() function.
* When the the condition for the completion of the transition is met, the
* mode can be set, for example in the scanForReply() function.
*
* The default implementation goes into the target mode;
* The default implementation goes into the target mode directly.
*
* #transitionFailure can be set to a failure code indicating the reason for a failed transition
* #transitionFailure can be set to a failure code indicating the reason
* for a failed transition
*
* @param modeFrom the mode the transition originated from: [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed from _MODE_START_UP to _MODE_TO_ON)]
* @param modeFrom
* The mode the transition originated from:
* [MODE_ON, MODE_NORMAL, MODE_RAW and _MODE_POWER_DOWN (if the mode changed
* from _MODE_START_UP to _MODE_TO_ON)]
* @param subModeFrom the subMode of modeFrom
*/
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom);
@ -953,24 +995,11 @@ protected:
bool commandIsExecuting(DeviceCommandId_t commandId);
/**
* This map is used to check and track correct reception of all replies.
* set all switches returned by getSwitches()
*
* It has multiple use:
* - it stores the information on pending replies. If a command is sent, the DeviceCommandInfo.count is incremented.
* - it is used to time-out missing replies. If a command is sent, the DeviceCommandInfo.DelayCycles is set to MaxDelayCycles.
* - it is queried to check if a reply from the device can be interpreted. scanForReply() returns the id of the command a reply was found for.
* The reply is ignored in the following cases:
* - No entry for the returned id was found
* - The deviceReplyInfo.delayCycles is == 0
* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
*/
DeviceReplyMap deviceReplyMap;
/**
* Information about commands
*/
DeviceCommandMap deviceCommandMap;
ActionHelper actionHelper;
void commandSwitch(ReturnValue_t onOff);
private:
/**
@ -997,15 +1026,16 @@ private:
};
/**
* Info about the #cookie
*
* @brief Info about the #cookie
* Used to track the state of the communication
*/
CookieInfo cookieInfo;
/** the object used to set power switches */
PowerSwitchIF *powerSwitcher = nullptr;
/**
* Used for timing out mode transitions.
*
* @brief Used for timing out mode transitions.
* Set when setMode() is called.
*/
uint32_t timeoutStart = 0;
@ -1016,11 +1046,12 @@ private:
uint32_t childTransitionDelay;
/**
* The mode the current transition originated from
* @brief The mode the current transition originated from
*
* This is private so the child can not change it and fuck up the timeouts
*
* IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!! (it is _MODE_POWER_DOWN during this modes)
* IMPORTANT: This is not valid during _MODE_SHUT_DOWN and _MODE_START_UP!!
* (it is _MODE_POWER_DOWN during this modes)
*
* is element of [MODE_ON, MODE_NORMAL, MODE_RAW]
*/
@ -1031,13 +1062,6 @@ private:
*/
Submode_t transitionSourceSubMode;
/**
* the switch of the device
*
* for devices using two switches override getSwitches()
*/
const uint8_t deviceSwitch;
/**
* read the command queue
*/
@ -1135,12 +1159,6 @@ private:
ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
uint32_t *len);
/**
* set all switches returned by getSwitches()
*
* @param onOff on == @c SWITCH_ON; off != @c SWITCH_ON
*/
void commandSwitch(ReturnValue_t onOff);
/**
* @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW NOTHING ELSE!!!
@ -1165,7 +1183,12 @@ private:
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
virtual ReturnValue_t initializeAfterTaskCreation() override;
void parseReply(const uint8_t* receivedData,
size_t receivedDataLen);
};
#endif /* DEVICEHANDLERBASE_H_ */
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */