doc fix, various improvements
This commit is contained in:
parent
72f3b16c24
commit
8a56964dab
@ -80,39 +80,49 @@ void CommandingServiceBase::handleCommandQueue() {
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ReturnValue_t result = RETURN_FAILED;
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ReturnValue_t result = RETURN_FAILED;
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for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
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for (result = commandQueue->receiveMessage(&reply); result == RETURN_OK;
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result = commandQueue->receiveMessage(&reply)) {
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result = commandQueue->receiveMessage(&reply)) {
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handleCommandMessage(reply);
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handleCommandMessage(&reply);
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}
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}
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}
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}
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void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
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void CommandingServiceBase::handleCommandMessage(CommandMessage* reply) {
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bool isStep = false;
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bool isStep = false;
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CommandMessage nextCommand;
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CommandMessage nextCommand;
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CommandMapIter iter;
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CommandMapIter iter = commandMap.find(reply->getSender());
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if (reply.getSender() == MessageQueueIF::NO_QUEUE) {
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handleUnrequestedReply(&reply);
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// handle unrequested reply first
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return;
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if (reply->getSender() == MessageQueueIF::NO_QUEUE or
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}
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iter == commandMap.end()) {
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if ((iter = commandMap.find(reply.getSender())) == commandMap.end()) {
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handleUnrequestedReply(reply);
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handleUnrequestedReply(&reply);
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return;
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return;
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}
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}
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nextCommand.setCommand(CommandMessage::CMD_NONE);
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nextCommand.setCommand(CommandMessage::CMD_NONE);
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// Implemented by child class, specifies what to do with reply.
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// Implemented by child class, specifies what to do with reply.
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ReturnValue_t result = handleReply(&reply, iter->command, &iter->state,
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ReturnValue_t result = handleReply(reply, iter->command, &iter->state,
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&nextCommand, iter->objectId, &isStep);
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&nextCommand, iter->objectId, &isStep);
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/* If the child implementation does not implement special handling for
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* rejected replies (RETURN_FAILED is returned), a failure verification
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* will be generated with the reason as the return code and the initial
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* command as failure parameter 1 */
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if(reply->getCommand() == CommandMessage::REPLY_REJECTED and
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result == RETURN_FAILED) {
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result = reply->getReplyRejectedReason(
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reinterpret_cast<Command_t*>(&failureParameter1));
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}
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switch (result) {
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switch (result) {
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case EXECUTION_COMPLETE:
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case EXECUTION_COMPLETE:
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case RETURN_OK:
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case RETURN_OK:
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case NO_STEP_MESSAGE:
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case NO_STEP_MESSAGE:
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// handle result of reply handler implemented by developer.
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// handle result of reply handler implemented by developer.
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handleReplyHandlerResult(result, iter, nextCommand, reply, isStep);
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handleReplyHandlerResult(result, iter, &nextCommand, reply, isStep);
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break;
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break;
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case INVALID_REPLY:
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case INVALID_REPLY:
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//might be just an unrequested reply at a bad moment
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//might be just an unrequested reply at a bad moment
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handleUnrequestedReply(&reply);
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handleUnrequestedReply(reply);
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break;
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break;
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default:
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default:
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if (isStep) {
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if (isStep) {
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@ -129,24 +139,24 @@ void CommandingServiceBase::handleCommandMessage(CommandMessage& reply) {
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}
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}
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failureParameter1 = 0;
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failureParameter1 = 0;
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failureParameter2 = 0;
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failureParameter2 = 0;
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checkAndExecuteFifo(&iter);
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checkAndExecuteFifo(iter);
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break;
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break;
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}
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}
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}
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}
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void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
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void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
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CommandMapIter iter, CommandMessage& nextCommand, CommandMessage& reply,
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CommandMapIter iter, CommandMessage* nextCommand,
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bool& isStep) {
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CommandMessage* reply, bool& isStep) {
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iter->command = nextCommand.getCommand();
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iter->command = nextCommand->getCommand();
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// In case a new command is to be sent immediately, this is performed here.
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// In case a new command is to be sent immediately, this is performed here.
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// If no new command is sent, only analyse reply result by initializing
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// If no new command is sent, only analyse reply result by initializing
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// sendResult as RETURN_OK
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// sendResult as RETURN_OK
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ReturnValue_t sendResult = RETURN_OK;
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ReturnValue_t sendResult = RETURN_OK;
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if (nextCommand.getCommand() != CommandMessage::CMD_NONE) {
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if (nextCommand->getCommand() != CommandMessage::CMD_NONE) {
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sendResult = commandQueue->sendMessage(reply.getSender(),
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sendResult = commandQueue->sendMessage(reply->getSender(),
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&nextCommand);
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nextCommand);
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}
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}
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if (sendResult == RETURN_OK) {
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if (sendResult == RETURN_OK) {
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@ -161,19 +171,19 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
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TC_VERIFY::COMPLETION_SUCCESS,
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TC_VERIFY::COMPLETION_SUCCESS,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, 0);
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iter->tcInfo.tcSequenceControl, 0);
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checkAndExecuteFifo(&iter);
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checkAndExecuteFifo(iter);
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}
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}
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}
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}
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else {
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else {
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if (isStep) {
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if (isStep) {
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nextCommand.clearCommandMessage();
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nextCommand->clear();
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verificationReporter.sendFailureReport(
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verificationReporter.sendFailureReport(
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TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
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TC_VERIFY::PROGRESS_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId,
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iter->tcInfo.tcPacketId,
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iter->tcInfo.tcSequenceControl, sendResult,
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iter->tcInfo.tcSequenceControl, sendResult,
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++iter->step, failureParameter1, failureParameter2);
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++iter->step, failureParameter1, failureParameter2);
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} else {
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} else {
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nextCommand.clearCommandMessage();
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nextCommand->clear();
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verificationReporter.sendFailureReport(
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verificationReporter.sendFailureReport(
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TC_VERIFY::COMPLETION_FAILURE,
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TC_VERIFY::COMPLETION_FAILURE,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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iter->tcInfo.ackFlags, iter->tcInfo.tcPacketId,
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@ -182,7 +192,7 @@ void CommandingServiceBase::handleReplyHandlerResult(ReturnValue_t result,
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}
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}
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failureParameter1 = 0;
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failureParameter1 = 0;
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failureParameter2 = 0;
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failureParameter2 = 0;
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checkAndExecuteFifo(&iter);
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checkAndExecuteFifo(iter);
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}
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}
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}
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}
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@ -198,8 +208,8 @@ void CommandingServiceBase::handleRequestQueue() {
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address = message.getStorageId();
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address = message.getStorageId();
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packet.setStoreAddress(address);
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packet.setStoreAddress(address);
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if ((packet.getSubService() == 0)
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if (packet.getSubService() == 0
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|| (isValidSubservice(packet.getSubService()) != RETURN_OK)) {
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or isValidSubservice(packet.getSubService()) != RETURN_OK) {
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rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
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rejectPacket(TC_VERIFY::START_FAILURE, &packet, INVALID_SUBSERVICE);
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continue;
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continue;
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}
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}
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@ -212,8 +222,7 @@ void CommandingServiceBase::handleRequestQueue() {
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}
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}
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//Is a command already active for the target object?
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//Is a command already active for the target object?
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typename FixedMap<MessageQueueId_t,
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CommandMapIter iter;
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CommandingServiceBase::CommandInfo>::Iterator iter;
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iter = commandMap.find(queue);
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iter = commandMap.find(queue);
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if (iter != commandMap.end()) {
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if (iter != commandMap.end()) {
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@ -228,7 +237,7 @@ void CommandingServiceBase::handleRequestQueue() {
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if (result != RETURN_OK) {
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if (result != RETURN_OK) {
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rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
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rejectPacket(TC_VERIFY::START_FAILURE, &packet, BUSY);
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} else {
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} else {
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startExecution(&packet, &iter);
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startExecution(&packet, iter);
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}
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}
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}
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}
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@ -281,46 +290,44 @@ ReturnValue_t CommandingServiceBase::sendTmPacket(uint8_t subservice,
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}
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}
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void CommandingServiceBase::startExecution(
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void CommandingServiceBase::startExecution(TcPacketStored *storedPacket,
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TcPacketStored *storedPacket,
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CommandMapIter iter) {
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typename FixedMap<MessageQueueId_t,
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ReturnValue_t result = RETURN_OK;
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CommandingServiceBase::CommandInfo>::Iterator *iter) {
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CommandMessage command;
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ReturnValue_t result, sendResult = RETURN_OK;
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iter->subservice = storedPacket->getSubService();
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CommandMessage message;
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result = prepareCommand(&command, iter->subservice,
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(*iter)->subservice = storedPacket->getSubService();
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result = prepareCommand(&message, (*iter)->subservice,
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storedPacket->getApplicationData(),
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storedPacket->getApplicationData(),
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storedPacket->getApplicationDataSize(), &(*iter)->state,
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storedPacket->getApplicationDataSize(), &iter->state,
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(*iter)->objectId);
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iter->objectId);
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ReturnValue_t sendResult = RETURN_OK;
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switch (result) {
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switch (result) {
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case RETURN_OK:
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case RETURN_OK:
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if (message.getCommand() != CommandMessage::CMD_NONE) {
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if (command.getCommand() != CommandMessage::CMD_NONE) {
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sendResult = commandQueue->sendMessage((*iter).value->first,
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sendResult = commandQueue->sendMessage(iter.value->first,
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&message);
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&command);
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}
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}
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if (sendResult == RETURN_OK) {
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if (sendResult == RETURN_OK) {
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Clock::getUptime(&(*iter)->uptimeOfStart);
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Clock::getUptime(&iter->uptimeOfStart);
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(*iter)->step = 0;
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iter->step = 0;
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// (*iter)->state = 0;
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iter->subservice = storedPacket->getSubService();
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(*iter)->subservice = storedPacket->getSubService();
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iter->command = command.getCommand();
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(*iter)->command = message.getCommand();
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iter->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
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(*iter)->tcInfo.ackFlags = storedPacket->getAcknowledgeFlags();
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iter->tcInfo.tcPacketId = storedPacket->getPacketId();
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(*iter)->tcInfo.tcPacketId = storedPacket->getPacketId();
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iter->tcInfo.tcSequenceControl =
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(*iter)->tcInfo.tcSequenceControl =
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storedPacket->getPacketSequenceControl();
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storedPacket->getPacketSequenceControl();
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acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
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acceptPacket(TC_VERIFY::START_SUCCESS, storedPacket);
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} else {
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} else {
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message.clearCommandMessage();
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command.clear();
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rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
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rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
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checkAndExecuteFifo(iter);
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checkAndExecuteFifo(iter);
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}
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}
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break;
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break;
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case EXECUTION_COMPLETE:
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case EXECUTION_COMPLETE:
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if (message.getCommand() != CommandMessage::CMD_NONE) {
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if (command.getCommand() != CommandMessage::CMD_NONE) {
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//Fire-and-forget command.
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//Fire-and-forget command.
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sendResult = commandQueue->sendMessage((*iter).value->first,
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sendResult = commandQueue->sendMessage(iter.value->first,
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&message);
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&command);
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}
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}
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if (sendResult == RETURN_OK) {
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if (sendResult == RETURN_OK) {
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verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
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verificationReporter.sendSuccessReport(TC_VERIFY::START_SUCCESS,
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@ -328,7 +335,7 @@ void CommandingServiceBase::startExecution(
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acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
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acceptPacket(TC_VERIFY::COMPLETION_SUCCESS, storedPacket);
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checkAndExecuteFifo(iter);
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checkAndExecuteFifo(iter);
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} else {
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} else {
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message.clearCommandMessage();
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command.clear();
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rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
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rejectPacket(TC_VERIFY::START_FAILURE, storedPacket, sendResult);
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checkAndExecuteFifo(iter);
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checkAndExecuteFifo(iter);
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}
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}
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@ -355,12 +362,10 @@ void CommandingServiceBase::acceptPacket(uint8_t reportId,
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}
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}
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void CommandingServiceBase::checkAndExecuteFifo(
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void CommandingServiceBase::checkAndExecuteFifo(CommandMapIter iter) {
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typename FixedMap<MessageQueueId_t,
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CommandingServiceBase::CommandInfo>::Iterator *iter) {
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store_address_t address;
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store_address_t address;
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if ((*iter)->fifo.retrieve(&address) != RETURN_OK) {
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if (iter->fifo.retrieve(&address) != RETURN_OK) {
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commandMap.erase(iter);
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commandMap.erase(&iter);
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} else {
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} else {
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TcPacketStored newPacket(address);
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TcPacketStored newPacket(address);
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startExecution(&newPacket, iter);
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startExecution(&newPacket, iter);
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@ -368,9 +373,8 @@ void CommandingServiceBase::checkAndExecuteFifo(
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}
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}
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void CommandingServiceBase::handleUnrequestedReply(
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void CommandingServiceBase::handleUnrequestedReply(CommandMessage* reply) {
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CommandMessage* reply) {
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reply->clear();
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reply->clearCommandMessage();
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}
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}
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@ -384,18 +388,18 @@ MessageQueueId_t CommandingServiceBase::getCommandQueue() {
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void CommandingServiceBase::checkTimeout() {
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void CommandingServiceBase::checkTimeout() {
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uint32_t uptime;
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uint32_t uptime;
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Clock::getUptime(&uptime);
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Clock::getUptime(&uptime);
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typename FixedMap<MessageQueueId_t,
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CommandMapIter iter;
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CommandingServiceBase::CommandInfo>::Iterator iter;
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for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
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for (iter = commandMap.begin(); iter != commandMap.end(); ++iter) {
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if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
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if ((iter->uptimeOfStart + (timeoutSeconds * 1000)) < uptime) {
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verificationReporter.sendFailureReport(
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verificationReporter.sendFailureReport(
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TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
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TC_VERIFY::COMPLETION_FAILURE, iter->tcInfo.ackFlags,
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iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
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iter->tcInfo.tcPacketId, iter->tcInfo.tcSequenceControl,
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TIMEOUT);
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TIMEOUT);
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checkAndExecuteFifo(&iter);
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checkAndExecuteFifo(iter);
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}
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}
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}
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}
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}
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}
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void CommandingServiceBase::setTaskIF(PeriodicTaskIF* task_) {
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executingTask = task_;
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}
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@ -97,9 +97,7 @@ public:
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* Used to setup the reference of the task, that executes this component
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* Used to setup the reference of the task, that executes this component
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* @param task_ Pointer to the taskIF of this task
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* @param task_ Pointer to the taskIF of this task
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*/
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*/
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virtual void setTaskIF(PeriodicTaskIF* task_){
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virtual void setTaskIF(PeriodicTaskIF* task_);
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executingTask = task_;
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};
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protected:
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protected:
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/**
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/**
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@ -141,15 +139,15 @@ protected:
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* @param objectId Target object ID
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* @param objectId Target object ID
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* @return
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* @return
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*/
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*/
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virtual ReturnValue_t prepareCommand(CommandMessage *message,
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virtual ReturnValue_t prepareCommand(CommandMessage* message,
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
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uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
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uint32_t *state, object_id_t objectId) = 0;
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uint32_t *state, object_id_t objectId) = 0;
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/**
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/**
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* This function is implemented by child services to specify how replies
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* This function is implemented by child services to specify how replies
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* to a command from another software component are handled
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* to a command from another software component are handled.
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* @param reply
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* @param reply
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* This is the reply in form of a command message.
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* This is the reply in form of a generic read-only command message.
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* @param previousCommand
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* @param previousCommand
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* Command_t of related command
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* Command_t of related command
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* @param state [out/in]
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* @param state [out/in]
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@ -163,19 +161,26 @@ protected:
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* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
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* - @c RETURN_OK, @c EXECUTION_COMPLETE or @c NO_STEP_MESSAGE to
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* generate TC verification success
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* generate TC verification success
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* - @c INVALID_REPLY calls handleUnrequestedReply
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* - @c INVALID_REPLY calls handleUnrequestedReply
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* - Anything else triggers a TC verification failure
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* - Anything else triggers a TC verification failure. If RETURN_FAILED
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* is returned and the command ID is CommandMessage::REPLY_REJECTED,
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* a failure verification message with the reason as the error parameter
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* and the initial command as failure parameter 1.
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*/
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*/
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virtual ReturnValue_t handleReply(const CommandMessage *reply,
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virtual ReturnValue_t handleReply(const CommandMessage* reply,
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Command_t previousCommand, uint32_t *state,
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Command_t previousCommand, uint32_t *state,
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CommandMessage *optionalNextCommand, object_id_t objectId,
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CommandMessage* optionalNextCommand, object_id_t objectId,
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bool *isStep) = 0;
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bool *isStep) = 0;
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/**
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/**
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* This function can be overidden to handle unrequested reply,
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* This function can be overidden to handle unrequested reply,
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* when the reply sender ID is unknown or is not found is the command map.
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* when the reply sender ID is unknown or is not found is the command map.
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* The default implementation will clear the command message and all
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* its contents.
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* @param reply
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* @param reply
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* Reply which is non-const so the default implementation can clear the
|
||||||
|
* message.
|
||||||
*/
|
*/
|
||||||
virtual void handleUnrequestedReply(CommandMessage *reply);
|
virtual void handleUnrequestedReply(CommandMessage* reply);
|
||||||
|
|
||||||
virtual void doPeriodicOperation();
|
virtual void doPeriodicOperation();
|
||||||
|
|
||||||
@ -195,6 +200,9 @@ protected:
|
|||||||
FIFO<store_address_t, 3> fifo;
|
FIFO<store_address_t, 3> fifo;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
using CommandMapIter = FixedMap<MessageQueueId_t,
|
||||||
|
CommandingServiceBase::CommandInfo>::Iterator;
|
||||||
|
|
||||||
const uint16_t apid;
|
const uint16_t apid;
|
||||||
|
|
||||||
const uint8_t service;
|
const uint8_t service;
|
||||||
@ -263,21 +271,21 @@ protected:
|
|||||||
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
|
ReturnValue_t sendTmPacket(uint8_t subservice, SerializeIF* content,
|
||||||
SerializeIF* header = nullptr);
|
SerializeIF* header = nullptr);
|
||||||
|
|
||||||
void checkAndExecuteFifo(
|
void checkAndExecuteFifo(CommandMapIter iter);
|
||||||
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
|
|
||||||
|
|
||||||
private:
|
private:
|
||||||
using CommandMapIter = FixedMap<MessageQueueId_t,
|
|
||||||
CommandingServiceBase::CommandInfo>::Iterator;
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* This method handles internal execution of a command,
|
* This method handles internal execution of a command,
|
||||||
* once it has been started by @sa{startExecution()} in the Request Queue handler.
|
* once it has been started by @sa{startExecution()} in the request
|
||||||
* It handles replies generated by the devices and relayed by the specific service implementation.
|
* queue handler.
|
||||||
* This means that it determines further course of action depending on the return values specified
|
* It handles replies generated by the devices and relayed by the specific
|
||||||
* in the service implementation.
|
* service implementation. This means that it determines further course of
|
||||||
|
* action depending on the return values specified in the service
|
||||||
|
* implementation.
|
||||||
* This includes the generation of TC verification messages. Note that
|
* This includes the generation of TC verification messages. Note that
|
||||||
* the static framework object ID @c VerificationReporter::messageReceiver needs to be set.
|
* the static framework object ID @c VerificationReporter::messageReceiver
|
||||||
|
* needs to be set.
|
||||||
* - TM[1,5] Step Successs
|
* - TM[1,5] Step Successs
|
||||||
* - TM[1,6] Step Failure
|
* - TM[1,6] Step Failure
|
||||||
* - TM[1,7] Completion Success
|
* - TM[1,7] Completion Success
|
||||||
@ -298,12 +306,11 @@ private:
|
|||||||
|
|
||||||
void acceptPacket(uint8_t reportId, TcPacketStored* packet);
|
void acceptPacket(uint8_t reportId, TcPacketStored* packet);
|
||||||
|
|
||||||
void startExecution(TcPacketStored *storedPacket,
|
void startExecution(TcPacketStored *storedPacket, CommandMapIter iter);
|
||||||
typename FixedMap<MessageQueueId_t, CommandInfo>::Iterator *iter);
|
|
||||||
|
|
||||||
void handleCommandMessage(CommandMessage& reply);
|
void handleCommandMessage(CommandMessage* reply);
|
||||||
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
|
void handleReplyHandlerResult(ReturnValue_t result, CommandMapIter iter,
|
||||||
CommandMessage& nextCommand,CommandMessage& reply, bool& isStep);
|
CommandMessage* nextCommand, CommandMessage* reply, bool& isStep);
|
||||||
|
|
||||||
void checkTimeout();
|
void checkTimeout();
|
||||||
};
|
};
|
||||||
|
Loading…
Reference in New Issue
Block a user