new adaptions for cookie + comIF changes
hook for performOp() added
This commit is contained in:
parent
e03aff3731
commit
029b2133e6
@ -16,37 +16,34 @@ object_id_t DeviceHandlerBase::powerSwitcherId = 0;
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object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
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object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
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DeviceHandlerBase::DeviceHandlerBase(uint32_t logicalAddress_,
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object_id_t setObjectId, uint32_t maxDeviceReplyLen,
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uint8_t setDeviceSwitch, object_id_t deviceCommunication,
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uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
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FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
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SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(MODE_OFF),
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submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(maxDeviceReplyLen),
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wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(StorageManagerIF::INVALID_ADDRESS),
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requestedRawTraffic(0), powerSwitcher(NULL), IPCStore(NULL),
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deviceCommunicationId(deviceCommunication), communicationInterface(NULL),
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cookie(NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId),
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deviceThermalRequestPoolId(thermalRequestPoolId), healthHelper(this, setObjectId),
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modeHelper(this), parameterHelper(this), childTransitionFailure(RETURN_OK),
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ignoreMissedRepliesCount(0), fdirInstance(fdirInstance), hkSwitcher(this),
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defaultFDIRUsed(fdirInstance == NULL), switchOffWasReported(false),
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executingTask(NULL), actionHelper(this, NULL), cookieInfo(), logicalAddress(logicalAddress_),
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timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(_MODE_POWER_DOWN),
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transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(setDeviceSwitch)
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DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
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object_id_t deviceCommunication, Cookie * cookie_, size_t maxReplyLen,
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uint8_t setDeviceSwitch, uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
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FailureIsolationBase* fdirInstance, size_t cmdQueueSize) :
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SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
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wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
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deviceCommunicationId(deviceCommunication), cookie(cookie_),
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deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(thermalRequestPoolId),
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healthHelper(this, setObjectId), modeHelper(this), parameterHelper(this),
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fdirInstance(fdirInstance), hkSwitcher(this),
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defaultFDIRUsed(fdirInstance == nullptr), switchOffWasReported(false),
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executingTask(nullptr), actionHelper(this, nullptr), cookieInfo(),
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logicalAddress(logicalAddress_), childTransitionDelay(5000),
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transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE),
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deviceSwitch(setDeviceSwitch)
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{
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this->cookie->setMaxReplyLen(maxReplyLen);
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commandQueue = QueueFactory::instance()->
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createMessageQueue(cmdQueueSize, CommandMessage::MAX_MESSAGE_SIZE);
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cookieInfo.state = COOKIE_UNUSED;
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insertInCommandMap(RAW_COMMAND_ID);
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if (this->fdirInstance == NULL) {
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if (this->fdirInstance == nullptr) {
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this->fdirInstance =
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new DeviceHandlerFailureIsolation(setObjectId, defaultFDIRParentId);
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}
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}
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DeviceHandlerBase::~DeviceHandlerBase() {
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communicationInterface->close(cookie);
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if (defaultFDIRUsed) {
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delete fdirInstance;
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}
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@ -63,10 +60,12 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
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decrementDeviceReplyMap();
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fdirInstance->checkForFailures();
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hkSwitcher.performOperation();
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performOperationHook();
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}
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if (mode == MODE_OFF) {
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return RETURN_OK;
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}
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switch (getRmapAction()) {
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case SEND_WRITE:
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if ((cookieInfo.state == COOKIE_UNUSED)) {
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@ -87,6 +86,7 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
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default:
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break;
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}
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return RETURN_OK;
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}
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@ -102,11 +102,11 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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return RETURN_FAILED;
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}
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result = communicationInterface->open(&cookie, logicalAddress,
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maxDeviceReplyLen);
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if (result != RETURN_OK) {
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return result;
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}
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// result = communicationInterface->open(&cookie, logicalAddress,
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// maxDeviceReplyLen, comParameter1, comParameter2);
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// if (result != RETURN_OK) {
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// return result;
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// }
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IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
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if (IPCStore == NULL) {
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@ -166,7 +166,6 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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mySet.commit(PoolVariableIF::VALID);
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return RETURN_OK;
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}
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void DeviceHandlerBase::decrementDeviceReplyMap() {
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@ -549,7 +548,7 @@ void DeviceHandlerBase::doGetWrite() {
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void DeviceHandlerBase::doSendRead() {
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ReturnValue_t result;
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result = communicationInterface->requestReceiveMessage(cookie);
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result = communicationInterface->requestReceiveMessage(cookie, requestLen);
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if (result == RETURN_OK) {
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cookieInfo.state = COOKIE_READ_SENT;
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} else {
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@ -563,10 +562,10 @@ void DeviceHandlerBase::doSendRead() {
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}
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void DeviceHandlerBase::doGetRead() {
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uint32_t receivedDataLen;
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size_t receivedDataLen;
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uint8_t *receivedData;
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DeviceCommandId_t foundId = 0xFFFFFFFF;
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uint32_t foundLen = 0;
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size_t foundLen = 0;
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ReturnValue_t result;
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if (cookieInfo.state != COOKIE_READ_SENT) {
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@ -637,8 +636,8 @@ void DeviceHandlerBase::doGetRead() {
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}
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ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
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uint8_t * *data, uint32_t * len) {
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uint32_t lenTmp;
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uint8_t ** data, size_t * len) {
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size_t lenTmp;
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if (IPCStore == NULL) {
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*data = NULL;
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@ -689,7 +688,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
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//Default child implementations
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DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
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DeviceHandlerBase::CommunicationAction_t DeviceHandlerBase::getRmapAction() {
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switch (pstStep) {
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case 0:
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return SEND_WRITE;
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@ -749,20 +748,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
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}
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}
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ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
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DeviceCommunicationIF *newCommunication = objectManager->get<
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DeviceCommunicationIF>(newChannelId);
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if (newCommunication != NULL) {
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ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
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maxDeviceReplyLen);
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if (result != RETURN_OK) {
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return result;
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}
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return RETURN_OK;
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}
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return RETURN_FAILED;
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}
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//ReturnValue_t DeviceHandlerBase::switchCookieChannel(object_id_t newChannelId) {
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// DeviceCommunicationIF *newCommunication = objectManager->get<
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// DeviceCommunicationIF>(newChannelId);
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//
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// if (newCommunication != NULL) {
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// ReturnValue_t result = newCommunication->reOpen(cookie, logicalAddress,
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// maxDeviceReplyLen, comParameter1, comParameter2);
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// if (result != RETURN_OK) {
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// return result;
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// }
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// return RETURN_OK;
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// }
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// return RETURN_FAILED;
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//}
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void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
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storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
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@ -1046,12 +1045,13 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
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}
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replyReturnvalueToCommand(RETURN_OK);
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return RETURN_OK;
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case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
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case DeviceHandlerMessage::CMD_SWITCH_ADDRESS:
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if (mode != MODE_OFF) {
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replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
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} else {
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result = switchCookieChannel(
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DeviceHandlerMessage::getIoBoardObjectId(message));
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// rework in progress
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//result = switchCookieChannel(
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// DeviceHandlerMessage::getIoBoardObjectId(message));
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if (result == RETURN_OK) {
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replyReturnvalueToCommand(RETURN_OK);
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} else {
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@ -1278,3 +1278,6 @@ void DeviceHandlerBase::debugInterface(uint8_t positionTracker, object_id_t obje
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uint32_t DeviceHandlerBase::getLogicalAddress() {
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return logicalAddress;
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}
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void DeviceHandlerBase::performOperationHook() {
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}
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@ -18,9 +18,9 @@
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#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
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#include <framework/datapool/HkSwitchHelper.h>
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#include <framework/serialize/SerialFixedArrayListAdapter.h>
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#include <map>
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#include <framework/ipc/MessageQueueIF.h>
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#include <framework/tasks/PeriodicTaskIF.h>
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#include <map>
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namespace Factory{
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void setStaticFrameworkObjectIds();
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@ -29,7 +29,7 @@ void setStaticFrameworkObjectIds();
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class StorageManagerIF;
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/**
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* \defgroup devices Devices
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* @defgroup devices Devices
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* Contains all devices and the DeviceHandlerBase class.
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*/
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@ -38,18 +38,20 @@ class StorageManagerIF;
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* @details
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* Documentation: Dissertation Baetz p.138,139, p.141-149
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*
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* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink, communication with
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* physical devices, using the @link DeviceCommunicationIF @endlink, and communication with commanding objects.
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* It features handling of @link DeviceHandlerIF::Mode_t Modes @endlink,
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* communication with physical devices, using the @link DeviceCommunicationIF @endlink,
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* and communication with commanding objects.
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* It inherits SystemObject and thus can be created by the ObjectManagerIF.
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*
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* This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
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* For each step an RMAP action is selected and executed.
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* If data has been received (GET_READ), the data will be interpreted.
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* The action for each step can be defined by the child class but as most device handlers share a 4-call
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* (sendRead-getRead-sendWrite-getWrite) structure, a default implementation is provided.
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* NOTE: RMAP is a standard which is used for FLP.
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* The action for each step can be defined by the child class but as most
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* device handlers share a 4-call (sendRead-getRead-sendWrite-getWrite) structure,
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* a default implementation is provided. NOTE: RMAP is a standard which is used for FLP.
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* RMAP communication is not mandatory for projects implementing the FSFW.
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* However, the communication principles are similar to RMAP as there are two write and two send calls involved.
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* However, the communication principles are similar to RMAP as there are
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* two write and two send calls involved.
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*
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* Device handler instances should extend this class and implement the abstract functions.
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* Components and drivers can send so called cookies which are used for communication
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@ -83,7 +85,7 @@ public:
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* The constructor passes the objectId to the SystemObject().
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*
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* @param setObjectId the ObjectId to pass to the SystemObject() Constructor
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* @param maxDeviceReplyLen the length the RMAP getRead call will be sent with
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* @param maxDeviceReplyLen the largest allowed reply size
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* @param setDeviceSwitch the switch the device is connected to, for devices using two switches, overwrite getSwitches()
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* @param deviceCommuncation Communcation Interface object which is used to implement communication functions
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* @param thermalStatePoolId
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@ -91,12 +93,11 @@ public:
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* @param fdirInstance
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* @param cmdQueueSize
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*/
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DeviceHandlerBase(uint32_t logicalAddress, object_id_t setObjectId,
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uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
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object_id_t deviceCommunication,
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uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
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DeviceHandlerBase(object_id_t setObjectId, address_t logicalAddress_,
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object_id_t deviceCommunication, Cookie* cookie_, size_t maxReplyLen,
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uint8_t setDeviceSwitch, uint32_t thermalStatePoolId = PoolVariableIF::NO_PARAMETER,
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uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
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FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
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FailureIsolationBase* fdirInstance = nullptr, size_t cmdQueueSize = 20);
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/**
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* @brief This function is the device handler base core component and is called periodically.
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@ -281,8 +282,8 @@ protected:
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* - @c DeviceHandlerIF::IGNORE_FULL_PACKET Ignore the packet
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* - @c APERIODIC_REPLY if a valid reply is received that has not been requested by a command, but should be handled anyway (@see also fillCommandAndCookieMap() )
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*/
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virtual ReturnValue_t scanForReply(const uint8_t *start, uint32_t len,
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DeviceCommandId_t *foundId, uint32_t *foundLen) = 0;
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virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) = 0;
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/**
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* @brief Interpret a reply from the device.
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@ -301,6 +302,14 @@ protected:
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virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) = 0;
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/**
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* set all datapool variables that are update periodically in normal mode invalid
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*
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* Child classes should provide an implementation which sets all those variables invalid
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* which are set periodically during any normal mode.
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*/
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virtual void setNormalDatapoolEntriesInvalid() = 0;
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/**
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* @brief Can be implemented by child handler to
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* perform debugging
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@ -344,6 +353,12 @@ protected:
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virtual ReturnValue_t getSwitches(const uint8_t **switches,
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uint8_t *numberOfSwitches);
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/**
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* Can be used to perform device specific periodic operations.
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* This is called on the SEND_READ step of the performOperation() call
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*/
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virtual void performOperationHook();
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public:
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/**
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* @param parentQueueId
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@ -396,11 +411,32 @@ protected:
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/**
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* Pointer to the raw packet that will be sent.
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*/
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uint8_t *rawPacket;
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uint8_t *rawPacket = nullptr;
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/**
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* Size of the #rawPacket.
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*/
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uint32_t rawPacketLen;
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size_t rawPacketLen = 0;
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/**
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* Size of data to request.
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*/
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size_t requestLen = 0;
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// /**
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// * This union (or std::variant) type can be used to set comParameters which
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// * are passed in the open() and reOpen() calls to the communication
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// * interface
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// * TODO: I don't know if we should use C++17 features but if we do we propably
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// * should also write a function to get either a storeId handle
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// * or an array handle so these values can be set conveniently.
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// * The good think is that if there are many parameters, they can
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// * be stored in the IPC pool. But maybe two uint32_t parameters are enough.
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// * Simple = Good. It is downwards compatible and one can still store
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// * 4 bytes of parameters AND a store ID.
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// */
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// comParameters_t comParameters;
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// uint32_t comParameter1 = 0;
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// uint32_t comParameter2 = 0;
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/**
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* The mode the device handler is currently in.
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@ -419,12 +455,12 @@ protected:
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/**
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* This is the counter value from performOperation().
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*/
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uint8_t pstStep;
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uint8_t pstStep = 0;
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/**
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* This will be used in the RMAP getRead command as expected length, is set by the constructor, can be modiefied at will.
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*/
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const uint32_t maxDeviceReplyLen;
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const uint32_t maxDeviceReplyLen = 0;
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/**
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* wiretapping flag:
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@ -442,7 +478,7 @@ protected:
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* Statically initialized in initialize() to a configurable object. Used when there is no method
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* of finding a recipient, ie raw mode and reporting erreonous replies
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*/
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MessageQueueId_t defaultRawReceiver;
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MessageQueueId_t defaultRawReceiver = 0;
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store_address_t storedRawData;
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@ -451,19 +487,19 @@ protected:
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*
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* if #isWiretappingActive all raw communication from and to the device will be sent to this queue
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*/
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MessageQueueId_t requestedRawTraffic;
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MessageQueueId_t requestedRawTraffic = 0;
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/**
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* the object used to set power switches
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*/
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PowerSwitchIF *powerSwitcher;
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PowerSwitchIF *powerSwitcher = nullptr;
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/**
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* Pointer to the IPCStore.
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*
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* This caches the pointer received from the objectManager in the constructor.
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*/
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StorageManagerIF *IPCStore;
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StorageManagerIF *IPCStore = nullptr;
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/**
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* cached for init
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@ -473,17 +509,18 @@ protected:
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/**
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* Communication object used for device communication
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*/
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DeviceCommunicationIF *communicationInterface;
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DeviceCommunicationIF *communicationInterface = nullptr;
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/**
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* Cookie used for communication
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* Cookie used for communication. This is passed to the communication
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* interface.
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*/
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Cookie *cookie;
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/**
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* The MessageQueue used to receive device handler commands and to send replies.
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*/
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MessageQueueIF* commandQueue;
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MessageQueueIF* commandQueue = nullptr;
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/**
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* this is the datapool variable with the thermal state of the device
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@ -512,9 +549,9 @@ protected:
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* Optional Error code
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* Can be set in doStartUp(), doShutDown() and doTransition() to signal cause for Transition failure.
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*/
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ReturnValue_t childTransitionFailure;
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ReturnValue_t childTransitionFailure = RETURN_OK;
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uint32_t ignoreMissedRepliesCount; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
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uint32_t ignoreMissedRepliesCount = 0; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
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FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
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@ -531,6 +568,28 @@ protected:
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static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
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static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
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/**
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* Set the device handler mode
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||||
*
|
||||
* Sets #timeoutStart with every call.
|
||||
*
|
||||
* Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
|
||||
* (which relies on a correct #transitionTargetMode).
|
||||
*
|
||||
* The submode is left unchanged.
|
||||
*
|
||||
*
|
||||
* @param newMode
|
||||
*/
|
||||
void setMode(Mode_t newMode);
|
||||
|
||||
/**
|
||||
* @overload
|
||||
* @param submode
|
||||
*/
|
||||
void setMode(Mode_t newMode, Submode_t submode);
|
||||
|
||||
/**
|
||||
* Helper function to report a missed reply
|
||||
*
|
||||
@ -559,27 +618,6 @@ protected:
|
||||
*/
|
||||
void replyToCommand(ReturnValue_t status, uint32_t parameter = 0);
|
||||
|
||||
/**
|
||||
* Set the device handler mode
|
||||
*
|
||||
* Sets #timeoutStart with every call.
|
||||
*
|
||||
* Sets #transitionTargetMode if necessary so transitional states can be entered from everywhere without breaking the state machine
|
||||
* (which relies on a correct #transitionTargetMode).
|
||||
*
|
||||
* The submode is left unchanged.
|
||||
*
|
||||
*
|
||||
* @param newMode
|
||||
*/
|
||||
void setMode(Mode_t newMode);
|
||||
|
||||
/**
|
||||
* @overload
|
||||
* @param submode
|
||||
*/
|
||||
void setMode(Mode_t newMode, Submode_t submode);
|
||||
|
||||
/**
|
||||
* Do the transition to the main modes (MODE_ON, MODE_NORMAL and MODE_RAW).
|
||||
*
|
||||
@ -628,7 +666,7 @@ protected:
|
||||
*
|
||||
* @return The Rmap action to execute in this step
|
||||
*/
|
||||
virtual RmapAction_t getRmapAction();
|
||||
virtual CommunicationAction_t getRmapAction();
|
||||
|
||||
/**
|
||||
* Build the device command to send for raw mode.
|
||||
@ -655,8 +693,10 @@ protected:
|
||||
* This is a helper method to facilitate inserting entries in the command map.
|
||||
* @param deviceCommand Identifier of the command to add.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the command waits until it times out.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent by the device repeatedly without request) or not.
|
||||
* @param periodic Indicates if the reply is periodic (i.e. it is sent by the device repeatedly without request) or not.
|
||||
* Default is aperiodic (0)
|
||||
* @param hasDifferentReplyId
|
||||
* @param replyId
|
||||
* @return RETURN_OK when the command was successfully inserted, COMMAND_MAP_ERROR else.
|
||||
*/
|
||||
ReturnValue_t insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
|
||||
@ -769,14 +809,6 @@ protected:
|
||||
*/
|
||||
ReturnValue_t getStateOfSwitches(void);
|
||||
|
||||
/**
|
||||
* set all datapool variables that are update periodically in normal mode invalid
|
||||
*
|
||||
* Child classes should provide an implementation which sets all those variables invalid
|
||||
* which are set periodically during any normal mode.
|
||||
*/
|
||||
virtual void setNormalDatapoolEntriesInvalid() = 0;
|
||||
|
||||
/**
|
||||
* build a list of sids and pass it to the #hkSwitcher
|
||||
*/
|
||||
@ -897,7 +929,7 @@ private:
|
||||
/**
|
||||
* State a cookie is in.
|
||||
*
|
||||
* Used to keep track of the state of the RMAP communication.
|
||||
* Used to keep track of the state of the communication.
|
||||
*/
|
||||
enum CookieState_t {
|
||||
COOKIE_UNUSED, //!< The Cookie is unused
|
||||
@ -934,7 +966,7 @@ private:
|
||||
*
|
||||
* Set when setMode() is called.
|
||||
*/
|
||||
uint32_t timeoutStart;
|
||||
uint32_t timeoutStart = 0;
|
||||
|
||||
/**
|
||||
* Delay for the current mode transition, used for time out
|
||||
@ -976,6 +1008,8 @@ private:
|
||||
* - checks whether commanded mode transitions are required and calls handleCommandedModeTransition()
|
||||
* - does the necessary action for the current mode or calls doChildStateMachine in modes @c MODE_TO_ON and @c MODE_TO_OFF
|
||||
* - actions that happen in transitions (eg setting a timeout) are handled in setMode()
|
||||
* - Maybe export this into own class to increase modularity of software
|
||||
* and reduce the massive class size ?
|
||||
*/
|
||||
void doStateMachine(void);
|
||||
|
||||
@ -1054,8 +1088,8 @@ private:
|
||||
* - @c RETURN_FAILED IPCStore is NULL
|
||||
* - the return value from the IPCStore if it was not @c RETURN_OK
|
||||
*/
|
||||
ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data,
|
||||
uint32_t *len);
|
||||
ReturnValue_t getStorageData(store_address_t storageAddress,
|
||||
uint8_t ** data, size_t * len);
|
||||
|
||||
/**
|
||||
* set all switches returned by getSwitches()
|
||||
@ -1084,7 +1118,7 @@ private:
|
||||
* - @c RETURN_FAILED when cookies could not be changed, eg because the newChannel is not enabled
|
||||
* - @c returnvalues of RMAPChannelIF::isActive()
|
||||
*/
|
||||
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
|
||||
//ReturnValue_t switchCookieChannel(object_id_t newChannelId);
|
||||
|
||||
/**
|
||||
* Handle device handler messages (e.g. commands sent by PUS Service 2)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user