dhb update init
This commit is contained in:
parent
7a4a2f986a
commit
646e86ea85
@ -4,55 +4,69 @@
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#include <framework/thermal/ThermalComponentIF.h>
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#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
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#include <framework/datapool/DataSet.h>
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#include <framework/datapool/PoolVariable.h>
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#include <framework/datapoolglob/GlobalDataSet.h>
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#include <framework/datapoolglob/GlobalPoolVariable.h>
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#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
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#include <framework/globalfunctions/CRC.h>
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#include <framework/housekeeping/HousekeepingMessage.h>
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#include <framework/ipc/MessageQueueMessage.h>
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#include <framework/subsystem/SubsystemBase.h>
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#include <framework/ipc/QueueFactory.h>
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#include <framework/serviceinterface/ServiceInterfaceStream.h>
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#include <iomanip>
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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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object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
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object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
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object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
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object_id_t DeviceHandlerBase::defaultHkDestination = objects::NO_OBJECT;
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DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
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object_id_t deviceCommunication, CookieIF * comCookie,
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uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
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uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
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size_t cmdQueueSize) :
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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), comCookie(comCookie),
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deviceThermalStatePoolId(thermalStatePoolId),
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deviceThermalRequestPoolId(thermalRequestPoolId),
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healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
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actionHelper(this, nullptr), hkManager(this, nullptr),
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childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
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hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
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switchOffWasReported(false), actionHelper(this, nullptr),
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childTransitionDelay(5000),
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transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
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SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
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switchOffWasReported(false), childTransitionDelay(5000),
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transitionSourceMode(_MODE_POWER_DOWN),
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transitionSourceSubMode(SUBMODE_NONE) {
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commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
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CommandMessage::MAX_MESSAGE_SIZE);
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MessageQueueMessage::MAX_MESSAGE_SIZE);
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insertInCommandMap(RAW_COMMAND_ID);
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cookieInfo.state = COOKIE_UNUSED;
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cookieInfo.pendingCommand = deviceCommandMap.end();
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if (comCookie == nullptr) {
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sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
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std::setw(8) << std::setfill('0') << this->getObjectId() <<
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std::dec << ": Do not pass nullptr as a cookie, consider "
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<< std::setfill(' ') << "passing a dummy cookie instead!" <<
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std::endl;
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sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex
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<< std::setw(8) << std::setfill('0') << this->getObjectId()
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<< std::dec << ": Do not pass nullptr as a cookie, consider "
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<< std::setfill(' ') << "passing a dummy cookie instead!"
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<< std::endl;
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}
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if (this->fdirInstance == nullptr) {
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this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
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defaultFDIRParentId);
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defaultFdirParentId);
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}
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}
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void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
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this->hkDestination = hkDestination;
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}
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void DeviceHandlerBase::setThermalStateRequestPoolIds(
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uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId) {
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this->deviceThermalRequestPoolId = thermalStatePoolId;
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this->deviceThermalRequestPoolId = thermalRequestPoolId;
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}
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void DeviceHandlerBase::setDeviceSwitch(uint8_t deviceSwitch) {
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this->deviceSwitch = deviceSwitch;
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}
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DeviceHandlerBase::~DeviceHandlerBase() {
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delete comCookie;
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if (defaultFDIRUsed) {
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@ -108,8 +122,12 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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communicationInterface = objectManager->get<DeviceCommunicationIF>(
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deviceCommunicationId);
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if (communicationInterface == NULL) {
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return RETURN_FAILED;
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if (communicationInterface == nullptr) {
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sif::error << "DeviceHandlerBase::initialize: Communication interface "
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"invalid." << std::endl;
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sif::error << "Make sure it is set up properly and implements"
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" DeviceCommunicationIF" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = communicationInterface->initializeInterface(comCookie);
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@ -118,27 +136,44 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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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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return RETURN_FAILED;
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if (IPCStore == nullptr) {
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sif::error << "DeviceHandlerBase::initialize: IPC store not set up in "
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"factory." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
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AcceptsDeviceResponsesIF>(rawDataReceiverId);
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if(rawDataReceiverId != objects::NO_OBJECT) {
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AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
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AcceptsDeviceResponsesIF>(rawDataReceiverId);
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if (rawReceiver == NULL) {
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return RETURN_FAILED;
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if (rawReceiver == nullptr) {
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sif::error << "DeviceHandlerBase::initialize: Raw receiver object "
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"ID set but no valid object found." << std::endl;
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sif::error << "Make sure the raw receiver object is set up properly"
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" and implements AcceptsDeviceResponsesIF" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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defaultRawReceiver = rawReceiver->getDeviceQueue();
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}
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defaultRawReceiver = rawReceiver->getDeviceQueue();
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powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
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if (powerSwitcher == NULL) {
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return RETURN_FAILED;
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if(powerSwitcherId != objects::NO_OBJECT) {
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powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
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if (powerSwitcher == nullptr) {
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sif::error << "DeviceHandlerBase::initialize: Power switcher "
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<< "object ID set but no valid object found." << std::endl;
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sif::error << "Make sure the raw receiver object is set up properly"
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<< " and implements PowerSwitchIF" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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}
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result = healthHelper.initialize();
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if (result != RETURN_OK) {
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return result;
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if (result == RETURN_OK) {
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healthHelperActive = true;
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}
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else {
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sif::warning << "DeviceHandlerBase::initialize: Health Helper "
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"initialization failure." << std::endl;
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}
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result = modeHelper.initialize();
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@ -164,11 +199,20 @@ ReturnValue_t DeviceHandlerBase::initialize() {
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return result;
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}
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if(hkDestination == objects::NO_OBJECT) {
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hkDestination = defaultHkDestination;
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}
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result = hkManager.initialize(commandQueue, hkDestination);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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fillCommandAndReplyMap();
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//Set temperature target state to NON_OP.
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DataSet mySet;
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PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
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GlobDataSet mySet;
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gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
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PoolVariableIF::VAR_WRITE);
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mySet.read();
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thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
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@ -200,43 +244,50 @@ void DeviceHandlerBase::readCommandQueue() {
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return;
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}
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CommandMessage message;
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ReturnValue_t result = commandQueue->receiveMessage(&message);
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CommandMessage command;
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ReturnValue_t result = commandQueue->receiveMessage(&command);
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if (result != RETURN_OK) {
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return;
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}
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result = healthHelper.handleHealthCommand(&message);
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if(healthHelperActive) {
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result = healthHelper.handleHealthCommand(&command);
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if (result == RETURN_OK) {
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return;
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}
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}
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result = modeHelper.handleModeCommand(&command);
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if (result == RETURN_OK) {
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return;
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}
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result = modeHelper.handleModeCommand(&message);
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result = actionHelper.handleActionMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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result = actionHelper.handleActionMessage(&message);
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result = parameterHelper.handleParameterMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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result = parameterHelper.handleParameterMessage(&message);
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result = hkManager.handleHousekeepingMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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result = handleDeviceHandlerMessage(&message);
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result = handleDeviceHandlerMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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result = letChildHandleMessage(&message);
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result = letChildHandleMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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replyReturnvalueToCommand(CommandMessage::UNKNOW_COMMAND);
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replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);
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}
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@ -273,7 +324,8 @@ void DeviceHandlerBase::doStateMachine() {
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case _MODE_WAIT_ON: {
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uint32_t currentUptime;
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Clock::getUptime(¤tUptime);
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if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
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if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
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powerSwitcher->getSwitchDelayMs()) {
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triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
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0);
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setMode(_MODE_POWER_DOWN);
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@ -293,6 +345,12 @@ void DeviceHandlerBase::doStateMachine() {
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case _MODE_WAIT_OFF: {
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uint32_t currentUptime;
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Clock::getUptime(¤tUptime);
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if(powerSwitcher == nullptr) {
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setMode(MODE_OFF);
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break;
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}
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if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
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triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
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0);
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@ -343,9 +401,10 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
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}
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}
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ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
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uint16_t maxDelayCycles, size_t replyLen, bool periodic,
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bool hasDifferentReplyId, DeviceCommandId_t replyId) {
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ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
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DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
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size_t replyLen, bool periodic, bool hasDifferentReplyId,
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DeviceCommandId_t replyId) {
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//No need to check, as we may try to insert multiple times.
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insertInCommandMap(deviceCommand);
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if (hasDifferentReplyId) {
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@ -371,7 +430,8 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
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}
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}
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ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
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ReturnValue_t DeviceHandlerBase::insertInCommandMap(
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DeviceCommandId_t deviceCommand) {
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DeviceCommandInfo info;
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info.expectedReplies = 0;
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info.isExecuting = false;
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@ -419,7 +479,7 @@ void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
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transitionSourceSubMode = submode;
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childTransitionFailure = CHILD_TIMEOUT;
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//transitionTargetMode is set by setMode
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// transitionTargetMode is set by setMode
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setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo);
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}
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@ -436,8 +496,8 @@ void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
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Clock::getUptime(&timeoutStart);
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if (mode == MODE_OFF) {
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DataSet mySet;
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PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
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GlobDataSet mySet;
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gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
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PoolVariableIF::VAR_READ_WRITE);
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mySet.read();
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if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
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@ -578,11 +638,8 @@ void DeviceHandlerBase::doSendRead() {
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}
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void DeviceHandlerBase::doGetRead() {
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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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size_t foundLen = 0;
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ReturnValue_t result;
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size_t receivedDataLen = 0;
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uint8_t *receivedData = nullptr;
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if (cookieInfo.state != COOKIE_READ_SENT) {
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cookieInfo.state = COOKIE_UNUSED;
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@ -591,8 +648,8 @@ void DeviceHandlerBase::doGetRead() {
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cookieInfo.state = COOKIE_UNUSED;
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result = communicationInterface->readReceivedMessage(comCookie,
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&receivedData, &receivedDataLen);
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ReturnValue_t result = communicationInterface->readReceivedMessage(
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comCookie, &receivedData, &receivedDataLen);
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if (result != RETURN_OK) {
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triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
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@ -608,51 +665,101 @@ void DeviceHandlerBase::doGetRead() {
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replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
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}
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if (mode == MODE_RAW) {
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if (mode == MODE_RAW and defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
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replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
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} else {
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//The loop may not execute more often than the number of received bytes (worst case).
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//This approach avoids infinite loops due to buggy scanForReply routines (seen in bug 1077).
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uint32_t remainingLength = receivedDataLen;
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for (uint32_t count = 0; count < receivedDataLen; count++) {
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result = scanForReply(receivedData, remainingLength, &foundId,
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&foundLen);
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switch (result) {
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case RETURN_OK:
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handleReply(receivedData, foundId, foundLen);
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break;
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case APERIODIC_REPLY: {
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result = interpretDeviceReply(foundId, receivedData);
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if (result != RETURN_OK) {
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replyRawReplyIfnotWiretapped(receivedData, foundLen);
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triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
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foundId);
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}
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}
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break;
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case IGNORE_REPLY_DATA:
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break;
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case IGNORE_FULL_PACKET:
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return;
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default:
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//We need to wait for timeout.. don't know what command failed and who sent it.
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}
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else {
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parseReply(receivedData, receivedDataLen);
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}
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}
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void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
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size_t receivedDataLen) {
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ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
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DeviceCommandId_t foundId = 0xFFFFFFFF;
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size_t foundLen = 0;
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// The loop may not execute more often than the number of received bytes
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// (worst case). This approach avoids infinite loops due to buggy
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// scanForReply routines.
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uint32_t remainingLength = receivedDataLen;
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for (uint32_t count = 0; count < receivedDataLen; count++) {
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result = scanForReply(receivedData, remainingLength, &foundId,
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&foundLen);
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switch (result) {
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case RETURN_OK:
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handleReply(receivedData, foundId, foundLen);
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break;
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case APERIODIC_REPLY: {
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result = interpretDeviceReply(foundId, receivedData);
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if (result != RETURN_OK) {
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replyRawReplyIfnotWiretapped(receivedData, foundLen);
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triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
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break;
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}
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receivedData += foundLen;
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if (remainingLength > foundLen) {
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remainingLength -= foundLen;
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} else {
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return;
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triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
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foundId);
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}
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}
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break;
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case IGNORE_REPLY_DATA:
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break;
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case IGNORE_FULL_PACKET:
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return;
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default:
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//We need to wait for timeout.. don't know what command failed and who sent it.
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replyRawReplyIfnotWiretapped(receivedData, foundLen);
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triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
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break;
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}
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receivedData += foundLen;
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if (remainingLength > foundLen) {
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remainingLength -= foundLen;
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} else {
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return;
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}
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}
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}
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void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
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DeviceCommandId_t foundId, uint32_t foundLen) {
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ReturnValue_t result;
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DeviceReplyMap::iterator iter = deviceReplyMap.find(foundId);
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if (iter == deviceReplyMap.end()) {
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replyRawReplyIfnotWiretapped(receivedData, foundLen);
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triggerEvent(DEVICE_UNKNOWN_REPLY, foundId);
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return;
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}
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DeviceReplyInfo *info = &(iter->second);
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if (info->delayCycles != 0) {
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if (info->periodic != false) {
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info->delayCycles = info->maxDelayCycles;
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}
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else {
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info->delayCycles = 0;
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}
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|
||||
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::getStorageData(store_address_t storageAddress,
|
||||
uint8_t * *data, uint32_t * len) {
|
||||
uint8_t** data, uint32_t * len) {
|
||||
size_t lenTmp;
|
||||
|
||||
if (IPCStore == nullptr) {
|
||||
@ -675,7 +782,7 @@ 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 +793,17 @@ 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 +832,6 @@ 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 +848,9 @@ 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 +865,7 @@ 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 +901,9 @@ 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;
|
||||
|
||||
@ -894,10 +953,10 @@ 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,
|
||||
GlobDataSet mySet;
|
||||
gp_uint8_t thermalState(deviceThermalStatePoolId, &mySet,
|
||||
PoolVariableIF::VAR_READ);
|
||||
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
gp_uint8_t thermalRequest(deviceThermalRequestPoolId, &mySet,
|
||||
PoolVariableIF::VAR_READ);
|
||||
mySet.read();
|
||||
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
|
||||
@ -924,8 +983,8 @@ void DeviceHandlerBase::startTransition(Mode_t commandedMode,
|
||||
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
|
||||
MODE_ON);
|
||||
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
|
||||
DataSet mySet;
|
||||
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId,
|
||||
GlobDataSet mySet;
|
||||
gp_int8_t thermalRequest(deviceThermalRequestPoolId,
|
||||
&mySet, PoolVariableIF::VAR_READ_WRITE);
|
||||
mySet.read();
|
||||
if (thermalRequest != ThermalComponentIF::STATE_REQUEST_IGNORE) {
|
||||
@ -973,7 +1032,9 @@ void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::setToExternalControl() {
|
||||
healthHelper.setHealth(EXTERNAL_CONTROL);
|
||||
if(healthHelperActive) {
|
||||
healthHelper.setHealth(EXTERNAL_CONTROL);
|
||||
}
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::announceMode(bool recursive) {
|
||||
@ -993,11 +1054,24 @@ void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
|
||||
}
|
||||
|
||||
HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
|
||||
return healthHelper.getHealth();
|
||||
if(healthHelperActive) {
|
||||
return healthHelper.getHealth();
|
||||
}
|
||||
else {
|
||||
sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
|
||||
<< std::endl;
|
||||
return HasHealthIF::HEALTHY;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
|
||||
healthHelper.setHealth(health);
|
||||
if(healthHelperActive) {
|
||||
healthHelper.setHealth(health);
|
||||
}
|
||||
else {
|
||||
sif::warning << "DeviceHandlerBase::getHealth: Health helper not active"
|
||||
<< std::endl;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -1085,7 +1159,7 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
|
||||
|
||||
void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
|
||||
modeHelper.setParentQueue(parentQueueId);
|
||||
healthHelper.setParentQueue(parentQueueId);
|
||||
healthHelper.setParentQeueue(parentQueueId);
|
||||
}
|
||||
|
||||
bool DeviceHandlerBase::isAwaitingReply() {
|
||||
@ -1111,37 +1185,49 @@ 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
|
||||
actionHelper.reportData(defaultRawReceiver, replyId, &wrapper,
|
||||
true);
|
||||
|
||||
}
|
||||
} else { //unrequested/aperiodic replies
|
||||
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 != 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);
|
||||
true);
|
||||
}
|
||||
}
|
||||
//Try to cast to DataSet and commit data.
|
||||
//unrequested/aperiodic replies
|
||||
else
|
||||
{
|
||||
if (wiretappingMode == TM) {
|
||||
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
|
||||
}
|
||||
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 GlobDataSet and commit data.
|
||||
if (!neverInDataPool) {
|
||||
DataSet* dataSet = dynamic_cast<DataSet*>(data);
|
||||
GlobDataSet* dataSet = dynamic_cast<GlobDataSet*>(data);
|
||||
if (dataSet != NULL) {
|
||||
dataSet->commit(PoolVariableIF::VALID);
|
||||
}
|
||||
@ -1149,7 +1235,7 @@ void DeviceHandlerBase::handleDeviceTM(SerializeIF* data,
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) {
|
||||
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
|
||||
ReturnValue_t result = acceptExternalDeviceCommands();
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
@ -1178,18 +1264,23 @@ 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;
|
||||
}
|
||||
@ -1281,11 +1372,53 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
|
||||
}
|
||||
|
||||
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
|
||||
executingTask = task_;
|
||||
executingTask = task_;
|
||||
}
|
||||
|
||||
// Default implementations empty.
|
||||
void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
|
||||
object_id_t objectId, uint32_t parameter) {}
|
||||
|
||||
void DeviceHandlerBase::performOperationHook() {}
|
||||
void DeviceHandlerBase::performOperationHook() {
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::initializePoolEntries(
|
||||
LocalDataPool &localDataPoolMap) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
|
||||
return &hkManager;
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::addDataSet(sid_t sid) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::removeDataSet(sid_t sid) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::changeCollectionInterval(sid_t sid,
|
||||
dur_seconds_t newInterval) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
DataSetIF* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
|
||||
auto iter = deviceReplyMap.find(sid.ownerSetId);
|
||||
if(iter != deviceReplyMap.end()) {
|
||||
return iter->second.dataSet;
|
||||
}
|
||||
else {
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
#ifndef DEVICEHANDLERBASE_H_
|
||||
#define DEVICEHANDLERBASE_H_
|
||||
#ifndef FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
|
||||
#define FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_
|
||||
|
||||
#include <framework/objectmanager/SystemObject.h>
|
||||
#include <framework/tasks/ExecutableObjectIF.h>
|
||||
@ -11,13 +11,15 @@
|
||||
#include <framework/modes/HasModesIF.h>
|
||||
#include <framework/power/PowerSwitchIF.h>
|
||||
#include <framework/ipc/MessageQueueIF.h>
|
||||
#include <framework/tasks/PeriodicTaskIF.h>
|
||||
|
||||
#include <framework/action/ActionHelper.h>
|
||||
#include <framework/health/HealthHelper.h>
|
||||
#include <framework/parameters/ParameterHelper.h>
|
||||
#include <framework/datapool/HkSwitchHelper.h>
|
||||
#include <framework/datapoollocal/HasLocalDataPoolIF.h>
|
||||
#include <framework/datapoollocal/LocalDataPoolManager.h>
|
||||
#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
|
||||
|
||||
#include <map>
|
||||
|
||||
namespace Factory{
|
||||
@ -46,14 +48,16 @@ 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()
|
||||
@ -82,7 +86,8 @@ class DeviceHandlerBase: public DeviceHandlerIF,
|
||||
public HasModesIF,
|
||||
public HasHealthIF,
|
||||
public HasActionsIF,
|
||||
public ReceivesParameterMessagesIF {
|
||||
public ReceivesParameterMessagesIF,
|
||||
public HasLocalDataPoolIF {
|
||||
friend void (Factory::setStaticFrameworkObjectIds)();
|
||||
public:
|
||||
/**
|
||||
@ -100,12 +105,14 @@ 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 setDeviceSwitch(uint8_t deviceSwitch);
|
||||
void setHkDestination(object_id_t hkDestination);
|
||||
void setThermalStateRequestPoolIds(uint32_t thermalStatePoolId,
|
||||
uint32_t thermalRequestPoolId);
|
||||
|
||||
/**
|
||||
* @brief This function is the device handler base core component and is
|
||||
* called periodically.
|
||||
@ -150,11 +157,9 @@ 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 +237,9 @@ 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 +327,11 @@ 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 +475,23 @@ 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;
|
||||
|
||||
virtual ReturnValue_t addDataSet(sid_t sid) override;
|
||||
virtual ReturnValue_t removeDataSet(sid_t sid) override;
|
||||
virtual ReturnValue_t changeCollectionInterval(sid_t sid,
|
||||
dur_seconds_t newInterval) override;
|
||||
|
||||
/**
|
||||
* @brief Hook function for child handlers which is called once per
|
||||
* performOperation(). Default implementation is empty.
|
||||
@ -484,7 +506,7 @@ public:
|
||||
/** @brief Implementation required for HasActionIF */
|
||||
ReturnValue_t executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t* data,
|
||||
uint32_t size) override;
|
||||
size_t size) override;
|
||||
|
||||
Mode_t getTransitionSourceMode() const;
|
||||
Submode_t getTransitionSourceSubMode() const;
|
||||
@ -493,7 +515,7 @@ 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 +527,7 @@ 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 +549,141 @@ 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;
|
||||
bool healthHelperActive = false;
|
||||
/** 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;
|
||||
float collectionInterval = 0.0;
|
||||
uint32_t intervalCounter = 0;
|
||||
//! 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 +691,14 @@ 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 +716,15 @@ 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 +772,40 @@ 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 +1007,11 @@ 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 +1038,21 @@ 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;
|
||||
|
||||
/** Cached for initialize() */
|
||||
static object_id_t defaultHkDestination;
|
||||
/** HK destination can also be set individually */
|
||||
object_id_t hkDestination = objects::NO_OBJECT;
|
||||
|
||||
/**
|
||||
* Used for timing out mode transitions.
|
||||
*
|
||||
* @brief Used for timing out mode transitions.
|
||||
* Set when setMode() is called.
|
||||
*/
|
||||
uint32_t timeoutStart = 0;
|
||||
@ -1016,11 +1063,12 @@ 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]
|
||||
*/
|
||||
@ -1036,7 +1084,7 @@ private:
|
||||
*
|
||||
* for devices using two switches override getSwitches()
|
||||
*/
|
||||
const uint8_t deviceSwitch;
|
||||
uint8_t deviceSwitch;
|
||||
|
||||
/**
|
||||
* read the command queue
|
||||
@ -1135,12 +1183,6 @@ 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 +1207,13 @@ private:
|
||||
ReturnValue_t switchCookieChannel(object_id_t newChannelId);
|
||||
|
||||
ReturnValue_t handleDeviceHandlerMessage(CommandMessage *message);
|
||||
|
||||
virtual ReturnValue_t initializeAfterTaskCreation() override;
|
||||
DataSetIF* getDataSetHandle(sid_t sid) override;
|
||||
|
||||
void parseReply(const uint8_t* receivedData,
|
||||
size_t receivedDataLen);
|
||||
};
|
||||
|
||||
#endif /* DEVICEHANDLERBASE_H_ */
|
||||
#endif /* FRAMEWORK_DEVICEHANDLERS_DEVICEHANDLERBASE_H_ */
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user