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option to use Countdown object to time out replies
fsfw/fsfw/pipeline/head This commit looks good Details

This commit is contained in:
Jakob Meier 2022-04-26 10:03:04 +02:00
parent b8516b15cb
commit 951c077abc
2 changed files with 89 additions and 23 deletions
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85
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
View File

@ -233,17 +233,28 @@ ReturnValue_t DeviceHandlerBase::initialize() {
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
bool timedOut = false;
for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
if (replyPair.second.delayCycles != 0) {
if (replyPair.second.countdown != nullptr && replyPair.second.active) {
if (replyPair.second.countdown->hasTimedOut()) {
timedOut = true;
}
}
if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
replyPair.second.delayCycles--;
if (replyPair.second.delayCycles == 0) {
if (replyPair.second.periodic) {
replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
}
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
timedOut = true;
}
}
if (timedOut) {
replyToReply(replyPair.first, replyPair.second, TIMEOUT);
missedReply(replyPair.first);
timedOut = false;
replyPair.second.active = false;
}
}
}
@ -359,7 +370,6 @@ void DeviceHandlerBase::doStateMachine() {
setMode(MODE_OFF);
break;
}
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
setMode(MODE_ERROR_ON);
@ -408,20 +418,22 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode, Submode_t s
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles, LocalPoolDataSetBase* replyDataSet,
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
size_t replyLen, bool periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId,
Countdown* countdown) {
// No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand, hasDifferentReplyId, replyId);
if (hasDifferentReplyId) {
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic);
return insertInReplyMap(replyId, maxDelayCycles, replyDataSet, replyLen, periodic, countdown);
} else {
return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic);
return insertInReplyMap(deviceCommand, maxDelayCycles, replyDataSet, replyLen, periodic,
countdown);
}
}
ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
uint16_t maxDelayCycles,
LocalPoolDataSetBase* dataSet, size_t replyLen,
bool periodic) {
bool periodic, Countdown* countdown) {
DeviceReplyInfo info;
info.maxDelayCycles = maxDelayCycles;
info.periodic = periodic;
@ -429,6 +441,10 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
info.replyLen = replyLen;
info.dataSet = dataSet;
info.command = deviceCommandMap.end();
info.countdown = countdown;
if (info.periodic) {
info.active = true;
}
auto resultPair = deviceReplyMap.emplace(replyId, info);
if (resultPair.second) {
return RETURN_OK;
@ -458,16 +474,16 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId) {
DeviceCommandId_t replyId = NO_COMMAND_ID;
DeviceCommandMap::iterator command = cookieInfo.pendingCommand;
if (command->second.useAlternativeReplyId) {
replyId = command->second.alternativeReplyId;
}
else {
replyId = commandId;
replyId = command->second.alternativeReplyId;
} else {
replyId = commandId;
}
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles != 0) {
return iter->second.replyLen;
}
if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
(iter->second.active && iter->second.countdown != nullptr)) {
return iter->second.replyLen;
}
}
return 0;
}
@ -809,17 +825,18 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
DeviceReplyInfo* info = &(iter->second);
if (info->delayCycles != 0) {
if ((info->delayCycles != 0 && info->countdown == nullptr) ||
(info->active && info->countdown != nullptr)) {
result = interpretDeviceReply(foundId, receivedData);
if (result == IGNORE_REPLY_DATA) {
return;
}
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
if (info->active && info->countdown != nullptr) {
disableTimeoutControlledReply(info);
} else if (info->delayCycles != 0) {
disableDelayCyclesControlledReply(info);
}
if (result != RETURN_OK) {
@ -838,6 +855,24 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
}
}
void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
if (info->periodic) {
info->countdown->resetTimer();
} else {
info->active = false;
info->countdown->timeOut();
}
}
void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
info->active = false;
}
}
ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data,
size_t* len) {
size_t lenTmp;
@ -963,6 +998,10 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
info->delayCycles = info->maxDelayCycles;
info->command = command;
command->second.expectedReplies = expectedReplies;
if (info->countdown != nullptr) {
info->countdown->resetTimer();
}
info->active = true;
return RETURN_OK;
} else {
return NO_REPLY_EXPECTED;
@ -1197,7 +1236,8 @@ void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
bool DeviceHandlerBase::isAwaitingReply() {
std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
if (iter->second.delayCycles != 0) {
if ((iter->second.delayCycles != 0 && iter->second.countdown == nullptr) ||
(iter->second.active && iter->second.countdown != nullptr)) {
return true;
}
}
@ -1353,6 +1393,9 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
if (iter == deviceReplyMap.end()) {
return 0;
}
else if (iter->second.countdown != nullptr) {
return 0;
}
return iter->second.delayCycles;
}

27
src/fsfw/devicehandlers/DeviceHandlerBase.h
View File

@ -448,6 +448,9 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
@ -455,7 +458,8 @@ class DeviceHandlerBase : public DeviceHandlerIF,
LocalPoolDataSetBase *replyDataSet = nullptr,
size_t replyLen = 0, bool periodic = false,
bool hasDifferentReplyId = false,
DeviceCommandId_t replyId = 0);
DeviceCommandId_t replyId = 0,
Countdown *countdown = nullptr);
/**
* @brief This is a helper method to insert replies in the reply map.
* @param deviceCommand Identifier of the reply to add.
@ -465,12 +469,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
* by the device repeatedly without request) or not. Default is aperiodic (0).
* Please note that periodic replies are disabled by default. You can enable them with
* #updatePeriodicReply
* @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
* to provide a pointer to a Countdown object which will signal the timeout
* when expired
* @return - @c RETURN_OK when the command was successfully inserted,
* - @c RETURN_FAILED else.
*/
ReturnValue_t insertInReplyMap(DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
LocalPoolDataSetBase *dataSet = nullptr, size_t replyLen = 0,
bool periodic = false);
bool periodic = false, Countdown *countdown = nullptr);
/**
* @brief A simple command to add a command to the commandList.
@ -783,6 +790,11 @@ class DeviceHandlerBase : public DeviceHandlerIF,
LocalPoolDataSetBase *dataSet = nullptr;
//! The command that expects this reply.
DeviceCommandMap::iterator command;
//! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
//! is also possible specify a countdown
Countdown* countdown = nullptr;
//! will be set to true when reply is enabled
bool active = false;
};
using DeviceReplyMap = std::map<DeviceCommandId_t, DeviceReplyInfo>;
@ -1243,6 +1255,17 @@ class DeviceHandlerBase : public DeviceHandlerIF,
*/
void doGetRead(void);
/**
* @brief Handles disabling of replies which use a timeout to detect missed replies.
*/
void disableTimeoutControlledReply(DeviceReplyInfo* info);
/**
* @brief Handles disabling of replies which use a number of maximum delay cycles to detect
* missed replies.
*/
void disableDelayCyclesControlledReply(DeviceReplyInfo* info);
/**
* Retrive data from the #IPCStore.
*