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DeviceHandlerBase: All Refactoring #44

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mohr merged 56 commits from KSat/fsfw:mueller_DeviceHandlerBase_AllRefactoring into master 2020-07-03 11:48:56 +02:00
Conversation 0 Commits 56 Files Changed 12 +974 -688
12 changed files with 974 additions and 688 deletions
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19
devicehandlers/ChildHandlerBase.cpp
View File

@ -2,15 +2,16 @@
#include <framework/devicehandlers/ChildHandlerBase.h>
#include <framework/subsystem/SubsystemBase.h>
ChildHandlerBase::ChildHandlerBase(uint32_t ioBoardAddress,
object_id_t setObjectId, object_id_t deviceCommunication,
uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
uint32_t parent, FailureIsolationBase* customFdir, uint32_t cmdQueueSize) :
DeviceHandlerBase(ioBoardAddress, setObjectId, maxDeviceReplyLen,
setDeviceSwitch, deviceCommunication, thermalStatePoolId,
thermalRequestPoolId, (customFdir == NULL? &childHandlerFdir : customFdir), cmdQueueSize), parentId(
parent), childHandlerFdir(setObjectId) {
ChildHandlerBase::ChildHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * comCookie,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, uint32_t parent,
FailureIsolationBase* customFdir, size_t cmdQueueSize) :
DeviceHandlerBase(setObjectId, deviceCommunication, comCookie,
setDeviceSwitch, thermalStatePoolId,thermalRequestPoolId,
(customFdir == nullptr? &childHandlerFdir : customFdir),
cmdQueueSize),
parentId(parent), childHandlerFdir(setObjectId) {
}
ChildHandlerBase::~ChildHandlerBase() {

8
devicehandlers/ChildHandlerBase.h
View File

@ -6,12 +6,12 @@
class ChildHandlerBase: public DeviceHandlerBase {
public:
ChildHandlerBase(uint32_t ioBoardAddress, object_id_t setObjectId,
object_id_t deviceCommunication, uint32_t maxDeviceReplyLen,
ChildHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * comCookie,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, uint32_t parent,
FailureIsolationBase* customFdir = NULL,
uint32_t cmdQueueSize = 20);
FailureIsolationBase* customFdir = nullptr,
size_t cmdQueueSize = 20);
virtual ~ChildHandlerBase();
virtual ReturnValue_t initialize();

10
devicehandlers/Cookie.h
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@ -1,10 +0,0 @@
#ifndef COOKIE_H_
#define COOKIE_H_
class Cookie{
public:
virtual ~Cookie(){}
};
#endif /* COOKIE_H_ */

34
devicehandlers/CookieIF.h Normal file
View File

@ -0,0 +1,34 @@
#ifndef COOKIE_H_
#define COOKIE_H_
#include <cstdint>
/**
* @brief Physical address type
*/
typedef std::uint32_t address_t;
/**
* @brief This datatype is used to identify different connection over a
* single interface (like RMAP or I2C)
* @details
* To use this class, implement a communication specific child cookie which
* inherits Cookie. Cookie instances are created in config/Factory.cpp by
* calling @code{.cpp} CookieIF* childCookie = new ChildCookie(...)
* @endcode .
*
* [not implemented yet]
* This cookie is then passed to the child device handlers, which stores the
* pointer and passes it to the communication interface functions.
*
* The cookie can be used to store all kinds of information
* about the communication, like slave addresses, communication status,
* communication parameters etc.
*
* @ingroup comm
*/
class CookieIF {
public:
virtual ~CookieIF() {};
};
#endif /* COOKIE_H_ */

152
devicehandlers/DeviceCommunicationIF.h
View File

@ -1,63 +1,131 @@
#ifndef DEVICECOMMUNICATIONIF_H_
#define DEVICECOMMUNICATIONIF_H_
#include <framework/devicehandlers/Cookie.h>
#include <framework/devicehandlers/CookieIF.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <cstddef>
/**
* @defgroup interfaces Interfaces
* @brief Interfaces for flight software objects
*/
/**
* @defgroup comm Communication
* @brief Communication software components.
*/
/**
* @brief This is an interface to decouple device communication from
* the device handler to allow reuse of these components.
* @details
* Documentation: Dissertation Baetz p.138.
* It works with the assumption that received data
* is polled by a component. There are four generic steps of device communication:
*
* 1. Send data to a device
* 2. Get acknowledgement for sending
* 3. Request reading data from a device
* 4. Read received data
*
* To identify different connection over a single interface can return
* so-called cookies to components.
* The CommunicationMessage message type can be used to extend the
* functionality of the ComIF if a separate polling task is required.
* @ingroup interfaces
* @ingroup comm
*/
class DeviceCommunicationIF: public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_COMMUNICATION_IF;
static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x01);
static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x03);
static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x04);
static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x06);
static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x07);
//! Standard Error Codes
//! General protocol error. Define more concrete errors in child handler
static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0x01);
//! If cookie is a null pointer
static const ReturnValue_t NULLPOINTER = MAKE_RETURN_CODE(0x02);
static const ReturnValue_t INVALID_COOKIE_TYPE = MAKE_RETURN_CODE(0x03);
// is this needed if there is no open/close call?
static const ReturnValue_t NOT_ACTIVE = MAKE_RETURN_CODE(0x05);
static const ReturnValue_t INVALID_ADDRESS = MAKE_RETURN_CODE(0x06);
static const ReturnValue_t TOO_MUCH_DATA = MAKE_RETURN_CODE(0x07);
static const ReturnValue_t CANT_CHANGE_REPLY_LEN = MAKE_RETURN_CODE(0x08);
virtual ~DeviceCommunicationIF() {
//! Can be used in readReceivedMessage() if no reply was received.
static const ReturnValue_t NO_REPLY_RECEIVED = MAKE_RETURN_CODE(0xA1);
}
virtual ~DeviceCommunicationIF() {}
virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
uint32_t maxReplyLen) = 0;
/**
* Use an existing cookie to open a connection to a new DeviceCommunication.
* The previous connection must not be closed.
* If the returnvalue is not RETURN_OK, the cookie is unchanged and
* can be used with the previous connection.
* @brief Device specific initialization, using the cookie.
* @details
* The cookie is already prepared in the factory. If the communication
* interface needs to be set up in some way and requires cookie information,
* this can be performed in this function, which is called on device handler
* initialization.
* @param cookie
* @return
* - @c RETURN_OK if initialization was successfull
* - Everything else triggers failure event with returnvalue as parameter 1
*/
virtual ReturnValue_t initializeInterface(CookieIF * cookie) = 0;
/**
* Called by DHB in the SEND_WRITE doSendWrite().
* This function is used to send data to the physical device
* by implementing and calling related drivers or wrapper functions.
* @param cookie
* @param data
* @param len
* @return
* - @c RETURN_OK for successfull send
* - Everything else triggers failure event with returnvalue as parameter 1
*/
virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t * sendData,
size_t sendLen) = 0;
/**
* Called by DHB in the GET_WRITE doGetWrite().
* Get send confirmation that the data in sendMessage() was sent successfully.
* @param cookie
* @return - @c RETURN_OK if data was sent successfull
* - Everything else triggers falure event with
* returnvalue as parameter 1
*/
virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
/**
* Called by DHB in the SEND_WRITE doSendRead().
* It is assumed that it is always possible to request a reply
* from a device. If a requestLen of 0 is supplied, no reply was enabled
* and communication specific action should be taken (e.g. read nothing
* or read everything).
*
* @param cookie
* @param address
* @param maxReplyLen
* @return
* @param requestLen Size of data to read
* @return - @c RETURN_OK to confirm the request for data has been sent.
* - Everything else triggers failure event with
* returnvalue as parameter 1
*/
virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
uint32_t maxReplyLen) = 0;
virtual void close(Cookie *cookie) = 0;
//SHOULDDO can data be const?
virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
uint32_t len) = 0;
virtual ReturnValue_t getSendSuccess(Cookie *cookie) = 0;
virtual ReturnValue_t requestReceiveMessage(Cookie *cookie) = 0;
virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
uint32_t *size) = 0;
virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address) = 0;
virtual uint32_t getAddress(Cookie *cookie) = 0;
virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter) = 0;
virtual uint32_t getParameter(Cookie *cookie) = 0;
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) = 0;
/**
* Called by DHB in the GET_WRITE doGetRead().
* This function is used to receive data from the physical device
* by implementing and calling related drivers or wrapper functions.
* @param cookie
* @param buffer [out] Set reply here (by using *buffer = ...)
* @param size [out] size pointer to set (by using *size = ...).
* Set to 0 if no reply was received
* @return - @c RETURN_OK for successfull receive
* - @c NO_REPLY_RECEIVED if not reply was received. Setting size to
* 0 has the same effect
* - Everything else triggers failure event with
* returnvalue as parameter 1
*/
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) = 0;
};
#endif /* DEVICECOMMUNICATIONIF_H_ */

371
devicehandlers/DeviceHandlerBase.cpp
View File

@ -1,52 +1,60 @@
#include <framework/datapool/DataSet.h>
#include <framework/datapool/PoolVariable.h>
#include <framework/datapool/PoolVector.h>
#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
#include <framework/devicehandlers/DeviceHandlerBase.h>
#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/objectmanager/ObjectManager.h>
#include <framework/storagemanager/StorageManagerIF.h>
#include <framework/subsystem/SubsystemBase.h>
#include <framework/thermal/ThermalComponentIF.h>
#include <framework/devicehandlers/AcceptsDeviceResponsesIF.h>
#include <framework/datapool/DataSet.h>
#include <framework/datapool/PoolVariable.h>
#include <framework/devicehandlers/DeviceTmReportingWrapper.h>
#include <framework/globalfunctions/CRC.h>
#include <framework/subsystem/SubsystemBase.h>
#include <framework/ipc/QueueFactory.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h>
#include <iomanip>
object_id_t DeviceHandlerBase::powerSwitcherId = 0;
object_id_t DeviceHandlerBase::rawDataReceiverId = 0;
object_id_t DeviceHandlerBase::defaultFDIRParentId = 0;
DeviceHandlerBase::DeviceHandlerBase(uint32_t ioBoardAddress,
object_id_t setObjectId, uint32_t maxDeviceReplyLen,
uint8_t setDeviceSwitch, object_id_t deviceCommunication,
uint32_t thermalStatePoolId, uint32_t thermalRequestPoolId,
FailureIsolationBase* fdirInstance, uint32_t cmdQueueSize) :
SystemObject(setObjectId), rawPacket(0), rawPacketLen(0), mode(
MODE_OFF), submode(SUBMODE_NONE), pstStep(0), maxDeviceReplyLen(
maxDeviceReplyLen), wiretappingMode(OFF), defaultRawReceiver(0), storedRawData(
StorageManagerIF::INVALID_ADDRESS), requestedRawTraffic(0), powerSwitcher(
NULL), IPCStore(NULL), deviceCommunicationId(deviceCommunication), communicationInterface(
NULL), cookie(
NULL), commandQueue(NULL), deviceThermalStatePoolId(thermalStatePoolId), deviceThermalRequestPoolId(
thermalRequestPoolId), healthHelper(this, setObjectId), modeHelper(
this), parameterHelper(this), childTransitionFailure(RETURN_OK), ignoreMissedRepliesCount(
0), fdirInstance(fdirInstance), hkSwitcher(this), defaultFDIRUsed(
fdirInstance == NULL), switchOffWasReported(false),executingTask(NULL), actionHelper(this, NULL), cookieInfo(), ioBoardAddress(
ioBoardAddress), timeoutStart(0), childTransitionDelay(5000), transitionSourceMode(
_MODE_POWER_DOWN), transitionSourceSubMode(SUBMODE_NONE), deviceSwitch(
setDeviceSwitch) {
DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId,
object_id_t deviceCommunication, CookieIF * comCookie,
uint8_t setDeviceSwitch, uint32_t thermalStatePoolId,
uint32_t thermalRequestPoolId, FailureIsolationBase* fdirInstance,
size_t cmdQueueSize) :
SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication), comCookie(comCookie),
deviceThermalStatePoolId(thermalStatePoolId),
deviceThermalRequestPoolId(thermalRequestPoolId),
healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
hkSwitcher(this), defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false), actionHelper(this, nullptr),
childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN), transitionSourceSubMode(
SUBMODE_NONE), deviceSwitch(setDeviceSwitch) {
commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
CommandMessage::MAX_MESSAGE_SIZE);
cookieInfo.state = COOKIE_UNUSED;
insertInCommandMap(RAW_COMMAND_ID);
if (this->fdirInstance == NULL) {
cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand = deviceCommandMap.end();
if (comCookie == nullptr) {
sif::error << "DeviceHandlerBase: ObjectID 0x" << std::hex <<
std::setw(8) << std::setfill('0') << this->getObjectId() <<
std::dec << ": Do not pass nullptr as a cookie, consider "
<< std::setfill(' ') << "passing a dummy cookie instead!" <<
std::endl;
}
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
defaultFDIRParentId);
}
}
DeviceHandlerBase::~DeviceHandlerBase() {
communicationInterface->close(cookie);
delete comCookie;
if (defaultFDIRUsed) {
delete fdirInstance;
}
@ -56,7 +64,7 @@ DeviceHandlerBase::~DeviceHandlerBase() {
ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
this->pstStep = counter;
if (counter == 0) {
if (getComAction() == SEND_WRITE) {
cookieInfo.state = COOKIE_UNUSED;
readCommandQueue();
doStateMachine();
@ -64,11 +72,12 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
decrementDeviceReplyMap();
fdirInstance->checkForFailures();
hkSwitcher.performOperation();
performOperationHook();
}
if (mode == MODE_OFF) {
return RETURN_OK;
}
switch (getRmapAction()) {
switch (getComAction()) {
case SEND_WRITE:
if ((cookieInfo.state == COOKIE_UNUSED)) {
buildInternalCommand();
@ -91,13 +100,91 @@ ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
return RETURN_OK;
}
ReturnValue_t DeviceHandlerBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
communicationInterface = objectManager->get<DeviceCommunicationIF>(
deviceCommunicationId);
if (communicationInterface == NULL) {
return RETURN_FAILED;
}
result = communicationInterface->initializeInterface(comCookie);
if (result != RETURN_OK) {
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == NULL) {
return RETURN_FAILED;
}
AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
AcceptsDeviceResponsesIF>(rawDataReceiverId);
if (rawReceiver == NULL) {
return RETURN_FAILED;
}
defaultRawReceiver = rawReceiver->getDeviceQueue();
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
if (powerSwitcher == NULL) {
return RETURN_FAILED;
}
result = healthHelper.initialize();
if (result != RETURN_OK) {
return result;
}
result = modeHelper.initialize();
if (result != RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != RETURN_OK) {
return result;
}
result = fdirInstance->initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = parameterHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = hkSwitcher.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
fillCommandAndReplyMap();
//Set temperature target state to NON_OP.
DataSet mySet;
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_WRITE);
mySet.read();
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
mySet.commit(PoolVariableIF::VALID);
return RETURN_OK;
}
void DeviceHandlerBase::decrementDeviceReplyMap() {
for (std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
deviceReplyMap.begin(); iter != deviceReplyMap.end(); iter++) {
if (iter->second.delayCycles != 0) {
iter->second.delayCycles--;
if (iter->second.delayCycles == 0) {
if (iter->second.periodic != 0) {
if (iter->second.periodic) {
iter->second.delayCycles = iter->second.maxDelayCycles;
}
replyToReply(iter, TIMEOUT);
@ -256,55 +343,49 @@ ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
uint8_t periodic, bool hasDifferentReplyId, DeviceCommandId_t replyId) {
//No need to check, as we may try to insert multiple times.
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(DeviceCommandId_t deviceCommand,
uint16_t maxDelayCycles, size_t replyLen, bool periodic,
bool hasDifferentReplyId, DeviceCommandId_t replyId) {
//No need to check, as we may try to insert multiple times.
insertInCommandMap(deviceCommand);
if (hasDifferentReplyId) {
return insertInReplyMap(replyId, maxDelayCycles, periodic);
return insertInReplyMap(replyId, maxDelayCycles, replyLen, periodic);
} else {
return insertInReplyMap(deviceCommand, maxDelayCycles, periodic);
return insertInReplyMap(deviceCommand, maxDelayCycles, replyLen, periodic);
}
}
ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
uint16_t maxDelayCycles, uint8_t periodic) {
uint16_t maxDelayCycles, size_t replyLen, bool periodic) {
DeviceReplyInfo info;
info.maxDelayCycles = maxDelayCycles;
info.periodic = periodic;
info.delayCycles = 0;
info.replyLen = replyLen;
info.command = deviceCommandMap.end();
std::pair<std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator, bool> returnValue;
returnValue = deviceReplyMap.insert(
std::pair<DeviceCommandId_t, DeviceReplyInfo>(replyId, info));
if (returnValue.second) {
auto resultPair = deviceReplyMap.emplace(replyId, info);
if (resultPair.second) {
return RETURN_OK;
} else {
return RETURN_FAILED;
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandMap(
DeviceCommandId_t deviceCommand) {
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
DeviceCommandInfo info;
info.expectedReplies = 0;
info.isExecuting = false;
info.sendReplyTo = NO_COMMANDER;
std::pair<std::map<DeviceCommandId_t, DeviceCommandInfo>::iterator, bool> returnValue;
returnValue = deviceCommandMap.insert(
std::pair<DeviceCommandId_t, DeviceCommandInfo>(deviceCommand,
info));
if (returnValue.second) {
auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
if (resultPair.second) {
return RETURN_OK;
} else {
return RETURN_FAILED;
}
}
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(
DeviceCommandId_t deviceReply, uint16_t delayCycles,
uint16_t maxDelayCycles, uint8_t periodic) {
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter =
deviceReplyMap.find(deviceReply);
if (iter == deviceReplyMap.end()) {
@ -429,7 +510,7 @@ void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
void DeviceHandlerBase::doSendWrite() {
if (cookieInfo.state == COOKIE_WRITE_READY) {
ReturnValue_t result = communicationInterface->sendMessage(cookie,
ReturnValue_t result = communicationInterface->sendMessage(comCookie,
rawPacket, rawPacketLen);
if (result == RETURN_OK) {
@ -450,12 +531,14 @@ void DeviceHandlerBase::doGetWrite() {
return;
}
cookieInfo.state = COOKIE_UNUSED;
ReturnValue_t result = communicationInterface->getSendSuccess(cookie);
ReturnValue_t result = communicationInterface->getSendSuccess(comCookie);
if (result == RETURN_OK) {
if (wiretappingMode == RAW) {
replyRawData(rawPacket, rawPacketLen, requestedRawTraffic, true);
}
//We need to distinguish here, because a raw command never expects a reply. (Could be done in eRIRM, but then child implementations need to be careful.
//We need to distinguish here, because a raw command never expects a reply.
//(Could be done in eRIRM, but then child implementations need to be careful.
result = enableReplyInReplyMap(cookieInfo.pendingCommand);
} else {
//always generate a failure event, so that FDIR knows what's up
@ -471,7 +554,17 @@ void DeviceHandlerBase::doGetWrite() {
void DeviceHandlerBase::doSendRead() {
ReturnValue_t result;
result = communicationInterface->requestReceiveMessage(cookie);
size_t requestLen = 0;
if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
DeviceReplyIter iter = deviceReplyMap.find(
cookieInfo.pendingCommand->first);
if(iter != deviceReplyMap.end()) {
requestLen = iter->second.replyLen;
}
}
result = communicationInterface->requestReceiveMessage(comCookie, requestLen);
if (result == RETURN_OK) {
cookieInfo.state = COOKIE_READ_SENT;
} else {
@ -485,10 +578,10 @@ void DeviceHandlerBase::doSendRead() {
}
void DeviceHandlerBase::doGetRead() {
uint32_t receivedDataLen;
size_t receivedDataLen;
uint8_t *receivedData;
DeviceCommandId_t foundId = 0xFFFFFFFF;
uint32_t foundLen = 0;
size_t foundLen = 0;
ReturnValue_t result;
if (cookieInfo.state != COOKIE_READ_SENT) {
@ -498,8 +591,8 @@ void DeviceHandlerBase::doGetRead() {
cookieInfo.state = COOKIE_UNUSED;
result = communicationInterface->readReceivedMessage(cookie, &receivedData,
&receivedDataLen);
result = communicationInterface->readReceivedMessage(comCookie,
&receivedData, &receivedDataLen);
if (result != RETURN_OK) {
triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
@ -508,7 +601,7 @@ void DeviceHandlerBase::doGetRead() {
return;
}
if (receivedDataLen == 0)
if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
return;
if (wiretappingMode == RAW) {
@ -539,6 +632,8 @@ void DeviceHandlerBase::doGetRead() {
break;
case IGNORE_REPLY_DATA:
break;
case IGNORE_FULL_PACKET:
return;
default:
//We need to wait for timeout.. don't know what command failed and who sent it.
replyRawReplyIfnotWiretapped(receivedData, foundLen);
@ -560,8 +655,8 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
uint8_t * *data, uint32_t * len) {
size_t lenTmp;
if (IPCStore == NULL) {
*data = NULL;
if (IPCStore == nullptr) {
*data = nullptr;
*len = 0;
return RETURN_FAILED;
}
@ -572,90 +667,10 @@ ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress,
} else {
triggerEvent(StorageManagerIF::GET_DATA_FAILED, result,
storageAddress.raw);
*data = NULL;
*data = nullptr;
*len = 0;
return result;
}
}
ReturnValue_t DeviceHandlerBase::initialize() {
ReturnValue_t result = SystemObject::initialize();
if (result != RETURN_OK) {
return result;
}
communicationInterface = objectManager->get<DeviceCommunicationIF>(
deviceCommunicationId);
if (communicationInterface == NULL) {
return RETURN_FAILED;
}
result = communicationInterface->open(&cookie, ioBoardAddress,
maxDeviceReplyLen);
if (result != RETURN_OK) {
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == NULL) {
return RETURN_FAILED;
}
AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
AcceptsDeviceResponsesIF>(rawDataReceiverId);
if (rawReceiver == NULL) {
return RETURN_FAILED;
}
defaultRawReceiver = rawReceiver->getDeviceQueue();
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
if (powerSwitcher == NULL) {
return RETURN_FAILED;
}
result = healthHelper.initialize();
if (result != RETURN_OK) {
return result;
}
result = modeHelper.initialize();
if (result != RETURN_OK) {
return result;
}
result = actionHelper.initialize(commandQueue);
if (result != RETURN_OK) {
return result;
}
result = fdirInstance->initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = parameterHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
result = hkSwitcher.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
fillCommandAndReplyMap();
//Set temperature target state to NON_OP.
DataSet mySet;
PoolVariable<int8_t> thermalRequest(deviceThermalRequestPoolId, &mySet,
PoolVariableIF::VAR_WRITE);
mySet.read();
thermalRequest = ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
mySet.commit(PoolVariableIF::VALID);
return RETURN_OK;
}
void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
@ -687,8 +702,7 @@ void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
}
//Default child implementations
DeviceHandlerBase::RmapAction_t DeviceHandlerBase::getRmapAction() {
DeviceHandlerIF::CommunicationAction_t DeviceHandlerBase::getComAction() {
switch (pstStep) {
case 0:
return SEND_WRITE;
@ -727,7 +741,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
if (info->delayCycles != 0) {
if (info->periodic != 0) {
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
} else {
info->delayCycles = 0;
@ -748,20 +762,20 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData,
}
}
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;
}
//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);
@ -1022,7 +1036,6 @@ void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
CommandMessage * message) {
ReturnValue_t result;
switch (message->getCommand()) {
case DeviceHandlerMessage::CMD_WIRETAPPING:
switch (DeviceHandlerMessage::getWiretappingMode(message)) {
@ -1044,19 +1057,19 @@ ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
}
replyReturnvalueToCommand(RETURN_OK);
return RETURN_OK;
case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
if (mode != MODE_OFF) {
replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
} else {
result = switchCookieChannel(
DeviceHandlerMessage::getIoBoardObjectId(message));
if (result == RETURN_OK) {
replyReturnvalueToCommand(RETURN_OK);
} else {
replyReturnvalueToCommand(CANT_SWITCH_IOBOARD);
}
}
return RETURN_OK;
// case DeviceHandlerMessage::CMD_SWITCH_IOBOARD:
// if (mode != MODE_OFF) {
// replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
// } else {
// result = switchCookieChannel(
// DeviceHandlerMessage::getIoBoardObjectId(message));
// if (result == RETURN_OK) {
// replyReturnvalueToCommand(RETURN_OK);
// } else {
// replyReturnvalueToCommand(CANT_SWITCH_IO_ADDRESS);
// }
// }
// return RETURN_OK;
case DeviceHandlerMessage::CMD_RAW:
if ((mode != MODE_RAW)) {
DeviceHandlerMessage::clear(message);
@ -1270,3 +1283,9 @@ void DeviceHandlerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task_){
executingTask = task_;
}
// Default implementations empty.
void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
object_id_t objectId, uint32_t parameter) {}
void DeviceHandlerBase::performOperationHook() {}

837
devicehandlers/DeviceHandlerBase.h
View File

File diff suppressed because it is too large Load Diff

185
devicehandlers/DeviceHandlerIF.h
View File

@ -8,7 +8,8 @@
#include <framework/ipc/MessageQueueSenderIF.h>
/**
* This is the Interface used to communicate with a device handler.
* @brief This is the Interface used to communicate with a device handler.
* @details Includes all expected return values, events and modes.
*
*/
class DeviceHandlerIF {
@ -22,93 +23,127 @@ public:
*
* @details The mode of the device handler must not be confused with the mode the device is in.
* The mode of the device itself is transparent to the user but related to the mode of the handler.
* MODE_ON and MODE_OFF are included in hasModesIF.h
*/
// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
static const Mode_t MODE_NORMAL = 2; //!< The device is powered on and the device handler periodically sends commands. The commands to be sent are selected by the handler according to the submode.
static const Mode_t MODE_RAW = 3; //!< The device is powered on and ready to perform operations. In this mode, raw commands can be sent. The device handler will send all replies received from the command back to the commanding object.
static const Mode_t MODE_ERROR_ON = 4; //!4< The device is shut down but the switch could not be turned off, so the device still is powered. In this mode, only a mode change to @c MODE_OFF can be commanded, which tries to switch off the device again.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The device handler performs all commands to get the device in a state ready to perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6; //!< This is a transitional state which can not be commanded. The device handler performs all actions and commands to get the device shut down. When the device is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1; //!< This is a transitional state which can not be commanded. The device is shut down and ready to be switched off. After the command to set the switch off has been sent, the mode changes to @c MODE_WAIT_OFF
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2; //!< This is a transitional state which can not be commanded. The device will be switched on in this state. After the command to set the switch on has been sent, the mode changes to @c MODE_WAIT_ON
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3; //!< This is a transitional state which can not be commanded. The switch has been commanded off and the handler waits for it to be off. When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4; //!< This is a transitional state which can not be commanded. The switch has been commanded on and the handler waits for it to be on. When the switch is on, the mode changes to @c MODE_TO_ON.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5; //!< This is a transitional state which can not be commanded. The switch has been commanded off and is off now. This state is only to do an RMAP cycle once more where the doSendRead() function will set the mode to MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
// MODE_ON = 0, //!< The device is powered and ready to perform operations. In this mode, no commands are sent by the device handler itself, but direct commands van be commanded and will be interpreted
// MODE_OFF = 1, //!< The device is powered off. The only command accepted in this mode is a mode change to on.
//! The device is powered on and the device handler periodically sends
//! commands. The commands to be sent are selected by the handler
//! according to the submode.
static const Mode_t MODE_NORMAL = 2;
//! The device is powered on and ready to perform operations. In this mode,
//! raw commands can be sent. The device handler will send all replies
//! received from the command back to the commanding object.
static const Mode_t MODE_RAW = 3;
//! The device is shut down but the switch could not be turned off, so the
//! device still is powered. In this mode, only a mode change to @c MODE_OFF
//! can be commanded, which tries to switch off the device again.
static const Mode_t MODE_ERROR_ON = 4;
//! This is a transitional state which can not be commanded. The device
//! handler performs all commands to get the device in a state ready to
//! perform commands. When this is completed, the mode changes to @c MODE_ON.
static const Mode_t _MODE_START_UP = TRANSITION_MODE_CHILD_ACTION_MASK | 5;
//! This is a transitional state which can not be commanded.
//! The device handler performs all actions and commands to get the device
//! shut down. When the device is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_SHUT_DOWN = TRANSITION_MODE_CHILD_ACTION_MASK | 6;
//! It is possible to set the mode to _MODE_TO_ON to use the to on
//! transition if available.
static const Mode_t _MODE_TO_ON = TRANSITION_MODE_CHILD_ACTION_MASK | HasModesIF::MODE_ON;
//! It is possible to set the mode to _MODE_TO_RAW to use the to raw
//! transition if available.
static const Mode_t _MODE_TO_RAW = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_RAW;
//! It is possible to set the mode to _MODE_TO_NORMAL to use the to normal
//! transition if available.
static const Mode_t _MODE_TO_NORMAL = TRANSITION_MODE_CHILD_ACTION_MASK | MODE_NORMAL;
//! This is a transitional state which can not be commanded.
//! The device is shut down and ready to be switched off.
//! After the command to set the switch off has been sent,
//! the mode changes to @c MODE_WAIT_OFF
static const Mode_t _MODE_POWER_DOWN = TRANSITION_MODE_BASE_ACTION_MASK | 1;
//! This is a transitional state which can not be commanded. The device
//! will be switched on in this state. After the command to set the switch
//! on has been sent, the mode changes to @c MODE_WAIT_ON.
static const Mode_t _MODE_POWER_ON = TRANSITION_MODE_BASE_ACTION_MASK | 2;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and the handler waits for it to be off.
//! When the switch is off, the mode changes to @c MODE_OFF.
static const Mode_t _MODE_WAIT_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 3;
//! This is a transitional state which can not be commanded. The switch
//! has been commanded on and the handler waits for it to be on.
//! When the switch is on, the mode changes to @c MODE_TO_ON.
static const Mode_t _MODE_WAIT_ON = TRANSITION_MODE_BASE_ACTION_MASK | 4;
//! This is a transitional state which can not be commanded. The switch has
//! been commanded off and is off now. This state is only to do an RMAP
//! cycle once more where the doSendRead() function will set the mode to
//! MODE_OFF. The reason to do this is to get rid of stuck packets in the IO Board.
static const Mode_t _MODE_SWITCH_IS_OFF = TRANSITION_MODE_BASE_ACTION_MASK | 5;
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2);
static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
static const ReturnValue_t CANT_SWITCH_IOBOARD = MAKE_RETURN_CODE(0xA4);
static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::CDH;
static const Event DEVICE_BUILDING_COMMAND_FAILED = MAKE_EVENT(0, SEVERITY::LOW);
static const Event DEVICE_SENDING_COMMAND_FAILED = MAKE_EVENT(1, SEVERITY::LOW);
static const Event DEVICE_REQUESTING_REPLY_FAILED = MAKE_EVENT(2, SEVERITY::LOW);
static const Event DEVICE_READING_REPLY_FAILED = MAKE_EVENT(3, SEVERITY::LOW);
static const Event DEVICE_INTERPRETING_REPLY_FAILED = MAKE_EVENT(4, SEVERITY::LOW);
static const Event DEVICE_MISSED_REPLY = MAKE_EVENT(5, SEVERITY::LOW);
static const Event DEVICE_UNKNOWN_REPLY = MAKE_EVENT(6, SEVERITY::LOW);
static const Event DEVICE_UNREQUESTED_REPLY = MAKE_EVENT(7, SEVERITY::LOW);
static const Event INVALID_DEVICE_COMMAND = MAKE_EVENT(8, SEVERITY::LOW); //!< Indicates a SW bug in child class.
static const Event MONITORING_LIMIT_EXCEEDED = MAKE_EVENT(9, SEVERITY::LOW);
static const Event MONITORING_AMBIGUOUS = MAKE_EVENT(10, SEVERITY::HIGH);
//standard codes used in scan for reply
// static const ReturnValue_t TOO_SHORT = MAKE_RETURN_CODE(0xB1);
static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB2);
static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB3);
static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB4);
static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB5);
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_IF;
//standard codes used in interpret device reply
static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC1); //the device reported, that it did not execute the command
static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC2);
static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC3); //the deviceCommandId reported by scanforReply is unknown
static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC4); //syntax etc is correct but still not ok, eg parameters where none are expected
// Standard codes used when building commands.
static const ReturnValue_t NO_COMMAND_DATA = MAKE_RETURN_CODE(0xA0); //!< If the command size is 0. Checked in DHB
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1); //!< Command ID not in commandMap. Checked in DHB
static const ReturnValue_t COMMAND_ALREADY_SENT = MAKE_RETURN_CODE(0xA2); //!< Command was already executed. Checked in DHB
static const ReturnValue_t COMMAND_WAS_NOT_SENT = MAKE_RETURN_CODE(0xA3);
static const ReturnValue_t CANT_SWITCH_ADDRESS = MAKE_RETURN_CODE(0xA4);
static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
//Standard codes used in buildCommandFromCommand
static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(
0xD0);
static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS =
MAKE_RETURN_CODE(0xD1);
// Standard codes used in scanForReply
static const ReturnValue_t CHECKSUM_ERROR = MAKE_RETURN_CODE(0xB0);
static const ReturnValue_t LENGTH_MISSMATCH = MAKE_RETURN_CODE(0xB1);
static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(0xB2);
static const ReturnValue_t PROTOCOL_ERROR = MAKE_RETURN_CODE(0xB3);
// Standard codes used in interpretDeviceReply
static const ReturnValue_t DEVICE_DID_NOT_EXECUTE = MAKE_RETURN_CODE(0xC0); //the device reported, that it did not execute the command
static const ReturnValue_t DEVICE_REPORTED_ERROR = MAKE_RETURN_CODE(0xC1);
static const ReturnValue_t UNKNOW_DEVICE_REPLY = MAKE_RETURN_CODE(0xC2); //the deviceCommandId reported by scanforReply is unknown
static const ReturnValue_t DEVICE_REPLY_INVALID = MAKE_RETURN_CODE(0xC3); //syntax etc is correct but still not ok, eg parameters where none are expected
// Standard codes used in buildCommandFromCommand
static const ReturnValue_t INVALID_COMMAND_PARAMETER = MAKE_RETURN_CODE(0xD0);
static const ReturnValue_t INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS = MAKE_RETURN_CODE(0xD1);
/**
* Communication action that will be executed.
*
* This is used by the child class to tell the base class what to do.
*/
enum CommunicationAction_t: uint8_t {
SEND_WRITE,//!< Send write
GET_WRITE, //!< Get write
SEND_READ, //!< Send read
GET_READ, //!< Get read
NOTHING //!< Do nothing.
};
/**
* RMAP Action that will be executed.
*
* This is used by the child class to tell the base class what to do.
*/
enum RmapAction_t {
SEND_WRITE,//!< RMAP send write
GET_WRITE, //!< RMAP get write
SEND_READ, //!< RMAP send read
GET_READ, //!< RMAP get read
NOTHING //!< Do nothing.
};
/**
* Default Destructor
*/
virtual ~DeviceHandlerIF() {
}
virtual ~DeviceHandlerIF() {}
/**
* This MessageQueue is used to command the device handler.
*
* To command a device handler, a DeviceHandlerCommandMessage can be sent to this Queue.
* The handler replies with a DeviceHandlerCommandMessage containing the DeviceHandlerCommand_t reply.
*
* @return the id of the MessageQueue
*/
virtual MessageQueueId_t getCommandQueue() const = 0;

4
osal/FreeRTOS/FixedTimeslotTask.h
View File

@ -5,8 +5,10 @@
#include <framework/tasks/FixedTimeslotTaskIF.h>
#include <framework/tasks/Typedef.h>
#include <FreeRTOS.h>
extern "C" {
#include "FreeRTOS.h"
#include "task.h"
}
class FixedTimeslotTask: public FixedTimeslotTaskIF {
public:

4
rmap/RMAPCookie.h
View File

@ -1,12 +1,12 @@
#ifndef RMAPCOOKIE_H_
#define RMAPCOOKIE_H_
#include <framework/devicehandlers/Cookie.h>
#include <framework/devicehandlers/CookieIF.h>
#include <framework/rmap/rmapStructs.h>
class RMAPChannelIF;
class RMAPCookie : public Cookie{
class RMAPCookie : public CookieIF {
public:
//To Uli: Sorry, I need an empty ctor to initialize an array of cookies.
RMAPCookie();

16
rmap/RmapDeviceCommunicationIF.cpp
View File

@ -5,43 +5,43 @@
RmapDeviceCommunicationIF::~RmapDeviceCommunicationIF() {
}
ReturnValue_t RmapDeviceCommunicationIF::sendMessage(Cookie* cookie,
ReturnValue_t RmapDeviceCommunicationIF::sendMessage(CookieIF* cookie,
uint8_t* data, uint32_t len) {
return RMAP::sendWriteCommand((RMAPCookie *) cookie, data, len);
}
ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(Cookie* cookie) {
ReturnValue_t RmapDeviceCommunicationIF::getSendSuccess(CookieIF* cookie) {
return RMAP::getWriteReply((RMAPCookie *) cookie);
}
ReturnValue_t RmapDeviceCommunicationIF::requestReceiveMessage(
Cookie* cookie) {
CookieIF* cookie) {
return RMAP::sendReadCommand((RMAPCookie *) cookie,
((RMAPCookie *) cookie)->getMaxReplyLen());
}
ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(Cookie* cookie,
ReturnValue_t RmapDeviceCommunicationIF::readReceivedMessage(CookieIF* cookie,
uint8_t** buffer, uint32_t* size) {
return RMAP::getReadReply((RMAPCookie *) cookie, buffer, size);
}
ReturnValue_t RmapDeviceCommunicationIF::setAddress(Cookie* cookie,
ReturnValue_t RmapDeviceCommunicationIF::setAddress(CookieIF* cookie,
uint32_t address) {
((RMAPCookie *) cookie)->setAddress(address);
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t RmapDeviceCommunicationIF::getAddress(Cookie* cookie) {
uint32_t RmapDeviceCommunicationIF::getAddress(CookieIF* cookie) {
return ((RMAPCookie *) cookie)->getAddress();
}
ReturnValue_t RmapDeviceCommunicationIF::setParameter(Cookie* cookie,
ReturnValue_t RmapDeviceCommunicationIF::setParameter(CookieIF* cookie,
uint32_t parameter) {
//TODO Empty?
return HasReturnvaluesIF::RETURN_FAILED;
}
uint32_t RmapDeviceCommunicationIF::getParameter(Cookie* cookie) {
uint32_t RmapDeviceCommunicationIF::getParameter(CookieIF* cookie) {
return 0;
}

22
rmap/RmapDeviceCommunicationIF.h
View File

@ -25,7 +25,7 @@ public:
* @param maxReplyLen Maximum length of expected reply
* @return
*/
virtual ReturnValue_t open(Cookie **cookie, uint32_t address,
virtual ReturnValue_t open(CookieIF **cookie, uint32_t address,
uint32_t maxReplyLen) = 0;
/**
@ -39,7 +39,7 @@ public:
* @param maxReplyLen
* @return
*/
virtual ReturnValue_t reOpen(Cookie *cookie, uint32_t address,
virtual ReturnValue_t reOpen(CookieIF *cookie, uint32_t address,
uint32_t maxReplyLen) = 0;
@ -47,7 +47,7 @@ public:
* Closing call of connection and memory free of cookie. Mission dependent call
* @param cookie
*/
virtual void close(Cookie *cookie) = 0;
virtual void close(CookieIF *cookie) = 0;
//SHOULDDO can data be const?
/**
@ -58,23 +58,23 @@ public:
* @param len Length of the data to be send
* @return - Return codes of RMAP::sendWriteCommand()
*/
virtual ReturnValue_t sendMessage(Cookie *cookie, uint8_t *data,
virtual ReturnValue_t sendMessage(CookieIF *cookie, uint8_t *data,
uint32_t len);
virtual ReturnValue_t getSendSuccess(Cookie *cookie);
virtual ReturnValue_t getSendSuccess(CookieIF *cookie);
virtual ReturnValue_t requestReceiveMessage(Cookie *cookie);
virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie);
virtual ReturnValue_t readReceivedMessage(Cookie *cookie, uint8_t **buffer,
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
uint32_t *size);
virtual ReturnValue_t setAddress(Cookie *cookie, uint32_t address);
virtual ReturnValue_t setAddress(CookieIF *cookie, uint32_t address);
virtual uint32_t getAddress(Cookie *cookie);
virtual uint32_t getAddress(CookieIF *cookie);
virtual ReturnValue_t setParameter(Cookie *cookie, uint32_t parameter);
virtual ReturnValue_t setParameter(CookieIF *cookie, uint32_t parameter);
virtual uint32_t getParameter(Cookie *cookie);
virtual uint32_t getParameter(CookieIF *cookie);
};
#endif /* MISSION_RMAP_RMAPDEVICECOMMUNICATIONINTERFACE_H_ */