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fsfw/devicehandlers/DeviceHandlerBase.cpp

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#include "DeviceHandlerBase.h"
#include "AcceptsDeviceResponsesIF.h"
#include "DeviceTmReportingWrapper.h"
#include "../serviceinterface/ServiceInterface.h"
#include "../objectmanager/ObjectManager.h"
#include "../storagemanager/StorageManagerIF.h"
#include "../thermal/ThermalComponentIF.h"
#include "../globalfunctions/CRC.h"
#include "../housekeeping/HousekeepingMessage.h"
#include "../ipc/MessageQueueMessage.h"
#include "../ipc/QueueFactory.h"
#include "../subsystem/SubsystemBase.h"
#include "../datapoollocal/LocalPoolVariable.h"
object_id_t DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
object_id_t DeviceHandlerBase::defaultFdirParentId = objects::NO_OBJECT;
DeviceHandlerBase::DeviceHandlerBase(object_id_t setObjectId, object_id_t deviceCommunication,
CookieIF* comCookie, FailureIsolationBase* fdirInstance, size_t cmdQueueSize):
SystemObject(setObjectId), mode(MODE_OFF), submode(SUBMODE_NONE),
wiretappingMode(OFF), storedRawData(StorageManagerIF::INVALID_ADDRESS),
deviceCommunicationId(deviceCommunication), comCookie(comCookie),
healthHelper(this,setObjectId), modeHelper(this), parameterHelper(this),
actionHelper(this, nullptr), poolManager(this, nullptr),
childTransitionFailure(RETURN_OK), fdirInstance(fdirInstance),
defaultFDIRUsed(fdirInstance == nullptr),
switchOffWasReported(false), childTransitionDelay(5000),
transitionSourceMode(_MODE_POWER_DOWN),
transitionSourceSubMode(SUBMODE_NONE) {
commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
MessageQueueMessage::MAX_MESSAGE_SIZE);
insertInCommandMap(RAW_COMMAND_ID);
cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand = deviceCommandMap.end();
if (comCookie == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "DeviceHandlerBase",
HasReturnvaluesIF::RETURN_FAILED, "Invalid cookie");
}
if (this->fdirInstance == nullptr) {
this->fdirInstance = new DeviceHandlerFailureIsolation(setObjectId,
defaultFdirParentId);
}
}
void DeviceHandlerBase::setHkDestination(object_id_t hkDestination) {
this->hkDestination = hkDestination;
}
void DeviceHandlerBase::setThermalStateRequestPoolIds(
lp_id_t thermalStatePoolId, lp_id_t heaterRequestPoolId,
uint32_t thermalSetId) {
thermalSet = new DeviceHandlerThermalSet(this, thermalSetId,
thermalStatePoolId, heaterRequestPoolId);
}
DeviceHandlerBase::~DeviceHandlerBase() {
delete comCookie;
if (defaultFDIRUsed) {
delete fdirInstance;
}
QueueFactory::instance()->deleteMessageQueue(commandQueue);
}
ReturnValue_t DeviceHandlerBase::performOperation(uint8_t counter) {
this->pstStep = counter;
this->lastStep = this->pstStep;
if (getComAction() == CommunicationAction::NOTHING) {
return HasReturnvaluesIF::RETURN_OK;
}
if (getComAction() == CommunicationAction::PERFORM_OPERATION) {
cookieInfo.state = COOKIE_UNUSED;
readCommandQueue();
doStateMachine();
checkSwitchState();
decrementDeviceReplyMap();
fdirInstance->checkForFailures();
performOperationHook();
return RETURN_OK;
}
if (mode == MODE_OFF) {
return RETURN_OK;
}
switch (getComAction()) {
case CommunicationAction::SEND_WRITE:
if (cookieInfo.state == COOKIE_UNUSED) {
/* If no external command was specified, build internal command. */
buildInternalCommand();
}
doSendWrite();
break;
case CommunicationAction::GET_WRITE:
doGetWrite();
break;
case CommunicationAction::SEND_READ:
doSendRead();
break;
case CommunicationAction::GET_READ:
doGetRead();
/* This will be performed after datasets have been updated by the
custom device implementation. */
poolManager.performHkOperation();
break;
default:
break;
}
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 == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
ObjectManagerIF::CHILD_INIT_FAILED,
"Passed communication IF invalid");
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = communicationInterface->initializeInterface(comCookie);
if (result != RETURN_OK) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
ObjectManagerIF::CHILD_INIT_FAILED,
"ComIF initialization failed");
return result;
}
IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
if (IPCStore == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR, "initialize",
ObjectManagerIF::CHILD_INIT_FAILED, "IPC Store not set up");
return ObjectManagerIF::CHILD_INIT_FAILED;
}
if(rawDataReceiverId != objects::NO_OBJECT) {
AcceptsDeviceResponsesIF *rawReceiver = objectManager->get<
AcceptsDeviceResponsesIF>(rawDataReceiverId);
if (rawReceiver == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR,
"initialize", ObjectManagerIF::CHILD_INIT_FAILED,
"Raw receiver object ID set but no valid object found.");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Make sure the raw receiver object is set up properly"
" and implements AcceptsDeviceResponsesIF" << std::endl;
#else
sif::printError("Make sure the raw receiver object is set up "
"properly and implements AcceptsDeviceResponsesIF\n");
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
defaultRawReceiver = rawReceiver->getDeviceQueue();
}
if(powerSwitcherId != objects::NO_OBJECT) {
powerSwitcher = objectManager->get<PowerSwitchIF>(powerSwitcherId);
if (powerSwitcher == nullptr) {
printWarningOrError(sif::OutputTypes::OUT_ERROR,
"initialize", ObjectManagerIF::CHILD_INIT_FAILED,
"Power switcher set but no valid object found.");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "Make sure the power switcher object is set up "
<< "properly and implements PowerSwitchIF" << std::endl;
#else
sif::printError("Make sure the power switcher object is set up "
"properly and implements PowerSwitchIF\n");
#endif
return ObjectManagerIF::CHILD_INIT_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 = poolManager.initialize(commandQueue);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
fillCommandAndReplyMap();
if(thermalSet != nullptr) {
//Set temperature target state to NON_OP.
result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
thermalSet->heaterRequest.value =
ThermalComponentIF::STATE_REQUEST_NON_OPERATIONAL;
thermalSet->heaterRequest.setValid(true);
thermalSet->commit();
}
}
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) {
iter->second.delayCycles = iter->second.maxDelayCycles;
}
replyToReply(iter, TIMEOUT);
missedReply(iter->first);
}
}
}
}
void DeviceHandlerBase::readCommandQueue() {
if (dontCheckQueue()) {
return;
}
CommandMessage command;
ReturnValue_t result = commandQueue->receiveMessage(&command);
if (result != RETURN_OK) {
return;
}
result = healthHelper.handleHealthCommand(&command);
if (result == RETURN_OK) {
return;
}
result = modeHelper.handleModeCommand(&command);
if (result == RETURN_OK) {
return;
}
result = actionHelper.handleActionMessage(&command);
if (result == RETURN_OK) {
return;
}
result = parameterHelper.handleParameterMessage(&command);
if (result == RETURN_OK) {
return;
}
result = poolManager.handleHousekeepingMessage(&command);
if (result == RETURN_OK) {
return;
}
result = handleDeviceHandlerMessage(&command);
if (result == RETURN_OK) {
return;
}
result = letChildHandleMessage(&command);
if (result == RETURN_OK) {
return;
}
replyReturnvalueToCommand(CommandMessage::UNKNOWN_COMMAND);
}
void DeviceHandlerBase::doStateMachine() {
switch (mode) {
case _MODE_START_UP:
case _MODE_SHUT_DOWN:
case _MODE_TO_NORMAL:
case _MODE_TO_ON:
case _MODE_TO_RAW: {
Mode_t currentMode = mode;
callChildStatemachine();
//Only do timeout if child did not change anything
if (mode != currentMode) {
break;
}
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (currentUptime - timeoutStart >= childTransitionDelay) {
#if FSFW_VERBOSE_LEVEL >= 1 && FSFW_OBJ_EVENT_TRANSLATION == 0
char printout[60];
sprintf(printout, "Transition timeout (%lu) occured !",
static_cast<unsigned long>(childTransitionDelay));
/* Common configuration error for development, so print it */
printWarningOrError(sif::OutputTypes::OUT_WARNING, "doStateMachine",
RETURN_FAILED, printout);
#endif
triggerEvent(MODE_TRANSITION_FAILED, childTransitionFailure, 0);
setMode(transitionSourceMode, transitionSourceSubMode);
break;
}
}
break;
case _MODE_POWER_DOWN:
commandSwitch(PowerSwitchIF::SWITCH_OFF);
setMode(_MODE_WAIT_OFF);
break;
case _MODE_POWER_ON:
commandSwitch(PowerSwitchIF::SWITCH_ON);
setMode(_MODE_WAIT_ON);
break;
case _MODE_WAIT_ON: {
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if (powerSwitcher != nullptr and currentUptime - timeoutStart >=
powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
0);
setMode(_MODE_POWER_DOWN);
callChildStatemachine();
break;
}
ReturnValue_t switchState = getStateOfSwitches();
if ((switchState == PowerSwitchIF::SWITCH_ON)
|| (switchState == NO_SWITCH)) {
//NOTE: TransitionSourceMode and -SubMode are set by handleCommandedModeTransition
childTransitionFailure = CHILD_TIMEOUT;
setMode(_MODE_START_UP);
callChildStatemachine();
}
}
break;
case _MODE_WAIT_OFF: {
uint32_t currentUptime;
Clock::getUptime(&currentUptime);
if(powerSwitcher == nullptr) {
setMode(MODE_OFF);
break;
}
if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT,
0);
setMode(MODE_ERROR_ON);
break;
}
ReturnValue_t switchState = getStateOfSwitches();
if ((switchState == PowerSwitchIF::SWITCH_OFF)
|| (switchState == NO_SWITCH)) {
setMode(_MODE_SWITCH_IS_OFF);
}
}
break;
case MODE_OFF:
doOffActivity();
break;
case MODE_ON:
doOnActivity();
break;
case MODE_RAW:
case MODE_NORMAL:
case MODE_ERROR_ON:
break;
case _MODE_SWITCH_IS_OFF:
setMode(MODE_OFF, SUBMODE_NONE);
break;
default:
triggerEvent(OBJECT_IN_INVALID_MODE, mode, submode);
setMode(_MODE_POWER_DOWN, 0);
break;
}
}
ReturnValue_t DeviceHandlerBase::isModeCombinationValid(Mode_t mode,
Submode_t submode) {
switch (mode) {
case MODE_OFF:
case MODE_ON:
case MODE_NORMAL:
case MODE_RAW:
if (submode == SUBMODE_NONE) {
return RETURN_OK;
} else {
return INVALID_SUBMODE;
}
default:
return HasModesIF::INVALID_MODE;
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandAndReplyMap(
DeviceCommandId_t deviceCommand, uint16_t maxDelayCycles,
LocalPoolDataSetBase* replyDataSet, 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,
replyDataSet, replyLen, periodic);
} else {
return insertInReplyMap(deviceCommand, maxDelayCycles,
replyDataSet, replyLen, periodic);
}
}
ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
uint16_t maxDelayCycles, LocalPoolDataSetBase* dataSet,
size_t replyLen, bool periodic) {
DeviceReplyInfo info;
info.maxDelayCycles = maxDelayCycles;
info.periodic = periodic;
info.delayCycles = 0;
info.replyLen = replyLen;
info.dataSet = dataSet;
info.command = deviceCommandMap.end();
auto resultPair = deviceReplyMap.emplace(replyId, info);
if (resultPair.second) {
return RETURN_OK;
} else {
return RETURN_FAILED;
}
}
ReturnValue_t DeviceHandlerBase::insertInCommandMap(DeviceCommandId_t deviceCommand) {
DeviceCommandInfo info;
info.expectedReplies = 0;
info.isExecuting = false;
info.sendReplyTo = NO_COMMANDER;
auto resultPair = deviceCommandMap.emplace(deviceCommand, info);
if (resultPair.second) {
return RETURN_OK;
} else {
return RETURN_FAILED;
}
}
size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){
DeviceReplyIter iter = deviceReplyMap.find(commandId);
if(iter != deviceReplyMap.end()) {
return iter->second.replyLen;
}else{
return 0;
}
}
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
uint16_t delayCycles, uint16_t maxDelayCycles, bool periodic) {
auto replyIter = deviceReplyMap.find(deviceReply);
if (replyIter == deviceReplyMap.end()) {
triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
return RETURN_FAILED;
} else {
DeviceReplyInfo *info = &(replyIter->second);
if (maxDelayCycles != 0) {
info->maxDelayCycles = maxDelayCycles;
}
info->delayCycles = delayCycles;
info->periodic = periodic;
return RETURN_OK;
}
}
ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
LocalPoolDataSetBase *dataSet) {
auto replyIter = deviceReplyMap.find(replyId);
if(replyIter == deviceReplyMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
replyIter->second.dataSet = dataSet;
return HasReturnvaluesIF::RETURN_OK;
}
void DeviceHandlerBase::callChildStatemachine() {
if (mode == _MODE_START_UP) {
doStartUp();
} else if (mode == _MODE_SHUT_DOWN) {
doShutDown();
} else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
doTransition(transitionSourceMode, transitionSourceSubMode);
}
}
void DeviceHandlerBase::setTransition(Mode_t modeTo, Submode_t submodeTo) {
triggerEvent(CHANGING_MODE, modeTo, submodeTo);
childTransitionDelay = getTransitionDelayMs(mode, modeTo);
transitionSourceMode = mode;
transitionSourceSubMode = submode;
childTransitionFailure = CHILD_TIMEOUT;
// transitionTargetMode is set by setMode
setMode((modeTo | TRANSITION_MODE_CHILD_ACTION_MASK), submodeTo);
}
void DeviceHandlerBase::setMode(Mode_t newMode, uint8_t newSubmode) {
/* TODO: This will probably be done by the LocalDataPoolManager now */
//changeHK(mode, submode, false);
submode = newSubmode;
mode = newMode;
modeChanged();
setNormalDatapoolEntriesInvalid();
if (!isTransitionalMode()) {
modeHelper.modeChanged(newMode, newSubmode);
announceMode(false);
}
Clock::getUptime(&timeoutStart);
if (mode == MODE_OFF and thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if (thermalSet->heaterRequest.value !=
ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest.value = ThermalComponentIF::
STATE_REQUEST_NON_OPERATIONAL;
}
thermalSet->heaterRequest.commit(PoolVariableIF::VALID);
}
}
/* TODO: This will probably be done by the LocalDataPoolManager now */
//changeHK(mode, submode, true);
}
void DeviceHandlerBase::setMode(Mode_t newMode) {
setMode(newMode, submode);
}
void DeviceHandlerBase::replyReturnvalueToCommand(ReturnValue_t status,
uint32_t parameter) {
//This is actually the reply protocol for raw and misc DH commands.
if (status == RETURN_OK) {
CommandMessage reply(CommandMessage::REPLY_COMMAND_OK, 0, parameter);
commandQueue->reply(&reply);
} else {
CommandMessage reply(CommandMessage::REPLY_REJECTED, status, parameter);
commandQueue->reply(&reply);
}
}
void DeviceHandlerBase::replyToCommand(ReturnValue_t status,
uint32_t parameter) {
// Check if we reply to a raw command.
if (cookieInfo.pendingCommand->first == RAW_COMMAND_ID) {
if (status == NO_REPLY_EXPECTED) {
status = RETURN_OK;
}
replyReturnvalueToCommand(status, parameter);
// Always delete data from a raw command.
IPCStore->deleteData(storedRawData);
return;
}
// Check if we were externally commanded.
if (cookieInfo.pendingCommand->second.sendReplyTo != NO_COMMANDER) {
MessageQueueId_t queueId = cookieInfo.pendingCommand->second.sendReplyTo;
if (status == NO_REPLY_EXPECTED) {
actionHelper.finish(true, queueId, cookieInfo.pendingCommand->first,
RETURN_OK);
} else {
actionHelper.step(1, queueId, cookieInfo.pendingCommand->first,
status);
}
}
}
void DeviceHandlerBase::replyToReply(DeviceReplyMap::iterator iter,
ReturnValue_t status) {
// No need to check if iter exists, as this is checked by callers.
// If someone else uses the method, add check.
if (iter->second.command == deviceCommandMap.end()) {
//Is most likely periodic reply. Silent return.
return;
}
// Check if more replies are expected. If so, do nothing.
DeviceCommandInfo* info = &(iter->second.command->second);
if (--info->expectedReplies == 0) {
// Check if it was transition or internal command.
// Don't send any replies in that case.
if (info->sendReplyTo != NO_COMMANDER) {
bool success = false;
if(status == HasReturnvaluesIF::RETURN_OK) {
success = true;
}
actionHelper.finish(success, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
}
}
void DeviceHandlerBase::doSendWrite() {
if (cookieInfo.state == COOKIE_WRITE_READY) {
ReturnValue_t result = communicationInterface->sendMessage(comCookie,
rawPacket, rawPacketLen);
if (result == RETURN_OK) {
cookieInfo.state = COOKIE_WRITE_SENT;
} else {
// always generate a failure event, so that FDIR knows what's up
triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result,
cookieInfo.pendingCommand->first);
replyToCommand(result);
cookieInfo.state = COOKIE_UNUSED;
cookieInfo.pendingCommand->second.isExecuting = false;
}
}
}
void DeviceHandlerBase::doGetWrite() {
if (cookieInfo.state != COOKIE_WRITE_SENT) {
return;
}
cookieInfo.state = COOKIE_UNUSED;
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.
result = enableReplyInReplyMap(cookieInfo.pendingCommand);
} else {
//always generate a failure event, so that FDIR knows what's up
triggerEvent(DEVICE_SENDING_COMMAND_FAILED, result,
cookieInfo.pendingCommand->first);
}
if (result != RETURN_OK) {
cookieInfo.pendingCommand->second.isExecuting = false;
}
replyToCommand(result);
}
void DeviceHandlerBase::doSendRead() {
ReturnValue_t result;
size_t replyLen = 0;
if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
replyLen = getNextReplyLength(cookieInfo.pendingCommand->first);
}
result = communicationInterface->requestReceiveMessage(comCookie, replyLen);
if (result == RETURN_OK) {
cookieInfo.state = COOKIE_READ_SENT;
} else {
triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
//We can't inform anyone, because we don't know which command was sent last.
//So, we need to wait for a timeout.
//but I think we can allow to ignore one missedReply.
ignoreMissedRepliesCount++;
cookieInfo.state = COOKIE_UNUSED;
}
}
void DeviceHandlerBase::doGetRead() {
size_t receivedDataLen = 0;
uint8_t *receivedData = nullptr;
if (cookieInfo.state != COOKIE_READ_SENT) {
cookieInfo.state = COOKIE_UNUSED;
return;
}
cookieInfo.state = COOKIE_UNUSED;
ReturnValue_t result = communicationInterface->readReceivedMessage(
comCookie, &receivedData, &receivedDataLen);
if (result != RETURN_OK) {
triggerEvent(DEVICE_REQUESTING_REPLY_FAILED, result);
//I think we can allow to ignore one missedReply.
ignoreMissedRepliesCount++;
return;
}
if (receivedDataLen == 0 or result == DeviceCommunicationIF::NO_REPLY_RECEIVED)
return;
if (wiretappingMode == RAW) {
replyRawData(receivedData, receivedDataLen, requestedRawTraffic);
}
if (mode == MODE_RAW) {
if (defaultRawReceiver != MessageQueueIF::NO_QUEUE) {
replyRawReplyIfnotWiretapped(receivedData, receivedDataLen);
}
}
else {
parseReply(receivedData, receivedDataLen);
}
}
void DeviceHandlerBase::parseReply(const uint8_t* receivedData,
size_t receivedDataLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_FAILED;
DeviceCommandId_t foundId = DeviceHandlerIF::NO_COMMAND_ID;
size_t foundLen = 0;
/* The loop may not execute more often than the number of received bytes
(worst case). This approach avoids infinite loops due to buggy scanForReply routines. */
uint32_t remainingLength = receivedDataLen;
for (uint32_t count = 0; count < receivedDataLen; count++) {
result = scanForReply(receivedData, remainingLength, &foundId, &foundLen);
switch (result) {
case RETURN_OK:
handleReply(receivedData, foundId, foundLen);
if(foundLen == 0) {
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"parseReply", ObjectManagerIF::CHILD_INIT_FAILED,
"Found length is one, parsing might be stuck");
}
break;
case APERIODIC_REPLY: {
result = interpretDeviceReply(foundId, receivedData);
if (result != RETURN_OK) {
replyRawReplyIfnotWiretapped(receivedData, foundLen);
triggerEvent(DEVICE_INTERPRETING_REPLY_FAILED, result,
foundId);
}
if(foundLen == 0) {
printWarningOrError(sif::OutputTypes::OUT_ERROR,
"parseReply", ObjectManagerIF::CHILD_INIT_FAILED,
"Power switcher set but no valid object found.");
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "DeviceHandlerBase::parseReply: foundLen is 0!"
" Packet parsing will be stuck." << std::endl;
#endif
}
break;
}
case IGNORE_REPLY_DATA:
continue;
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);
triggerEvent(DEVICE_READING_REPLY_FAILED, result, foundLen);
break;
}
receivedData += foundLen;
if (remainingLength > foundLen) {
remainingLength -= foundLen;
} else {
return;
}
}
}
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) {
result = interpretDeviceReply(foundId, receivedData);
if(result == IGNORE_REPLY_DATA) {
return;
}
if (info->periodic) {
info->delayCycles = info->maxDelayCycles;
}
else {
info->delayCycles = 0;
}
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) {
size_t lenTmp;
if (IPCStore == nullptr) {
*data = nullptr;
*len = 0;
return RETURN_FAILED;
}
ReturnValue_t result = IPCStore->modifyData(storageAddress, data, &lenTmp);
if (result == RETURN_OK) {
*len = lenTmp;
return RETURN_OK;
} else {
triggerEvent(StorageManagerIF::GET_DATA_FAILED, result,
storageAddress.raw);
*data = nullptr;
*len = 0;
return result;
}
}
void DeviceHandlerBase::replyRawData(const uint8_t *data, size_t len,
MessageQueueId_t sendTo, bool isCommand) {
if (IPCStore == nullptr or len == 0 or sendTo == MessageQueueIF::NO_QUEUE) {
return;
}
store_address_t address;
ReturnValue_t result = IPCStore->addData(&address, data, len);
if (result != RETURN_OK) {
triggerEvent(StorageManagerIF::STORE_DATA_FAILED, result);
return;
}
CommandMessage command;
DeviceHandlerMessage::setDeviceHandlerRawReplyMessage(&command,
getObjectId(), address, isCommand);
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.
}
}
//Default child implementations
DeviceHandlerIF::CommunicationAction DeviceHandlerBase::getComAction() {
switch (pstStep) {
case 0:
return CommunicationAction::PERFORM_OPERATION;
break;
case 1:
return CommunicationAction::SEND_WRITE;
break;
case 2:
return CommunicationAction::GET_WRITE;
break;
case 3:
return CommunicationAction::SEND_READ;
break;
case 4:
return CommunicationAction::GET_READ;
break;
default:
break;
}
return CommunicationAction::NOTHING;
}
MessageQueueId_t DeviceHandlerBase::getCommandQueue() const {
return commandQueue->getId();
}
void DeviceHandlerBase::buildRawDeviceCommand(CommandMessage* commandMessage) {
storedRawData = DeviceHandlerMessage::getStoreAddress(commandMessage);
ReturnValue_t result = getStorageData(storedRawData, &rawPacket,
&rawPacketLen);
if (result != RETURN_OK) {
replyReturnvalueToCommand(result, RAW_COMMAND_ID);
storedRawData.raw = StorageManagerIF::INVALID_ADDRESS;
} else {
cookieInfo.pendingCommand = deviceCommandMap.find(
(DeviceCommandId_t) RAW_COMMAND_ID);
cookieInfo.pendingCommand->second.isExecuting = true;
cookieInfo.state = COOKIE_WRITE_READY;
}
}
void DeviceHandlerBase::commandSwitch(ReturnValue_t onOff) {
if(powerSwitcher == nullptr) {
return;
}
const uint8_t *switches;
uint8_t numberOfSwitches = 0;
ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
if (result == RETURN_OK) {
while (numberOfSwitches > 0) {
powerSwitcher->sendSwitchCommand(switches[numberOfSwitches - 1],
onOff);
numberOfSwitches--;
}
}
}
ReturnValue_t DeviceHandlerBase::getSwitches(const uint8_t **switches,
uint8_t *numberOfSwitches) {
return DeviceHandlerBase::NO_SWITCH;
}
void DeviceHandlerBase::modeChanged(void) {
}
ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(
DeviceCommandMap::iterator command, uint8_t expectedReplies,
bool useAlternativeId, DeviceCommandId_t alternativeReply) {
DeviceReplyMap::iterator iter;
if (useAlternativeId) {
iter = deviceReplyMap.find(alternativeReply);
} else {
iter = deviceReplyMap.find(command->first);
}
if (iter != deviceReplyMap.end()) {
DeviceReplyInfo *info = &(iter->second);
info->delayCycles = info->maxDelayCycles;
info->command = command;
command->second.expectedReplies = expectedReplies;
return RETURN_OK;
} else {
return NO_REPLY_EXPECTED;
}
}
void DeviceHandlerBase::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
setMode(getBaseMode(mode));
}
ReturnValue_t DeviceHandlerBase::getStateOfSwitches(void) {
if(powerSwitcher == nullptr) {
return NO_SWITCH;
}
uint8_t numberOfSwitches = 0;
const uint8_t *switches;
ReturnValue_t result = getSwitches(&switches, &numberOfSwitches);
if ((result == RETURN_OK) && (numberOfSwitches != 0)) {
while (numberOfSwitches > 0) {
if (powerSwitcher->getSwitchState(switches[numberOfSwitches - 1])
== PowerSwitchIF::SWITCH_OFF) {
return PowerSwitchIF::SWITCH_OFF;
}
numberOfSwitches--;
}
return PowerSwitchIF::SWITCH_ON;
}
return NO_SWITCH;
}
Mode_t DeviceHandlerBase::getBaseMode(Mode_t transitionMode) {
// only child action special modes are handled, as a child should
// never see any base action modes
if (transitionMode == _MODE_START_UP) {
return _MODE_TO_ON;
}
if (transitionMode == _MODE_SHUT_DOWN) {
return _MODE_POWER_DOWN;
}
return transitionMode
& ~(TRANSITION_MODE_BASE_ACTION_MASK
| TRANSITION_MODE_CHILD_ACTION_MASK);
}
//SHOULDDO: Allow transition from OFF to NORMAL to reduce complexity in assemblies. And, by the way, throw away DHB and write a new one:
// - Include power and thermal completely, but more modular :-)
// - Don't use modes for state transitions, reduce FSM (Finte State Machine) complexity.
// - Modularization?
ReturnValue_t DeviceHandlerBase::checkModeCommand(Mode_t commandedMode,
Submode_t commandedSubmode, uint32_t* msToReachTheMode) {
if (isTransitionalMode()) {
return IN_TRANSITION;
}
if ((mode == MODE_ERROR_ON) && (commandedMode != MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_NORMAL) && (mode == MODE_OFF)) {
return TRANS_NOT_ALLOWED;
}
if ((commandedMode == MODE_ON) && (mode == MODE_OFF)
and (thermalSet != nullptr)) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if((thermalSet->heaterRequest.value !=
ThermalComponentIF::STATE_REQUEST_IGNORE) and (not
ThermalComponentIF::isOperational(
thermalSet->thermalState.value))) {
triggerEvent(ThermalComponentIF::TEMP_NOT_IN_OP_RANGE,
thermalSet->thermalState.value);
return NON_OP_TEMPERATURE;
}
}
}
return isModeCombinationValid(commandedMode, commandedSubmode);
}
void DeviceHandlerBase::startTransition(Mode_t commandedMode,
Submode_t commandedSubmode) {
switch (commandedMode) {
case MODE_ON:
handleTransitionToOnMode(commandedMode, commandedSubmode);
break;
case MODE_OFF:
if (mode == MODE_OFF) {
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
setMode(_MODE_POWER_DOWN, commandedSubmode);
} else {
// already set the delay for the child transition
// so we don't need to call it twice
childTransitionDelay = getTransitionDelayMs(mode, _MODE_POWER_DOWN);
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = commandedSubmode;
childTransitionFailure = CHILD_TIMEOUT;
setMode(_MODE_SHUT_DOWN, commandedSubmode);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
}
break;
case MODE_RAW:
if (mode != MODE_OFF) {
setTransition(MODE_RAW, commandedSubmode);
} else {
setMode(MODE_RAW, commandedSubmode);
}
break;
case MODE_NORMAL:
if (mode != MODE_OFF) {
setTransition(MODE_NORMAL, commandedSubmode);
} else {
replyReturnvalueToCommand(HasModesIF::TRANS_NOT_ALLOWED);
}
break;
}
}
void DeviceHandlerBase::handleTransitionToOnMode(Mode_t commandedMode,
Submode_t commandedSubmode) {
if (mode == MODE_OFF) {
transitionSourceMode = _MODE_POWER_DOWN;
transitionSourceSubMode = SUBMODE_NONE;
setMode(_MODE_POWER_ON, commandedSubmode);
// already set the delay for the child transition so we don't
// need to call it twice
childTransitionDelay = getTransitionDelayMs(_MODE_START_UP,
MODE_ON);
triggerEvent(CHANGING_MODE, commandedMode, commandedSubmode);
if(thermalSet != nullptr) {
ReturnValue_t result = thermalSet->read();
if(result == HasReturnvaluesIF::RETURN_OK) {
if(thermalSet->heaterRequest !=
ThermalComponentIF::STATE_REQUEST_IGNORE) {
thermalSet->heaterRequest =
ThermalComponentIF::STATE_REQUEST_OPERATIONAL;
thermalSet->commit();
}
}
}
} else {
setTransition(MODE_ON, commandedSubmode);
}
}
void DeviceHandlerBase::getMode(Mode_t* mode, Submode_t* submode) {
*mode = this->mode;
*submode = this->submode;
}
void DeviceHandlerBase::setToExternalControl() {
healthHelper.setHealth(EXTERNAL_CONTROL);
}
void DeviceHandlerBase::announceMode(bool recursive) {
triggerEvent(MODE_INFO, mode, submode);
}
bool DeviceHandlerBase::dontCheckQueue() {
return false;
}
void DeviceHandlerBase::missedReply(DeviceCommandId_t id) {
if (ignoreMissedRepliesCount > 0) {
ignoreMissedRepliesCount--;
} else {
triggerEvent(DEVICE_MISSED_REPLY, id);
}
}
HasHealthIF::HealthState DeviceHandlerBase::getHealth() {
return healthHelper.getHealth();
}
ReturnValue_t DeviceHandlerBase::setHealth(HealthState health) {
healthHelper.setHealth(health);
return HasReturnvaluesIF::RETURN_OK;
}
void DeviceHandlerBase::checkSwitchState() {
if ((mode == MODE_ON || mode == MODE_NORMAL)) {
//We only check in ON and NORMAL, ignore RAW and ERROR_ON.
ReturnValue_t result = getStateOfSwitches();
if (result == PowerSwitchIF::SWITCH_OFF && !switchOffWasReported) {
triggerEvent(PowerSwitchIF::SWITCH_WENT_OFF);
switchOffWasReported = true;
}
} else {
switchOffWasReported = false;
}
}
void DeviceHandlerBase::doOnActivity() {
}
ReturnValue_t DeviceHandlerBase::acceptExternalDeviceCommands() {
if ((mode != MODE_ON) && (mode != MODE_NORMAL)) {
return WRONG_MODE_FOR_COMMAND;
}
return RETURN_OK;
}
void DeviceHandlerBase::replyRawReplyIfnotWiretapped(const uint8_t* data,
size_t len) {
if ((wiretappingMode == RAW)
&& (defaultRawReceiver == requestedRawTraffic)) {
//The raw packet was already sent by the wiretapping service
} else {
replyRawData(data, len, defaultRawReceiver);
}
}
ReturnValue_t DeviceHandlerBase::handleDeviceHandlerMessage(
CommandMessage * message) {
switch (message->getCommand()) {
case DeviceHandlerMessage::CMD_WIRETAPPING:
switch (DeviceHandlerMessage::getWiretappingMode(message)) {
case RAW:
wiretappingMode = RAW;
requestedRawTraffic = commandQueue->getLastPartner();
break;
case TM:
wiretappingMode = TM;
requestedRawTraffic = commandQueue->getLastPartner();
break;
case OFF:
wiretappingMode = OFF;
break;
default:
replyReturnvalueToCommand(INVALID_COMMAND_PARAMETER);
wiretappingMode = OFF;
return RETURN_OK;
}
replyReturnvalueToCommand(RETURN_OK);
return RETURN_OK;
case DeviceHandlerMessage::CMD_RAW:
if ((mode != MODE_RAW)) {
DeviceHandlerMessage::clear(message);
replyReturnvalueToCommand(WRONG_MODE_FOR_COMMAND);
} else {
buildRawDeviceCommand(message);
}
return RETURN_OK;
default:
return RETURN_FAILED;
}
}
void DeviceHandlerBase::setParentQueue(MessageQueueId_t parentQueueId) {
modeHelper.setParentQueue(parentQueueId);
healthHelper.setParentQueue(parentQueueId);
}
bool DeviceHandlerBase::isAwaitingReply() {
std::map<DeviceCommandId_t, DeviceReplyInfo>::iterator iter;
for (iter = deviceReplyMap.begin(); iter != deviceReplyMap.end(); ++iter) {
if (iter->second.delayCycles != 0) {
return true;
}
}
return false;
}
ReturnValue_t DeviceHandlerBase::letChildHandleMessage(
CommandMessage * message) {
return RETURN_FAILED;
}
void DeviceHandlerBase::handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t replyId,
bool forceDirectTm) {
if(dataSet == nullptr) {
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
triggerEvent(DEVICE_UNKNOWN_REPLY, replyId);
return;
}
/* Regular 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, dataSet);
}
/* This check should make sure we get any TM but don't get anything doubled. */
if (wiretappingMode == TM && (requestedRawTraffic != queueId)) {
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
}
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, dataSet, true);
}
}
/* Unrequested or aperiodic replies */
else
{
DeviceTmReportingWrapper wrapper(getObjectId(), replyId, dataSet);
if (wiretappingMode == TM) {
actionHelper.reportData(requestedRawTraffic, replyId, &wrapper);
}
if (forceDirectTm and defaultRawReceiver != MessageQueueIF::NO_QUEUE)
{
// sid_t setSid = sid_t(this->getObjectId(), replyId);
// LocalPoolDataSetBase* dataset = getDataSetHandle(setSid);
// if(dataset != nullptr) {
// poolManager.generateHousekeepingPacket(setSid, dataset, true);
// }
// 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);
}
}
}
ReturnValue_t DeviceHandlerBase::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t result = acceptExternalDeviceCommands();
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
DeviceCommandMap::iterator iter = deviceCommandMap.find(actionId);
if (iter == deviceCommandMap.end()) {
result = COMMAND_NOT_SUPPORTED;
} else if (iter->second.isExecuting) {
result = COMMAND_ALREADY_SENT;
} else {
result = buildCommandFromCommand(actionId, data, size);
}
if (result == RETURN_OK) {
iter->second.sendReplyTo = commandedBy;
iter->second.isExecuting = true;
cookieInfo.pendingCommand = iter;
cookieInfo.state = COOKIE_WRITE_READY;
}
return result;
}
void DeviceHandlerBase::buildInternalCommand(void) {
/* Neither raw nor direct could build a command */
ReturnValue_t result = NOTHING_TO_SEND;
DeviceCommandId_t deviceCommandId = NO_COMMAND_ID;
if (mode == MODE_NORMAL) {
result = buildNormalDeviceCommand(&deviceCommandId);
if (result == BUSY) {
/* So we can track misconfigurations */
printWarningOrError(sif::OutputTypes::OUT_WARNING, "buildInternalCommand",
HasReturnvaluesIF::RETURN_FAILED, "Busy.");
/* No need to report this */
result = NOTHING_TO_SEND;
}
}
else if (mode == MODE_RAW) {
result = buildChildRawCommand();
deviceCommandId = RAW_COMMAND_ID;
}
else if (mode & TRANSITION_MODE_CHILD_ACTION_MASK) {
result = buildTransitionDeviceCommand(&deviceCommandId);
}
else {
return;
}
if (result == NOTHING_TO_SEND) {
return;
}
if (result == RETURN_OK) {
DeviceCommandMap::iterator iter = deviceCommandMap.find(
deviceCommandId);
if (iter == deviceCommandMap.end()) {
result = COMMAND_NOT_SUPPORTED;
}
else if (iter->second.isExecuting) {
#if FSFW_DISABLE_PRINTOUT == 0
char output[36];
sprintf(output, "Command 0x%08x is executing",
static_cast<unsigned int>(deviceCommandId));
// so we can track misconfigurations
printWarningOrError(sif::OutputTypes::OUT_WARNING,
"buildInternalCommand",
HasReturnvaluesIF::RETURN_FAILED,
output);
#endif
// this is an internal command, no need to report a failure here,
// missed reply will track if a reply is too late, otherwise, it's ok
return;
} else {
iter->second.sendReplyTo = NO_COMMANDER;
iter->second.isExecuting = true;
cookieInfo.pendingCommand = iter;
cookieInfo.state = COOKIE_WRITE_READY;
}
}
if (result != RETURN_OK) {
triggerEvent(DEVICE_BUILDING_COMMAND_FAILED, result, deviceCommandId);
}
}
ReturnValue_t DeviceHandlerBase::buildChildRawCommand() {
return NOTHING_TO_SEND;
}
uint8_t DeviceHandlerBase::getReplyDelayCycles(
DeviceCommandId_t deviceCommand) {
DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
if (iter == deviceReplyMap.end()) {
return 0;
}
return iter->second.delayCycles;
}
Mode_t DeviceHandlerBase::getTransitionSourceMode() const {
return transitionSourceMode;
}
Submode_t DeviceHandlerBase::getTransitionSourceSubMode() const {
return transitionSourceSubMode;
}
void DeviceHandlerBase::triggerEvent(Event event, uint32_t parameter1,
uint32_t parameter2) {
fdirInstance->triggerEvent(event, parameter1, parameter2);
}
void DeviceHandlerBase::forwardEvent(Event event, uint32_t parameter1,
uint32_t parameter2) const {
fdirInstance->triggerEvent(event, parameter1, parameter2);
}
void DeviceHandlerBase::doOffActivity() {
}
ReturnValue_t DeviceHandlerBase::getParameter(uint8_t domainId, uint8_t uniqueId,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex) {
ReturnValue_t result = fdirInstance->getParameter(domainId, uniqueId, parameterWrapper,
newValues, startAtIndex);
if (result != INVALID_DOMAIN_ID) {
return result;
}
return INVALID_DOMAIN_ID;
}
bool DeviceHandlerBase::isTransitionalMode() {
return ((mode
& (TRANSITION_MODE_BASE_ACTION_MASK
| TRANSITION_MODE_CHILD_ACTION_MASK)) != 0);
}
bool DeviceHandlerBase::commandIsExecuting(DeviceCommandId_t commandId) {
auto iter = deviceCommandMap.find(commandId);
if (iter != deviceCommandMap.end()) {
return iter->second.isExecuting;
} else {
return false;
}
}
void DeviceHandlerBase::setTaskIF(PeriodicTaskIF* task){
executingTask = task;
}
void DeviceHandlerBase::debugInterface(uint8_t positionTracker,
object_id_t objectId, uint32_t parameter) {}
void DeviceHandlerBase::performOperationHook() {
}
ReturnValue_t DeviceHandlerBase::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap,
LocalDataPoolManager& poolManager) {
if(thermalSet != nullptr) {
localDataPoolMap.emplace(thermalSet->thermalStatePoolId,
new PoolEntry<DeviceHandlerIF::dh_thermal_state_t>);
localDataPoolMap.emplace(thermalSet->heaterRequestPoolId,
new PoolEntry<DeviceHandlerIF::dh_heater_request_t>);
}
return 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();
}
this->poolManager.initializeAfterTaskCreation();
if(setStartupImmediately) {
startTransition(MODE_ON, SUBMODE_NONE);
}
return HasReturnvaluesIF::RETURN_OK;
}
LocalPoolDataSetBase* DeviceHandlerBase::getDataSetHandle(sid_t sid) {
auto iter = deviceReplyMap.find(sid.ownerSetId);
if(iter != deviceReplyMap.end()) {
return iter->second.dataSet;
}
else {
return nullptr;
}
}
object_id_t DeviceHandlerBase::getObjectId() const {
return SystemObject::getObjectId();
}
void DeviceHandlerBase::setStartUpImmediately() {
this->setStartupImmediately = true;
}
dur_millis_t DeviceHandlerBase::getPeriodicOperationFrequency() const {
return pstIntervalMs;
}
DeviceCommandId_t DeviceHandlerBase::getPendingCommand() const {
if(cookieInfo.pendingCommand != deviceCommandMap.end()) {
return cookieInfo.pendingCommand->first;
}
return DeviceHandlerIF::NO_COMMAND_ID;
}
void DeviceHandlerBase::setNormalDatapoolEntriesInvalid() {
for(const auto& reply: deviceReplyMap) {
if(reply.second.dataSet != nullptr) {
reply.second.dataSet->setValidity(false, true);
}
}
}
void DeviceHandlerBase::printWarningOrError(sif::OutputTypes errorType,
const char *functionName, ReturnValue_t errorCode,
const char *errorPrint) {
if(errorPrint == nullptr) {
if(errorCode == ObjectManagerIF::CHILD_INIT_FAILED) {
errorPrint = "Initialization error";
}
else if(errorCode == HasReturnvaluesIF::RETURN_FAILED) {
if(errorType == sif::OutputTypes::OUT_WARNING) {
errorPrint = "Generic Warning";
}
else {
errorPrint = "Generic Error";
}
}
else {
errorPrint = "Unknown error";
}
}
if(functionName == nullptr) {
functionName = "unknown function";
}
if(errorType == sif::OutputTypes::OUT_WARNING) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "DeviceHandlerBase::" << functionName << ": Object ID 0x" << std::hex <<
std::setw(8) << std::setfill('0') << this->getObjectId() << " | " << errorPrint <<
std::dec << std::setfill(' ') << std::endl;
#else
sif::printWarning("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
functionName, this->getObjectId(), errorPrint);
#endif
}
else if(errorType == sif::OutputTypes::OUT_ERROR) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "DeviceHandlerBase::" << functionName << ": Object ID 0x"
<< std::hex << std::setw(8) << std::setfill('0')
<< this->getObjectId() << " | " << errorPrint << std::dec
<< std::setfill(' ') << std::endl;
#else
sif::printError("DeviceHandlerBase::%s: Object ID 0x%08x | %s\n",
functionName, this->getObjectId(), errorPrint);
#endif
}
}
LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
return &poolManager;
}
MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const {
auto commandIter = deviceCommandMap.find(replyId);
if(commandIter == deviceCommandMap.end()) {
return MessageQueueIF::NO_QUEUE;
}
return commandIter->second.sendReplyTo;
}
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