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updating code from Flying Laptop

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This is the framework of Flying Laptop OBSW version A.13.0.
This commit is contained in:
Ulrich Mohr
2018-07-12 16:29:32 +02:00
parent 1d22a6c97e
commit 575f70ba03
395 changed files with 12807 additions and 8404 deletions
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102
devicehandlers/DeviceHandlerBase.h
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@ -6,9 +6,7 @@
#include <framework/datapool/DataSet.h>
#include <framework/datapool/PoolVariableIF.h>
#include <framework/devicehandlers/DeviceCommunicationIF.h>
#include <framework/devicehandlers/DeviceHandlerFDIR.h>
#include <framework/devicehandlers/DeviceHandlerIF.h>
#include <framework/devicehandlers/PollingSequenceExecutableIF.h>
#include <framework/health/HealthHelper.h>
#include <framework/modes/HasModesIF.h>
#include <framework/objectmanager/SystemObject.h>
@ -16,7 +14,17 @@
#include <framework/parameters/ParameterHelper.h>
#include <framework/power/PowerSwitchIF.h>
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <framework/tasks/ExecutableObjectIF.h>
#include <framework/devicehandlers/DeviceHandlerFailureIsolation.h>
#include <framework/datapool/HkSwitchHelper.h>
#include <framework/serialize/SerialFixedArrayListAdapter.h>
#include <map>
#include <framework/ipc/MessageQueueIF.h>
#include <framework/tasks/PeriodicTaskIF.h>
namespace Factory{
void setStaticFrameworkObjectIds();
}
class StorageManagerIF;
@ -27,7 +35,7 @@ class StorageManagerIF;
* communication with commanding objects.
* It inherits SystemObject and thus can be created by the ObjectManagerIF.
*
* This class is called by the PollingSequenceTable periodically. Thus, the execution is divided into PST cycles and steps within a cycle.
* This class uses the opcode of ExecutableObjectIF to perform a step-wise execution.
* For each step an RMAP action is selected and executed. If data has been received (eg in case of an RMAP Read), the data will be interpreted.
* The action for each step can be defined by the child class but as most device handlers share a 4-call (Read-getRead-write-getWrite) structure,
* a default implementation is provided.
@ -36,12 +44,13 @@ class StorageManagerIF;
*/
class DeviceHandlerBase: public DeviceHandlerIF,
public HasReturnvaluesIF,
public PollingSequenceExecutableIF,
public ExecutableObjectIF,
public SystemObject,
public HasModesIF,
public HasHealthIF,
public HasActionsIF,
public ReceivesParameterMessagesIF {
friend void (Factory::setStaticFrameworkObjectIds)();
public:
/**
* The constructor passes the objectId to the SystemObject().
@ -54,16 +63,16 @@ public:
uint32_t maxDeviceReplyLen, uint8_t setDeviceSwitch,
object_id_t deviceCommunication, uint32_t thermalStatePoolId =
PoolVariableIF::NO_PARAMETER,
uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER, FDIRBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
uint32_t thermalRequestPoolId = PoolVariableIF::NO_PARAMETER,
FailureIsolationBase* fdirInstance = NULL, uint32_t cmdQueueSize = 20);
virtual MessageQueueId_t getCommandQueue(void) const;
virtual void performInPST(uint8_t counter);
virtual ReturnValue_t performOperation(uint8_t counter);
virtual ReturnValue_t initialize();
/**
* MUST be called after initialize(), not before! TODO: Is this statement still valid?
*
* @param parentQueueId
*/
@ -81,13 +90,15 @@ public:
HealthState getHealth();
ReturnValue_t setHealth(HealthState health);
virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
ParameterWrapper *parameterWrapper,
const ParameterWrapper *newValues, uint16_t startAtIndex);
void setTaskIF(PeriodicTaskIF* interface);
protected:
/**
* The Returnvalues id of this class, required by HasReturnvaluesIF
*/
static const uint8_t INTERFACE_ID = DEVICE_HANDLER_BASE;
static const uint8_t INTERFACE_ID = CLASS_ID::DEVICE_HANDLER_BASE;
static const ReturnValue_t INVALID_CHANNEL = MAKE_RETURN_CODE(4);
static const ReturnValue_t APERIODIC_REPLY = MAKE_RETURN_CODE(5);
@ -106,19 +117,6 @@ protected:
static const DeviceCommandId_t NO_COMMAND_ID = -2;
static const MessageQueueId_t NO_COMMANDER = 0;
/**
* 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.
};
/**
* Pointer to the raw packet that will be sent.
*/
@ -143,7 +141,7 @@ protected:
Submode_t submode;
/**
* This is the counter value from performInPST().
* This is the counter value from performOperation().
*/
uint8_t pstStep;
@ -163,11 +161,12 @@ protected:
} wiretappingMode;
/**
* the message queue which commanded raw mode
* A message queue that accepts raw replies
*
* This is the one to receive raw replies
* Statically initialized in initialize() to a configurable object. Used when there is no method
* of finding a recipient, ie raw mode and reporting erreonous replies
*/
MessageQueueId_t theOneWhoReceivesRawTraffic;
MessageQueueId_t defaultRawReceiver;
store_address_t storedRawData;
@ -176,7 +175,7 @@ protected:
*
* if #isWiretappingActive all raw communication from and to the device will be sent to this queue
*/
MessageQueueId_t theOneWhoWantsToReadRawTraffic;
MessageQueueId_t requestedRawTraffic;
/**
* the object used to set power switches
@ -208,7 +207,7 @@ protected:
/**
* The MessageQueue used to receive device handler commands and to send replies.
*/
MessageQueue commandQueue;
MessageQueueIF* commandQueue;
/**
* this is the datapool variable with the thermal state of the device
@ -241,12 +240,21 @@ protected:
uint32_t ignoreMissedRepliesCount; //!< Counts if communication channel lost a reply, so some missed replys can be ignored.
FDIRBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
FailureIsolationBase* fdirInstance; //!< Pointer to the used FDIR instance. If not provided by child, default class is instantiated.
HkSwitchHelper hkSwitcher;
bool defaultFDIRUsed; //!< To correctly delete the default instance.
bool switchOffWasReported; //!< Indicates if SWITCH_WENT_OFF was already thrown.
static object_id_t powerSwitcherId; //!< Object which switches power on and off.
static object_id_t rawDataReceiverId; //!< Object which receives RAW data by default.
static object_id_t defaultFDIRParentId; //!< Object which may be the root cause of an identified fault.
PeriodicTaskIF* executingTask;
/**
* Helper function to report a missed reply
*
@ -593,6 +601,12 @@ protected:
virtual void replyRawData(const uint8_t *data, size_t len,
MessageQueueId_t sendTo, bool isCommand = false);
/**
* Calls replyRawData() with #defaultRawReceiver, but checks if wiretapping is active and if so,
* does not send the Data as the wiretapping will have sent it already
*/
void replyRawReplyIfnotWiretapped(const uint8_t *data, size_t len);
/**
* Return the switches connected to the device.
*
@ -663,6 +677,11 @@ protected:
*/
virtual void setNormalDatapoolEntriesInvalid() = 0;
/**
* build a list of sids and pass it to the #hkSwitcher
*/
virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
/**
* Children can overwrite this function to suppress checking of the command Queue
*
@ -679,7 +698,7 @@ protected:
bool isAwaitingReply();
void handleDeviceTM(SerializeIF *dataSet, DeviceCommandId_t commandId,
bool neverInDataPool = false);
bool neverInDataPool = false, bool forceDirectTm = false);
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t *msToReachTheMode);
@ -732,12 +751,6 @@ protected:
virtual ReturnValue_t acceptExternalDeviceCommands();
bool commandIsExecuting(DeviceCommandId_t commandId);
private:
/**
* Information about commands
*/
DeviceCommandMap deviceCommandMap;
/**
* Information about expected replies
@ -750,6 +763,7 @@ private:
uint8_t periodic; //!< if this is !=0, the delayCycles will not be reset to 0 but to maxDelayCycles
DeviceCommandMap::iterator command; //!< The command that expects this reply.
};
/**
* Definition for the important reply Map.
*/
@ -767,6 +781,15 @@ private:
*/
DeviceReplyMap deviceReplyMap;
/**
* Information about commands
*/
DeviceCommandMap deviceCommandMap;
ActionHelper actionHelper;
private:
/**
* State a cookie is in.
*
@ -837,8 +860,6 @@ private:
*/
const uint8_t deviceSwitch;
ActionHelper actionHelper;
/**
* read the command queue
*/
@ -880,8 +901,9 @@ private:
*
* @param data the found packet
* @param id the found id
* @foundLen the length of the packet
*/
void handleReply(const uint8_t *data, DeviceCommandId_t id);
void handleReply(const uint8_t *data, DeviceCommandId_t id, uint32_t foundLen);
void replyToReply(DeviceReplyMap::iterator iter, ReturnValue_t status);
/**