include replacements
This commit is contained in:
@ -1,273 +1,273 @@
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#include <framework/devicehandlers/AssemblyBase.h>
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AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
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uint16_t commandQueueDepth) :
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SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
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internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
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recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
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targetSubmode(SUBMODE_NONE) {
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recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
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}
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AssemblyBase::~AssemblyBase() {
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}
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ReturnValue_t AssemblyBase::handleCommandMessage(CommandMessage* message) {
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return handleHealthReply(message);
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}
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void AssemblyBase::performChildOperation() {
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if (isInTransition()) {
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handleChildrenTransition();
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} else {
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handleChildrenChanged();
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}
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}
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void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
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doStartTransition(mode, submode);
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, mode, submode);
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} else {
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triggerEvent(CHANGING_MODE, mode, submode);
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}
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}
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void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
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targetMode = mode;
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targetSubmode = submode;
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internalState = STATE_SINGLE_STEP;
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ReturnValue_t result = commandChildren(mode, submode);
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if (result == NEED_SECOND_STEP) {
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internalState = STATE_NEED_SECOND_STEP;
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}
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}
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bool AssemblyBase::isInTransition() {
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return (internalState != STATE_NONE) || (recoveryState != RECOVERY_IDLE);
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}
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bool AssemblyBase::handleChildrenChanged() {
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if (childrenChangedMode) {
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ReturnValue_t result = checkChildrenState();
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if (result != RETURN_OK) {
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handleChildrenLostMode(result);
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}
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return true;
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} else {
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return handleChildrenChangedHealth();
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}
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}
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void AssemblyBase::handleChildrenLostMode(ReturnValue_t result) {
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triggerEvent(CANT_KEEP_MODE, mode, submode);
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startTransition(MODE_OFF, SUBMODE_NONE);
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}
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bool AssemblyBase::handleChildrenChangedHealth() {
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auto iter = childrenMap.begin();
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for (; iter != childrenMap.end(); iter++) {
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if (iter->second.healthChanged) {
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iter->second.healthChanged = false;
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break;
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}
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}
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if (iter == childrenMap.end()) {
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return false;
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}
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HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
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if (healthState == HasHealthIF::NEEDS_RECOVERY) {
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triggerEvent(TRYING_RECOVERY);
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recoveryState = RECOVERY_STARTED;
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recoveringDevice = iter;
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doStartTransition(targetMode, targetSubmode);
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} else {
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triggerEvent(CHILD_CHANGED_HEALTH);
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doStartTransition(mode, submode);
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}
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, targetMode, targetSubmode);
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}
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return true;
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}
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void AssemblyBase::handleChildrenTransition() {
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if (commandsOutstanding <= 0) {
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switch (internalState) {
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case STATE_NEED_SECOND_STEP:
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internalState = STATE_SECOND_STEP;
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commandChildren(targetMode, targetSubmode);
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return;
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case STATE_OVERWRITE_HEALTH: {
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internalState = STATE_SINGLE_STEP;
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ReturnValue_t result = commandChildren(mode, submode);
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if (result == NEED_SECOND_STEP) {
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internalState = STATE_NEED_SECOND_STEP;
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}
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return;
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}
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case STATE_NONE:
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//Valid state, used in recovery.
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case STATE_SINGLE_STEP:
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case STATE_SECOND_STEP:
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if (checkAndHandleRecovery()) {
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return;
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}
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break;
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}
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ReturnValue_t result = checkChildrenState();
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if (result == RETURN_OK) {
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handleModeReached();
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} else {
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handleModeTransitionFailed(result);
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}
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}
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}
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void AssemblyBase::handleModeReached() {
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internalState = STATE_NONE;
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setMode(targetMode, targetSubmode);
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}
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void AssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
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//always accept transition to OFF, there is nothing we can do except sending an info event
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//In theory this should never happen, but we would risk an infinite loop otherwise
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if (targetMode == MODE_OFF) {
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triggerEvent(CHILD_PROBLEMS, result);
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internalState = STATE_NONE;
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setMode(targetMode, targetSubmode);
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} else {
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if (handleChildrenChangedHealth()) {
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//If any health change is pending, handle that first.
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return;
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}
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triggerEvent(MODE_TRANSITION_FAILED, result);
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startTransition(MODE_OFF, SUBMODE_NONE);
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}
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}
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void AssemblyBase::sendHealthCommand(MessageQueueId_t sendTo,
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HealthState health) {
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CommandMessage command;
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HealthMessage::setHealthMessage(&command, HealthMessage::HEALTH_SET,
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health);
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if (commandQueue->sendMessage(sendTo, &command) == RETURN_OK) {
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commandsOutstanding++;
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}
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}
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ReturnValue_t AssemblyBase::checkChildrenState() {
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if (targetMode == MODE_OFF) {
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return checkChildrenStateOff();
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} else {
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return checkChildrenStateOn(targetMode, targetSubmode);
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}
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}
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ReturnValue_t AssemblyBase::checkChildrenStateOff() {
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for (const auto& childIter: childrenMap) {
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if (checkChildOff(childIter.first) != RETURN_OK) {
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return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) {
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ChildInfo childInfo = childrenMap.find(objectId)->second;
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if (healthHelper.healthTable->isCommandable(objectId)) {
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if (childInfo.submode != SUBMODE_NONE) {
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return RETURN_FAILED;
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} else {
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if ((childInfo.mode != MODE_OFF)
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&& (childInfo.mode != DeviceHandlerIF::MODE_ERROR_ON)) {
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return RETURN_FAILED;
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}
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t AssemblyBase::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) {
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//always accept transition to OFF
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if (mode == MODE_OFF) {
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if (submode != SUBMODE_NONE) {
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return INVALID_SUBMODE;
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}
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return RETURN_OK;
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}
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if ((mode != MODE_ON) && (mode != DeviceHandlerIF::MODE_NORMAL)) {
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return INVALID_MODE;
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}
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if (internalState != STATE_NONE) {
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return IN_TRANSITION;
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}
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return isModeCombinationValid(mode, submode);
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}
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ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
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if (message->getCommand() == HealthMessage::HEALTH_INFO) {
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HealthState health = HealthMessage::getHealth(message);
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if (health != EXTERNAL_CONTROL) {
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updateChildChangedHealth(message->getSender(), true);
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}
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return RETURN_OK;
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}
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if (message->getCommand() == HealthMessage::REPLY_HEALTH_SET
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|| (message->getCommand() == CommandMessage::REPLY_REJECTED
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&& message->getParameter2() == HealthMessage::HEALTH_SET)) {
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if (isInTransition()) {
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commandsOutstanding--;
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}
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return RETURN_OK;
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}
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return RETURN_FAILED;
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}
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bool AssemblyBase::checkAndHandleRecovery() {
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switch (recoveryState) {
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case RECOVERY_STARTED:
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recoveryState = RECOVERY_WAIT;
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recoveryOffTimer.resetTimer();
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return true;
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case RECOVERY_WAIT:
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if (recoveryOffTimer.isBusy()) {
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return true;
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}
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triggerEvent(RECOVERY_STEP, 0);
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sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY);
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internalState = STATE_NONE;
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recoveryState = RECOVERY_ONGOING;
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//Don't check state!
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return true;
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case RECOVERY_ONGOING:
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triggerEvent(RECOVERY_STEP, 1);
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recoveryState = RECOVERY_ONGOING_2;
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recoveringDevice->second.healthChanged = false;
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//Device should be healthy again, so restart a transition.
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//Might be including second step, but that's already handled.
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doStartTransition(targetMode, targetSubmode);
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return true;
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case RECOVERY_ONGOING_2:
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triggerEvent(RECOVERY_DONE);
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//Now we're through, but not sure if it was successful.
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recoveryState = RECOVERY_IDLE;
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return false;
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case RECOVERY_IDLE:
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default:
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return false;
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}
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}
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void AssemblyBase::overwriteDeviceHealth(object_id_t objectId,
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HasHealthIF::HealthState oldHealth) {
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triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
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internalState = STATE_OVERWRITE_HEALTH;
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modeHelper.setForced(true);
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sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
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}
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#include "../devicehandlers/AssemblyBase.h"
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AssemblyBase::AssemblyBase(object_id_t objectId, object_id_t parentId,
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uint16_t commandQueueDepth) :
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SubsystemBase(objectId, parentId, MODE_OFF, commandQueueDepth),
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internalState(STATE_NONE), recoveryState(RECOVERY_IDLE),
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recoveringDevice(childrenMap.end()), targetMode(MODE_OFF),
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targetSubmode(SUBMODE_NONE) {
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recoveryOffTimer.setTimeout(POWER_OFF_TIME_MS);
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}
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AssemblyBase::~AssemblyBase() {
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}
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ReturnValue_t AssemblyBase::handleCommandMessage(CommandMessage* message) {
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return handleHealthReply(message);
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}
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void AssemblyBase::performChildOperation() {
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if (isInTransition()) {
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handleChildrenTransition();
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} else {
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handleChildrenChanged();
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}
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}
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void AssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
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doStartTransition(mode, submode);
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, mode, submode);
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} else {
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triggerEvent(CHANGING_MODE, mode, submode);
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}
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}
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void AssemblyBase::doStartTransition(Mode_t mode, Submode_t submode) {
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targetMode = mode;
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targetSubmode = submode;
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internalState = STATE_SINGLE_STEP;
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ReturnValue_t result = commandChildren(mode, submode);
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if (result == NEED_SECOND_STEP) {
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internalState = STATE_NEED_SECOND_STEP;
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}
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}
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bool AssemblyBase::isInTransition() {
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return (internalState != STATE_NONE) || (recoveryState != RECOVERY_IDLE);
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}
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bool AssemblyBase::handleChildrenChanged() {
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if (childrenChangedMode) {
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ReturnValue_t result = checkChildrenState();
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if (result != RETURN_OK) {
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handleChildrenLostMode(result);
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}
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return true;
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} else {
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return handleChildrenChangedHealth();
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}
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}
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void AssemblyBase::handleChildrenLostMode(ReturnValue_t result) {
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triggerEvent(CANT_KEEP_MODE, mode, submode);
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startTransition(MODE_OFF, SUBMODE_NONE);
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}
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bool AssemblyBase::handleChildrenChangedHealth() {
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auto iter = childrenMap.begin();
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for (; iter != childrenMap.end(); iter++) {
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if (iter->second.healthChanged) {
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iter->second.healthChanged = false;
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break;
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}
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}
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if (iter == childrenMap.end()) {
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return false;
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}
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HealthState healthState = healthHelper.healthTable->getHealth(iter->first);
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if (healthState == HasHealthIF::NEEDS_RECOVERY) {
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triggerEvent(TRYING_RECOVERY);
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recoveryState = RECOVERY_STARTED;
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recoveringDevice = iter;
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doStartTransition(targetMode, targetSubmode);
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} else {
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triggerEvent(CHILD_CHANGED_HEALTH);
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doStartTransition(mode, submode);
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}
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if (modeHelper.isForced()) {
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triggerEvent(FORCING_MODE, targetMode, targetSubmode);
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}
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return true;
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}
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void AssemblyBase::handleChildrenTransition() {
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if (commandsOutstanding <= 0) {
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switch (internalState) {
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case STATE_NEED_SECOND_STEP:
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internalState = STATE_SECOND_STEP;
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commandChildren(targetMode, targetSubmode);
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return;
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case STATE_OVERWRITE_HEALTH: {
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internalState = STATE_SINGLE_STEP;
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ReturnValue_t result = commandChildren(mode, submode);
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if (result == NEED_SECOND_STEP) {
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internalState = STATE_NEED_SECOND_STEP;
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}
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return;
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}
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case STATE_NONE:
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//Valid state, used in recovery.
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case STATE_SINGLE_STEP:
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case STATE_SECOND_STEP:
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if (checkAndHandleRecovery()) {
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return;
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}
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break;
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}
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ReturnValue_t result = checkChildrenState();
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if (result == RETURN_OK) {
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handleModeReached();
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} else {
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handleModeTransitionFailed(result);
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}
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}
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}
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void AssemblyBase::handleModeReached() {
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internalState = STATE_NONE;
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setMode(targetMode, targetSubmode);
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}
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void AssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
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//always accept transition to OFF, there is nothing we can do except sending an info event
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//In theory this should never happen, but we would risk an infinite loop otherwise
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if (targetMode == MODE_OFF) {
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triggerEvent(CHILD_PROBLEMS, result);
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internalState = STATE_NONE;
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setMode(targetMode, targetSubmode);
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} else {
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if (handleChildrenChangedHealth()) {
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//If any health change is pending, handle that first.
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return;
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}
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triggerEvent(MODE_TRANSITION_FAILED, result);
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startTransition(MODE_OFF, SUBMODE_NONE);
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}
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}
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void AssemblyBase::sendHealthCommand(MessageQueueId_t sendTo,
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HealthState health) {
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CommandMessage command;
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HealthMessage::setHealthMessage(&command, HealthMessage::HEALTH_SET,
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health);
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if (commandQueue->sendMessage(sendTo, &command) == RETURN_OK) {
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commandsOutstanding++;
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}
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}
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ReturnValue_t AssemblyBase::checkChildrenState() {
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if (targetMode == MODE_OFF) {
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return checkChildrenStateOff();
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} else {
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return checkChildrenStateOn(targetMode, targetSubmode);
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}
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}
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ReturnValue_t AssemblyBase::checkChildrenStateOff() {
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for (const auto& childIter: childrenMap) {
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if (checkChildOff(childIter.first) != RETURN_OK) {
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return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
|
||||
}
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}
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return RETURN_OK;
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}
|
||||
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ReturnValue_t AssemblyBase::checkChildOff(uint32_t objectId) {
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ChildInfo childInfo = childrenMap.find(objectId)->second;
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if (healthHelper.healthTable->isCommandable(objectId)) {
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if (childInfo.submode != SUBMODE_NONE) {
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return RETURN_FAILED;
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} else {
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if ((childInfo.mode != MODE_OFF)
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&& (childInfo.mode != DeviceHandlerIF::MODE_ERROR_ON)) {
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return RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
}
|
||||
return RETURN_OK;
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||||
}
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||||
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ReturnValue_t AssemblyBase::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) {
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||||
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//always accept transition to OFF
|
||||
if (mode == MODE_OFF) {
|
||||
if (submode != SUBMODE_NONE) {
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return INVALID_SUBMODE;
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}
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return RETURN_OK;
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||||
}
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||||
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if ((mode != MODE_ON) && (mode != DeviceHandlerIF::MODE_NORMAL)) {
|
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return INVALID_MODE;
|
||||
}
|
||||
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if (internalState != STATE_NONE) {
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return IN_TRANSITION;
|
||||
}
|
||||
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return isModeCombinationValid(mode, submode);
|
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}
|
||||
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ReturnValue_t AssemblyBase::handleHealthReply(CommandMessage* message) {
|
||||
if (message->getCommand() == HealthMessage::HEALTH_INFO) {
|
||||
HealthState health = HealthMessage::getHealth(message);
|
||||
if (health != EXTERNAL_CONTROL) {
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updateChildChangedHealth(message->getSender(), true);
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
if (message->getCommand() == HealthMessage::REPLY_HEALTH_SET
|
||||
|| (message->getCommand() == CommandMessage::REPLY_REJECTED
|
||||
&& message->getParameter2() == HealthMessage::HEALTH_SET)) {
|
||||
if (isInTransition()) {
|
||||
commandsOutstanding--;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_FAILED;
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||||
}
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|
||||
bool AssemblyBase::checkAndHandleRecovery() {
|
||||
switch (recoveryState) {
|
||||
case RECOVERY_STARTED:
|
||||
recoveryState = RECOVERY_WAIT;
|
||||
recoveryOffTimer.resetTimer();
|
||||
return true;
|
||||
case RECOVERY_WAIT:
|
||||
if (recoveryOffTimer.isBusy()) {
|
||||
return true;
|
||||
}
|
||||
triggerEvent(RECOVERY_STEP, 0);
|
||||
sendHealthCommand(recoveringDevice->second.commandQueue, HEALTHY);
|
||||
internalState = STATE_NONE;
|
||||
recoveryState = RECOVERY_ONGOING;
|
||||
//Don't check state!
|
||||
return true;
|
||||
case RECOVERY_ONGOING:
|
||||
triggerEvent(RECOVERY_STEP, 1);
|
||||
recoveryState = RECOVERY_ONGOING_2;
|
||||
recoveringDevice->second.healthChanged = false;
|
||||
//Device should be healthy again, so restart a transition.
|
||||
//Might be including second step, but that's already handled.
|
||||
doStartTransition(targetMode, targetSubmode);
|
||||
return true;
|
||||
case RECOVERY_ONGOING_2:
|
||||
triggerEvent(RECOVERY_DONE);
|
||||
//Now we're through, but not sure if it was successful.
|
||||
recoveryState = RECOVERY_IDLE;
|
||||
return false;
|
||||
case RECOVERY_IDLE:
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void AssemblyBase::overwriteDeviceHealth(object_id_t objectId,
|
||||
HasHealthIF::HealthState oldHealth) {
|
||||
triggerEvent(OVERWRITING_HEALTH, objectId, oldHealth);
|
||||
internalState = STATE_OVERWRITE_HEALTH;
|
||||
modeHelper.setForced(true);
|
||||
sendHealthCommand(childrenMap[objectId].commandQueue, EXTERNAL_CONTROL);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user