| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // ====================================================================== | ||
| 2 | // \title CmdSequencerImpl.cpp | ||
| 3 | // \author Bocchino/Canham | ||
| 4 | // \brief cpp file for CmdDispatcherComponentBase component implementation class | ||
| 5 | // | ||
| 6 | // Copyright (C) 2009-2018 California Institute of Technology. | ||
| 7 | // ALL RIGHTS RESERVED. United States Government Sponsorship | ||
| 8 | // acknowledged. | ||
| 9 | |||
| 10 | #include <Fw/Com/ComPacket.hpp> | ||
| 11 | #include <Fw/Types/Assert.hpp> | ||
| 12 | #include <Fw/Types/SerialBuffer.hpp> | ||
| 13 | #include <Fw/Types/Serializable.hpp> | ||
| 14 | #include <Svc/CmdSequencer/CmdSequencerImpl.hpp> | ||
| 15 | #include <Utils/Hash/Hash.hpp> | ||
| 16 | #include <config/CommandDispatcherImplCfg.hpp> | ||
| 17 | |||
| 18 | namespace Svc { | ||
| 19 | |||
| 20 | // ---------------------------------------------------------------------- | ||
| 21 | // Construction, initialization, and destruction | ||
| 22 | // ---------------------------------------------------------------------- | ||
| 23 | |||
| 24 | 93 | CmdSequencerComponentImpl::CmdSequencerComponentImpl(const char* name) | |
| 25 | : CmdSequencerComponentBase(name), | ||
| 26 |
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93 | m_FPrimeSequence(*this), |
| 27 | 93 | m_sequence(&this->m_FPrimeSequence), | |
| 28 | 93 | m_loadCmdCount(0), | |
| 29 | 93 | m_cancelCmdCount(0), | |
| 30 | 93 | m_errorCount(0), | |
| 31 | 93 | m_runMode(STOPPED), | |
| 32 | 93 | m_stepMode(AUTO), | |
| 33 | 93 | m_executedCount(0), | |
| 34 | 93 | m_totalExecutedCount(0), | |
| 35 | 93 | m_sequencesCompletedCount(0), | |
| 36 | 93 | m_timeout(0), | |
| 37 | 93 | m_blockState(Svc::BlockState::NO_BLOCK), | |
| 38 | 93 | m_opCode(0), | |
| 39 | 93 | m_cmdSeq(0), | |
| 40 | 93 | m_join_waiting(false), | |
| 41 |
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22413 | m_sandboxDir(), |
| 42 |
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372 | m_sandboxConfigured(false) {} |
| 43 | |||
| 44 | 87 | void CmdSequencerComponentImpl::setTimeout(const U32 timeout) { | |
| 45 | 87 | this->m_timeout = timeout; | |
| 46 | 87 | } | |
| 47 | |||
| 48 | 30 | void CmdSequencerComponentImpl ::setSequenceFormat(Sequence& sequence) { | |
| 49 | 30 | this->m_sequence = &sequence; | |
| 50 | 30 | } | |
| 51 | |||
| 52 | 6 | void CmdSequencerComponentImpl ::configureSandbox(const char* directory) { | |
| 53 | 6 | FW_ASSERT(directory != nullptr); | |
| 54 | const Os::FilePathUtils::Status status = | ||
| 55 | 6 | Os::FilePathUtils::resolveDirectoryFromCwd(directory, this->m_sandboxDir, sizeof(this->m_sandboxDir)); | |
| 56 | 6 | FW_ASSERT(status == Os::FilePathUtils::VALID, static_cast<FwAssertArgType>(status)); | |
| 57 | 6 | this->m_sandboxConfigured = true; | |
| 58 | 6 | } | |
| 59 | |||
| 60 | 143 | bool CmdSequencerComponentImpl ::checkSandbox(const Fw::ConstStringBase& fileName) { | |
| 61 |
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143 | if (not this->m_sandboxConfigured) { |
| 62 | 135 | return true; | |
| 63 | } | ||
| 64 | 8 | char resolved[Os::FilePathUtils::MAX_PATH_LENGTH]; | |
| 65 | const bool contained = | ||
| 66 |
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8 | (Os::FilePathUtils::resolveFromCwd(fileName.toChar(), resolved, sizeof(resolved)) == |
| 67 |
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16 | Os::FilePathUtils::VALID) && |
| 68 |
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8 | (Os::FilePathUtils::checkContainment(resolved, this->m_sandboxDir) == Os::FilePathUtils::VALID); |
| 69 |
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8 | if (not contained) { |
| 70 |
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12 | this->log_WARNING_HI_CS_FileOutsideSandbox(Fw::LogStringArg(fileName.toChar()), |
| 71 |
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12 | Fw::LogStringArg(this->m_sandboxDir)); |
| 72 |
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6 | this->error(); |
| 73 | } | ||
| 74 | 8 | return contained; | |
| 75 | } | ||
| 76 | |||
| 77 | 88 | void CmdSequencerComponentImpl ::allocateBuffer(const FwEnumStoreType identifier, | |
| 78 | Fw::MemAllocator& allocator, | ||
| 79 | const FwSizeType bytes) { | ||
| 80 | 88 | this->m_sequence->allocateBuffer(identifier, allocator, bytes); | |
| 81 | 88 | } | |
| 82 | |||
| 83 | 4 | void CmdSequencerComponentImpl ::loadSequence(const Fw::ConstStringBase& fileName) { | |
| 84 | 4 | FW_ASSERT(this->m_runMode == STOPPED, this->m_runMode); | |
| 85 |
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4 | if (not this->loadFile(fileName)) { |
| 86 | ✗ | this->m_sequence->clear(); | |
| 87 | } | ||
| 88 | 4 | } | |
| 89 | |||
| 90 | 88 | void CmdSequencerComponentImpl ::deallocateBuffer(Fw::MemAllocator& allocator) { | |
| 91 | 88 | this->m_sequence->deallocateBuffer(allocator); | |
| 92 | 88 | } | |
| 93 | |||
| 94 | 186 | CmdSequencerComponentImpl::~CmdSequencerComponentImpl() {} | |
| 95 | |||
| 96 | // ---------------------------------------------------------------------- | ||
| 97 | // Handler implementations | ||
| 98 | // ---------------------------------------------------------------------- | ||
| 99 | |||
| 100 | 55 | void CmdSequencerComponentImpl::CS_RUN_cmdHandler(FwOpcodeType opCode, | |
| 101 | U32 cmdSeq, | ||
| 102 | const Fw::CmdStringArg& fileName, | ||
| 103 | const Svc::BlockState& block) { | ||
| 104 |
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55 | if (not this->requireRunMode(STOPPED)) { |
| 105 |
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3 | if (m_join_waiting) { |
| 106 | // Inform user previous seq file is not complete | ||
| 107 | ✗ | this->log_WARNING_HI_CS_JoinWaitingNotComplete(); | |
| 108 | } | ||
| 109 |
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3 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 110 | 3 | return; | |
| 111 | } | ||
| 112 | |||
| 113 |
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52 | if ((Svc::BlockState::BLOCK == block.e) && (MANUAL == this->m_stepMode)) { |
| 114 | // In MANUAL mode nothing executes until CS_STEP, so a BLOCK response could never be sent | ||
| 115 | ✗ | this->log_WARNING_HI_CS_InvalidMode(); | |
| 116 | ✗ | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); | |
| 117 | ✗ | return; | |
| 118 | } | ||
| 119 | |||
| 120 |
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52 | this->m_blockState = block.e; |
| 121 | 52 | this->m_cmdSeq = cmdSeq; | |
| 122 | 52 | this->m_opCode = opCode; | |
| 123 | |||
| 124 | // load commands | ||
| 125 |
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52 | if (not this->loadFile(fileName)) { |
| 126 | // Clear the recorded command state so a later port-driven run cannot | ||
| 127 | // emit a duplicate response for this already-answered command | ||
| 128 | 20 | this->m_blockState = Svc::BlockState::NO_BLOCK; | |
| 129 | 20 | this->m_opCode = 0; | |
| 130 | 20 | this->m_cmdSeq = 0; | |
| 131 |
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20 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 132 | 20 | return; | |
| 133 | } | ||
| 134 | |||
| 135 | 32 | this->m_executedCount = 0; | |
| 136 | |||
| 137 | // Check the step mode. If it is auto, start the sequence | ||
| 138 |
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32 | if (AUTO == this->m_stepMode) { |
| 139 | 28 | this->m_runMode = RUNNING; | |
| 140 |
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28 | this->tlmWrite_CS_CurrentSequence(this->m_sequence->getStringFileName()); |
| 141 |
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28 | if (this->isConnected_seqStartOut_OutputPort(0)) { |
| 142 | // Create empty SeqArgs as placeholder | ||
| 143 | // Use parameterized constructor to ensure m_size is initialized to 0 | ||
| 144 | ✗ | Svc::SeqArgs emptyArgs{0, 0}; | |
| 145 | ✗ | this->seqStartOut_out(0, this->m_sequence->getStringFileName(), emptyArgs); | |
| 146 | ✗ | } | |
| 147 | 28 | this->performCmd_Step(); | |
| 148 | } | ||
| 149 | |||
| 150 |
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32 | if (Svc::BlockState::NO_BLOCK == this->m_blockState) { |
| 151 |
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31 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK); |
| 152 | } | ||
| 153 | } | ||
| 154 | |||
| 155 | 79 | void CmdSequencerComponentImpl::CS_VALIDATE_cmdHandler(FwOpcodeType opCode, | |
| 156 | U32 cmdSeq, | ||
| 157 | const Fw::CmdStringArg& fileName) { | ||
| 158 | 79 | FW_ASSERT(this->m_sequence != nullptr); | |
| 159 |
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79 | if (!this->requireRunMode(STOPPED)) { |
| 160 |
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3 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 161 | 3 | return; | |
| 162 | } | ||
| 163 | |||
| 164 | // load commands | ||
| 165 |
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76 | if (not this->loadFile(fileName)) { |
| 166 |
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31 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 167 | 31 | return; | |
| 168 | } | ||
| 169 | |||
| 170 | // clear the buffer | ||
| 171 | 45 | this->m_sequence->clear(); | |
| 172 | |||
| 173 | 45 | this->log_ACTIVITY_HI_CS_SequenceValid(this->m_sequence->getLogFileName()); | |
| 174 | |||
| 175 |
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45 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK); |
| 176 | } | ||
| 177 | |||
| 178 | //! Shared body of the seqRunIn and seqDispatchIn handlers | ||
| 179 | 21 | void CmdSequencerComponentImpl::doSequenceRun(const Fw::StringBase& filename) { | |
| 180 |
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21 | if (MANUAL == this->m_stepMode) { |
| 181 | // In MANUAL mode nothing executes until CS_STEP, so a port-driven run would wedge | ||
| 182 | 1 | this->log_WARNING_HI_CS_InvalidMode(); | |
| 183 | 1 | this->rejectSequenceRun(); | |
| 184 | 1 | return; | |
| 185 | } | ||
| 186 |
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20 | if (!this->requireRunMode(STOPPED)) { |
| 187 | 4 | this->rejectSequenceRun(); | |
| 188 | 4 | return; | |
| 189 | } | ||
| 190 | |||
| 191 | // If file name is non-empty, load a file. | ||
| 192 | // Empty file name means don't load. | ||
| 193 |
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16 | if (filename != "") { |
| 194 | 11 | const bool status = this->loadFile(filename); | |
| 195 |
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11 | if (!status) { |
| 196 | 3 | this->rejectSequenceRun(); | |
| 197 | 3 | return; | |
| 198 | } | ||
| 199 |
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5 | } else if (not this->m_sequence->hasMoreRecords()) { |
| 200 | // No sequence loaded | ||
| 201 | 3 | this->log_WARNING_LO_CS_NoSequenceActive(); | |
| 202 | 3 | this->error(); | |
| 203 | 3 | this->rejectSequenceRun(); | |
| 204 | 3 | return; | |
| 205 | } | ||
| 206 | |||
| 207 | 10 | this->m_executedCount = 0; | |
| 208 | |||
| 209 | // Check the step mode. If it is auto, start the sequence | ||
| 210 |
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10 | if (AUTO == this->m_stepMode) { |
| 211 | 10 | this->m_runMode = RUNNING; | |
| 212 |
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10 | this->tlmWrite_CS_CurrentSequence(this->m_sequence->getStringFileName()); |
| 213 |
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10 | if (this->isConnected_seqStartOut_OutputPort(0)) { |
| 214 | // Create empty SeqArgs as placeholder | ||
| 215 | // Use parameterized constructor to ensure m_size is initialized to 0 | ||
| 216 | ✗ | Svc::SeqArgs emptyArgs{0, 0}; | |
| 217 | ✗ | this->seqStartOut_out(0, this->m_sequence->getStringFileName(), emptyArgs); | |
| 218 | ✗ | } | |
| 219 | 10 | this->performCmd_Step(); | |
| 220 | } | ||
| 221 | |||
| 222 | 10 | this->log_ACTIVITY_HI_CS_PortSequenceStarted(this->m_sequence->getLogFileName()); | |
| 223 | } | ||
| 224 | |||
| 225 | 11 | void CmdSequencerComponentImpl::rejectSequenceRun() { | |
| 226 |
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11 | if (this->isConnected_seqDone_OutputPort(0)) { |
| 227 |
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7 | this->seqDone_out(0, 0, 0, Fw::CmdResponse::EXECUTION_ERROR); |
| 228 | } | ||
| 229 | 11 | } | |
| 230 | |||
| 231 | 15 | void CmdSequencerComponentImpl::seqRunIn_handler(FwIndexType portNum, | |
| 232 | const Fw::StringBase& filename, | ||
| 233 | const Svc::SeqArgs& args) { | ||
| 234 | (void)args; // Suppress unused parameter warning | ||
| 235 | 15 | this->doSequenceRun(filename); | |
| 236 | 15 | } | |
| 237 | |||
| 238 | 2 | void CmdSequencerComponentImpl::seqDispatchIn_handler(FwIndexType portNum, Fw::StringBase& file_name) { | |
| 239 | 2 | this->doSequenceRun(file_name); | |
| 240 | 2 | } | |
| 241 | |||
| 242 | ✗ | void CmdSequencerComponentImpl ::seqCancelIn_handler(const FwIndexType portNum) { | |
| 243 | ✗ | if (RUNNING == this->m_runMode) { | |
| 244 | ✗ | this->performCmd_Cancel(); | |
| 245 | ✗ | this->log_ACTIVITY_HI_CS_SequenceCanceled(this->m_sequence->getLogFileName()); | |
| 246 | ✗ | ++this->m_cancelCmdCount; | |
| 247 | ✗ | this->tlmWrite_CS_CancelCommands(this->m_cancelCmdCount); | |
| 248 | } else { | ||
| 249 | ✗ | this->log_WARNING_LO_CS_NoSequenceActive(); | |
| 250 | } | ||
| 251 | ✗ | } | |
| 252 | |||
| 253 | 5 | void CmdSequencerComponentImpl::CS_CANCEL_cmdHandler(FwOpcodeType opCode, U32 cmdSeq) { | |
| 254 |
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5 | if (RUNNING == this->m_runMode) { |
| 255 | 3 | this->performCmd_Cancel(); | |
| 256 | 3 | this->log_ACTIVITY_HI_CS_SequenceCanceled(this->m_sequence->getLogFileName()); | |
| 257 | 3 | ++this->m_cancelCmdCount; | |
| 258 |
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3 | this->tlmWrite_CS_CancelCommands(this->m_cancelCmdCount); |
| 259 | } else { | ||
| 260 | 2 | this->log_WARNING_LO_CS_NoSequenceActive(); | |
| 261 | } | ||
| 262 |
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5 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK); |
| 263 | 5 | } | |
| 264 | |||
| 265 | 5 | void CmdSequencerComponentImpl::CS_JOIN_WAIT_cmdHandler(const FwOpcodeType opCode, const U32 cmdSeq) { | |
| 266 | // If there is no running sequence do not wait | ||
| 267 |
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5 | if (m_runMode != RUNNING) { |
| 268 | 1 | this->log_WARNING_LO_CS_NoSequenceActive(); | |
| 269 |
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1 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK); |
| 270 | 1 | return; | |
| 271 |
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4 | } else if ((Svc::BlockState::BLOCK == this->m_blockState) || this->m_join_waiting) { |
| 272 | // A command response is already owed to a BLOCK-mode CS_RUN caller or a | ||
| 273 | // previous CS_JOIN_WAIT caller. Reject rather than overwrite that state, | ||
| 274 | // which would leave the original caller without a completion response. | ||
| 275 | 2 | this->log_WARNING_HI_CS_JoinWaitingNotComplete(); | |
| 276 |
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2 | this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 277 | } else { | ||
| 278 | 2 | m_join_waiting = true; | |
| 279 | 2 | Fw::LogStringArg& logFileName = this->m_sequence->getLogFileName(); | |
| 280 | 2 | this->log_ACTIVITY_HI_CS_JoinWaiting(logFileName, m_cmdSeq, CmdDispatcherCfg::getEventOpcode(m_opCode)); | |
| 281 | 2 | m_cmdSeq = cmdSeq; | |
| 282 | 2 | m_opCode = opCode; | |
| 283 | } | ||
| 284 | } | ||
| 285 | |||
| 286 | // ---------------------------------------------------------------------- | ||
| 287 | // Private helper methods | ||
| 288 | // ---------------------------------------------------------------------- | ||
| 289 | |||
| 290 | 143 | bool CmdSequencerComponentImpl ::loadFile(const Fw::ConstStringBase& fileName) { | |
| 291 | // Checked here, before any sequence format opens the file, so the restriction applies to | ||
| 292 | // every format (including a custom one set with setSequenceFormat) | ||
| 293 |
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143 | const bool status = this->checkSandbox(fileName) and this->m_sequence->loadFile(fileName); |
| 294 |
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143 | if (status) { |
| 295 | 89 | Fw::LogStringArg& logFileName = this->m_sequence->getLogFileName(); | |
| 296 | 89 | this->log_ACTIVITY_LO_CS_SequenceLoaded(logFileName); | |
| 297 | 89 | ++this->m_loadCmdCount; | |
| 298 |
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89 | this->tlmWrite_CS_LoadCommands(this->m_loadCmdCount); |
| 299 | } else { | ||
| 300 | // A partial load may have populated m_buffer before an intermediate | ||
| 301 | // validation step (e.g. CRC, time, record structure) failed. Without | ||
| 302 | // an explicit reset, FPrimeSequence::hasMoreRecords() still returns | ||
| 303 | // true because getDeserializeSizeLeft() > 0, so a subsequent CS_START | ||
| 304 | // bypasses the "no sequence active" guard and reaches | ||
| 305 | // FPrimeSequence::nextRecord, which asserts on the failed deserialize | ||
| 306 | // and aborts the FSW. Clearing the sequence on every load failure | ||
| 307 | // closes that window. | ||
| 308 | 54 | this->m_sequence->clear(); | |
| 309 | } | ||
| 310 | 143 | return status; | |
| 311 | } | ||
| 312 | |||
| 313 | 59 | void CmdSequencerComponentImpl::error() { | |
| 314 | 59 | ++this->m_errorCount; | |
| 315 |
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59 | this->tlmWrite_CS_Errors(m_errorCount); |
| 316 | 59 | } | |
| 317 | |||
| 318 | 8 | void CmdSequencerComponentImpl::performCmd_Cancel() { | |
| 319 | 8 | FW_ASSERT(this->m_sequence != nullptr); | |
| 320 | 8 | this->m_sequence->reset(); | |
| 321 | 8 | this->m_runMode = STOPPED; | |
| 322 | 8 | this->m_cmdTimer.clear(); | |
| 323 | 8 | this->m_cmdTimeoutTimer.clear(); | |
| 324 | 8 | this->m_executedCount = 0; | |
| 325 | // write sequence done port with error, if connected | ||
| 326 |
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8 | if (this->isConnected_seqDone_OutputPort(0)) { |
| 327 |
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8 | this->seqDone_out(0, 0, 0, Fw::CmdResponse::EXECUTION_ERROR); |
| 328 | } | ||
| 329 | |||
| 330 |
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8 | if (Svc::BlockState::BLOCK == this->m_blockState || m_join_waiting) { |
| 331 | // Do not wait if sequence was canceled or a cmd failed | ||
| 332 | ✗ | this->m_join_waiting = false; | |
| 333 | ✗ | this->cmdResponse_out(this->m_opCode, this->m_cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); | |
| 334 | } | ||
| 335 | |||
| 336 | 8 | this->m_blockState = Svc::BlockState::NO_BLOCK; | |
| 337 | 8 | } | |
| 338 | |||
| 339 | 140 | void CmdSequencerComponentImpl ::cmdResponseIn_handler(FwIndexType portNum, | |
| 340 | FwOpcodeType opcode, | ||
| 341 | U32 cmdSeq, | ||
| 342 | const Fw::CmdResponse& response) { | ||
| 343 |
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140 | if (this->m_runMode == STOPPED) { |
| 344 | // Sequencer is not running | ||
| 345 | 3 | this->log_WARNING_HI_CS_UnexpectedCompletion(CmdDispatcherCfg::getEventOpcode(opcode)); | |
| 346 | } else { | ||
| 347 | // clear command timeout | ||
| 348 | 137 | this->m_cmdTimeoutTimer.clear(); | |
| 349 |
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137 | if (response != Fw::CmdResponse::OK) { |
| 350 |
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2 | this->commandError(this->m_executedCount, opcode, response.e); |
| 351 | 2 | this->performCmd_Cancel(); | |
| 352 |
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135 | } else if (this->m_runMode == RUNNING && this->m_stepMode == AUTO) { |
| 353 | // Auto mode | ||
| 354 | 121 | this->commandComplete(opcode); | |
| 355 |
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242 | if (not this->m_sequence->hasMoreRecords()) { |
| 356 | // No data left | ||
| 357 | 22 | this->m_runMode = STOPPED; | |
| 358 | 22 | this->sequenceComplete(); | |
| 359 | } else { | ||
| 360 | 99 | this->performCmd_Step(); | |
| 361 | } | ||
| 362 | } else { | ||
| 363 | // Manual step mode | ||
| 364 | 14 | this->commandComplete(opcode); | |
| 365 |
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14 | if (not this->m_sequence->hasMoreRecords()) { |
| 366 | 2 | this->m_runMode = STOPPED; | |
| 367 | 2 | this->sequenceComplete(); | |
| 368 | } | ||
| 369 | } | ||
| 370 | } | ||
| 371 | 140 | } | |
| 372 | |||
| 373 | 27 | void CmdSequencerComponentImpl ::schedIn_handler(FwIndexType portNum, U32 order) { | |
| 374 |
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27 | Fw::Time currTime = this->getTime(); |
| 375 | // check to see if a command time is pending | ||
| 376 |
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27 | if (this->m_cmdTimer.isExpiredAt(currTime)) { |
| 377 |
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11 | this->comCmdOut_out(0, m_record.m_command, 0); |
| 378 | 11 | this->m_cmdTimer.clear(); | |
| 379 | // start command timeout timer | ||
| 380 |
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11 | this->setCmdTimeout(currTime); |
| 381 |
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16 | } else if (this->m_cmdTimeoutTimer.isExpiredAt(this->getTime())) { // check for command timeout |
| 382 |
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3 | this->log_WARNING_HI_CS_SequenceTimeout(m_sequence->getLogFileName(), this->m_executedCount); |
| 383 | // If there is a command timeout, cancel the sequence | ||
| 384 |
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3 | this->performCmd_Cancel(); |
| 385 | } | ||
| 386 | 54 | } | |
| 387 | |||
| 388 | 10 | void CmdSequencerComponentImpl ::CS_START_cmdHandler(FwOpcodeType opcode, U32 cmdSeq) { | |
| 389 |
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10 | if (not this->m_sequence->hasMoreRecords()) { |
| 390 | // No sequence loaded | ||
| 391 | 3 | this->log_WARNING_LO_CS_NoSequenceActive(); | |
| 392 |
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3 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 393 | 3 | return; | |
| 394 | } | ||
| 395 |
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7 | if (!this->requireRunMode(STOPPED)) { |
| 396 |
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3 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 397 | 3 | return; | |
| 398 | } | ||
| 399 | |||
| 400 | 4 | this->m_blockState = Svc::BlockState::NO_BLOCK; | |
| 401 | 4 | this->m_runMode = RUNNING; | |
| 402 |
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4 | this->tlmWrite_CS_CurrentSequence(this->m_sequence->getStringFileName()); |
| 403 | 4 | this->log_ACTIVITY_HI_CS_CmdStarted(this->m_sequence->getLogFileName()); | |
| 404 | 4 | this->performCmd_Step(); | |
| 405 |
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4 | if (this->isConnected_seqStartOut_OutputPort(0)) { |
| 406 | // Create empty SeqArgs as placeholder | ||
| 407 | ✗ | Svc::SeqArgs emptyArgs{0, 0}; | |
| 408 | ✗ | this->seqStartOut_out(0, this->m_sequence->getStringFileName(), emptyArgs); | |
| 409 | ✗ | } | |
| 410 |
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4 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::OK); |
| 411 | } | ||
| 412 | |||
| 413 | 17 | void CmdSequencerComponentImpl ::CS_STEP_cmdHandler(FwOpcodeType opcode, U32 cmdSeq) { | |
| 414 | 17 | FW_ASSERT(this->m_sequence != nullptr); | |
| 415 |
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17 | if (this->requireRunMode(RUNNING)) { |
| 416 |
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14 | if (MANUAL != this->m_stepMode) { |
| 417 | // CS_STEP is valid only in MANUAL step mode | ||
| 418 | ✗ | this->log_WARNING_HI_CS_InvalidMode(); | |
| 419 | ✗ | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); | |
| 420 | ✗ | return; | |
| 421 | } | ||
| 422 |
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14 | if (this->m_cmdTimer.isSet()) { |
| 423 | // The previously stepped record is still waiting for its time tag; stepping again | ||
| 424 | // would overwrite it before it is dispatched | ||
| 425 |
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1 | const Fw::Time pendingTime = this->m_cmdTimer.getExpirationTime(); |
| 426 |
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2 | this->log_WARNING_LO_CS_StepRecordPending(this->m_sequence->getLogFileName(), pendingTime.getSeconds(), |
| 427 | 1 | pendingTime.getUSeconds()); | |
| 428 |
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1 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 429 | 1 | return; | |
| 430 | 1 | } | |
| 431 |
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13 | if (not this->m_sequence->hasMoreRecords()) { |
| 432 | // A sequence with no end-of-sequence record leaves nothing to step; stepping anyway | ||
| 433 | // asserts in the sequence reader | ||
| 434 | ✗ | this->log_WARNING_LO_CS_NoSequenceActive(); | |
| 435 | ✗ | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); | |
| 436 | ✗ | return; | |
| 437 | } | ||
| 438 | 13 | this->performCmd_Step(); | |
| 439 | // check for special case where end of sequence entry was encountered | ||
| 440 |
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13 | if (this->m_runMode != STOPPED) { |
| 441 | 12 | this->log_ACTIVITY_HI_CS_CmdStepped(this->m_sequence->getLogFileName(), this->m_executedCount); | |
| 442 | } | ||
| 443 |
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13 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::OK); |
| 444 | } else { | ||
| 445 |
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3 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 446 | } | ||
| 447 | } | ||
| 448 | |||
| 449 | 6 | void CmdSequencerComponentImpl ::CS_AUTO_cmdHandler(FwOpcodeType opcode, U32 cmdSeq) { | |
| 450 |
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6 | if (this->requireRunMode(STOPPED)) { |
| 451 | 3 | this->m_stepMode = AUTO; | |
| 452 |
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3 | this->log_ACTIVITY_HI_CS_ModeSwitched(CmdSequencer_SeqMode::AUTO); |
| 453 |
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3 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::OK); |
| 454 | } else { | ||
| 455 |
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3 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 456 | } | ||
| 457 | 6 | } | |
| 458 | |||
| 459 | 7 | void CmdSequencerComponentImpl ::CS_MANUAL_cmdHandler(FwOpcodeType opcode, U32 cmdSeq) { | |
| 460 |
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7 | if (this->requireRunMode(STOPPED)) { |
| 461 | 4 | this->m_stepMode = MANUAL; | |
| 462 |
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4 | this->log_ACTIVITY_HI_CS_ModeSwitched(CmdSequencer_SeqMode::STEP); |
| 463 |
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4 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::OK); |
| 464 | } else { | ||
| 465 |
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3 | this->cmdResponse_out(opcode, cmdSeq, Fw::CmdResponse::EXECUTION_ERROR); |
| 466 | } | ||
| 467 | 7 | } | |
| 468 | |||
| 469 | // ---------------------------------------------------------------------- | ||
| 470 | // Helper methods | ||
| 471 | // ---------------------------------------------------------------------- | ||
| 472 | |||
| 473 | 191 | bool CmdSequencerComponentImpl::requireRunMode(RunMode mode) { | |
| 474 |
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191 | if (this->m_runMode == mode) { |
| 475 | 169 | return true; | |
| 476 | } else { | ||
| 477 | 22 | this->log_WARNING_HI_CS_InvalidMode(); | |
| 478 | 22 | return false; | |
| 479 | } | ||
| 480 | } | ||
| 481 | |||
| 482 | 2 | void CmdSequencerComponentImpl ::commandError(const U32 number, const FwOpcodeType opCode, const U32 error) { | |
| 483 | 2 | this->log_WARNING_HI_CS_CommandError(this->m_sequence->getLogFileName(), number, | |
| 484 | CmdDispatcherCfg::getEventOpcode(opCode), error); | ||
| 485 | 2 | this->error(); | |
| 486 | 2 | } | |
| 487 | |||
| 488 | 154 | void CmdSequencerComponentImpl::performCmd_Step() { | |
| 489 |
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154 | this->m_sequence->nextRecord(m_record); |
| 490 | // set clock time base and context from value set when sequence was loaded | ||
| 491 |
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154 | const Sequence::Header& header = this->m_sequence->getHeader(); |
| 492 |
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154 | this->m_record.m_timeTag.setTimeBase(header.m_timeBase); |
| 493 |
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154 | this->m_record.m_timeTag.setTimeContext(header.m_timeContext); |
| 494 | |||
| 495 |
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154 | Fw::Time currentTime = this->getTime(); |
| 496 |
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154 | switch (this->m_record.m_descriptor) { |
| 497 | 5 | case Sequence::Record::END_OF_SEQUENCE: | |
| 498 | 5 | this->m_runMode = STOPPED; | |
| 499 |
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5 | this->sequenceComplete(); |
| 500 | 5 | break; | |
| 501 | 147 | case Sequence::Record::RELATIVE: | |
| 502 |
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147 | this->performCmd_Step_RELATIVE(currentTime); |
| 503 | 147 | break; | |
| 504 | 2 | case Sequence::Record::ABSOLUTE: | |
| 505 |
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2 | this->performCmd_Step_ABSOLUTE(currentTime); |
| 506 | 2 | break; | |
| 507 | ✗ | default: | |
| 508 | ✗ | FW_ASSERT(false, m_record.m_descriptor); | |
| 509 | } | ||
| 510 | 308 | } | |
| 511 | |||
| 512 | 29 | void CmdSequencerComponentImpl::sequenceComplete() { | |
| 513 | 29 | FW_ASSERT(this->m_sequence != nullptr); | |
| 514 | 29 | ++this->m_sequencesCompletedCount; | |
| 515 | // reset buffer | ||
| 516 | 29 | this->m_sequence->clear(); | |
| 517 | 29 | this->log_ACTIVITY_HI_CS_SequenceComplete(this->m_sequence->getLogFileName()); | |
| 518 |
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29 | this->tlmWrite_CS_SequencesCompleted(this->m_sequencesCompletedCount); |
| 519 | 29 | this->m_executedCount = 0; | |
| 520 | // write sequence done port, if connected | ||
| 521 |
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29 | if (this->isConnected_seqDone_OutputPort(0)) { |
| 522 |
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29 | this->seqDone_out(0, 0, 0, Fw::CmdResponse::OK); |
| 523 | } | ||
| 524 | |||
| 525 |
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29 | if (Svc::BlockState::BLOCK == this->m_blockState || m_join_waiting) { |
| 526 |
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3 | this->cmdResponse_out(this->m_opCode, this->m_cmdSeq, Fw::CmdResponse::OK); |
| 527 | } | ||
| 528 | |||
| 529 | 29 | m_join_waiting = false; | |
| 530 | 29 | this->m_blockState = Svc::BlockState::NO_BLOCK; | |
| 531 |
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29 | this->tlmWrite_CS_CurrentSequence(NO_SEQ); |
| 532 | 29 | } | |
| 533 | |||
| 534 | 135 | void CmdSequencerComponentImpl::commandComplete(const FwOpcodeType opcode) { | |
| 535 | 135 | this->log_ACTIVITY_LO_CS_CommandComplete(this->m_sequence->getLogFileName(), this->m_executedCount, | |
| 536 | CmdDispatcherCfg::getEventOpcode(opcode)); | ||
| 537 | 135 | ++this->m_executedCount; | |
| 538 | 135 | ++this->m_totalExecutedCount; | |
| 539 |
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135 | this->tlmWrite_CS_CommandsExecuted(this->m_totalExecutedCount); |
| 540 | 135 | } | |
| 541 | |||
| 542 | 147 | void CmdSequencerComponentImpl ::performCmd_Step_RELATIVE(Fw::Time& currentTime) { | |
| 543 | 147 | this->m_record.m_timeTag.add(currentTime.getSeconds(), currentTime.getUSeconds()); | |
| 544 | 147 | this->performCmd_Step_ABSOLUTE(currentTime); | |
| 545 | 147 | } | |
| 546 | |||
| 547 | 149 | void CmdSequencerComponentImpl ::performCmd_Step_ABSOLUTE(Fw::Time& currentTime) { | |
| 548 |
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149 | if (currentTime >= this->m_record.m_timeTag) { |
| 549 | 134 | this->comCmdOut_out(0, m_record.m_command, 0); | |
| 550 | 134 | this->setCmdTimeout(currentTime); | |
| 551 | } else { | ||
| 552 |
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15 | this->m_cmdTimer.set(this->m_record.m_timeTag); |
| 553 | } | ||
| 554 | 149 | } | |
| 555 | |||
| 556 | 1 | void CmdSequencerComponentImpl ::pingIn_handler(FwIndexType portNum, /*!< The port number*/ | |
| 557 | U32 key /*!< Value to return to pinger*/ | ||
| 558 | ) { | ||
| 559 | // send ping response | ||
| 560 | 1 | this->pingOut_out(0, key); | |
| 561 | 1 | } | |
| 562 | |||
| 563 | 145 | void CmdSequencerComponentImpl ::setCmdTimeout(const Fw::Time& currentTime) { | |
| 564 | // start timeout timer if enabled and not in step mode | ||
| 565 |
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145 | if ((this->m_timeout > 0) and (AUTO == this->m_stepMode)) { |
| 566 |
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130 | Fw::Time expTime = currentTime; |
| 567 |
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130 | expTime.add(this->m_timeout, 0); |
| 568 |
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130 | this->m_cmdTimeoutTimer.set(expTime); |
| 569 | 130 | } | |
| 570 | 145 | } | |
| 571 | |||
| 572 | } // namespace Svc | ||
| 573 |