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