F´ Flight Software - C/C++ Documentation  NASA-v1.6.0
A framework for building embedded system applications to NASA flight quality standards.
HealthComponentImpl.cpp
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1 // ======================================================================
2 // \title Health.hpp
3 // \author Tim
4 // \brief hpp file for Health component implementation class
5 //
6 // \copyright
7 // Copyright 2009-2015, by the California Institute of Technology.
8 // ALL RIGHTS RESERVED. United States Government Sponsorship
9 // acknowledged.
10 //
11 // ======================================================================
12 
13 #include <Svc/Health/HealthComponentImpl.hpp>
14 #include "Fw/Types/BasicTypes.hpp"
15 #include <Fw/Types/Assert.hpp>
16 
17 namespace Svc {
18 
19  // ----------------------------------------------------------------------
20  // Construction, initialization, and destruction
21  // ----------------------------------------------------------------------
22 
23  HealthImpl::HealthImpl(const char * const compName) :
24  HealthComponentBase(compName),
25  m_numPingEntries(0),
26  m_key(0),
27  m_watchDogCode(0),
28  m_warnings(0),
29  m_enabled(Fw::Enabled::ENABLED),
30  queue_depth(0) {
31  // clear tracker by disabling pings
32  for (NATIVE_UINT_TYPE entry = 0;
33  entry < FW_NUM_ARRAY_ELEMENTS(this->m_pingTrackerEntries);
34  entry++) {
35  this->m_pingTrackerEntries[entry].enabled = Fw::Enabled::DISABLED;
36  }
37  }
38 
39  void HealthImpl::init(const NATIVE_INT_TYPE queueDepth, const NATIVE_INT_TYPE instance) {
40  HealthComponentBase::init(queueDepth, instance);
41  this->queue_depth = queueDepth;
42 
43  }
44 
45  void HealthImpl::setPingEntries(PingEntry* pingEntries, NATIVE_INT_TYPE numPingEntries, U32 watchDogCode) {
46 
47  FW_ASSERT(pingEntries);
48  // make sure not asking for more pings than ports
49  FW_ASSERT(numPingEntries <= NUM_PINGSEND_OUTPUT_PORTS);
50 
51  this->m_numPingEntries = numPingEntries;
52  this->m_watchDogCode = watchDogCode;
53 
54  // copy entries to private data
55  for (NATIVE_INT_TYPE entry = 0; entry < numPingEntries; entry++) {
56  FW_ASSERT(pingEntries[entry].warnCycles <= pingEntries[entry].fatalCycles, pingEntries[entry].warnCycles, pingEntries[entry].fatalCycles);
57  this->m_pingTrackerEntries[entry].entry = pingEntries[entry];
58  this->m_pingTrackerEntries[entry].cycleCount = 0;
59  this->m_pingTrackerEntries[entry].enabled = Fw::Enabled::ENABLED;
60  this->m_pingTrackerEntries[entry].key = 0;
61  }
62  }
63 
64  HealthImpl::~HealthImpl() {
65 
66  }
67 
68  // ----------------------------------------------------------------------
69  // Handler implementations for user-defined typed input ports
70  // ----------------------------------------------------------------------
71 
72  void HealthImpl::PingReturn_handler(const NATIVE_INT_TYPE portNum, U32 key) {
73  // verify the key value
74  if (key != this->m_pingTrackerEntries[portNum].key) {
75  Fw::LogStringArg _arg = this->m_pingTrackerEntries[portNum].entry.entryName;
76  this->log_FATAL_HLTH_PING_WRONG_KEY(_arg,key);
77  } else {
78  // reset the counter and clear the key
79  this->m_pingTrackerEntries[portNum].cycleCount = 0;
80  this->m_pingTrackerEntries[portNum].key = 0;
81  }
82 
83  }
84 
85  void HealthImpl::Run_handler(const NATIVE_INT_TYPE portNum, NATIVE_UINT_TYPE context) {
86  //dispatch messages
87  for (NATIVE_UINT_TYPE i = 0; i < this->queue_depth; i++) {
88  MsgDispatchStatus stat = this->doDispatch();
89  if (MSG_DISPATCH_EMPTY == stat) {
90  break;
91  }
92  FW_ASSERT(MSG_DISPATCH_OK == stat);
93  }
94 
95  if (this->m_enabled == Fw::Enabled::ENABLED) {
96  // cycle through ping table, pinging ports that are not awaiting a reply
97  // for ports that are awaiting a reply, decrement their counters
98  // and check for violations
99 
100  for (NATIVE_UINT_TYPE entry = 0; entry < this->m_numPingEntries; entry++) {
101  if (Fw::Enabled::ENABLED == this->m_pingTrackerEntries[entry].enabled) {
102  // If clear entry
103  if (0 == this->m_pingTrackerEntries[entry].cycleCount) {
104  // start a ping
105  this->m_pingTrackerEntries[entry].key = this->m_key;
106  // send ping
107  this->PingSend_out(entry, this->m_pingTrackerEntries[entry].key);
108  // increment key
109  this->m_key++;
110  // increment cycles for the entry
111  this->m_pingTrackerEntries[entry].cycleCount++;
112  } else {
113  // check to see if it is at warning threshold
114  if (this->m_pingTrackerEntries[entry].cycleCount ==
115  this->m_pingTrackerEntries[entry].entry.warnCycles) {
116  Fw::LogStringArg _arg = this->m_pingTrackerEntries[entry].entry.entryName;
117  this->log_WARNING_HI_HLTH_PING_WARN(_arg);
118  this->tlmWrite_PingLateWarnings(++this->m_warnings);
119  } else {
120  // check for FATAL timeout value
121  if (this->m_pingTrackerEntries[entry].entry.fatalCycles ==
122  this->m_pingTrackerEntries[entry].cycleCount) {
123  Fw::LogStringArg _arg = this->m_pingTrackerEntries[entry].entry.entryName;
124  this->log_FATAL_HLTH_PING_LATE(_arg);
125  }
126  } // if at warning or fatal threshold
127 
128  this->m_pingTrackerEntries[entry].cycleCount++;
129  } // if clear entry
130  } // if entry has ping enabled
131  } // for each entry
132 
133  // do other specialized platform checks (e.g. VxWorks suspended tasks)
134  this->doOtherChecks();
135 
136  } // If health checking is enabled
137 
138  // stroke watchdog.
139  if (this->isConnected_WdogStroke_OutputPort(0)) {
140  this->WdogStroke_out(0,this->m_watchDogCode);
141  }
142  }
143 
144  // ----------------------------------------------------------------------
145  // Command handler implementations
146  // ----------------------------------------------------------------------
147 
148  void HealthImpl::HLTH_ENABLE_cmdHandler(const FwOpcodeType opCode, U32 cmdSeq, Fw::Enabled enable) {
149  this->m_enabled = enable;
150  Fw::Enabled isEnabled = Fw::Enabled::DISABLED;
151  if (enable == Fw::Enabled::ENABLED) {
152  isEnabled = Fw::Enabled::ENABLED;
153  }
154  this->log_ACTIVITY_HI_HLTH_CHECK_ENABLE(isEnabled);
155  this->cmdResponse_out(opCode,cmdSeq,Fw::CmdResponse::OK);
156  }
157 
158 
159  void HealthImpl::HLTH_PING_ENABLE_cmdHandler(const FwOpcodeType opCode, U32 cmdSeq, const Fw::CmdStringArg& entry, Fw::Enabled enable) {
160  // check to see if entry is in range
161  NATIVE_INT_TYPE entryIndex = this->findEntry(entry);
162 
163  if (-1 == entryIndex) {
164  this->cmdResponse_out(opCode,cmdSeq,Fw::CmdResponse::VALIDATION_ERROR);
165  return;
166  }
167 
168  // check enable value
169  if (enable != Fw::Enabled::DISABLED && enable != Fw::Enabled::ENABLED) {
170  this->cmdResponse_out(opCode,cmdSeq,Fw::CmdResponse::VALIDATION_ERROR);
171  return;
172  }
173 
174  this->m_pingTrackerEntries[entryIndex].enabled = enable.e;
175  Fw::Enabled isEnabled(Fw::Enabled::DISABLED);
176  if (enable == Fw::Enabled::ENABLED) {
177  isEnabled = Fw::Enabled::ENABLED;
178  }
179  Fw::LogStringArg arg;
180  arg = entry;
181  this->log_ACTIVITY_HI_HLTH_CHECK_PING(isEnabled,arg);
182  this->cmdResponse_out(opCode,cmdSeq,Fw::CmdResponse::OK);
183  }
184 
185  void HealthImpl::HLTH_CHNG_PING_cmdHandler(const FwOpcodeType opCode, U32 cmdSeq, const Fw::CmdStringArg& entry, U32 warningValue, U32 fatalValue) {
186  // check to see if entry is in range
187  NATIVE_INT_TYPE entryIndex = this->findEntry(entry);
188  if (-1 == entryIndex) {
189  this->cmdResponse_out(opCode,cmdSeq,Fw::CmdResponse::VALIDATION_ERROR);
190  return;
191  }
192 
193  //check to see if warningValue less than or equal to fatalValue
194  if (warningValue > fatalValue) {
195  Fw::LogStringArg arg;
196  arg = entry;
197  this->log_WARNING_HI_HLTH_PING_INVALID_VALUES(arg,warningValue,fatalValue);
198  this->cmdResponse_out(opCode,cmdSeq,Fw::CmdResponse::VALIDATION_ERROR);
199  return;
200  }
201 
202  this->m_pingTrackerEntries[entryIndex].entry.warnCycles = warningValue;
203  this->m_pingTrackerEntries[entryIndex].entry.fatalCycles = fatalValue;
204  Fw::LogStringArg arg = entry;
205  this->log_ACTIVITY_HI_HLTH_PING_UPDATED(arg,warningValue,fatalValue);
206  this->cmdResponse_out(opCode,cmdSeq,Fw::CmdResponse::OK);
207  }
208 
209  NATIVE_INT_TYPE HealthImpl::findEntry(Fw::CmdStringArg entry) {
210 
211  // walk through entries
212  for (NATIVE_UINT_TYPE tableEntry = 0; tableEntry < NUM_PINGSEND_OUTPUT_PORTS; tableEntry++) {
213  if (entry == this->m_pingTrackerEntries[tableEntry].entry.entryName) {
214  return tableEntry;
215  }
216  }
217  Fw::LogStringArg arg = entry;
218  this->log_WARNING_LO_HLTH_CHECK_LOOKUP_ERROR(arg);
219 
220  return -1;
221  }
222 
223 
224 
225 } // end namespace Svc
Fw::LogStringArg
Definition: LogString.hpp:11
NATIVE_UINT_TYPE
unsigned int NATIVE_UINT_TYPE
native unsigned integer type declaration
Definition: BasicTypes.hpp:28
Fw::CmdStringArg
Definition: CmdString.hpp:11
FW_NUM_ARRAY_ELEMENTS
#define FW_NUM_ARRAY_ELEMENTS(a)
number of elements in an array
Definition: BasicTypes.hpp:100
NATIVE_INT_TYPE
int NATIVE_INT_TYPE
native integer type declaration
Definition: BasicTypes.hpp:27
HealthComponentImpl.hpp
Svc::Enabled
ActiveLogger_Enabled Enabled
Definition: ActiveLoggerImpl.cpp:16
OK
@ OK
Definition: StandardTypes.hpp:15
Svc::HealthImpl::setPingEntries
void setPingEntries(PingEntry *pingEntries, NATIVE_INT_TYPE numPingEntries, U32 watchDogCode)
Set ping entry tables.
Definition: HealthComponentImpl.cpp:45
Svc::HealthImpl::HealthImpl
HealthImpl(const char *const compName)
HealthImpl constructor.
Definition: HealthComponentImpl.cpp:23
FwOpcodeType
#define FwOpcodeType
Type representation for a command opcode.
Definition: FpConfig.hpp:62
Svc::HealthImpl::init
void init(const NATIVE_INT_TYPE queueDepth, const NATIVE_INT_TYPE instance)
HealthImpl initialization function.
Definition: HealthComponentImpl.cpp:39
Svc::HealthImpl::~HealthImpl
~HealthImpl()
Component destructor.
Definition: HealthComponentImpl.cpp:64
Svc::HealthImpl::PingEntry
struct for ping entry
Definition: HealthComponentImpl.hpp:45
FW_ASSERT
#define FW_ASSERT(...)
Definition: Assert.hpp:9
Svc::HealthImpl::doOtherChecks
virtual void doOtherChecks()
additional checks function
Definition: HealthComponentStubChecks.cpp:24
Svc
Definition: ActiveRateGroupCfg.hpp:18
Fw
Definition: SerIds.hpp:20