Update/cmd sequencer heli

Ref/test/int/ref_integration_test.py

@@ -279,5 +279,5 @@ def test_seqgen(self):
             == 0
         ), "Failed to run fprime-seqgen"
         self.assert_command(
-            "cmdSeq.CS_RUN", args=["/tmp/ref_test_int.bin"], max_delay=5
+            "cmdSeq.CS_RUN", args=["/tmp/ref_test_int.bin", "SEQ_BLOCK"], max_delay=5
         )

Svc/CmdSequencer/CmdSequencerComponentAi.xml

@@ -1,4 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
+<?xml-model href="../../Autocoders/schema/ISF/component_schema.rng" type="application/xml" schematypens="http://relaxng.org/ns/structure/1.0"?>
+
+<!--
+Copyright (C) 2009-2018 California Institute of Technology.
+ALL RIGHTS RESERVED.  United States Government Sponsorship
+acknowledged.
+-->
 
 <component name="CmdSequencer" kind="active" namespace="Svc" modeler="true">
 
@@ -7,6 +14,7 @@
     <import_port_type>Svc/Ping/PingPortAi.xml</import_port_type>
     <import_port_type>Fw/Tlm/TlmPortAi.xml</import_port_type>
     <import_port_type>Fw/Cmd/CmdResponsePortAi.xml</import_port_type>
+    <import_port_type>Svc/Seq/CmdSeqCancelPortAi.xml</import_port_type>
     <import_port_type>Fw/Time/TimePortAi.xml</import_port_type>
     <import_port_type>Fw/Com/ComPortAi.xml</import_port_type>
     <import_port_type>Fw/Cmd/CmdPortAi.xml</import_port_type>
@@ -34,6 +42,9 @@
         <port name="cmdResponseOut" data_type="Fw::CmdResponse"  kind="output" role="CmdResponse"    max_number="1">
         </port>
 
+        <port name="seqCancelIn" data_type="Svc::CmdSeqCancel"  kind="async_input"    max_number="1">
+        </port>
+
         <port name="timeCaller" data_type="Fw::Time"  kind="output" role="TimeGet"    max_number="1">
         </port>
 
@@ -62,4 +73,4 @@
         </port>
     </ports>
 
-</component>
+</component>

Svc/CmdSequencer/CmdSequencerImpl.cpp

@@ -3,12 +3,9 @@
 // \author Bocchino/Canham
 // \brief  cpp file for CmdDispatcherComponentBase component implementation class
 //
-// \copyright
 // Copyright (C) 2009-2018 California Institute of Technology.
 // ALL RIGHTS RESERVED.  United States Government Sponsorship
 // acknowledged.
-//
-// ======================================================================
 
 #include <Fw/Types/Assert.hpp>
 #include <Fw/Types/SerialBuffer.hpp>
@@ -38,7 +35,10 @@ namespace Svc {
         m_executedCount(0),
         m_totalExecutedCount(0),
         m_sequencesCompletedCount(0),
-        m_timeout(0)
+        m_timeout(0),
+        m_blockState(SEQ_NO_BLOCK),
+        m_opCode(0),
+        m_cmdSeq(0)
     {
 
     }
@@ -48,7 +48,7 @@ namespace Svc {
         CmdSequencerComponentBase::init(queueDepth, instance);
     }
 
-    void CmdSequencerComponentImpl::setTimeout(NATIVE_UINT_TYPE timeout) {
+    void CmdSequencerComponentImpl::setTimeout(const NATIVE_UINT_TYPE timeout) {
         this->m_timeout = timeout;
     }
 
@@ -94,13 +94,18 @@ namespace Svc {
     void CmdSequencerComponentImpl::CS_RUN_cmdHandler(
             FwOpcodeType opCode,
             U32 cmdSeq,
-            const Fw::CmdStringArg& fileName) {
+            const Fw::CmdStringArg& fileName,
+            SeqBlkState block) {
 
         if (not this->requireRunMode(STOPPED)) {
             this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_EXECUTION_ERROR);
             return;
         }
 
+        this->m_blockState = block;
+        this->m_cmdSeq = cmdSeq;
+        this->m_opCode = opCode;
+
         // load commands
         if (not this->loadFile(fileName)) {
             this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_EXECUTION_ERROR);
@@ -115,7 +120,9 @@ namespace Svc {
             this->performCmd_Step();
         }
 
-        this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_OK);
+        if (SEQ_NO_BLOCK == this->m_blockState) {
+            this->cmdResponse_out(opCode, cmdSeq, Fw::COMMAND_OK);
+        }
     }
 
     void CmdSequencerComponentImpl::CS_VALIDATE_cmdHandler(
@@ -184,6 +191,20 @@ namespace Svc {
         this->log_ACTIVITY_HI_CS_PortSequenceStarted(this->m_sequence->getLogFileName());
     }
 
+    void CmdSequencerComponentImpl ::
+      seqCancelIn_handler(
+          const NATIVE_INT_TYPE portNum
+      ) {
+        if (RUNNING == this->m_runMode) {
+            this->performCmd_Cancel();
+            this->log_ACTIVITY_HI_CS_SequenceCanceled(this->m_sequence->getLogFileName());
+            ++this->m_cancelCmdCount;
+            this->tlmWrite_CS_CancelCommands(this->m_cancelCmdCount);
+        } else {
+            this->log_WARNING_LO_CS_NoSequenceActive();
+        }
+    }
+
     void CmdSequencerComponentImpl::CS_CANCEL_cmdHandler(
     FwOpcodeType opCode, U32 cmdSeq) {
         if (RUNNING == this->m_runMode) {
@@ -230,6 +251,11 @@ namespace Svc {
             this->seqDone_out(0,0,0,Fw::COMMAND_EXECUTION_ERROR);
         }
 
+        if (SEQ_BLOCK == this->m_blockState) {
+            this->cmdResponse_out(this->m_opCode, this->m_cmdSeq, Fw::COMMAND_EXECUTION_ERROR);
+        }
+
+        this->m_blockState = SEQ_NO_BLOCK;
     }
 
     void CmdSequencerComponentImpl ::
@@ -304,6 +330,8 @@ namespace Svc {
             this->cmdResponse_out(opcode, cmdSeq, Fw::COMMAND_EXECUTION_ERROR);
             return;
         }
+
+        this->m_blockState = SEQ_NO_BLOCK;
         this->m_runMode = RUNNING;
         this->performCmd_Step();
         this->log_ACTIVITY_HI_CS_CmdStarted(this->m_sequence->getLogFileName());
@@ -417,6 +445,13 @@ namespace Svc {
         if (this->isConnected_seqDone_OutputPort(0)) {
             this->seqDone_out(0,0,0,Fw::COMMAND_OK);
         }
+
+        if (SEQ_BLOCK == this->m_blockState) {
+            this->cmdResponse_out(this->m_opCode, this->m_cmdSeq, Fw::COMMAND_OK);
+        }
+
+        this->m_blockState = SEQ_NO_BLOCK;
+
     }
 
     void CmdSequencerComponentImpl::commandComplete(const U32 opcode) {

Svc/CmdSequencer/CmdSequencerImpl.hpp

@@ -3,12 +3,9 @@
 // \author Bocchino/Canham
 // \brief  hpp file for CmdSequencer component implementation class
 //
-// \copyright
 // Copyright (C) 2009-2018 California Institute of Technology.
 // ALL RIGHTS RESERVED.  United States Government Sponsorship
 // acknowledged.
-// 
-// ====================================================================== 
 
 #ifndef Svc_CmdSequencerImpl_HPP
 #define Svc_CmdSequencerImpl_HPP
@@ -128,14 +125,14 @@ namespace Svc {
 
               //! Time base mismatch
               void timeBaseMismatch(
-                  const FwTimeBaseStoreType currTimeBase, //!< The current time base
-                  const FwTimeBaseStoreType seqTimeBase //!< The sequence file time base
+                  const U32 currTimeBase, //!< The current time base
+                  const U32 seqTimeBase //!< The sequence file time base
               );
 
               //! Time context mismatch
               void timeContextMismatch(
-                  const FwTimeContextStoreType currTimeContext, //!< The current time context
-                  const FwTimeContextStoreType seqTimeContext //!< The sequence file time context
+                  const U32 currTimeContext, //!< The current time context
+                  const U32 seqTimeContext //!< The sequence file time context
               );
 
             PRIVATE:
@@ -241,9 +238,9 @@ namespace Svc {
 
           //! Give the sequence representation a memory buffer
           void allocateBuffer(
-              const NATIVE_INT_TYPE identifier, //!< The identifier
+              NATIVE_INT_TYPE identifier, //!< The identifier
               Fw::MemAllocator& allocator, //!< The allocator
-              const NATIVE_UINT_TYPE bytes //!< The number of bytes
+              NATIVE_UINT_TYPE bytes //!< The number of bytes
           );
 
           //! Deallocate the buffer
@@ -552,7 +549,7 @@ namespace Svc {
       //! Sequence will quit if a command takes longer than the number of
       //! seconds in the timeout value.
       void setTimeout(
-          NATIVE_UINT_TYPE seconds //!< The number of seconds
+          const NATIVE_UINT_TYPE seconds //!< The number of seconds
       );
 
       //! (Optional) Set the sequence format.
@@ -618,6 +615,12 @@ namespace Svc {
           U32 key //!< Value to return to pinger
       );
 
+      //! Handler implementation for seqCancelIn
+      //!
+      void seqCancelIn_handler(
+          const NATIVE_INT_TYPE portNum /*!< The port number*/
+      );
+
     PRIVATE:
 
       // ----------------------------------------------------------------------
@@ -649,7 +652,8 @@ namespace Svc {
       void CS_RUN_cmdHandler(
           FwOpcodeType opCode, //!< The opcode
           U32 cmdSeq, //!< The command sequence number
-          const Fw::CmdStringArg& fileName //!< The file name
+          const Fw::CmdStringArg& fileName, //!< The file name
+          SeqBlkState block /*!< Return command status when complete or not*/
       );
 
       //! Handler for command CS_START
@@ -780,6 +784,11 @@ namespace Svc {
       //! timeout timer
       Timer m_cmdTimeoutTimer;
 
+      //! Block mode for command status
+      SeqBlkState m_blockState;
+      FwOpcodeType m_opCode;
+      U32 m_cmdSeq;
+
   };
 
 };

Svc/CmdSequencer/Commands.xml

@@ -1,37 +1,51 @@
 <?xml version="1.0" encoding="UTF-8"?>
+<?xml-model href="../../Autocoders/schema/ISF/command_schema.rng" type="application/xml" schematypens="http://relaxng.org/ns/structure/1.0"?>
+
+<!--
+Copyright (C) 2009-2018 California Institute of Technology.
+ALL RIGHTS RESERVED.  United States Government Sponsorship
+acknowledged.
+-->
 
 <!--============ CmdSequencer Commands =================================== -->
 
 <commands>
-    <command kind="async" opcode="0" mnemonic="CS_RUN">
-        <comment>Run a command sequence file</comment>
-        <args>
-            <arg type="string" name="fileName" size="240">
-                <comment>The name of the sequence file</comment>
-            </arg>
-        </args>
-    </command>
+	<command kind="async" opcode="0" mnemonic="CS_RUN">
+		<comment>Run a command sequence file</comment>
+		<args>
+			<arg type="string" name="fileName" size="100">
+				<comment>The name of the sequence file</comment>
+			</arg>
+			<arg type="ENUM" name="block">
+				<comment>Return command status when complete or not</comment>
+				<enum name="SeqBlkState">
+					<item name="SEQ_BLOCK"/>
+					<item name="SEQ_NO_BLOCK"/>
+				</enum>
+			</arg>
+		</args>
+	</command>
     <command kind="async" opcode="1" mnemonic="CS_VALIDATE">
         <comment>Validate a command sequence file</comment>
         <args>
-            <arg type="string" name="fileName" size="240">
+            <arg type="string" name="fileName" size="100">
                 <comment>The name of the sequence file</comment>
             </arg>
         </args>
     </command>
-    <command kind="async" opcode="2" mnemonic="CS_CANCEL">
-        <comment>Cancel a command sequence</comment>
-    </command>
-    <command kind="async" opcode="3" mnemonic="CS_START">
-        <comment>Start running a command sequence</comment>
-    </command>
-    <command kind="async" opcode="4" mnemonic="CS_STEP">
-        <comment>Perform one step in a command sequence. Valid only if CmdSequencer is in MANUAL run mode.</comment>
-    </command>
-    <command kind="async" opcode="5" mnemonic="CS_AUTO">
-        <comment>Set the run mode to AUTO.</comment>
-    </command>
-    <command kind="async" opcode="6" mnemonic="CS_MANUAL">
-        <comment>Set the run mode to MANUAL.</comment>
-    </command>
+	<command kind="async" opcode="2" mnemonic="CS_CANCEL">
+		<comment>Cancel a command sequence</comment>
+	</command>
+	<command kind="async" opcode="3" mnemonic="CS_START">
+		<comment>Start running a command sequence</comment>
+	</command>
+	<command kind="async" opcode="4" mnemonic="CS_STEP">
+		<comment>Perform one step in a command sequence. Valid only if CmdSequencer is in MANUAL run mode.</comment>
+	</command>
+	<command kind="async" opcode="5" mnemonic="CS_AUTO">
+		<comment>Set the run mode to AUTO.</comment>
+	</command>
+	<command kind="async" opcode="6" mnemonic="CS_MANUAL">
+		<comment>Set the run mode to MANUAL.</comment>
+	</command>
 </commands>

Svc/CmdSequencer/Events.cpp

@@ -3,12 +3,9 @@
 // \author Bocchino
 // \brief  Implementation for CmdSequencerComponentImpl::Sequence::Events
 //
-// \copyright
 // Copyright (C) 2009-2018 California Institute of Technology.
 // ALL RIGHTS RESERVED.  United States Government Sponsorship
 // acknowledged.
-// 
-// ====================================================================== 
 
 #include "Fw/Types/Assert.hpp"
 #include "Svc/CmdSequencer/CmdSequencerImpl.hpp"
@@ -148,7 +145,7 @@ namespace Svc {
   }
 
   void CmdSequencerComponentImpl::Sequence::Events ::
-    timeBaseMismatch(const FwTimeBaseStoreType currTimeBase, const FwTimeBaseStoreType seqTimeBase)
+    timeBaseMismatch(const U32 currTimeBase, const U32 seqTimeBase)
   {
     Fw::LogStringArg& logFileName = this->m_sequence.getLogFileName();
     CmdSequencerComponentImpl& component = this->m_sequence.m_component;
@@ -162,8 +159,8 @@ namespace Svc {
 
   void CmdSequencerComponentImpl::Sequence::Events ::
     timeContextMismatch(
-        const FwTimeContextStoreType currTimeContext,
-        const FwTimeContextStoreType seqTimeContext
+        const U32 currTimeContext,
+        const U32 seqTimeContext
     )
   {
     Fw::LogStringArg& logFileName = this->m_sequence.getLogFileName();

Svc/CmdSequencer/Events.xml

@@ -1,4 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
+<?xml-model href="../../Autocoders/schema/ISF/event_schema.rng" type="application/xml" schematypens="http://relaxng.org/ns/structure/1.0"?>
+
+<!--
+Copyright (C) 2009-2018 California Institute of Technology.
+ALL RIGHTS RESERVED.  United States Government Sponsorship
+acknowledged.
+-->
 
 <!--===== Svc CmdSequencer Events =========== -->
 

Svc/CmdSequencer/FPrimeSequence.cpp

@@ -3,12 +3,9 @@
 // \author Bocchino/Canham
 // \brief  CmdSequencerComponentImpl::FPrimeSequence implementation
 //
-// \copyright
 // Copyright (C) 2009-2018 California Institute of Technology.
 // ALL RIGHTS RESERVED.  United States Government Sponsorship
 // acknowledged.
-// 
-// ====================================================================== 
 
 #include "Fw/Types/Assert.hpp"
 #include "Svc/CmdSequencer/CmdSequencerImpl.hpp"