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Update/cmd sequencer heli #882

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merged 12 commits into from
Aug 12, 2021
Merged

Update/cmd sequencer heli #882

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1fcf137
Merge remote-tracking branch 'nasa/devel' into devel
timcanham Jan 2, 2021
8f1829a
Merge remote-tracking branch 'nasa/devel' into devel
timcanham Jan 12, 2021
f1f8063
Merge remote-tracking branch 'nasa/devel' into devel
timcanham May 4, 2021
bf8f88e
Merge remote-tracking branch 'nasa/devel' into devel
timcanham Jun 15, 2021
a26a85f
Merge branch 'devel' into update/CmdSequencer-Heli
timcanham Jun 15, 2021
a6a5d86
Copy from heli
timcanham Jun 15, 2021
fd1a131
Working on CmdSequencer unit tests
timcanham Jun 29, 2021
14af21c
Fix to add ./bin directory for test files
timcanham Aug 2, 2021
c923ab5
Merge from NASA devel
timcanham Aug 2, 2021
a0c6a29
Spelling and command sequencer integration test update
timcanham Aug 11, 2021
1d3060a
Fix argument spacing for python format check
timcanham Aug 11, 2021
73c0abd
Header/const/name macro updates
timcanham Aug 12, 2021
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2 changes: 1 addition & 1 deletion Ref/test/int/ref_integration_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
)
3,428 changes: 1,821 additions & 1,607 deletions Svc/CmdSequencer/CmdSequencerComponent.mdxml
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7 changes: 6 additions & 1 deletion Svc/CmdSequencer/CmdSequencerComponentAi.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
<?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"?>

<component name="CmdSequencer" kind="active" namespace="Svc" modeler="true">

Expand All @@ -7,6 +8,7 @@
<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>
Expand Down Expand Up @@ -34,6 +36,9 @@
<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>

Expand Down Expand Up @@ -62,4 +67,4 @@
</port>
</ports>

</component>
</component>
62 changes: 56 additions & 6 deletions Svc/CmdSequencer/CmdSequencerImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,15 @@
// \copyright
// Copyright (C) 2009-2018 California Institute of Technology.
// ALL RIGHTS RESERVED. United States Government Sponsorship
// acknowledged.
// acknowledged. Any commercial use must be negotiated with the Office
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Clean up headers:

// Copyright (C) 2009-2018 California Institute of Technology.
// ALL RIGHTS RESERVED.  United States Government Sponsorship
// acknowledged.

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A ton of these updated!

// of Technology Transfer at the California Institute of Technology.
//
// This software may be subject to U.S. export control laws and
// regulations. By accepting this document, the user agrees to comply
// with all U.S. export laws and regulations. User has the
// responsibility to obtain export licenses, or other export authority
// as may be required before exporting such information to foreign
// countries or providing access to foreign persons.
// ======================================================================

#include <Fw/Types/Assert.hpp>
Expand All @@ -26,8 +33,13 @@ namespace Svc {
// ----------------------------------------------------------------------

CmdSequencerComponentImpl::
#if FW_OBJECT_NAMES == 1
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We don't use this check anymore. Just keep line 37-38. We intercept the name at a higher level such that this construct is not needed.

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Okay, remove those. Also in the header file.

CmdSequencerComponentImpl(const char* name) :
CmdSequencerComponentBase(name),
#else
CmdSequencerComponentImpl(void) :
CmdSequencerComponentBase(),
#endif
m_FPrimeSequence(*this),
m_sequence(&this->m_FPrimeSequence),
m_loadCmdCount(0),
Expand All @@ -38,7 +50,10 @@ 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)
{

}
Expand All @@ -60,9 +75,9 @@ namespace Svc {

void CmdSequencerComponentImpl ::
allocateBuffer(
const NATIVE_INT_TYPE identifier,
NATIVE_INT_TYPE identifier,
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I think these inputs should remain const here like they were before. This affects:

NATIVE_INT_TYPE identifier,
...
NATIVE_UINT_TYPE bytes

Should be:

const NATIVE_INT_TYPE identifier,
...
const NATIVE_UINT_TYPE bytes

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const updates added.

Fw::MemAllocator& allocator,
const NATIVE_UINT_TYPE bytes
NATIVE_UINT_TYPE bytes
)
{
this->m_sequence->allocateBuffer(identifier, allocator, bytes);
Expand Down Expand Up @@ -94,13 +109,18 @@ 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);
Expand All @@ -115,7 +135,9 @@ 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(
Expand Down Expand Up @@ -184,6 +206,20 @@ 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) {
Expand Down Expand Up @@ -230,6 +266,11 @@ 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 ::
Expand Down Expand Up @@ -304,6 +345,8 @@ 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());
Expand Down Expand Up @@ -417,6 +460,13 @@ 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) {
Expand Down
43 changes: 33 additions & 10 deletions Svc/CmdSequencer/CmdSequencerImpl.hpp
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Expand Up @@ -6,8 +6,15 @@
// \copyright
// Copyright (C) 2009-2018 California Institute of Technology.
// ALL RIGHTS RESERVED. United States Government Sponsorship
// acknowledged.
// acknowledged. Any commercial use must be negotiated with the Office
// of Technology Transfer at the California Institute of Technology.
//
// This software may be subject to U.S. export control laws and
// regulations. By accepting this document, the user agrees to comply
// with all U.S. export laws and regulations. User has the
// responsibility to obtain export licenses, or other export authority
// as may be required before exporting such information to foreign
// countries or providing access to foreign persons.
// ======================================================================

#ifndef Svc_CmdSequencerImpl_HPP
Expand Down Expand Up @@ -128,14 +135,14 @@ 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:
Expand Down Expand Up @@ -241,9 +248,9 @@ 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
Expand Down Expand Up @@ -539,7 +546,11 @@ namespace Svc {

//! Construct a CmdSequencer
CmdSequencerComponentImpl(
#if FW_OBJECT_NAMES == 1
const char* compName //!< The component name
#else
void
#endif
);

//! Initialize a CmdSequencer
Expand Down Expand Up @@ -567,9 +578,9 @@ namespace Svc {
//! Call this after constructor and init, and after setting
//! the sequence format, but before task is spawned.
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
);

//! (Optional) Load a sequence to run later.
Expand Down Expand Up @@ -618,6 +629,12 @@ 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:

// ----------------------------------------------------------------------
Expand Down Expand Up @@ -649,7 +666,8 @@ 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
Expand Down Expand Up @@ -780,6 +798,11 @@ namespace Svc {
//! timeout timer
Timer m_cmdTimeoutTimer;

//! Block mode for command status
SeqBlkState m_blockState;
FwOpcodeType m_opCode;
U32 m_cmdSeq;

};

};
Expand Down
56 changes: 32 additions & 24 deletions Svc/CmdSequencer/Commands.xml
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@@ -1,37 +1,45 @@
<?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"?>

<!--============ 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>
15 changes: 11 additions & 4 deletions Svc/CmdSequencer/Events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,15 @@
// \copyright
// Copyright (C) 2009-2018 California Institute of Technology.
// ALL RIGHTS RESERVED. United States Government Sponsorship
// acknowledged.
// acknowledged. Any commercial use must be negotiated with the Office
// of Technology Transfer at the California Institute of Technology.
//
// This software may be subject to U.S. export control laws and
// regulations. By accepting this document, the user agrees to comply
// with all U.S. export laws and regulations. User has the
// responsibility to obtain export licenses, or other export authority
// as may be required before exporting such information to foreign
// countries or providing access to foreign persons.
// ======================================================================

#include "Fw/Types/Assert.hpp"
Expand Down Expand Up @@ -148,7 +155,7 @@ 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;
Expand All @@ -162,8 +169,8 @@ 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();
Expand Down
1 change: 1 addition & 0 deletions Svc/CmdSequencer/Events.xml
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@@ -1,4 +1,5 @@
<?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"?>

<!--===== Svc CmdSequencer Events =========== -->

Expand Down
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