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wfjm.w11/tools/src/librlink/RlinkConnect.cpp
Walter F.J. Mueller d7aa4966bf use Rtime; handle auxilliary devices; ModLalh() 
- use Rtime; drop Rtools::TimeOfDayAsDouble()
- probe/setup auxilliary devices: kw11l,kw11p,iist
- librw11/Rw11Cpu: add ModLalh()
2017-02-26 15:06:09 +01:00

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// $Id: RlinkConnect.cpp 854 2017-02-25 14:46:03Z mueller $
//
// Copyright 2011-2017 by Walter F.J. Mueller <W.F.J.Mueller@gsi.de>
//
// This program is free software; you may redistribute and/or modify it under
// the terms of the GNU General Public License as published by the Free
// Software Foundation, either version 2, or at your option any later version.
//
// This program is distributed in the hope that it will be useful, but
// WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY
// or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
// for complete details.
//
// Revision History:
// Date Rev Version Comment
// 2017-02-20 854 2.6 use Rtime, drop TimeOfDayAsDouble
// 2016-04-02 758 2.5 add USR_ACCESS register support (RLUA0/RLUA1)
// 2016-03-20 748 2.4 add fTimeout,(Set)Timeout();
// 2015-05-10 678 2.3.1 WaitAttn(): BUGFIX: return 0. (not -1.) if poll
// 2015-04-12 666 2.3 add LinkInit,LinkInitDone; transfer xon
// 2015-04-02 661 2.2 expect logic: stat expect in Command, invert mask
// 2015-01-06 631 2.1 full rlink v4 implementation
// 2014-12-10 611 2.0 re-organize for rlink v4
// 2014-08-26 587 1.5 start accept rlink v4 protocol (partially...)
// 2014-08-15 583 1.4 rb_mreq addr now 16 bit
// 2014-07-27 575 1.3.3 ExecPart(): increase packet tout from 5 to 15 sec
// 2013-04-21 509 1.3.2 add SndAttn() method
// 2013-03-01 493 1.3.1 add Server(Active..|SignalAttn)() methods
// 2013-02-23 492 1.3 use scoped_ptr for Port; Close allways allowed
// use RlinkContext, add Context(), Exec(..., cntx)
// 2013-02-22 491 1.2 use new RlogFile/RlogMsg interfaces
// 2013-02-03 481 1.1.2 use Rexception
// 2013-01-13 474 1.1.1 add PollAttn() method
// 2011-04-25 380 1.1 use boost::(mutex&lock), implement Lockable IF
// 2011-04-22 379 1.0.1 add Lock(), Unlock(), lock connect in Exec()
// 2011-04-02 375 1.0 Initial version
// 2011-01-15 356 0.1 First draft
// ---------------------------------------------------------------------------
/*!
\file
\version $Id: RlinkConnect.cpp 854 2017-02-25 14:46:03Z mueller $
\brief Implemenation of RlinkConnect.
*/
#include <iostream>
#include "boost/thread/locks.hpp"
#include "RlinkPortFactory.hpp"
#include "librtools/RosFill.hpp"
#include "librtools/RosPrintf.hpp"
#include "librtools/RosPrintBvi.hpp"
#include "librtools/Rtools.hpp"
#include "librtools/Rexception.hpp"
#include "librtools/RlogMsg.hpp"
#include "RlinkServer.hpp"
#include "RlinkConnect.hpp"
using namespace std;
/*!
\class Retro::RlinkConnect
\brief FIXME_docs
*/
// all method definitions in namespace Retro
namespace Retro {
//------------------------------------------+-----------------------------------
// constants definitions
const uint16_t RlinkConnect::kRbaddr_RLCNTL;
const uint16_t RlinkConnect::kRbaddr_RLSTAT;
const uint16_t RlinkConnect::kRbaddr_RLID1;
const uint16_t RlinkConnect::kRbaddr_RLID0;
const uint16_t RlinkConnect::kRbaddr_RLUA1;
const uint16_t RlinkConnect::kRbaddr_RLUA0;
const uint16_t RlinkConnect::kRLCNTL_M_AnEna;
const uint16_t RlinkConnect::kRLCNTL_M_AtoEna;
const uint16_t RlinkConnect::kRLCNTL_M_AtoVal;
const uint16_t RlinkConnect::kRLSTAT_V_LCmd;
const uint16_t RlinkConnect::kRLSTAT_B_LCmd;
const uint16_t RlinkConnect::kRLSTAT_M_BAbo;
const uint16_t RlinkConnect::kRLSTAT_M_RBSize;
const uint16_t RlinkConnect::kSBCNTL_V_RLMON;
const uint16_t RlinkConnect::kSBCNTL_V_RLBMON;
const uint16_t RlinkConnect::kSBCNTL_V_RBMON;
const uint16_t RlinkConnect::kRbufBlkDelta;
const uint16_t RlinkConnect::kRbufPrudentDelta;
//------------------------------------------+-----------------------------------
//! Default constructor
RlinkConnect::RlinkConnect()
: fpPort(),
fLinkInitDeferred(false),
fLinkInitDone(false),
fpServ(nullptr),
fSndPkt(),
fRcvPkt(),
fContext(),
fAddrMap(),
fStats(),
fLogBaseAddr(16), // addr default radix: hex
fLogBaseData(16), // data default radix: hex
fLogBaseStat(16), // stat default radix: hex
fPrintLevel(2), // default print: error and checks
fDumpLevel(0), // default dump: no
fTraceLevel(0), // default trace: no
fTimeout(10.), // default timeout: 10 sec
fspLog(new RlogFile(&cout)),
fConnectMutex(),
fAttnNotiPatt(0),
fTsLastAttnNoti(),
fSysId(0xffffffff),
fUsrAcc(0x00000000),
fRbufSize(2048)
{
for (size_t i=0; i<8; i++) fSeqNumber[i] = 0;
fContext.SetStatus(0, RlinkCommand::kStat_M_RbTout |
RlinkCommand::kStat_M_RbNak |
RlinkCommand::kStat_M_RbErr);
// Statistic setup
fStats.Define(kStatNExec, "NExec", "Exec() calls");
fStats.Define(kStatNExecPart, "NExecPart", "ExecPart() calls");
fStats.Define(kStatNCmd, "NCmd", "commands executed");
fStats.Define(kStatNRreg, "NRreg", "rreg commands");
fStats.Define(kStatNRblk, "NRblk", "rblk commands");
fStats.Define(kStatNWreg, "NWreg", "wreg commands");
fStats.Define(kStatNWblk, "NWblk", "wblk commands");
fStats.Define(kStatNLabo, "NLabo", "labo commands");
fStats.Define(kStatNAttn, "NAttn", "attn commands");
fStats.Define(kStatNInit, "NInit", "init commands");
fStats.Define(kStatNRblkWord, "NRblkWord", "words rcvd with rblk");
fStats.Define(kStatNWblkWord, "NWblkWord", "words send with wblk");
fStats.Define(kStatNExpData, "NExpData", "expect for data defined");
fStats.Define(kStatNExpDone, "NExpDone", "expect for done defined");
fStats.Define(kStatNExpStat, "NExpStat", "expect for stat explicit");
fStats.Define(kStatNNoExpStat,"NNoExpStat","no expect for stat");
fStats.Define(kStatNChkData, "NChkData", "expect data failed");
fStats.Define(kStatNChkDone, "NChkDone", "expect done failed");
fStats.Define(kStatNChkStat, "NChkStat", "expect stat failed");
fStats.Define(kStatNSndOob, "NSndOob", "SndOob() calls");
fStats.Define(kStatNErrMiss, "NErrMiss", "decode: missing data");
fStats.Define(kStatNErrCmd, "NErrCmd", "decode: command mismatch");
fStats.Define(kStatNErrLen, "NErrLen", "decode: length mismatch");
fStats.Define(kStatNErrCrc, "NErrCrc", "decode: crc mismatch");
}
//------------------------------------------+-----------------------------------
//! Destructor
RlinkConnect::~RlinkConnect()
{
Close();
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::Open(const std::string& name, RerrMsg& emsg)
{
Close();
fpPort.reset(RlinkPortFactory::Open(name, emsg));
if (!fpPort) return false;
fSndPkt.SetXonEscape(fpPort->XonEnable()); // transfer XON enable
fpPort->SetLogFile(fspLog);
fpPort->SetTraceLevel(fTraceLevel);
fLinkInitDone = false;
fRbufSize = 2048; // use minimum (2kB) as startup
fSysId = 0xffffffff;
fUsrAcc = 0x00000000;
if (! fpPort->Url().FindOpt("noinit")) {
if (!LinkInit(emsg)) {
Close();
return false;
}
}
return true;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::Close()
{
if (!fpPort) return;
if (fpServ) fpServ->Stop(); // stop server in case still running
if (fpPort->Url().FindOpt("keep")) {
RerrMsg emsg;
fSndPkt.SndKeep(fpPort.get(), emsg);
}
fpPort.reset();
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::LinkInit(RerrMsg& emsg)
{
if (fLinkInitDone) return true;
RlinkCommandList clist;
clist.AddRreg(kRbaddr_RLSTAT);
clist.AddRreg(kRbaddr_RLID1);
clist.AddRreg(kRbaddr_RLID0);
// RLUA0/1 are optional registers, available for 7Series and higher
clist.AddRreg(kRbaddr_RLUA1);
clist.SetLastExpectStatus(0,0); // disable stat check
clist.AddRreg(kRbaddr_RLUA0);
clist.SetLastExpectStatus(0,0); // disable stat check
if (!Exec(clist, emsg)) return false;
fLinkInitDone = true;
// handle rlink core registers: setup mappings, keep data
AddrMapInsert("rl.cntl", kRbaddr_RLCNTL);
AddrMapInsert("rl.stat", kRbaddr_RLSTAT);
AddrMapInsert("rl.id1", kRbaddr_RLID1);
AddrMapInsert("rl.id0", kRbaddr_RLID0);
uint16_t rlstat = clist[0].Data();
uint16_t rlid1 = clist[1].Data();
uint16_t rlid0 = clist[2].Data();
fRbufSize = size_t(1) << (10 + (rlstat & kRLSTAT_M_RBSize));
fSysId = uint32_t(rlid1)<<16 | uint32_t(rlid0);
// handle rlink optional registers: USR_ACCESS
const uint8_t staterr = RlinkCommand::kStat_M_RbTout |
RlinkCommand::kStat_M_RbNak |
RlinkCommand::kStat_M_RbErr;
if ((clist[3].Status() & staterr) == 0 && // RLUA1 ok
(clist[4].Status() & staterr) == 0) { // RLUA0 ok
AddrMapInsert("rl.ua1", kRbaddr_RLUA1);
AddrMapInsert("rl.ua0", kRbaddr_RLUA0);
uint16_t rlua1 = clist[3].Data();
uint16_t rlua0 = clist[4].Data();
fUsrAcc = uint32_t(rlua1)<<16 | uint32_t(rlua0);
}
return true;
}
//------------------------------------------+-----------------------------------
//! Indicates whether server is active.
/*!
\returns \c true if server active.
*/
bool RlinkConnect::ServerActive() const
{
return fpServ && fpServ->IsActive();
}
//------------------------------------------+-----------------------------------
//! Indicates whether server is active and caller is inside server thread.
/*!
\returns \c true if server active and method is called from server thread.
*/
bool RlinkConnect::ServerActiveInside() const
{
return fpServ && fpServ->IsActiveInside();
}
//------------------------------------------+-----------------------------------
//! Indicates whether server is active and caller is outside server thread.
/*!
\returns \c true if server active and method is called from a thread
other than the server thread.
*/
bool RlinkConnect::ServerActiveOutside() const
{
return fpServ && fpServ->IsActiveOutside();
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::lock()
{
fConnectMutex.lock();
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::try_lock()
{
return fConnectMutex.try_lock();
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::unlock()
{
fConnectMutex.unlock();
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::Exec(RlinkCommandList& clist, RlinkContext& cntx,
RerrMsg& emsg)
{
if (clist.Size() == 0)
throw Rexception("RlinkConnect::Exec()", "Bad state: clist empty");
if (! IsOpen())
throw Rexception("RlinkConnect::Exec()", "Bad state: port not open");
boost::lock_guard<RlinkConnect> lock(*this);
fStats.Inc(kStatNExec);
clist.ClearLaboIndex();
uint8_t defstatval = cntx.StatusValue();
uint8_t defstatmsk = cntx.StatusMask();
size_t size = clist.Size();
for (size_t i=0; i<size; i++) {
RlinkCommand& cmd = clist[i];
if (!cmd.TestFlagAny(RlinkCommand::kFlagInit))
throw Rexception("RlinkConnect::Exec()",
"BugCheck: command not initialized");
if (cmd.Command() > RlinkCommand::kCmdInit)
throw Rexception("RlinkConnect::Exec()",
"BugCheck: invalid command code");
// trap attn command when server running and outside server thread
if (cmd.Command() == RlinkCommand::kCmdAttn && ServerActiveOutside())
throw Rexception("RlinkConnect::Exec()",
"attn command not allowed outside active server");
cmd.ClearFlagBit(RlinkCommand::kFlagSend |
RlinkCommand::kFlagDone |
RlinkCommand::kFlagLabo |
RlinkCommand::kFlagPktBeg |
RlinkCommand::kFlagPktEnd |
RlinkCommand::kFlagErrNak |
RlinkCommand::kFlagErrDec);
// setup default status check unless explicit check defined
if (!cmd.ExpectStatusSet()) {
cmd.SetExpectStatusDefault(defstatval, defstatmsk);
}
}
// old split volative logic. Currently dormant
// may be later used for rtbuf size prot
#ifdef NEVER
while (ibeg < size) {
size_t iend = ibeg;
for (size_t i=ibeg; i<size; i++) {
iend = i;
if (clist[i].TestFlagAll(RlinkCommand::kFlagVol)) {
fStats.Inc(kStatNSplitVol);
break;
}
}
bool rc = ExecPart(clist, ibeg, iend, emsg);
if (!rc) return rc;
ibeg = iend+1;
}
#endif
bool rc = ExecPart(clist, 0, size-1, emsg);
if (!rc) return rc;
bool checkseen = false;
bool errorseen = false;
for (size_t i=0; i<size; i++) {
RlinkCommand& cmd = clist[i];
bool checkfound = cmd.TestFlagAny(RlinkCommand::kFlagChkStat |
RlinkCommand::kFlagChkData |
RlinkCommand::kFlagChkDone);
bool errorfound = cmd.TestFlagAny(RlinkCommand::kFlagErrNak |
RlinkCommand::kFlagErrDec);
checkseen |= checkfound;
errorseen |= errorfound;
if (checkfound | errorfound) cntx.IncErrorCount();
}
size_t loglevel = 3;
if (checkseen) loglevel = 2;
if (errorseen) loglevel = 1;
if (loglevel <= fPrintLevel) {
RlogMsg lmsg(*fspLog);
clist.Print(lmsg(), &AddrMap(), fLogBaseAddr, fLogBaseData, fLogBaseStat);
}
if (loglevel <= fDumpLevel) {
RlogMsg lmsg(*fspLog);
clist.Dump(lmsg(), 0);
}
return true;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::Exec(RlinkCommandList& clist, RlinkContext& cntx)
{
RerrMsg emsg;
bool rc = Exec(clist, cntx, emsg);
if (!rc) {
RlogMsg lmsg(*fspLog, 'F');
lmsg << emsg << endl;
lmsg << "Dump of failed clist:" << endl;
clist.Dump(lmsg(), 0);
}
if (!rc)
throw Rexception("RlinkConnect::Exec", "Exec() failed: ", emsg);
return;
}
//------------------------------------------+-----------------------------------
//! Wait for an attention notify.
/*!
First checks whether there are received and not yet harvested notifies.
In that case the cummulative pattern of these pending notifies is returned
in \a apat, and a 0 return value.
If a positive \a timeout is specified the method waits this long for a
valid and non-zero attention notify.
\param timeout maximal time to wait. Must be non-negative.
A zero \a timeout can be used to only harvest pending
notifies without waiting for new ones.
\param[out] twait wait time
\param[out] apat cummulative attention pattern
\param[out] emsg contains error description (mainly from port layer)
\returns >=0 on success or a negative value indicating an error:
- 0 if there was already a received and not yet harvested notify
- 1 finite duration wait
- -1 indicates timeout (\a apat will be 0)
- -2 indicates port IO error (\a emsg will contain information)
\throws Rexception if called outside of an active server
\pre ServerActiveOutside() must be \c false.
*/
int RlinkConnect::WaitAttn(const Rtime& timeout, Rtime& twait,
uint16_t& apat, RerrMsg& emsg)
{
if (ServerActiveOutside())
throw Rexception("RlinkConnect::WaitAttn()",
"not allowed outside active server");
apat = 0;
twait.Clear();
boost::lock_guard<RlinkConnect> lock(*this);
// harvest pending notifiers
if (fAttnNotiPatt != 0) {
apat = fAttnNotiPatt;
fAttnNotiPatt = 0;
return 0;
}
// quit if poll only (zero timeout)
if (!timeout.IsPositive()) return 0;
// wait for new notifier
Rtime tnow(CLOCK_MONOTONIC);
Rtime tend = tnow + timeout;
Rtime tbeg = tnow;
while (tnow < tend) {
int irc = fRcvPkt.ReadData(fpPort.get(), tend-tnow, emsg);
if (irc == RlinkPort::kTout) return -1;
if (irc == RlinkPort::kErr) return -2;
tnow.GetClock(CLOCK_MONOTONIC);
while (fRcvPkt.ProcessData()) {
int irc = fRcvPkt.PacketState();
if (irc == RlinkPacketBufRcv::kPktPend) break;
if (irc == RlinkPacketBufRcv::kPktAttn) {
ProcessAttnNotify();
if (fAttnNotiPatt != 0) {
apat = fAttnNotiPatt;
fAttnNotiPatt = 0;
twait = tnow - tbeg;
return 1;
}
} else {
RlogMsg lmsg(*fspLog, 'E');
lmsg << "WaitAttn: dropped spurious packet";
fRcvPkt.AcceptPacket();
}
} // while (fRcvPkt.ProcessData())
} // while (tnow < tend)
return -1;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::SndOob(uint16_t addr, uint16_t data, RerrMsg& emsg)
{
boost::lock_guard<RlinkConnect> lock(*this);
fStats.Inc(kStatNSndOob);
return fSndPkt.SndOob(fpPort.get(), addr, data, emsg);
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::SndAttn(RerrMsg& emsg)
{
boost::lock_guard<RlinkConnect> lock(*this);
return fSndPkt.SndAttn(fpPort.get(), emsg);
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetLogBaseAddr(uint32_t base)
{
if (base!=2 && base!=8 && base!=16)
throw Rexception("RlinkConnect::SetLogBaseAddr()",
"Bad args: base != 2,8,16");
fLogBaseAddr = base;
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetLogBaseData(uint32_t base)
{
if (base!=2 && base!=8 && base!=16)
throw Rexception("RlinkConnect::SetLogBaseData()",
"Bad args: base != 2,8,16");
fLogBaseData = base;
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetLogBaseStat(uint32_t base)
{
if (base!=2 && base!=8 && base!=16)
throw Rexception("RlinkConnect::SetLogBaseStat()",
"Bad args: base != 2,8,16");
fLogBaseStat = base;
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetPrintLevel(uint32_t lvl)
{
fPrintLevel = lvl;
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetDumpLevel(uint32_t lvl)
{
fDumpLevel = lvl;
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetTraceLevel(uint32_t lvl)
{
fTraceLevel = lvl;
if (fpPort) fpPort->SetTraceLevel(lvl);
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetTimeout(const Rtime& timeout)
{
if (!timeout.IsPositive())
throw Rexception("RlinkConnect::SetTimeout()",
"Bad args: timeout <= 0");
fTimeout = timeout;
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::LogOpen(const std::string& name, RerrMsg& emsg)
{
if (!fspLog->Open(name, emsg)) {
fspLog->UseStream(&cout);
return false;
}
return true;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::LogUseStream(std::ostream* pstr, const std::string& name)
{
fspLog->UseStream(pstr, name);
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::SetLogFileName(const std::string& name)
{
RerrMsg emsg;
if (!LogOpen(name, emsg)) {
throw Rexception("RlinkConnect::SetLogFile",
emsg.Text() + "', using stdout");
}
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::Print(std::ostream& os) const
{
os << "RlinkConnect::Print(std::ostream& os)" << endl;
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::Dump(std::ostream& os, int ind, const char* text) const
{
RosFill bl(ind);
os << bl << (text?text:"--") << "RlinkConnect @ " << this << endl;
if (fpPort) {
fpPort->Dump(os, ind+2, "fpPort: ");
} else {
os << bl << " fpPort: " << fpPort.get() << endl;
}
os << bl << " fLinkInitDone: " << fLinkInitDone << endl;
os << bl << " fpServ: " << fpServ << endl;
os << bl << " fSeqNumber: ";
for (size_t i=0; i<8; i++) os << RosPrintBvi(fSeqNumber[i],16) << " ";
os << endl;
fSndPkt.Dump(os, ind+2, "fSndPkt: ");
fRcvPkt.Dump(os, ind+2, "fRcvPkt: ");
fContext.Dump(os, ind+2, "fContext: ");
fAddrMap.Dump(os, ind+2, "fAddrMap: ");
fStats.Dump(os, ind+2, "fStats: ");
os << bl << " fLogBaseAddr: " << fLogBaseAddr << endl;
os << bl << " fLogBaseData: " << fLogBaseData << endl;
os << bl << " fLogBaseStat: " << fLogBaseStat << endl;
os << bl << " fPrintLevel: " << fPrintLevel << endl;
os << bl << " fDumpLevel " << fDumpLevel << endl;
os << bl << " fTraceLevel " << fTraceLevel << endl;
fspLog->Dump(os, ind+2, "fspLog: ");
os << bl << " fAttnNotiPatt: " << RosPrintBvi(fAttnNotiPatt,16) << endl;
os << bl << " fTsLastAttnNoti: " << fTsLastAttnNoti << endl;
os << bl << " fSysId: " << RosPrintBvi(fSysId,16) << endl;
os << bl << " fUsrAcc: " << RosPrintBvi(fUsrAcc,16) << endl;
os << bl << " fRbufSize: " << RosPrintf(fRbufSize,"d",6) << endl;
return;
}
//------------------------------------------+-----------------------------------
//! Handle unsolicited data from port.
/*!
Called by RlinkServer to process unsolicited input data. Will read all
pending data from input port and process it with ProcessUnsolicitedData().
\throws Rexception if not called from inside of an active server
\pre ServerActiveInside() must be \c true.
*/
void RlinkConnect::HandleUnsolicitedData()
{
if (!ServerActiveInside())
throw Rexception("RlinkConnect::HandleUnsolicitedData()",
"only allowed inside active server");
boost::lock_guard<RlinkConnect> lock(*this);
RerrMsg emsg;
int irc = fRcvPkt.ReadData(fpPort.get(), Rtime(), emsg);
if (irc == 0) return;
if (irc < 0) {
RlogMsg lmsg(*fspLog, 'E');
lmsg << "HandleUnsolicitedData: IO error: " << emsg;
}
ProcessUnsolicitedData();
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
bool RlinkConnect::ExecPart(RlinkCommandList& clist, size_t ibeg, size_t iend,
RerrMsg& emsg)
{
if (ibeg>iend || iend>=clist.Size())
throw Rexception("RlinkConnect::ExecPart()",
"Bad args: ibeg or iend invalid");
if (!IsOpen())
throw Rexception("RlinkConnect::ExecPart()","Bad state: port not open");
fStats.Inc(kStatNExecPart);
EncodeRequest(clist, ibeg, iend);
// FIXME_code: handle send fail properly;
if (!fSndPkt.SndPacket(fpPort.get(), emsg)) return false;
// FIXME_code: handle recoveries
// FIXME_code: use proper value for timeout (rest time for Exec ?)
bool ok = ReadResponse(fTimeout, emsg);
if (!ok) Rexception("RlinkConnect::ExecPart()","faulty response");
int ncmd = DecodeResponse(clist, ibeg, iend);
if (ncmd != int(iend-ibeg+1)) {
clist.Dump(cout);
throw Rexception("RlinkConnect::ExecPart()","incomplete response");
}
AcceptResponse();
return true;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
void RlinkConnect::EncodeRequest(RlinkCommandList& clist, size_t ibeg,
size_t iend)
{
fSndPkt.Init();
for (size_t i=ibeg; i<=iend; i++) {
RlinkCommand& cmd = clist[i];
uint8_t ccode = cmd.Command();
size_t ndata = cmd.BlockSize();
uint16_t* pdata = cmd.BlockPointer();
fStats.Inc(kStatNCmd);
cmd.SetSeqNumber(fSeqNumber[ccode]++);
cmd.ClearFlagBit(RlinkCommand::kFlagPktBeg | RlinkCommand::kFlagPktEnd);
fSndPkt.PutWithCrc(cmd.Request());
switch (ccode) {
case RlinkCommand::kCmdRreg: // rreg command ---------------
fStats.Inc(kStatNRreg);
cmd.SetRcvSize(1+2+1+2); // rcv: cmd+data+stat+crc
fSndPkt.PutWithCrc(cmd.Address());
break;
case RlinkCommand::kCmdRblk: // rblk command ---------------
fStats.Inc(kStatNRblk);
fStats.Inc(kStatNRblkWord, (double) ndata);
cmd.SetRcvSize(1+2+2*ndata+2+1+2); // rcv: cmd+cnt+n*data+dcnt+stat+crc
fSndPkt.PutWithCrc(cmd.Address());
fSndPkt.PutWithCrc((uint16_t)ndata);
break;
case RlinkCommand::kCmdWreg: // wreg command ---------------
fStats.Inc(kStatNWreg);
cmd.SetRcvSize(1+1+2); // rcv: cmd+stat+crc
fSndPkt.PutWithCrc(cmd.Address());
fSndPkt.PutWithCrc(cmd.Data());
break;
case RlinkCommand::kCmdWblk: // wblk command ---------------
fStats.Inc(kStatNWblk);
fStats.Inc(kStatNWblkWord, (double) ndata);
cmd.SetRcvSize(1+2+1+2); // rcv: cmd+dcnt+stat+crc
fSndPkt.PutWithCrc(cmd.Address());
fSndPkt.PutWithCrc((uint16_t)ndata);
fSndPkt.PutCrc();
fSndPkt.PutWithCrc(pdata, ndata);
break;
case RlinkCommand::kCmdLabo: // labo command ---------------
fStats.Inc(kStatNLabo);
cmd.SetRcvSize(1+1+1+2); // rcv: cmd+babo+stat+crc
break;
case RlinkCommand::kCmdAttn: // attn command ---------------
fStats.Inc(kStatNAttn);
cmd.SetRcvSize(1+2+1+2); // rcv: cmd+data+stat+crc
break;
case RlinkCommand::kCmdInit: // init command ---------------
fStats.Inc(kStatNInit);
cmd.SetRcvSize(1+1+2); // rcv: cmd+stat+crc
fSndPkt.PutWithCrc(cmd.Address());
fSndPkt.PutWithCrc(cmd.Data());
break;
default:
throw Rexception("RlinkConnect::Exec()", "BugCheck: invalid command");
} // switch (ccode)
fSndPkt.PutCrc();
cmd.SetFlagBit(RlinkCommand::kFlagSend);
} // for (size_t i=ibeg; i<=iend; i++)
// FIXME_code: do we still need kFlagPktBeg,kFlagPktEnd ?
clist[ibeg].SetFlagBit(RlinkCommand::kFlagPktBeg);
clist[iend].SetFlagBit(RlinkCommand::kFlagPktEnd);
return;
}
//------------------------------------------+-----------------------------------
//! FIXME_docs
int RlinkConnect::DecodeResponse(RlinkCommandList& clist, size_t ibeg,
size_t iend)
{
size_t ncmd = 0;
for (size_t i=ibeg; i<=iend; i++) {
RlinkCommand& cmd = clist[i];
uint8_t ccode = cmd.Command();
uint16_t rdata;
uint8_t rdata8;
// handle commands after an active labo
if (clist.LaboActive()) {
ncmd += 1;
cmd.SetFlagBit(RlinkCommand::kFlagDone|RlinkCommand::kFlagLabo);
continue;
}
// FIXME_code: handle NAK properly !!
if (!fRcvPkt.CheckSize(cmd.RcvSize())) { // not enough data for cmd
cmd.SetFlagBit(RlinkCommand::kFlagErrDec);
fStats.Inc(kStatNErrMiss);
RlogMsg lmsg(*fspLog, 'E');
lmsg << "DecodeResponse: not enough data for cmd";
return -1;
}
fRcvPkt.GetWithCrc(rdata8);
if (rdata8 != cmd.Request()) { // command mismatch
cmd.SetFlagBit(RlinkCommand::kFlagErrDec);
fStats.Inc(kStatNErrCmd);
RlogMsg lmsg(*fspLog, 'E');
lmsg << "DecodeResponse: command mismatch";
return -1;
}
switch (ccode) {
case RlinkCommand::kCmdRreg: // rreg command ---------------
fRcvPkt.GetWithCrc(rdata);
cmd.SetData(rdata);
break;
case RlinkCommand::kCmdRblk: // rblk command ---------------
fRcvPkt.GetWithCrc(rdata);
if (rdata != (uint16_t)cmd.BlockSize()) { // length mismatch
cmd.SetFlagBit(RlinkCommand::kFlagErrDec);
fStats.Inc(kStatNErrLen);
RlogMsg lmsg(*fspLog, 'E');
lmsg << "DecodeResponse: rblk length mismatch";
return -1;
}
fRcvPkt.GetWithCrc(cmd.BlockPointer(), cmd.BlockSize());
fRcvPkt.GetWithCrc(rdata);
cmd.SetBlockDone(rdata);
break;
case RlinkCommand::kCmdWreg: // wreg command ---------------
break;
case RlinkCommand::kCmdWblk: // wblk command ---------------
fRcvPkt.GetWithCrc(rdata);
cmd.SetBlockDone(rdata);
break;
case RlinkCommand::kCmdLabo: // labo command ---------------
fRcvPkt.GetWithCrc(rdata8);
cmd.SetData((uint16_t)rdata8);
break;
case RlinkCommand::kCmdAttn: // attn command ---------------
fRcvPkt.GetWithCrc(rdata);
cmd.SetData(rdata);
break;
case RlinkCommand::kCmdInit: // init command ---------------
break;
} // switch (ccode)
// crc handling
fRcvPkt.GetWithCrc(rdata8);
cmd.SetStatus(rdata8);
if (!fRcvPkt.CheckCrc()) { // crc mismatch
cmd.SetFlagBit(RlinkCommand::kFlagErrDec);
fStats.Inc(kStatNErrCrc);
RlogMsg lmsg(*fspLog, 'E');
lmsg << "DecodeResponse: crc mismatch";
return -1;
}
ncmd += 1;
cmd.SetFlagBit(RlinkCommand::kFlagDone);
// handle active labo command, here we know that crc is ok
if (ccode==RlinkCommand::kCmdLabo && cmd.Data()) { // labo active ?
clist.SetLaboIndex(i); // set index
}
// expect handling
if (cmd.Expect()) { // expect object attached ?
RlinkCommandExpect& expect = *cmd.Expect();
if (ccode==RlinkCommand::kCmdRblk ||
ccode==RlinkCommand::kCmdWblk) {
if (expect.BlockValue().size()>0) fStats.Inc(kStatNExpData);
if (expect.DoneIsChecked()) fStats.Inc(kStatNExpDone);
} else {
if (expect.DataIsChecked()) fStats.Inc(kStatNExpData);
}
if (ccode==RlinkCommand::kCmdRreg ||
ccode==RlinkCommand::kCmdLabo ||
ccode==RlinkCommand::kCmdAttn) {
if (!expect.DataCheck(cmd.Data())) {
fStats.Inc(kStatNChkData);
cmd.SetFlagBit(RlinkCommand::kFlagChkData);
}
} else if (ccode==RlinkCommand::kCmdRblk) {
size_t nerr = expect.BlockCheck(cmd.BlockPointer(), cmd.BlockSize());
if (nerr != 0) {
fStats.Inc(kStatNChkData);
cmd.SetFlagBit(RlinkCommand::kFlagChkData);
}
}
if (ccode==RlinkCommand::kCmdRblk ||
ccode==RlinkCommand::kCmdWblk) {
if (!expect.DoneCheck(cmd.BlockDone())) {
fStats.Inc(kStatNChkDone);
cmd.SetFlagBit(RlinkCommand::kFlagChkDone);
}
}
} // if (cmd.Expect())
// status check, now independent of Expect object
if (cmd.ExpectStatusSet()) fStats.Inc(kStatNExpStat);
if (!cmd.StatusIsChecked()) fStats.Inc(kStatNNoExpStat);
if (!cmd.StatusCheck()) {
fStats.Inc(kStatNChkStat);
cmd.SetFlagBit(RlinkCommand::kFlagChkStat);
}
} // for (size_t i=ibeg; i<=iend; i++)
// FIXME_code: check that all data is consumed !!
return ncmd;
}
//------------------------------------------+-----------------------------------
//! Decodes an attention notify packet.
/*!
\param[out] apat attention pattern, can be zero
\returns \c true if decode without errors, \c false otherwise
*/
bool RlinkConnect::DecodeAttnNotify(uint16_t& apat)
{
apat = 0;
if (!fRcvPkt.CheckSize(2+2)) { // not enough data for data+crc
fStats.Inc(kStatNErrMiss);
RlogMsg lmsg(*fspLog, 'E');
lmsg << "DecodeAttnNotify: not enough data for data+crc";
return false;
}
fRcvPkt.GetWithCrc(apat);
if (!fRcvPkt.CheckCrc()) { // crc mismatch
fStats.Inc(kStatNErrCrc);
RlogMsg lmsg(*fspLog, 'E');
lmsg << "DecodeAttnNotify: crc mismatch";
return false;
}
// FIXME_code: check for extra data
return true;
}
//------------------------------------------+-----------------------------------
//! Read data from port until complete response packet seen.
/*!
Any spurious data or corrupt packages, e.g. with framing errors,
are logged and discarded.
If an attention notify packet is detected it will handled with
ProcessAttnNotify().
The method returns \c true if a complete response packet is received.
The caller will usually use DecodeResponse() and must accept the packet
with AcceptResponse() afterwards.
The method returns \c false if
- no valid response packet is seen within the time given by \a timeout
- an IO error occurred
.
An appropriate log message is generated, any partial input packet discarded.
\param timeout maximal time to wait for input in sec. Must be > 0.
\param[out] emsg contains error description (mainly from port layer)
\returns \c true if complete response packet received
\pre a previous response must have been accepted with AcceptResponse().
*/
bool RlinkConnect::ReadResponse(const Rtime& timeout, RerrMsg& emsg)
{
Rtime tnow(CLOCK_MONOTONIC);
Rtime tend = tnow + timeout;
while (tnow < tend) {
int irc = fRcvPkt.ReadData(fpPort.get(), tend-tnow, emsg);
if (irc <= 0) {
RlogMsg lmsg(*fspLog, 'E');
lmsg << "ReadResponse: IO error or timeout: " << emsg;
return false;
}
while (fRcvPkt.ProcessData()) {
int irc = fRcvPkt.PacketState();
if (irc == RlinkPacketBufRcv::kPktPend) break;
if (irc == RlinkPacketBufRcv::kPktAttn) {
ProcessAttnNotify();
} else if (irc == RlinkPacketBufRcv::kPktResp) {
return true;
} else {
RlogMsg lmsg(*fspLog, 'E');
lmsg << "ReadResponse: dropped spurious packet";
fRcvPkt.AcceptPacket();
}
} //while (fRcvPkt.ProcessData())
tnow.GetClock(CLOCK_MONOTONIC);
} // while (tnow < tend)
{
RlogMsg lmsg(*fspLog, 'E');
lmsg << "ReadResponse: timeout";
}
fRcvPkt.AcceptPacket();
return false;
}
//------------------------------------------+-----------------------------------
//! Accept response packet received with ReadResponse().
/*!
The packet buffer is cleared, and any still buffered input data is processed
with ProcessUnsolicitedData().
*/
void RlinkConnect::AcceptResponse()
{
fRcvPkt.AcceptPacket();
ProcessUnsolicitedData();
return;
}
//------------------------------------------+-----------------------------------
//! Process data still pending in the input buffer.
/*!
If an attention notify packet is detected it will handled with
ProcessAttnNotify(). If a response or corrupted packet is seen
it will be logged and discarded.
*/
void RlinkConnect::ProcessUnsolicitedData()
{
while (fRcvPkt.ProcessData()) {
int irc = fRcvPkt.PacketState();
if (irc == RlinkPacketBufRcv::kPktPend) break;
if (irc == RlinkPacketBufRcv::kPktAttn) {
ProcessAttnNotify();
} else {
fRcvPkt.AcceptPacket();
RlogMsg lmsg(*fspLog, 'E');
lmsg << "ProcessUnsolicitedData: dropped spurious packet";
}
}
return;
}
//------------------------------------------+-----------------------------------
//! Process attention notify packets.
/*!
The packets is decoded with DecodeAttnNotify(). If the packet is valid and
contains a non-zero attention pattern the pattern is ored to the attention
notify pattern which can later be inquired with HarvestAttnNotifies().
Corrupt packets are logged and discarded. Notifies with a zero pattern
are silently ignored.
*/
void RlinkConnect::ProcessAttnNotify()
{
uint16_t apat;
bool ok = DecodeAttnNotify(apat);
fRcvPkt.AcceptPacket();
if (ok) {
if (apat) {
if (ServerActive()) { // if server active
fpServ->SignalAttnNotify(apat); // handle in RlinkServer
} else { // otherwise
fAttnNotiPatt |= apat; // handle in RlinkConnect
}
} else {
RlogMsg lmsg(*fspLog, 'W');
lmsg << "ProcessAttnNotify: zero attn notify received";
}
}
if (ok && fPrintLevel == 3) {
RlogMsg lmsg(*fspLog, 'I');
lmsg << "ATTN notify apat = " << RosPrintf(apat,"x0",4)
<< " lams =";
if (apat) {
char sep = ' ';
for (int i=15; i>=0; i--) {
if (apat & (uint16_t(1)<<i) ) {
lmsg << sep << i;
sep = ',';
}
}
} else {
lmsg << " !NONE!";
}
Rtime tnow(CLOCK_MONOTONIC);
if (fTsLastAttnNoti.IsPositive())
lmsg << " dt=" << RosPrintf(double(tnow-fTsLastAttnNoti),"f",8,6);
fTsLastAttnNoti = tnow;
}
return;
}
} // end namespace Retro
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