Merge pull request #480 from Luos-io/fix/Gate_autoUpdate

Adapt Gate to multi auto-update feature and boost it.
Luos-io · Mar 22, 2024 · ae64e6e · ae64e6e
2 parents 5c39cf9 + 189c93c
commit ae64e6e
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Showing 11 changed files with 55 additions and 17 deletions.
diff --git a/engine/core/src/service.c b/engine/core/src/service.c
@@ -136,7 +136,7 @@ uint16_t Service_GetIndex(service_t *service)
  ******************************************************************************/
 void Service_AddAutoUpdateTarget(service_t *service, uint16_t target, uint16_t time_ms)
 {
-    LUOS_ASSERT(service && (time_ms > 0) && (target != 0));
+    LUOS_ASSERT(service && (target != 0));
     for (uint16_t i = 0; i < MAX_AUTO_REFRESH_NUMBER; i++)
     {
         if (service_ctx.auto_refresh[i].time_ms == 0)

diff --git a/network/robus_network/HAL/STM32F0/robus_hal.c b/network/robus_network/HAL/STM32F0/robus_hal.c
@@ -89,6 +89,8 @@ void RobusHAL_Loop(void)
  ******************************************************************************/
 void RobusHAL_ComInit(uint32_t Baudrate)
 {
+    HAL_NVIC_DisableIRQ(ROBUS_COM_IRQ);
+    HAL_NVIC_ClearPendingIRQ(ROBUS_COM_IRQ);
     ROBUS_COM_CLOCK_ENABLE();
 
     LL_USART_InitTypeDef USART_InitStruct;
@@ -468,6 +470,9 @@ static void RobusHAL_GPIOInit(void)
     RobusHAL_RegisterPTP();
     for (uint8_t i = 0; i < NBR_PORT; i++) /*Configure GPIO pins : PTP_Pin */
     {
+        // Disable IT for PTP
+        HAL_NVIC_DisableIRQ(PTP[i].IRQ);
+        HAL_NVIC_ClearPendingIRQ(PTP[i].IRQ);
         GPIO_InitStruct.Pin   = PTP[i].Pin;
         GPIO_InitStruct.Mode  = GPIO_MODE_IT_FALLING;
         GPIO_InitStruct.Pull  = GPIO_PULLDOWN;

diff --git a/network/robus_network/HAL/STM32F4/robus_hal.c b/network/robus_network/HAL/STM32F4/robus_hal.c
@@ -90,6 +90,8 @@ void RobusHAL_Loop(void)
  ******************************************************************************/
 void RobusHAL_ComInit(uint32_t Baudrate)
 {
+    HAL_NVIC_DisableIRQ(ROBUS_COM_IRQ);
+    HAL_NVIC_ClearPendingIRQ(ROBUS_COM_IRQ);
     ROBUS_COM_CLOCK_ENABLE();
 
     LL_USART_InitTypeDef USART_InitStruct;
@@ -472,6 +474,9 @@ static void RobusHAL_GPIOInit(void)
     RobusHAL_RegisterPTP();
     for (uint8_t i = 0; i < NBR_PORT; i++) /*Configure GPIO pins : PTP_Pin */
     {
+        // Disable IT for PTP
+        HAL_NVIC_DisableIRQ(PTP[i].IRQ);
+        HAL_NVIC_ClearPendingIRQ(PTP[i].IRQ);
         GPIO_InitStruct.Pin   = PTP[i].Pin;
         GPIO_InitStruct.Mode  = GPIO_MODE_IT_FALLING;
         GPIO_InitStruct.Pull  = GPIO_PULLDOWN;

diff --git a/network/robus_network/HAL/STM32G4/robus_hal.c b/network/robus_network/HAL/STM32G4/robus_hal.c
@@ -91,6 +91,8 @@ void RobusHAL_Loop(void)
  ******************************************************************************/
 void RobusHAL_ComInit(uint32_t Baudrate)
 {
+    HAL_NVIC_DisableIRQ(ROBUS_COM_IRQ);
+    HAL_NVIC_ClearPendingIRQ(ROBUS_COM_IRQ);
     ROBUS_COM_CLOCK_ENABLE();
 
     LL_USART_InitTypeDef USART_InitStruct;
@@ -469,6 +471,9 @@ static void RobusHAL_GPIOInit(void)
     RobusHAL_RegisterPTP();
     for (uint8_t i = 0; i < NBR_PORT; i++) /*Configure GPIO pins : PTP_Pin */
     {
+        // Disable IT for PTP
+        HAL_NVIC_DisableIRQ(PTP[i].IRQ);
+        HAL_NVIC_ClearPendingIRQ(PTP[i].IRQ);
         GPIO_InitStruct.Pin   = PTP[i].Pin;
         GPIO_InitStruct.Mode  = GPIO_MODE_IT_FALLING;
         GPIO_InitStruct.Pull  = GPIO_PULLDOWN;

diff --git a/network/robus_network/HAL/STM32L0/robus_hal.c b/network/robus_network/HAL/STM32L0/robus_hal.c
@@ -89,6 +89,8 @@ void RobusHAL_Loop(void)
  ******************************************************************************/
 void RobusHAL_ComInit(uint32_t Baudrate)
 {
+    HAL_NVIC_DisableIRQ(ROBUS_COM_IRQ);
+    HAL_NVIC_ClearPendingIRQ(ROBUS_COM_IRQ);
     ROBUS_COM_CLOCK_ENABLE();
 
     LL_USART_InitTypeDef USART_InitStruct;
@@ -467,6 +469,9 @@ static void RobusHAL_GPIOInit(void)
     RobusHAL_RegisterPTP();
     for (uint8_t i = 0; i < NBR_PORT; i++) /*Configure GPIO pins : PTP_Pin */
     {
+        // Disable IT for PTP
+        HAL_NVIC_DisableIRQ(PTP[i].IRQ);
+        HAL_NVIC_ClearPendingIRQ(PTP[i].IRQ);
         GPIO_InitStruct.Pin   = PTP[i].Pin;
         GPIO_InitStruct.Mode  = GPIO_MODE_IT_FALLING;
         GPIO_InitStruct.Pull  = GPIO_PULLDOWN;

diff --git a/network/robus_network/HAL/STM32L4/robus_hal.c b/network/robus_network/HAL/STM32L4/robus_hal.c
@@ -91,6 +91,8 @@ void RobusHAL_Loop(void)
  ******************************************************************************/
 void RobusHAL_ComInit(uint32_t Baudrate)
 {
+    HAL_NVIC_DisableIRQ(ROBUS_COM_IRQ);
+    HAL_NVIC_ClearPendingIRQ(ROBUS_COM_IRQ);
     ROBUS_COM_CLOCK_ENABLE();
 
     LL_USART_InitTypeDef USART_InitStruct;
@@ -469,6 +471,9 @@ static void RobusHAL_GPIOInit(void)
     RobusHAL_RegisterPTP();
     for (uint8_t i = 0; i < NBR_PORT; i++) /*Configure GPIO pins : PTP_Pin */
     {
+        // Disable IT for PTP
+        HAL_NVIC_DisableIRQ(PTP[i].IRQ);
+        HAL_NVIC_ClearPendingIRQ(PTP[i].IRQ);
         GPIO_InitStruct.Pin   = PTP[i].Pin;
         GPIO_InitStruct.Mode  = GPIO_MODE_IT_FALLING;
         GPIO_InitStruct.Pull  = GPIO_PULLDOWN;

diff --git a/test/tests_core/test_service/main.c b/test/tests_core/test_service/main.c
@@ -228,13 +228,6 @@ void unittest_Service_AddAutoUpdateTarget(void)
         }
         TEST_ASSERT_TRUE(IS_ASSERT());
         END_TRY;
-
-        TRY
-        {
-            Service_AddAutoUpdateTarget(&service_ctx.list[0], 1, 0);
-        }
-        TEST_ASSERT_TRUE(IS_ASSERT());
-        END_TRY;
     }
     NEW_TEST_CASE("Test Service_AddAutoUpdateTarget");
     {

diff --git a/tool_services/gate/TinyJSON/convert.c b/tool_services/gate/TinyJSON/convert.c
@@ -543,7 +543,12 @@ void Convert_JsonToMsg(service_t *service, uint16_t id, luos_type_t type, char *
     {
         if (type != GATE_TYPE)
         {
-            // this should be a function because it is frequently used
+            // remove any current updates
+            time = TimeOD_TimeFrom_s(0);
+            TimeOD_TimeToMsg(&time, &msg);
+            msg.header.cmd = UPDATE_PUB;
+            Luos_SendMsg(service, &msg);
+            // configure the new update value
             time = TimeOD_TimeFrom_s((float)json_getReal(jobj));
             TimeOD_TimeToMsg(&time, &msg);
             msg.header.cmd = UPDATE_PUB;

diff --git a/tool_services/gate/data_manager.c b/tool_services/gate/data_manager.c
@@ -49,7 +49,13 @@ void DataManager_collect(service_t *service)
     #endif
 #else
             // This service is a sensor so create a msg to enable auto update
+            // First remove any auto update
+            time_luos_t reset_time   = {.raw = 0};
             update_msg.header.target = result.result_table[i]->id;
+            TimeOD_TimeToMsg(&reset_time, &update_msg);
+            update_msg.header.cmd = UPDATE_PUB;
+            Luos_SendMsg(service, &update_msg);
+
             TimeOD_TimeToMsg(&update_time, &update_msg);
             update_msg.header.cmd = UPDATE_PUB;
             Luos_SendMsg(service, &update_msg);

diff --git a/tool_services/gate/gate.c b/tool_services/gate/gate.c
@@ -53,7 +53,9 @@ void Gate_Init(void)
  ******************************************************************************/
 void Gate_Loop(void)
 {
+#ifndef GATE_POLLING
     static uint32_t last_time = 0;
+#endif
 
     // Check the detection status.
     if (Luos_IsDetected() == false)
@@ -68,11 +70,11 @@ void Gate_Loop(void)
         if (gate_running == RUNNING)
         {
             // Manage input and output data
+            DataManager_Run(gate);
+#ifndef GATE_POLLING
             if ((Luos_GetSystick() - last_time >= TimeOD_TimeTo_ms(update_time)) && (Luos_GetSystick() > last_time))
             {
                 last_time = Luos_GetSystick();
-                DataManager_Run(gate);
-#ifndef GATE_POLLING
                 if (first_conversion == true)
                 {
                     // This is the first time we perform a convertion
@@ -95,8 +97,8 @@ void Gate_Loop(void)
                     DataManager_collect(gate);
                     first_conversion = false;
                 }
-#endif
             }
+#endif
         }
         else
         {

diff --git a/tool_services/pipe/SERIAL/serial_protocol.h b/tool_services/pipe/SERIAL/serial_protocol.h
@@ -50,7 +50,11 @@ static inline void SerialProtocol_Init(void)
 static inline void SerialProtocol_CreateTxMsg(void)
 {
     // Evaluate size
-    uint16_t size = (Streaming_GetAvailableSampleNB(serialTx_StreamChannel) - sizeof(SerialHeader_t));
+    // We want to evaluate the size of the last message only. To do that we create a fake StreamChannel with the same properties as the serialTx_StreamChannel but with the sample_ptr pointing to the begining of our message.
+    streaming_channel_t fake_StreamChannel = *serialTx_StreamChannel;
+    memcpy(&fake_StreamChannel, serialTx_StreamChannel, sizeof(streaming_channel_t));
+    fake_StreamChannel.sample_ptr = size_to_update;                                          // We make it point to the size
+    uint16_t size                 = Streaming_GetAvailableSampleNB(&fake_StreamChannel) - 2; // We remove the size bytes from the calculated size.
     // Update size
     if ((size_to_update + 2) > (uint8_t *)((int)serialTx_StreamChannel->end_ring_buffer))
     {
@@ -65,7 +69,6 @@ static inline void SerialProtocol_CreateTxMsg(void)
         size_to_update[0] = size & 0xFF;
         size_to_update[1] = size >> 8;
     }
-
     // Write footer and  header + size of the next message into the buffer
     SerialProtocol_t SerialProtocol = {
         SERIAL_FOOTER,
@@ -91,13 +94,17 @@ static inline void SerialProtocol_CreateTxMsg(void)
 
 static inline uint16_t SerialProtocol_GetSizeToSend(void)
 {
-    if ((Streaming_GetAvailableSampleNB(serialTx_StreamChannel) - sizeof(SerialHeader_t)) > Streaming_GetAvailableSampleNBUntilEndBuffer(serialTx_StreamChannel))
+    // We want to evaluate the size of the last message only. To do that we create a fake StreamChannel with the same properties as the serialTx_StreamChannel but with the sample_ptr pointing to the begining of our message.
+    streaming_channel_t fake_StreamChannel = *serialTx_StreamChannel;
+    memcpy(&fake_StreamChannel, serialTx_StreamChannel, sizeof(streaming_channel_t));
+    fake_StreamChannel.data_ptr = size_to_update; // We the end of the data point to the size
+    if ((Streaming_GetAvailableSampleNB(&fake_StreamChannel) - 1) > Streaming_GetAvailableSampleNBUntilEndBuffer(&fake_StreamChannel))
     {
-        return Streaming_GetAvailableSampleNBUntilEndBuffer(serialTx_StreamChannel);
+        return Streaming_GetAvailableSampleNBUntilEndBuffer(&fake_StreamChannel);
     }
     else
     {
-        return Streaming_GetAvailableSampleNB(serialTx_StreamChannel) - sizeof(SerialHeader_t);
+        return Streaming_GetAvailableSampleNB(&fake_StreamChannel) - 1;
     }
 }