Improved error handling

Makefile

@@ -15,7 +15,7 @@ lib/libcRIOcpp.a: FORCE
 
 # Other Targets
 clean:
-	@$(foreach file,doc,echo '[RM ] ${file}'; $(RM) -r $(file);)
+	@$(foreach file,,echo '[RM ] ${file}'; $(RM) -r $(file);)
 	@$(foreach dir,src tests,$(MAKE) -C ${dir} $@;)
 
 tests: tests/Makefile tests/*.cpp

Makefile.inc

@@ -4,7 +4,7 @@ ifndef VERBOSE
   silence := --silence-errors
 endif
 
-c_opts :=  -fdata-sections -ffunction-sections -DSPDLOG_ACTIVE_LEVEL=SPDLOG_LEVEL_TRACE -DSPDLOG_FMT_EXTERNAL
+c_opts :=  -fdata-sections -ffunction-sections -DSPDLOG_ACTIVE_LEVEL=SPDLOG_LEVEL_TRACE # -DSPDLOG_FMT_EXTERNAL
 
 ifdef DEBUG
   c_opts += -g

doc/version-history.rst

@@ -2,6 +2,12 @@
 Version History
 ###############
 
+v1.10.0
+=======
+
+* handleMissingReply, MissingReply exception
+* IRQTimeout handling
+
 v1.9.0
 ======
 

include/cRIO/CliApp.h

@@ -18,12 +18,10 @@
 #ifndef __CliApp_h
 #define __CliApp_h
 
-#include <iomanip>
 #include <iostream>
-#include <ostream>
 
 #include <cRIO/Application.h>
-#include <cRIO/OStreamRestore.h>
+#include <cRIO/ModbusBuffer.h>
 
 namespace LSST {
 namespace cRIO {
@@ -226,13 +224,7 @@ get_the_answer command.
      */
     template <typename dt>
     static const void printHexBuffer(dt* buf, size_t len, std::ostream& os = std::cout) {
-        OStreamRestore res(os);
-
-        os << std::hex << std::setfill('0');
-        for (size_t i = 0; i < len; i++) {
-            os << " " << std::setw(sizeof(dt) * 2) << +(buf[i]);
-        }
-        os << std::dec;
+        os << ModbusBuffer::hexDump<dt>(buf, len);
     }
 
     static const void printDecodedBuffer(uint16_t* buf, size_t len, std::ostream& os = std::cout);

include/cRIO/Command.h

@@ -21,8 +21,8 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#ifndef COMMAND_H_
-#define COMMAND_H_
+#ifndef __CRIO_COMMAND_H_
+#define __CRIO_COMMAND_H_
 
 #include <string>
 
@@ -74,4 +74,4 @@ class Command {
 }  // namespace cRIO
 }  // namespace LSST
 
-#endif /* COMMAND_H_ */
+#endif /* __CRIO_COMMAND_H_ */

include/cRIO/DataTypes.h

@@ -1,21 +1,24 @@
 /*
- * Developed for the Vera C. Rubin Observatory Telescope & Site Software Systems.
- * This product includes software developed by the Vera C.Rubin Observatory Project
- * (https://www.lsst.org). See the COPYRIGHT file at the top-level directory of
- * this distribution for details of code ownership.
+ * This file is part of LSST M1M3 support system package.
  *
- * This program is free software: you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by the Free
- * Software Foundation, either version 3 of the License, or (at your option)
- * any later version.
+ * Developed for the Vera C. Rubin Telescope and Site System.
+ * This product includes software developed by the LSST Project
+ * (https://www.lsst.org).
+ * See the COPYRIGHT file at the top-level directory of this distribution
+ * for details of code ownership.
  *
- * 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
- * more details.
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
  *
- * You should have received a copy of the GNU General Public License along with
- * this program. If not, see <https://www.gnu.org/licenses/>.
+ * 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 more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
 #ifndef DATATYPES_H_
@@ -41,6 +44,15 @@
 /// Number of actuators in Z axis - shall equal to total number of actuators.
 #define FA_Z_COUNT 156
 
+/// Number of secondary (X or Y) actuators.
+#define FA_S_COUNT (FA_X_COUNT + FA_Y_COUNT)
+
+/// Maximal number of Force Actuator near neighbors
+#define FA_MAX_NEAR_COUNT 7
+
+/// Number of Force Actuator neighbors
+#define FA_FAR_COUNT 12
+
 /// Number of hardpoints.
 #define HP_COUNT 6
 

include/cRIO/FPGA.h

@@ -122,8 +122,10 @@ class FPGA : public SimpleFPGA {
      * the data.
      *
      * @param mpu Modbus Processing Unit to read the data
+     *
+     * @return data read from the port
      */
-    virtual void readMPUFIFO(MPU& mpu) = 0;
+    virtual std::vector<uint8_t> readMPUFIFO(MPU& mpu) = 0;
 
     /**
      * Writes buffer to command FIFO. Command FIFO is processed in

include/cRIO/MPU.h

@@ -46,9 +46,11 @@ namespace MPUCommands {
 const static uint8_t WRITE = 1;
 const static uint8_t READ_US = 2;
 const static uint8_t READ_MS = 3;
+const static uint8_t WAIT_US = 100;
+const static uint8_t WAIT_MS = 101;
 const static uint8_t IRQ = 240;
 const static uint8_t TELEMETRY = 254;
-const static uint8_t CLEAR = 255;
+const static uint8_t RESET = 255;
 }  // namespace MPUCommands
 
 typedef enum { WRITE, READ, IDLE } loop_state_t;
@@ -76,6 +78,25 @@ class MPU : public ModbusBuffer {
 
     void clearCommanded();
 
+    /**
+     * Reset bus. Clear all FIFOs.
+     */
+    void resetBus();
+
+    /**
+     * Wait for given number of microseonds.
+     *
+     * @param us number of microseconds to wait
+     */
+    void waitUs(uint16_t us);
+
+    /**
+     * Wait for given number of milliseconds.
+     *
+     * @param ms number of milliseconds to wait
+     */
+    void waitMs(uint16_t ms);
+
     /**
      * Returns bus number (internal FPGA identifier).
      *
@@ -146,6 +167,15 @@ class MPU : public ModbusBuffer {
      */
     virtual void loopWrite() = 0;
 
+    /**
+     * Exception raised when read timeouts.
+     */
+    class IRQTimeout : public std::runtime_error {
+    public:
+        IRQTimeout(std::vector<uint8_t> _data);
+        std::vector<uint8_t> data;
+    };
+
     /***
      * Called to process data read in the loop.
      *
@@ -165,7 +195,7 @@ class MPU : public ModbusBuffer {
      *
      * @param FPGA fpga used to process MPU commands.
      */
-    void runLoop(FPGA &fpga);
+    bool runLoop(FPGA &fpga);
 
     loop_state_t getLoopState() { return _loop_state; }
 

include/cRIO/ModbusBuffer.h

@@ -22,8 +22,10 @@
 #define CRIO_MODBUSBUFFER_H_
 
 #include <functional>
+#include <iomanip>
 #include <map>
 #include <queue>
+#include <sstream>
 #include <string>
 #include <stdexcept>
 #include <vector>
@@ -178,6 +180,26 @@ class ModbusBuffer {
      */
     std::vector<uint8_t> getReadData(int32_t length);
 
+    /**
+     * Dumps hex data to ostring stream.
+     *
+     *
+     * @param
+     */
+    template <typename dt>
+    static const std::string hexDump(dt* buf, size_t len) {
+        std::ostringstream os;
+        os << std::setfill('0') << std::hex;
+        for (size_t i = 0; i < len; i++) {
+            if (i > 0) {
+                os << " ";
+            }
+            os << std::setw(sizeof(dt) * 2) << +(buf[i]);
+        }
+        os << std::dec;
+        return os.str();
+    }
+
     /**
      * Reads data from buffer. Updates CRC as it reads the data. Size of
      * receiving buffer is assumed to be equal or greater than len.
@@ -505,6 +527,11 @@ class ModbusBuffer {
         EmptyCommanded(uint8_t address, uint8_t function);
     };
 
+    class MissingReply : public std::runtime_error {
+    public:
+        MissingReply(uint8_t address, uint8_t func);
+    };
+
     class UnmatchedFunction : public std::runtime_error {
     public:
         UnmatchedFunction(uint8_t address, uint8_t function);
@@ -521,6 +548,14 @@ class ModbusBuffer {
     void incIndex() { _index++; }
     void resetCRC() { _crc.reset(); }
 
+    /**
+     * Called when a reply to command is missing.
+     *
+     * @parameter address ILC address
+     * @parameter func called function
+     */
+    virtual void handleMissingReply(uint8_t address, uint8_t func);
+
     /**
      * Return data item to write to buffer. Updates CRC counter.
      *

include/cRIO/NiError.h

@@ -46,37 +46,40 @@ class NiError : public std::runtime_error {
 };
 
 /**
- * Throws NI exception if an error occurred.
+ * Throws NI exception if an error occurred. Ignores positive status values, as
+ * those signal a warning  - see NiFpga_IsError.
  *
  * @param msg message associated with the error
  * @param status NI status
  *
- * @throw NiError if status != 0
+ * @throw NiError if status < 0
  *
  * @see NiError
  */
 void NiThrowError(const char *msg, int32_t status);
 
 /**
- * Throws NI exception if an error occurred.
+ * Throws NI exception if an error occurred. Ignores positive status values, as
+ * those signal a warning  - see NiFpga_IsError.
  *
  * @param msg message associated with the error
  * @param status NI status
  *
- * @throw NiError if status != 0
+ * @throw NiError if status < 0
  *
  * @see NiError
  */
 inline void NiThrowError(const std::string &msg, int32_t status) { NiThrowError(msg.c_str(), status); }
 
 /**
- * Throws NI exception if an error occurred.
+ * Throws NI exception if an error occurred. Ignores positive status values, as
+ * those signal a warning  - see NiFpga_IsError.
  *
  * @param func reporting function
  * @param ni_func Ni function name signaling the exception
  * @param status NI status
  *
- * @throw NiError if status != 0
+ * @throw NiError if status < 0
  *
  * @see NiError
  */

include/cRIO/PrintILC.h

@@ -177,4 +177,4 @@ class PrintILC : public virtual ILC {
 }  // namespace cRIO
 }  // namespace LSST
 
-#endif  // !_cRIO_ILC_
+#endif  // !_cRIO_PrintILC_

include/cRIO/SAL/Command.h

@@ -23,9 +23,11 @@
 namespace LSST {
 namespace cRIO {
 namespace SAL {
-constexpr int ACK_INPROGRESS = 301;
-constexpr int ACK_COMPLETE = 303;
-constexpr int ACK_FAILED = -302;
+
+constexpr int32_t ACK_INPROGRESS = 301;  /// Acknowledges command reception, command is being executed.
+constexpr int32_t ACK_COMPLETE = 303;    /// Command is completed.
+constexpr int32_t ACK_FAILED = -302;     /// Command execution failed.
+
 }  // namespace SAL
 }  // namespace cRIO
 }  // namespace LSST

src/LSST/cRIO/CliApp.cpp

@@ -37,6 +37,7 @@
 
 #include "cRIO/CliApp.h"
 #include "cRIO/ModbusBuffer.h"
+#include "cRIO/OStreamRestore.h"
 #include "cRIO/Timestamp.h"
 
 namespace LSST {