arkedge · meltingrabbit · Jan 5, 2024 · Jan 1, 2024 · Jan 1, 2024 · Jan 1, 2024
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,6 +10,7 @@
 - [#256](https://github.com/arkedge/c2a-core/pull/256): code-generator: MOBC が定義を持っていない Sub OBC の tlm でも GS に Forward できるようにする
 - [#263](https://github.com/arkedge/c2a-core/pull/263): CDIS や BCT に保存された CCP をダンプする App を追加
 - [#268](https://github.com/arkedge/c2a-core/pull/268): GS と FSW 側での同期のために，BCT, TL のダイジェスト (CRC) を下ろせるようにする App の追加
+- [#237](https://github.com/arkedge/c2a-core/pull/237): 任意の Component Driver に対して，任意バイト列の送受信と HAL init, reopen Cmd を提供する
 
 ### Breaking Changes
 
@@ -73,7 +74,14 @@
     - ComponentDriverUtility App を追加したため，この App を利用する user は，`applications/component_driver_utility.c` をビルド対象に加え，App 登録する．
     - `examples/mobc/tlm-cmd-db/TLM_DB/SAMPLE_MOBC_TLM_DB_CDRV_UTIL.csv` を user 側の tlm db に追加し，コード生成をする．
     - `examples/mobc/tlm-cmd-db/CMD_DB/SAMPLE_MOBC_CMD_DB_CMD_DB.csv` の `CDRV_UTIL_*` コマンドを user 側の cmd db に追加し，コード生成をする．
-
+- [#237](https://github.com/arkedge/c2a-core/pull/237): user 側でのコードレベルでの対応は不要
+  - ComponentDriverUtility App の更新
+    - すでに user 側に ComponentDriverUtility App が追加されていなければ，[#270](https://github.com/arkedge/c2a-core/pull/270) での差分を適用する．
+    - `examples/mobc/tlm-cmd-db/TLM_DB/SAMPLE_MOBC_TLM_DB_CDRV_UTIL_HAL_RX_DATA.csv` を user 側の tlm db に追加し，コード生成をする．
+    - `examples/mobc/tlm-cmd-db/CMD_DB/SAMPLE_MOBC_CMD_DB_CMD_DB.csv` の `CDRV_UTIL_*` コマンドを user 側の cmd db に追加し，コード生成をする．
+    - `examples/mobc/src/src_user/settings/applications/component_driver_utility_params.h` を参考に， user 側でもこのコードを配置する．
+  - pytest の追加
+    - もし， user 側で subobc ありの pytest を扱っている場合， `examples/subobc/src/src_user/test/test/applications/test_component_driver_utility.py` を user 側の test にも加える．
 
 ## v4.1.0 (2023-12-11)
 

diff --git a/applications/component_driver_utility.c b/applications/component_driver_utility.c
@@ -17,6 +17,32 @@
  */
 static RESULT CDRV_UTIL_init_(void);
 
+/**
+ * @brief  CDS_hal_rx の wrapper
+ * @param[in]  p_super:     ComponentDriverSuper 構造体へのポインタ
+ * @param[out] buffer:      受信データ格納先へのポインタ
+ * @param[in]  buffer_size: 受信データ格納先のデータサイズ
+ * @return CCP_CmdRet
+ */
+static CCP_CmdRet CDRV_UTIL_hal_rx_(ComponentDriverSuper* cds, uint8_t* buffer, int buffer_size);
+
+/**
+ * @brief  CDS_hal_tx の wrapper
+ * @param[in]  p_super:     ComponentDriverSuper 構造体へのポインタ
+ * @param[in]  buffer:      送信データ格納先へのポインタ
+ * @param[in]  buffer_size: 送信データサイズ
+ * @return CCP_CmdRet
+ */
+static CCP_CmdRet CDRV_UTIL_hal_tx_(ComponentDriverSuper* cds, const uint8_t* data, int data_size);
+
+/**
+ * @brief  hal handler の返り値 int を uint32_t に "適当に" 変換する
+ * @note   hal handler の返り値は user 依存なので，あくまで適当な変換であることに注意する
+ * @param  hal_handler_ret: hal handler の返り値
+ * @return uint32_t に変換された値
+ */
+static uint32_t CDRV_UTIL_conv_hal_handler_ret_to_u32_(int hal_handler_ret);
+
 static ComponentDriverUtility component_driver_utility_;
 const ComponentDriverUtility* const component_driver_utility = &component_driver_utility_;
 
@@ -174,6 +200,115 @@ CCP_CmdRet Cmd_CDRV_UTIL_CDSSC_SET_TIME_THRESHOLD_FOR_TLM_DISRUPTION(const Commo
 }
 
 
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_INIT(const CommonCmdPacket* packet)
+{
+  ComponentDriverSuper* cds;
+  CDRV_ID cdrv_id = (CDRV_ID)CCP_get_param_from_packet(packet, 0, uint8_t);
+
+  if (cdrv_id >= CDRV_ID_MAX) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 1);
+  cds = (ComponentDriverSuper*)CDRV_get_cds(cdrv_id);    // const_cast
+  if (cds == NULL) return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+
+  component_driver_utility_.hal.last.ret_from_hal_handler = CDS_hal_init(cds);
+  if (component_driver_utility_.hal.last.ret_from_hal_handler != 0)
+  {
+    return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_CONTEXT,
+                            CDRV_UTIL_conv_hal_handler_ret_to_u32_(component_driver_utility_.hal.last.ret_from_hal_handler));
+  }
+
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
+
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_RX(const CommonCmdPacket* packet)
+{
+  ComponentDriverSuper* cds;
+  CDRV_ID cdrv_id = (CDRV_ID)CCP_get_param_from_packet(packet, 0, uint8_t);
+
+  if (cdrv_id >= CDRV_ID_MAX) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 1);
+  cds = (ComponentDriverSuper*)CDRV_get_cds(cdrv_id);    // const_cast
+  if (cds == NULL) return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+
+  return CDRV_UTIL_hal_rx_(cds, component_driver_utility_.hal.rx_buffer, CDRV_UTIL_HAX_RX_BUFFER_SIZE);
+}
+
+
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_TX(const CommonCmdPacket* packet)
+{
+  ComponentDriverSuper* cds;
+  CDRV_ID cdrv_id = (CDRV_ID)CCP_get_param_from_packet(packet, 0, uint8_t);
+  uint16_t data_len = CCP_get_raw_param_len(packet);
+
+  if (cdrv_id >= CDRV_ID_MAX) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 1);
+  cds = (ComponentDriverSuper*)CDRV_get_cds(cdrv_id);    // const_cast
+  if (cds == NULL) return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+
+  return CDRV_UTIL_hal_tx_(cds, CCP_get_raw_param_head(packet), data_len);
+}
+
+
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_REOPEN(const CommonCmdPacket* packet)
+{
+  ComponentDriverSuper* cds;
+  CDRV_ID cdrv_id = (CDRV_ID)CCP_get_param_from_packet(packet, 0, uint8_t);
+  int32_t reason = CCP_get_param_from_packet(packet, 0, int32_t);
+
+  if (cdrv_id >= CDRV_ID_MAX) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 1);
+  cds = (ComponentDriverSuper*)CDRV_get_cds(cdrv_id);    // const_cast
+  if (cds == NULL) return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+
+  component_driver_utility_.hal.last.ret_from_hal_handler = CDS_hal_reopen(cds, reason);
+  if (component_driver_utility_.hal.last.ret_from_hal_handler != 0)
+  {
+    return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_CONTEXT,
+                            CDRV_UTIL_conv_hal_handler_ret_to_u32_(component_driver_utility_.hal.last.ret_from_hal_handler));
+  }
+
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
+
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_RX_TO_RAM(const CommonCmdPacket* packet)
+{
+  ComponentDriverSuper* cds;
+  CDRV_ID cdrv_id = (CDRV_ID)CCP_get_param_from_packet(packet, 0, uint8_t);
+  uint32_t buffer_adr = CCP_get_param_from_packet(packet, 0, uint32_t);
+  int32_t buffer_size = CCP_get_param_from_packet(packet, 0, int32_t);
+
+  if (cdrv_id >= CDRV_ID_MAX) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 1);
+  if (buffer_size <= 0) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 2);
+  cds = (ComponentDriverSuper*)CDRV_get_cds(cdrv_id);    // const_cast
+  if (cds == NULL) return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+
+  return CDRV_UTIL_hal_rx_(cds, (uint8_t*)buffer_adr, buffer_size);
+}
+
+
+
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_TX_FROM_RAM(const CommonCmdPacket* packet)
+{
+  ComponentDriverSuper* cds;
+  CDRV_ID cdrv_id = (CDRV_ID)CCP_get_param_from_packet(packet, 0, uint8_t);
+  uint32_t data_adr = CCP_get_param_from_packet(packet, 0, uint32_t);
+  int32_t data_size = CCP_get_param_from_packet(packet, 0, int32_t);
+
+  if (cdrv_id >= CDRV_ID_MAX) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 1);
+  if (data_size <= 0) return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_PARAMETER, 2);
+  cds = (ComponentDriverSuper*)CDRV_get_cds(cdrv_id);    // const_cast
+  if (cds == NULL) return CCP_make_cmd_ret_without_err_code(CCP_EXEC_ILLEGAL_CONTEXT);
+
+  return CDRV_UTIL_hal_tx_(cds, (uint8_t*)data_adr, data_size);
+}
+
+
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_CLEAR_RX_BUFFER(const CommonCmdPacket* packet)
+{
+  (void)packet;
+  memset(component_driver_utility_.hal.rx_buffer, 0x00, CDRV_UTIL_HAX_RX_BUFFER_SIZE);
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
+
 CCP_CmdRet Cmd_CDRV_UTIL_SET_TLM(const CommonCmdPacket* packet)
 {
   CDRV_ID cdrv_id = (CDRV_ID)CCP_get_param_from_packet(packet, 0, uint8_t);
@@ -188,4 +323,46 @@ CCP_CmdRet Cmd_CDRV_UTIL_SET_TLM(const CommonCmdPacket* packet)
   return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
 }
 
+
+static CCP_CmdRet CDRV_UTIL_hal_rx_(ComponentDriverSuper* cds, uint8_t* buffer, int buffer_size)
+{
+  component_driver_utility_.hal.last.data = buffer;
+  component_driver_utility_.hal.last.data_size = buffer_size;
+  component_driver_utility_.hal.last.ret_from_hal_handler = CDS_hal_rx(cds, buffer, buffer_size);
+
+  if (component_driver_utility_.hal.last.ret_from_hal_handler < 0)
+  {
+    return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_CONTEXT,
+                            CDRV_UTIL_conv_hal_handler_ret_to_u32_(component_driver_utility_.hal.last.ret_from_hal_handler));
+  }
+
+  return CCP_make_cmd_ret(CCP_EXEC_SUCCESS, (uint32_t)component_driver_utility_.hal.last.ret_from_hal_handler);
+}
+
+
+static CCP_CmdRet CDRV_UTIL_hal_tx_(ComponentDriverSuper* cds, const uint8_t* data, int data_size)
+{
+  component_driver_utility_.hal.last.data = data;
+  component_driver_utility_.hal.last.data_size = data_size;
+  component_driver_utility_.hal.last.ret_from_hal_handler = CDS_hal_tx(cds, data, data_size);
+
+  if (component_driver_utility_.hal.last.ret_from_hal_handler != 0)
+  {
+    return CCP_make_cmd_ret(CCP_EXEC_ILLEGAL_CONTEXT,
+                            CDRV_UTIL_conv_hal_handler_ret_to_u32_(component_driver_utility_.hal.last.ret_from_hal_handler));
+  }
+
+  return CCP_make_cmd_ret_without_err_code(CCP_EXEC_SUCCESS);
+}
+
+
+static uint32_t CDRV_UTIL_conv_hal_handler_ret_to_u32_(int hal_handler_ret)
+{
+  if (hal_handler_ret < 0)
+  {
+    hal_handler_ret = 0x10000000 - hal_handler_ret;
+  }
+  return (uint32_t)hal_handler_ret;
+}
+
 #pragma section
diff --git a/applications/component_driver_utility.h b/applications/component_driver_utility.h
@@ -9,13 +9,27 @@
 #include "../tlm_cmd/common_cmd_packet.h"
 #include "../component_driver/component_driver.h"
 
+#define CDRV_UTIL_HAX_RX_BUFFER_SIZE  (256)   //!< Cmd_CDRV_UTIL_HAL_RX で受信するデータのバッファサイズ
+
+// CDRV_UTIL_HAX_RX_BUFFER_SIZE の user オーバーライド
+#include <src_user/settings/applications/component_driver_utility_params.h>
 
 /**
  * @struct ComponentDriverUtility
  * @brief  ComponentDriverUtility の AppInfo 構造体
  */
 typedef struct
 {
+  struct
+  {
+    uint8_t rx_buffer[CDRV_UTIL_HAX_RX_BUFFER_SIZE];  //!< Cmd_CDRV_UTIL_HAL_RX で受信するデータのバッファ
+    struct
+    {
+      const uint8_t* data;            //!< データアクセスのポインタ
+      int32_t  data_size;             //!< data size
+      int32_t  ret_from_hal_handler;  //!< hal handler の返り値
+    } last;   //!< 最後の hal 操作の情報
+  } hal;      //!< HAL low level cmd 用
   struct
   {
     CDRV_ID cdrv_id;       //!< CDRV_ID
@@ -38,6 +52,14 @@ CCP_CmdRet Cmd_CDRV_UTIL_CDSSC_ENABLE_MONITOR_FOR_TLM_DISRUPTION(const CommonCmd
 CCP_CmdRet Cmd_CDRV_UTIL_CDSSC_DISABLE_MONITOR_FOR_TLM_DISRUPTION(const CommonCmdPacket* packet);
 CCP_CmdRet Cmd_CDRV_UTIL_CDSSC_SET_TIME_THRESHOLD_FOR_TLM_DISRUPTION(const CommonCmdPacket* packet);
 
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_INIT(const CommonCmdPacket* packet);
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_RX(const CommonCmdPacket* packet);
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_TX(const CommonCmdPacket* packet);
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_REOPEN(const CommonCmdPacket* packet);
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_RX_TO_RAM(const CommonCmdPacket* packet);
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_TX_FROM_RAM(const CommonCmdPacket* packet);
+CCP_CmdRet Cmd_CDRV_UTIL_HAL_CLEAR_RX_BUFFER(const CommonCmdPacket* packet);
+
 CCP_CmdRet Cmd_CDRV_UTIL_SET_TLM(const CommonCmdPacket* packet);
 
 #endif
diff --git a/component_driver/driver_super.c b/component_driver/driver_super.c
@@ -50,7 +50,7 @@ static int CDS_tx_(ComponentDriverSuper* p_super, uint8_t stream);
  * @param  p_super: ComponentDriverSuper 構造体へのポインタ
  * @retval 0:    受信データなし
  * @retval 正数: 受信データ長 [Byte]
- * @retval 負数: HAL_rx_handlersのエラー
+ * @retval 負数: HAL_rx_handlers のエラー
  */
 static int CDS_rx_(ComponentDriverSuper* p_super);
 
@@ -280,9 +280,9 @@ CDS_ERR_CODE CDS_init_streams(ComponentDriverSuper* p_super,
 
   if (CDS_validate_config(p_super) != CDS_ERR_CODE_OK) return CDS_ERR_CODE_ERR;
 
-  // IF の初期化
+  // HAL の初期化
   // 一旦シンプルに HAL_init_handlers のエラーコードは無視する（実機でここでエラー出る場合はコードがおかしいので．必要があれば将来実装．）
-  if ( (*HAL_init_handlers[p_super->hal_handler_id])(p_super->hal_config) != 0 ) return CDS_ERR_CODE_ERR;
+  if (CDS_hal_init(p_super) != 0 ) return CDS_ERR_CODE_ERR;
 
   return CDS_ERR_CODE_OK;
 }
@@ -542,6 +542,33 @@ CDS_ERR_CODE CDS_clear_rx_buffer(ComponentDriverSuper* p_super)
 }
 
 
+int CDS_hal_init(ComponentDriverSuper* p_super)
+{
+  // HAL の初期化
+  // 一旦シンプルに HAL_init_handlers のエラーコードは無視する（実機でここでエラー出る場合はコードがおかしいので．必要があれば将来実装．）
+  return (*HAL_init_handlers[p_super->hal_handler_id])(p_super->hal_config);
+}
+
+
+int CDS_hal_rx(ComponentDriverSuper* p_super, void* buffer, int buffer_size)
+{
+  return (*HAL_rx_handlers[p_super->hal_handler_id])(p_super->hal_config, buffer, buffer_size);
+}
+
+
+int CDS_hal_tx(ComponentDriverSuper* p_super, const void* data, int data_size)
+{
+  // FIXME; HAL_tx_handlers の第二引数は const つけるべき
+  return (*HAL_tx_handlers[p_super->hal_handler_id])(p_super->hal_config, (void*)data, data_size);    // FIXME: const_cast
+}
+
+
+int CDS_hal_reopen(ComponentDriverSuper* p_super, int reason)
+{
+  return (*HAL_reopen_handlers[p_super->hal_handler_id])(p_super->hal_config, reason);
+}
+
+
 // ###### 送受信関連 static 関数 ######
 
 static CDS_ERR_CODE CDS_send_cmd_(ComponentDriverSuper* p_super, uint8_t stream)
@@ -585,9 +612,7 @@ static int CDS_tx_(ComponentDriverSuper* p_super, uint8_t stream)
   Printf("DS: tx_\n");
 #endif
 
-  ret = (*HAL_tx_handlers[p_super->hal_handler_id])(p_super->hal_config,
-                                                    p_stream_config->settings.tx_frame_,
-                                                    (int)p_stream_config->settings.tx_frame_size_);
+  ret = CDS_hal_tx(p_super, p_stream_config->settings.tx_frame_, (int)p_stream_config->settings.tx_frame_size_);
 
   if (ret != 0) return ret;
   return CDS_ERR_CODE_OK;
@@ -615,9 +640,7 @@ static int CDS_rx_(ComponentDriverSuper* p_super)
   }
   if (flag == 0) return 0;
 
-  rec_data_len = (*HAL_rx_handlers[p_super->hal_handler_id])(p_super->hal_config,
-                                                             CDS_hal_rx_buffer_,
-                                                             p_super->config.settings.hal_rx_buffer_size_);
+  rec_data_len = CDS_hal_rx(p_super, CDS_hal_rx_buffer_, p_super->config.settings.hal_rx_buffer_size_);
 
 #ifdef CDS_DEBUG
   Printf("DS: rx_\n");