ucs2-lib/src/ucs_nodedis.c

   1 /*------------------------------------------------------------------------------------------------*/
   2 /* UNICENS V2.1.0-3491                                                                            */
   3 /* Copyright (c) 2017 Microchip Technology Germany II GmbH & Co. KG.                              */
   4 /*                                                                                                */
   5 /* This program is free software: you can redistribute it and/or modify                           */
   6 /* it under the terms of the GNU General Public License as published by                           */
   7 /* the Free Software Foundation, either version 2 of the License, or                              */
   8 /* (at your option) any later version.                                                            */
   9 /*                                                                                                */
  10 /* This program is distributed in the hope that it will be useful,                                */
  11 /* but WITHOUT ANY WARRANTY; without even the implied warranty of                                 */
  12 /* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                                  */
  13 /* GNU General Public License for more details.                                                   */
  14 /*                                                                                                */
  15 /* You should have received a copy of the GNU General Public License                              */
  16 /* along with this program.  If not, see <http://www.gnu.org/licenses/>.                          */
  17 /*                                                                                                */
  18 /* You may also obtain this software under a propriety license from Microchip.                    */
  19 /* Please contact Microchip for further information.                                              */
  20 /*------------------------------------------------------------------------------------------------*/
  21
  22 /*!
  23  * \file
  24  * \brief Implementation of the Node Discovery.
  25  *
  26  * \cond UCS_INTERNAL_DOC
  27  * \addtogroup G_NODE_DIS
  28  * @{
  29
  30  */
  31
  32 /*------------------------------------------------------------------------------------------------*/
  33 /* Includes                                                                                       */
  34 /*------------------------------------------------------------------------------------------------*/
  35 #include "ucs_inic_pb.h"
  36 #include "ucs_nodedis.h"
  37 #include "ucs_misc.h"
  38
  39
  40
  41 /*------------------------------------------------------------------------------------------------*/
  42 /* Internal constants                                                                             */
  43 /*------------------------------------------------------------------------------------------------*/
  44 #define ND_NUM_STATES             5U    /*!< \brief Number of state machine states */
  45 #define ND_NUM_EVENTS            14U    /*!< \brief Number of state machine events */
  46
  47 #define ND_TIMEOUT_PERIODIC     5000U   /*!< \brief 5s timeout */
  48 #define ND_TIMEOUT_COMMAND       300U   /*!< \brief supervise EXC commands */
  49
  50 #define ND_SIGNATURE_VERSION       1U   /*!< \brief signature version used for Node Discovery */
  51
  52 /*------------------------------------------------------------------------------------------------*/
  53 /* Service parameters                                                                             */
  54 /*------------------------------------------------------------------------------------------------*/
  55 /*! Priority of the Node Discovery service used by scheduler */
  56 static const uint8_t ND_SRV_PRIO = 248U;   /* parasoft-suppress  MISRA2004-8_7 "Value shall be part of the module, not part of a function." */
  57 /*! Main event for the Node Discovery service */
  58 static const Srv_Event_t ND_EVENT_SERVICE = 1U;
  59
  60
  61 /*------------------------------------------------------------------------------------------------*/
  62 /* Internal enumerators                                                                           */
  63 /*------------------------------------------------------------------------------------------------*/
  64 /*! \brief Possible events of the Node Discovery state machine */
  65 typedef enum Nd_Events_
  66 {
  67     ND_E_NIL                = 0U,      /*!< \brief NIL Event */
  68     ND_E_START              = 1U,      /*!< \brief API start command was called. */
  69     ND_E_STOP               = 2U,      /*!< \brief Stop request occurred. */
  70     ND_E_CHECK              = 3U,      /*!< \brief Check conditions in CHECK_HELLO state. */
  71     ND_E_NET_OFF            = 4U,      /*!< \brief NetOff occurred. */
  72     ND_E_HELLO_STATUS       = 5U,      /*!< \brief Hello.Status message available to be processed. */
  73     ND_E_RES_NODE_OK        = 6U,      /*!< \brief Evaluation result of node: ok. */
  74     ND_E_RES_UNKNOWN        = 7U,      /*!< \brief Evaluation result of node: unknown node. */
  75     ND_E_RES_CHECK_UNIQUE   = 8U,      /*!< \brief Evaluation result of node: check if node is unique. */
  76     ND_E_WELCOME_SUCCESS    = 9U,      /*!< \brief Welcome command was successful. */
  77     ND_E_WELCOME_NOSUCCESS  = 10U,     /*!< \brief Welcome command was not successful. */
  78     ND_E_SIGNATURE_SUCCESS  = 11U,     /*!< \brief Signature command was successful. */
  79     ND_E_TIMEOUT            = 12U,     /*!< \brief Timeout occurred. */
  80     ND_E_ERROR              = 13U      /*!< \brief An unexpected error occurred. */
  81
  82 } Nd_Events_t;
  83
  84
  85 /*! \brief States of the Node Discovery state machine */
  86 typedef enum Nd_State_
  87 {
  88     ND_S_IDLE            =  0U,     /*!< \brief Idle state */
  89     ND_S_CHECK_HELLO     =  1U,     /*!< \brief Node Discovery started */
  90     ND_S_WAIT_EVAL       =  2U,     /*!< \brief Evaluate next Hello.Status message */
  91     ND_S_WAIT_WELCOME    =  3U,     /*!< \brief Wait for Welcome.Status */
  92     ND_S_WAIT_PING       =  4U      /*!< \brief Wait for Signature.Status */
  93 } Nd_State_t;
  94
  95
  96
  97
  98 /*------------------------------------------------------------------------------------------------*/
  99 /* Internal prototypes                                                                            */
 100 /*------------------------------------------------------------------------------------------------*/
 101 static void Nd_Service(void *self);
 102
 103 static void Nd_HelloStatusCb(void *self, void *result_ptr);
 104 static void Nd_WelcomeResultCb(void *self, void *result_ptr);
 105 static void Nd_SignatureStatusCb(void *self, void *result_ptr);
 106 static void Nd_InitCb(void *self, void *result_ptr);
 107 static void Nd_TimerCb(void *self);
 108 static void Nd_OnTerminateEventCb(void *self, void *result_ptr);
 109 static void Nd_NetworkStatusCb(void *self, void *result_ptr);
 110
 111 static void Nd_Reset_Lists(void *self);
 112
 113 static void Nd_A_Start(void *self);
 114 static void Nd_A_Stop(void *self);
 115 static void Nd_A_CheckConditions(void *self);
 116 static void Nd_A_Eval_Hello(void *self);
 117 static void Nd_A_Welcome(void *self);
 118 static void Nd_A_Unknown(void *self);
 119 static void Nd_A_CheckUnique(void *self);
 120 static void Nd_A_WelcomeSuccess(void *self);
 121 static void Nd_A_WelcomeNoSuccess(void *self);
 122 static void Nd_A_WelcomeTimeout(void *self);
 123 static void Nd_A_Timeout_Hello(void *self);
 124 static void Nd_A_NetOff(void *self);
 125 static void Nd_A_Signature_Timeout(void *self);
 126 static void Nd_A_Signature_Success(void *self);
 127 static void Nd_A_Error(void *self);
 128
 129 static void Nd_Send_Hello_Get(void *self);
 130 static void Nd_Start_Periodic_Timer(void *self);
 131 static void Nd_Send_Welcome_SR(void *self, Ucs_Signature_t *signature);
 132 static void Nd_Send_Signature_Get(void *self, uint16_t target_address);
 133
 134
 135 /*------------------------------------------------------------------------------------------------*/
 136 /* State transition table (used by finite state machine)                                          */
 137 /*------------------------------------------------------------------------------------------------*/
 138 /*! \brief State transition table */
 139 static const Fsm_StateElem_t nd_trans_tab[ND_NUM_STATES][ND_NUM_EVENTS] =    /* parasoft-suppress  MISRA2004-8_7 "Value shall be part of the module, not part of a function." */
 140 {
 141     { /* State ND_S_IDLE */
 142         /* ND_E_NIL                */ {NULL,                          ND_S_IDLE            },
 143         /* ND_E_START              */ {&Nd_A_Start,                   ND_S_CHECK_HELLO     },
 144         /* ND_E_STOP               */ {NULL,                          ND_S_IDLE            },
 145         /* ND_E_CHECK              */ {NULL,                          ND_S_IDLE            },
 146         /* ND_E_NET_OFF            */ {NULL,                          ND_S_IDLE            },
 147         /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_IDLE            },
 148         /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_IDLE            },
 149         /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_IDLE            },
 150         /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_IDLE            },
 151         /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_IDLE            },
 152         /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_IDLE            },
 153         /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_IDLE            },
 154         /* ND_E_TIMEOUT            */ {NULL,                          ND_S_IDLE            },
 155         /* ND_E_ERROR              */ {NULL,                          ND_S_IDLE            }
 156
 157     },
 158     { /* State ND_S_CHECK_HELLO */
 159         /* ND_E_NIL                */ {NULL,                          ND_S_CHECK_HELLO     },
 160         /* ND_E_START              */ {NULL,                          ND_S_CHECK_HELLO     },
 161         /* ND_E_STOP               */ {&Nd_A_Stop,                    ND_S_IDLE            },
 162         /* ND_E_CHECK              */ {&Nd_A_CheckConditions,         ND_S_CHECK_HELLO     },
 163         /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
 164         /* ND_E_HELLO_STATUS       */ {&Nd_A_Eval_Hello,              ND_S_WAIT_EVAL       },
 165         /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_CHECK_HELLO     },
 166         /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_CHECK_HELLO     },
 167         /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_CHECK_HELLO     },
 168         /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_CHECK_HELLO     },
 169         /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_CHECK_HELLO     },
 170         /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_CHECK_HELLO     },
 171         /* ND_E_TIMEOUT            */ {&Nd_A_Timeout_Hello,           ND_S_CHECK_HELLO     },
 172         /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
 173     },
 174     { /* State ND_S_WAIT_EVAL */
 175         /* ND_E_NIL                */ {NULL,                          ND_S_WAIT_EVAL       },
 176         /* ND_E_START              */ {NULL,                          ND_S_WAIT_EVAL       },
 177         /* ND_E_STOP               */ {NULL,                          ND_S_WAIT_EVAL       },
 178         /* ND_E_CHECK              */ {NULL,                          ND_S_WAIT_EVAL       },
 179         /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
 180         /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_WAIT_EVAL       },
 181         /* ND_E_RES_NODE_OK        */ {&Nd_A_Welcome,                 ND_S_WAIT_WELCOME    },
 182         /* ND_E_RES_UNKNOWN        */ {&Nd_A_Unknown,                 ND_S_CHECK_HELLO     },
 183         /* ND_E_RES_CHECK_UNIQUE   */ {&Nd_A_CheckUnique,             ND_S_WAIT_PING       },
 184         /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_WAIT_EVAL       },
 185         /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_WAIT_EVAL       },
 186         /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_WAIT_EVAL       },
 187         /* ND_E_TIMEOUT            */ {NULL,                          ND_S_WAIT_EVAL       },
 188         /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
 189     },
 190
 191     {/* ND_S_WAIT_WELCOME */
 192         /* ND_E_NIL                */ {NULL,                          ND_S_WAIT_WELCOME    },
 193         /* ND_E_START              */ {NULL,                          ND_S_WAIT_WELCOME    },
 194         /* ND_E_STOP               */ {NULL,                          ND_S_WAIT_WELCOME    },
 195         /* ND_E_CHECK              */ {NULL,                          ND_S_WAIT_WELCOME    },
 196         /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
 197         /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_WAIT_WELCOME    },
 198         /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_WAIT_WELCOME    },
 199         /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_WAIT_WELCOME    },
 200         /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_WAIT_WELCOME    },
 201         /* ND_E_WELCOME_SUCCESS    */ {&Nd_A_WelcomeSuccess,          ND_S_CHECK_HELLO     },
 202         /* ND_E_WELCOME_NOSUCCESS  */ {&Nd_A_WelcomeNoSuccess,        ND_S_CHECK_HELLO     },
 203         /* ND_E_SIGNATURE_SUCCESS  */ {NULL,                          ND_S_WAIT_WELCOME    },
 204         /* ND_E_TIMEOUT            */ {&Nd_A_WelcomeTimeout,          ND_S_CHECK_HELLO    },
 205         /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
 206     },
 207     {/* ND_S_WAIT_PING */
 208         /* ND_E_NIL                */ {NULL,                          ND_S_WAIT_PING       },
 209         /* ND_E_START              */ {NULL,                          ND_S_WAIT_PING       },
 210         /* ND_E_STOP               */ {NULL,                          ND_S_WAIT_PING       },
 211         /* ND_E_CHECK              */ {NULL,                          ND_S_WAIT_PING       },
 212         /* ND_E_NET_OFF            */ {&Nd_A_NetOff,                  ND_S_CHECK_HELLO     },
 213         /* ND_E_HELLO_STATUS       */ {NULL,                          ND_S_WAIT_PING       },
 214         /* ND_E_RES_NODE_OK        */ {NULL,                          ND_S_WAIT_PING       },
 215         /* ND_E_RES_UNKNOWN        */ {NULL,                          ND_S_WAIT_PING       },
 216         /* ND_E_RES_CHECK_UNIQUE   */ {NULL,                          ND_S_WAIT_PING       },
 217         /* ND_E_WELCOME_SUCCESS    */ {NULL,                          ND_S_WAIT_PING       },
 218         /* ND_E_WELCOME_NOSUCCESS  */ {NULL,                          ND_S_WAIT_PING       },
 219         /* ND_E_SIGNATURE_SUCCESS  */ {&Nd_A_Signature_Success,       ND_S_CHECK_HELLO     },
 220         /* ND_E_TIMEOUT            */ {&Nd_A_Signature_Timeout,       ND_S_WAIT_WELCOME    },
 221         /* ND_E_ERROR              */ {&Nd_A_Error,                   ND_S_IDLE            }
 222     }
 223 };
 224
 225
 226
 227
 228 /*------------------------------------------------------------------------------------------------*/
 229 /* Implementation                                                                                 */
 230 /*------------------------------------------------------------------------------------------------*/
 231
 232 /*! \brief Constructor of class CNodeDiscovery.
 233  *  \param self         Reference to CNodeDiscovery instance
 234  *  \param inic         Reference to CInic instance
 235  *  \param base         Reference to CBase instance
 236  *  \param exc          Reference to CExc instance
 237  *  \param init_ptr    Report callback function
 238  */
 239 void Nd_Ctor(CNodeDiscovery *self, CInic *inic, CBase *base, CExc *exc, Nd_InitData_t *init_ptr)
 240 {
 241     MISC_MEM_SET((void *)self, 0, sizeof(*self));
 242
 243     self->inic       = inic;
 244     self->exc        = exc;
 245     self->base       = base;
 246     self->cb_inst_ptr = init_ptr->inst_ptr;
 247     self->report_fptr = init_ptr->report_fptr;
 248     self->eval_fptr   = init_ptr->eval_fptr;
 249
 250     Fsm_Ctor(&self->fsm, self, &(nd_trans_tab[0][0]), ND_NUM_EVENTS, ND_E_NIL);
 251
 252     Nd_Reset_Lists(self);
 253
 254     Sobs_Ctor(&self->nd_hello,          self, &Nd_HelloStatusCb);
 255     Sobs_Ctor(&self->nd_welcome,        self, &Nd_WelcomeResultCb);
 256     Sobs_Ctor(&self->nd_signature,      self, &Nd_SignatureStatusCb);
 257     Sobs_Ctor(&self->nd_init,           self, &Nd_InitCb);
 258
 259     /* register termination events */
 260     Mobs_Ctor(&self->nd_terminate, self, EH_M_TERMINATION_EVENTS, &Nd_OnTerminateEventCb);
 261     Eh_AddObsrvInternalEvent(&self->base->eh, &self->nd_terminate);
 262
 263     /* Register NetOn and MPR events */
 264     Obs_Ctor(&self->nd_nwstatus, self, &Nd_NetworkStatusCb);
 265     Inic_AddObsrvNwStatus(self->inic,  &self->nd_nwstatus);
 266     self->neton = false;
 267
 268     /* Initialize Node Discovery service */
 269     Srv_Ctor(&self->service, ND_SRV_PRIO, self, &Nd_Service);
 270     /* Add Node Discovery service to scheduler */
 271     (void)Scd_AddService(&self->base->scd, &self->service);
 272
 273 }
 274
 275
 276 /*! \brief Service function of the Node Discovery service.
 277  *  \param self    Reference to Node Discovery object
 278  */
 279 static void Nd_Service(void *self)
 280 {
 281     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 282     Srv_Event_t event_mask;
 283     Srv_GetEvent(&self_->service, &event_mask);
 284     if(ND_EVENT_SERVICE == (event_mask & ND_EVENT_SERVICE))   /* Is event pending? */
 285     {
 286         Fsm_State_t result;
 287         Srv_ClearEvent(&self_->service, ND_EVENT_SERVICE);
 288         TR_INFO((self_->base->ucs_user_ptr, "[ND]", "FSM __ %d %d", 2U, self_->fsm.current_state, self_->fsm.event_occured));
 289         result = Fsm_Service(&self_->fsm);
 290         TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", (result != FSM_STATE_ERROR));
 291         TR_INFO((self_->base->ucs_user_ptr, "[ND]", "FSM -> %d", 1U, self_->fsm.current_state));
 292         MISC_UNUSED(result);
 293     }
 294 }
 295
 296
 297
 298 /**************************************************************************************************/
 299 /* API functions                                                                                  */
 300 /**************************************************************************************************/
 301 /*! \brief Start the Node Discovery
 302  *
 303  * \param  *self    Reference to Node Discovery object
 304  * \return UCS_RET_SUCCESS              Operation successful
 305  * \return UCS_RET_ERR_API_LOCKED       Node Discovery was already started
 306  */
 307 Ucs_Return_t Nd_Start(CNodeDiscovery *self)
 308 {
 309     Ucs_Return_t ret_val = UCS_RET_SUCCESS;
 310
 311
 312     if (self->running == false)
 313     {
 314         Fsm_SetEvent(&self->fsm, ND_E_START);
 315         Srv_SetEvent(&self->service, ND_EVENT_SERVICE);
 316         self->running = true;
 317         TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Start", 0U));
 318     }
 319     else
 320     {
 321         ret_val = UCS_RET_ERR_API_LOCKED;
 322         TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Start failed", 0U));
 323     }
 324
 325     return ret_val;
 326
 327
 328
 329
 330 }
 331
 332 /*! \brief Stops the Node Discovery
 333  *
 334  * \param *self Reference to Node Discovery object
 335  * \return UCS_RET_SUCCESS              Operation successful
 336  * \return UCS_RET_ERR_NOT_AVAILABLE    Node Discovery not running
 337  */
 338 Ucs_Return_t Nd_Stop(CNodeDiscovery *self)
 339 {
 340     Ucs_Return_t ret_val = UCS_RET_SUCCESS;
 341
 342     if (self->running == true)       /* check if Node Discovery was started */
 343     {
 344         self->stop_request = true;
 345         Fsm_SetEvent(&self->fsm, ND_E_CHECK);
 346         Srv_SetEvent(&self->service, ND_EVENT_SERVICE);
 347
 348         TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Stop", 0U));
 349     }
 350     else
 351     {
 352         ret_val = UCS_RET_ERR_NOT_AVAILABLE;
 353         TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_Stop failed", 0U));
 354     }
 355
 356     return ret_val;
 357 }
 358
 359
 360 /*! \brief Sends the Init command to all nodes
 361  *
 362  * \param *self Reference to Node Discovery object
 363  */
 364 void Nd_InitAll(CNodeDiscovery *self)
 365 {
 366     Ucs_Return_t result;
 367
 368     result = Exc_DeviceInit_Start(self->exc, UCS_ADDR_BROADCAST_BLOCKING, NULL);
 369     if (result == UCS_RET_SUCCESS)
 370     {
 371         TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_InitAll", 0U));
 372     }
 373     else
 374     {
 375         TR_INFO((self->base->ucs_user_ptr, "[ND]", "Nd_InitAll failed", 0U));
 376     }
 377
 378 }
 379
 380
 381
 382
 383 /**************************************************************************************************/
 384 /*  FSM Actions                                                                                   */
 385 /**************************************************************************************************/
 386 /*! \brief Action on start event
 387  *
 388  * \param *self Reference to Node Discovery object
 389  */
 390 static void Nd_A_Start(void *self)
 391 {
 392     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 393
 394     /* empty new_list*/
 395     Nd_Reset_Lists(self_);
 396
 397     Nd_Send_Hello_Get(self_);
 398
 399     Nd_Start_Periodic_Timer(self_);
 400
 401     self_->stop_request  = false;
 402     self_->hello_mpr_request   = false;
 403     self_->hello_neton_request = false;
 404 }
 405
 406 /*! \brief Action on stop event
 407  *
 408  * \param *self Reference to Node Discovery object
 409  */
 410 static void Nd_A_Stop(void *self)
 411 {
 412     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 413     Ucs_Signature_t *dummy = NULL;
 414
 415     if (self_->report_fptr != NULL)
 416     {
 417         self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_STOPPED, dummy);
 418     }
 419     self_->running = false;
 420 }
 421
 422 /*! \brief Check conditions
 423  *
 424  * \param *self Reference to Node Discovery object
 425  */
 426 static void Nd_A_CheckConditions(void *self)
 427 {
 428     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 429
 430     if (self_->stop_request == true)
 431     {
 432         Fsm_SetEvent(&self_->fsm, ND_E_STOP);
 433         Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 434     }
 435     else if (self_->hello_mpr_request == true)
 436     {
 437         Nd_Reset_Lists(self_);
 438         Nd_Send_Hello_Get(self_);
 439         Nd_Start_Periodic_Timer(self_);
 440         self_->hello_mpr_request   = false;
 441         self_->hello_neton_request = false;
 442     }
 443     else if (self_->hello_neton_request == true)
 444     {
 445         Nd_Send_Hello_Get(self_);
 446         Nd_Start_Periodic_Timer(self_);
 447         self_->hello_neton_request = false;
 448     }
 449     else if (Dl_GetSize(&(self_->new_list)) > 0U)
 450     {
 451         Fsm_SetEvent(&self_->fsm, ND_E_HELLO_STATUS);
 452         Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 453     }
 454     else
 455     {
 456         Nd_Start_Periodic_Timer(self_);
 457     }
 458
 459 }
 460
 461
 462 /*! \brief Evaluate the signature of the next node
 463  *
 464  * \param *self Reference to Node Discovery object
 465  */
 466 static void Nd_A_Eval_Hello(void *self)
 467 {
 468     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 469     CDlNode *node;
 470     Ucs_Nd_CheckResult_t result;
 471     bool service_flag = false;
 472     Ucs_Signature_t temp_sig;
 473
 474     if (Dl_GetSize(&(self_->new_list)) > 0U)
 475     {
 476         node = Dl_PopHead(&(self_->new_list));
 477         self_->current_sig = *((Ucs_Signature_t *)(node->data_ptr));
 478
 479         if (self_->eval_fptr != NULL)
 480         {
 481             temp_sig = self_->current_sig;             /* provide only a copy to the application */
 482             result = self_->eval_fptr(self_->cb_inst_ptr, &temp_sig);
 483
 484             switch (result)
 485             {
 486             case UCS_ND_CHK_UNKNOWN:
 487                 Fsm_SetEvent(&self_->fsm, ND_E_RES_UNKNOWN);
 488                 service_flag = true;
 489                 break;
 490
 491             case UCS_ND_CHK_WELCOME:
 492                 Fsm_SetEvent(&self_->fsm, ND_E_RES_NODE_OK);
 493                 service_flag = true;
 494                 break;
 495
 496             case UCS_ND_CHK_UNIQUE:
 497                 Fsm_SetEvent(&self_->fsm, ND_E_RES_CHECK_UNIQUE);
 498                 service_flag = true;
 499                 break;
 500
 501             default:
 502                 Fsm_SetEvent(&self_->fsm, ND_E_ERROR);
 503                 service_flag = true;
 504                 break;
 505             }
 506         }
 507     }
 508
 509     if (service_flag == true)
 510     {
 511         Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 512     }
 513 }
 514
 515
 516 /*! \brief Sends a Welcome message to the current node
 517  *
 518  * \param *self Reference to Node Discovery object
 519  */
 520 static void Nd_A_Welcome(void *self)
 521 {
 522     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 523
 524     Nd_Send_Welcome_SR(self, &self_->current_sig);
 525 }
 526
 527
 528 /*! \brief Report the current node as unknown
 529  *
 530  * \param *self Reference to Node Discovery object
 531  */
 532 static void Nd_A_Unknown(void *self)
 533 {
 534     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 535     Ucs_Signature_t temp_sig;
 536
 537     if (self_->report_fptr != NULL)
 538     {
 539         temp_sig = self_->current_sig;                 /* provide only a copy to the application */
 540         self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_UNKNOWN, &temp_sig);
 541     }
 542
 543     Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
 544     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 545 }
 546
 547 /*! \brief Check if the current node has already got a Welcome message
 548  *
 549  * \param *self Reference to Node Discovery object
 550  */
 551 static void Nd_A_CheckUnique(void *self)
 552 {
 553     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 554
 555     Nd_Send_Signature_Get(self, self_->current_sig.node_address);
 556
 557 }
 558
 559
 560 /*! \brief Report a successful Welcome.Result
 561  *
 562  * \param *self Reference to Node Discovery object
 563  */
 564 static void Nd_A_WelcomeSuccess(void *self)
 565 {
 566     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 567     Ucs_Signature_t temp_sig;
 568
 569     if (self_->report_fptr != NULL)
 570     {
 571         temp_sig = self_->current_sig;                 /* provide only a copy to the application */
 572         self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_WELCOME_SUCCESS, &temp_sig);
 573     }
 574
 575     /* initiate a Hello.Get if the current node is the local INIC */
 576     if (self_->current_sig.node_pos_addr == 0x0400U)
 577     {
 578         Nd_Send_Hello_Get(self_);
 579         Nd_Start_Periodic_Timer(self_);
 580     }
 581
 582     Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
 583     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 584 }
 585
 586
 587 /*! \brief Report an unsuccessful Welcome.Result
 588  *
 589  * \param *self Reference to Node Discovery object
 590  */
 591 static void Nd_A_WelcomeNoSuccess(void *self)
 592 {
 593     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 594
 595     /* same reaction as for MPR event */
 596     self_->hello_mpr_request = true;
 597
 598     Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
 599     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 600 }
 601
 602
 603 /*! \brief Reaction on a timeout for the Welcome messsage
 604  *
 605  * \param *self Reference to Node Discovery object
 606  */
 607 static void Nd_A_WelcomeTimeout(void *self)
 608 {
 609     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 610
 611     /* same reaction as for MPR event */
 612     self_->hello_mpr_request = true;
 613
 614     Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
 615     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 616 }
 617
 618
 619 /*! \brief The periodic timer elapsed
 620  *
 621  * \param *self Reference to Node Discovery object
 622  */
 623 static void Nd_A_Timeout_Hello(void *self)
 624 {
 625     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 626
 627     Nd_Send_Hello_Get(self_);
 628     Nd_Start_Periodic_Timer(self_);
 629 }
 630
 631
 632 /*! \brief  Reaction on a NetOff event
 633  *
 634  * \param *self Reference to Node Discovery object
 635  */
 636 static void Nd_A_NetOff(void *self)
 637 {
 638     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 639     Ucs_Signature_t *dummy = NULL;
 640
 641     if (self_->report_fptr != NULL)
 642     {
 643         self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_NETOFF, dummy);
 644     }
 645
 646     Nd_Reset_Lists(self_);
 647
 648 }
 649
 650
 651 /*! \brief Reaction on a timeout of the Signature command
 652  *
 653  * \param *self Reference to Node Discovery object
 654  */
 655 static void Nd_A_Signature_Timeout(void *self)
 656 {
 657     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 658
 659     Nd_Send_Welcome_SR(self, &self_->current_sig);
 660 }
 661
 662
 663 /*! \brief Reaction on a successful Signature answer
 664  *
 665  * \param *self Reference to Node Discovery object
 666  */
 667 static void Nd_A_Signature_Success(void *self)
 668 {
 669     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 670     Ucs_Signature_t temp_sig;
 671
 672     if (self_->report_fptr != NULL)
 673     {
 674         temp_sig = self_->current_sig;                 /* provide only a copy to the application */
 675         self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_MULTI, &temp_sig);
 676     }
 677 }
 678
 679
 680 /*! \brief An unecpected error occurred
 681  *
 682  * \param *self Reference to Node Discovery object
 683  */
 684 static void Nd_A_Error(void *self)
 685 {
 686     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 687     Ucs_Signature_t *dummy = NULL;
 688
 689     if (self_->report_fptr != NULL)
 690     {
 691         self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_ERROR, dummy);
 692     }
 693     self_->running = false;
 694 }
 695
 696
 697 /**************************************************************************************************/
 698 /*  Callback functions                                                                            */
 699 /**************************************************************************************************/
 700
 701 /*! Callback function for the Exc.Hello.Status message
 702  *
 703  * \param *self         Reference to Node Discovery object
 704  * \param *result_ptr   Result of the Exc_Hello_Get() command
 705  */
 706 static void Nd_HelloStatusCb(void *self, void *result_ptr)
 707 {
 708     CNodeDiscovery *self_        = (CNodeDiscovery *)self;
 709     Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
 710     CDlNode *node;
 711
 712     if (result_ptr_->result.code == UCS_RES_SUCCESS)
 713     {
 714         /* read signature and store it in the new_list */
 715         node = Dl_PopHead(&(self_->unused_list)); /* get an unused list element */
 716         if (node != NULL)
 717         {
 718             ((Nd_Node *)(node->data_ptr))->signature = (*(Exc_HelloStatus_t *)(result_ptr_->data_info)).signature;
 719             Dl_InsertTail(&(self_->new_list), node);
 720
 721             Fsm_SetEvent(&self_->fsm, ND_E_HELLO_STATUS);
 722             TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_HelloStatusCb UCS_RES_SUCCESS", 0U));
 723         }
 724         else
 725         {
 726             TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_HelloStatusCb No list entry av.", 0U));
 727         }
 728     }
 729     else
 730     {
 731         Fsm_SetEvent(&self_->fsm, ND_E_ERROR);
 732         TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_HelloStatusCb ND_E_ERROR", 0U));
 733     }
 734
 735     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 736 }
 737
 738
 739 /*! \brief  Function is called on reception of the Welcome.Result messsage
 740  *  \param  self        Reference to Node Discovery object
 741  *  \param  result_ptr  Pointer to the result of the Welcome message
 742  */
 743 static void Nd_WelcomeResultCb(void *self, void *result_ptr)
 744 {
 745     CNodeDiscovery *self_        = (CNodeDiscovery *)self;
 746     Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
 747
 748     Tm_ClearTimer(&self_->base->tm, &self_->timer);
 749
 750     if (result_ptr_->result.code == UCS_RES_SUCCESS)
 751     {
 752         /* read signature and store it */
 753         self_->welcome_result = *(Exc_WelcomeResult_t *)(result_ptr_->data_info);
 754         if (self_->welcome_result.res == EXC_WELCOME_SUCCESS)
 755         {
 756             Fsm_SetEvent(&self_->fsm, ND_E_WELCOME_SUCCESS);
 757             TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb ND_E_WELCOME_SUCCESS", 0U));
 758         }
 759         else
 760         {
 761             Fsm_SetEvent(&self_->fsm, ND_E_WELCOME_NOSUCCESS);
 762             TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb ND_E_WELCOME_NOSUCCESS", 0U));
 763         }
 764     }
 765     else
 766     {
 767         uint8_t i;
 768
 769         if (    (result_ptr_->result.info_size   == 3U)
 770              && (result_ptr_->result.info_ptr[0] == 0x20U)
 771              && (result_ptr_->result.info_ptr[1] == 0x03U)
 772              && (result_ptr_->result.info_ptr[2] == 0x31U))
 773         {   /* Device has not yet received an ExtendedNetworkControl.Hello.Get() message. */
 774             Fsm_SetEvent(&self_->fsm, ND_E_WELCOME_NOSUCCESS);
 775         }
 776         else
 777         {
 778             Fsm_SetEvent(&self_->fsm, ND_E_ERROR);
 779             TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb Error (code) 0x%x", 1U, result_ptr_->result.code));
 780             for (i=0U; i< result_ptr_->result.info_size; ++i)
 781             {
 782                 TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_WelcomeResultCb Error (info) 0x%x", 1U, result_ptr_->result.info_ptr[i]));
 783             }
 784         }
 785     }
 786
 787     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 788 }
 789
 790
 791 /*! \brief Callback function for Signature status and error messages
 792  *
 793  * \param *self         Reference to Node Discovery object
 794  * \param *result_ptr   Pointer to the result of the Signature message
 795  */
 796 static void Nd_SignatureStatusCb(void *self, void *result_ptr)
 797 {
 798     CNodeDiscovery *self_        = (CNodeDiscovery *)self;
 799     Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
 800
 801     Tm_ClearTimer(&self_->base->tm, &self_->timer);
 802
 803     if (result_ptr_->result.code == UCS_RES_SUCCESS)
 804     {
 805         self_->signature_status = *(Exc_SignatureStatus_t *)(result_ptr_->data_info);
 806         Fsm_SetEvent(&self_->fsm, ND_E_SIGNATURE_SUCCESS);
 807         TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_SignatureStatusCb ND_E_SIGNATURE_SUCCESS", 0U));
 808     }
 809     else
 810     {
 811         Fsm_SetEvent(&self_->fsm, ND_E_ERROR);
 812         TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_SignatureStatusCb Error  0x%x", 1U, result_ptr_->result.code));
 813     }
 814
 815     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 816 }
 817
 818
 819 /*! \brief Callback function for Init error messages
 820  *
 821  * \param *self         Reference to Node Discovery object
 822  * \param *result_ptr   Pointer to the result of the Init message
 823  */
 824 static void Nd_InitCb(void *self, void *result_ptr)
 825 {
 826     CNodeDiscovery *self_        = (CNodeDiscovery *)self;
 827     Exc_StdResult_t *result_ptr_ = (Exc_StdResult_t *)result_ptr;
 828
 829     MISC_UNUSED(self_);
 830     MISC_UNUSED(result_ptr_);
 831
 832 }
 833
 834
 835 /*! \brief Timer callback used for supervising INIC command timeouts.
 836  *  \param self    Reference to Node Discovery object
 837  */
 838 static void Nd_TimerCb(void *self)
 839 {
 840     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 841
 842     Fsm_SetEvent(&self_->fsm, ND_E_TIMEOUT);
 843     TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_TimerCb ND_E_TIMEOUT", 0U));
 844
 845     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 846 }
 847
 848
 849 /*!  Function is called on severe internal errors
 850  *
 851  * \param *self         Reference to Node Discovery object
 852  * \param *result_ptr   Reference to data
 853  */
 854 static void Nd_OnTerminateEventCb(void *self, void *result_ptr)
 855 {
 856     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 857     Ucs_Signature_t *dummy = NULL;
 858
 859     MISC_UNUSED(result_ptr);
 860
 861     if (self_->fsm.current_state != ND_S_IDLE)
 862     {
 863         Tm_ClearTimer(&self_->base->tm, &self_->timer);
 864         if (self_->report_fptr != NULL)
 865         {
 866             self_->report_fptr(self_->cb_inst_ptr, UCS_ND_RES_ERROR, dummy);
 867         }
 868         Nd_Reset_Lists(self_);
 869     }
 870 }
 871
 872
 873 /*! \brief Callback function for the INIC.NetworkStatus status and error messages
 874  *
 875  * \param *self         Reference to Node Discovery object
 876  * \param *result_ptr   Pointer to the result of the INIC.NetworkStatus message
 877  */
 878 static void Nd_NetworkStatusCb(void *self, void *result_ptr)
 879 {
 880     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 881     Inic_StdResult_t *result_ptr_ = (Inic_StdResult_t *)result_ptr;
 882
 883     if (result_ptr_->result.code == UCS_RES_SUCCESS)
 884     {
 885         TR_INFO((self_->base->ucs_user_ptr, "[ND]", "Nd_NetworkStatusCb  0x%x", 1U, result_ptr_->result.code));
 886         /* check for NetOn/NetOff events */
 887         if (    (self_->neton == true)
 888              && ((((Inic_NetworkStatus_t *)(result_ptr_->data_info))->availability) == UCS_NW_NOT_AVAILABLE) )
 889         {
 890             self_->neton = false;
 891             Fsm_SetEvent(&self_->fsm, ND_E_NET_OFF);
 892         }
 893         /* check for NetOn/NetOff events */
 894         else if (    (self_->neton == false)
 895              && ((((Inic_NetworkStatus_t *)(result_ptr_->data_info))->availability) == UCS_NW_AVAILABLE) )
 896         {
 897             self_->neton = true;
 898             self_->hello_neton_request = true;
 899             Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
 900         }
 901         /* check for MPR event */
 902         else if (   (((Inic_NetworkStatus_t *)(result_ptr_->data_info))->events & UCS_NETWORK_EVENT_NCE)
 903             == UCS_NETWORK_EVENT_NCE)
 904         {
 905             self_->hello_mpr_request = true;
 906             Fsm_SetEvent(&self_->fsm, ND_E_CHECK);
 907         }
 908     }
 909
 910     Srv_SetEvent(&self_->service, ND_EVENT_SERVICE);
 911 }
 912
 913
 914
 915 /**************************************************************************************************/
 916 /*  Helper functions                                                                              */
 917 /**************************************************************************************************/
 918 /*! \brief Reset the list of new detected nodes
 919  *
 920  * \param *self Reference to Node Discovery object
 921  */
 922 static void Nd_Reset_Lists(void *self)
 923 {
 924     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 925     uint16_t i;
 926
 927     Dl_Ctor(&self_->new_list, self_->base->ucs_user_ptr);
 928     Dl_Ctor(&self_->unused_list, self_->base->ucs_user_ptr);
 929
 930     for(i=0U; i < ND_NUM_NODES; ++i)
 931     {
 932         Dln_Ctor(&(self_->nodes[i]).node, &(self_->nodes[i]));
 933         Dl_InsertTail(&(self_->unused_list), &(self_->nodes[i]).node);
 934     }
 935 }
 936
 937
 938 /*! \brief Send the Hello.Get message
 939  *
 940  * \param *self Reference to Node Discovery object
 941  */
 942 static void Nd_Send_Hello_Get(void *self)
 943 {
 944     Ucs_Return_t ret_val;
 945     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
 946
 947     ret_val = Exc_Hello_Get(self_->exc, UCS_ADDR_BROADCAST_BLOCKING,
 948                             ND_SIGNATURE_VERSION, &self_->nd_hello);
 949
 950     TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", ret_val == UCS_RET_SUCCESS);
 951     MISC_UNUSED(ret_val);
 952 }
 953
 954
 955 /*! \brief Send the Welcome.StartResult message
 956  *
 957  * \param *self Reference to Node Discovery object
 958  * \param *signature signature parameter
 959  */
 960 static void Nd_Send_Welcome_SR(void *self, Ucs_Signature_t *signature)
 961 {
 962     Ucs_Return_t    ret_val;
 963     CNodeDiscovery  *self_ = (CNodeDiscovery *)self;
 964     uint16_t        target_address;
 965
 966     if (signature->node_pos_addr == 0x0400U)
 967     {
 968         target_address = 0x0001U;
 969     }
 970     else
 971     {
 972         target_address = signature->node_pos_addr;
 973     }
 974
 975     ret_val = Exc_Welcome_Sr(self_->exc,
 976                              target_address,
 977                              0xFFFFU,
 978                              ND_SIGNATURE_VERSION,
 979                              *signature,
 980                              &self_->nd_welcome);
 981     Tm_SetTimer(&self_->base->tm,
 982                 &self_->timer,
 983                 &Nd_TimerCb,
 984                 self_,
 985                 ND_TIMEOUT_COMMAND,
 986                 0U);
 987     TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", ret_val == UCS_RET_SUCCESS);
 988     MISC_UNUSED(ret_val);
 989 }
 990
 991
 992 /*! \brief Send the Signature.Get message
 993  *
 994  * \param *self          Reference to Node Discovery object
 995  * \param target_address target address for the command
 996  */
 997 static void Nd_Send_Signature_Get(void *self, uint16_t target_address)
 998 {
 999     Ucs_Return_t   ret_val;
1000     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
1001
1002     ret_val = Exc_Signature_Get(self_->exc, target_address, ND_SIGNATURE_VERSION, &self_->nd_signature);
1003     Tm_SetTimer(&self_->base->tm,
1004                 &self_->timer,
1005                 &Nd_TimerCb,
1006                 self_,
1007                 ND_TIMEOUT_COMMAND,
1008                 0U);
1009     TR_ASSERT(self_->base->ucs_user_ptr, "[ND]", ret_val == UCS_RET_SUCCESS);
1010     MISC_UNUSED(ret_val);
1011 }
1012
1013 /*! \brief  Starts the periodic timer
1014  *
1015  * \param *self Reference to Node Discovery object
1016  */
1017 static void Nd_Start_Periodic_Timer(void *self)
1018 {
1019     CNodeDiscovery *self_ = (CNodeDiscovery *)self;
1020
1021     Tm_SetTimer(&self_->base->tm,
1022                 &self_->timer,
1023                 &Nd_TimerCb,
1024                 self,
1025                 ND_TIMEOUT_PERIODIC,
1026                 0U);
1027 }
1028
1029 /*!
1030  * @}
1031  * \endcond
1032  */
1033
1034
1035 /*------------------------------------------------------------------------------------------------*/
1036 /* End of file                                                                                    */
1037 /*------------------------------------------------------------------------------------------------*/
1038