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Merge pull request #51 from DRracer/fix-protocol-error-recovery
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Fix protocol error recovery
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@DRracer
DRracer authored Jul 22, 2022
2 parents 45f657e + 3008cde commit 375af5e
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Showing 2 changed files with 127 additions and 73 deletions.
176 changes: 109 additions & 67 deletions Firmware/mmu2_protocol_logic.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,9 +6,12 @@

namespace MMU2 {

static constexpr uint8_t supportedMmuFWVersionMajor = 2;
static constexpr uint8_t supportedMmuFWVersionMinor = 0;
static constexpr uint8_t supportedMmuFWVersionBuild = 19;

StepStatus ProtocolLogicPartBase::ProcessFINDAReqSent(StepStatus finishedRV, State nextState){
auto expmsg = logic->ExpectingMessage(linkLayerTimeout);
if (expmsg != MessageReady)
if (auto expmsg = logic->ExpectingMessage(linkLayerTimeout); expmsg != MessageReady)
return expmsg;
logic->findaPressed = logic->rsp.paramValue;
state = nextState;
Expand Down Expand Up @@ -44,16 +47,9 @@ void ProtocolLogicPartBase::SendButton(uint8_t btn){
state = State::ButtonSent;
}

StepStatus ProtocolLogic::ProcessUARTByte(uint8_t c) {
switch (protocol.DecodeResponse(c)) {
case DecodeStatus::MessageCompleted:
return MessageReady;
case DecodeStatus::NeedMoreData:
return Processing;
case DecodeStatus::Error:
default:
return ProtocolError;
}
void ProtocolLogicPartBase::SendVersion(uint8_t stage) {
logic->SendMsg(RequestMsg(RequestMsgCodes::Version, stage));
state = (State)((uint_fast8_t)State::S0Sent + stage);
}

// searches for "ok\n" in the incoming serial data (that's the usual response of the old MMU FW)
Expand Down Expand Up @@ -133,54 +129,92 @@ void ProtocolLogic::SendMsg(RequestMsg rq) {
}

void StartSeq::Restart() {
state = State::S0Sent;
logic->SendMsg(RequestMsg(RequestMsgCodes::Version, 0));
SendVersion(0);
}

StepStatus StartSeq::Step() {
auto expmsg = logic->ExpectingMessage(linkLayerTimeout);
if (expmsg != MessageReady)
if (auto expmsg = logic->ExpectingMessage(linkLayerTimeout); expmsg != MessageReady)
return expmsg;

// solve initial handshake
switch (state) {
case State::S0Sent: // received response to S0 - major
logic->mmuFwVersionMajor = logic->rsp.paramValue;
if (logic->mmuFwVersionMajor != 2) {
return VersionMismatch;
if( logic->rsp.request.code != RequestMsgCodes::Version || logic->rsp.request.value != 0 ){
// got a response to something else - protocol corruption probably, repeat the query
SendVersion(0);
} else {
logic->mmuFwVersionMajor = logic->rsp.paramValue;
if (logic->mmuFwVersionMajor != supportedMmuFWVersionMajor) {
return VersionMismatch;
}
logic->dataTO.Reset(); // got meaningful response from the MMU, stop data layer timeout tracking
SendVersion(1);
}
logic->dataTO.Reset(); // got meaningful response from the MMU, stop data layer timeout tracking
logic->SendMsg(RequestMsg(RequestMsgCodes::Version, 1));
state = State::S1Sent;
break;
case State::S1Sent: // received response to S1 - minor
logic->mmuFwVersionMinor = logic->rsp.paramValue;
if (logic->mmuFwVersionMinor != 0) {
return VersionMismatch;
if( logic->rsp.request.code != RequestMsgCodes::Version || logic->rsp.request.value != 1 ){
// got a response to something else - protocol corruption probably, repeat the query OR restart the comm by issuing S0?
SendVersion(1);
} else {
logic->mmuFwVersionMinor = logic->rsp.paramValue;
if (logic->mmuFwVersionMinor != supportedMmuFWVersionMinor) {
return VersionMismatch;
}
SendVersion(2);
}
logic->SendMsg(RequestMsg(RequestMsgCodes::Version, 2));
state = State::S2Sent;
break;
case State::S2Sent: // received response to S2 - revision
logic->mmuFwVersionBuild = logic->rsp.paramValue;
if (logic->mmuFwVersionBuild < 18) {
return VersionMismatch;
if( logic->rsp.request.code != RequestMsgCodes::Version || logic->rsp.request.value != 2 ){
// got a response to something else - protocol corruption probably, repeat the query OR restart the comm by issuing S0?
SendVersion(2);
} else {
logic->mmuFwVersionBuild = logic->rsp.paramValue;
if (logic->mmuFwVersionBuild < supportedMmuFWVersionBuild) {
return VersionMismatch;
}
// Start General Interrogation after line up.
// For now we just send the state of the filament sensor, but we may request
// data point states from the MMU as well. TBD in the future, especially with another protocol
SendAndUpdateFilamentSensor();
}
// Start General Interrogation after line up.
// For now we just send the state of the filament sensor, but we may request
// data point states from the MMU as well. TBD in the future, especially with another protocol
SendAndUpdateFilamentSensor();
break;
case State::FilamentSensorStateSent:
state = State::Ready;
return Finished;
break;
case State::RecoveringProtocolError:
// timer elapsed, clear the input buffer
while (logic->uart->read() >= 0)
;
SendVersion(0);
break;
default:
return VersionMismatch;
}
return Processing;
}

void DelayedRestart::Restart() {
state = State::RecoveringProtocolError;
}

StepStatus DelayedRestart::Step() {
switch (state) {
case State::RecoveringProtocolError:
if (logic->Elapsed(heartBeatPeriod)) { // this basically means, that we are waiting until there is some traffic on
while (logic->uart->read() != -1)
; // clear the input buffer
// switch to StartSeq
logic->Start();
}
return Processing;
break;
default:
break;
}
return Finished;
}

void Command::Restart() {
state = State::CommandSent;
logic->SendMsg(logic->command.rq);
Expand All @@ -189,8 +223,7 @@ void Command::Restart() {
StepStatus Command::Step() {
switch (state) {
case State::CommandSent: {
auto expmsg = logic->ExpectingMessage(linkLayerTimeout);
if (expmsg != MessageReady)
if (auto expmsg = logic->ExpectingMessage(linkLayerTimeout); expmsg != MessageReady)
return expmsg;

switch (logic->rsp.paramCode) { // the response should be either accepted or rejected
Expand All @@ -217,12 +250,10 @@ StepStatus Command::Step() {
CheckAndReportAsyncEvents();
}
break;
case State::QuerySent: {
auto expmsg = logic->ExpectingMessage(linkLayerTimeout);
if (expmsg != MessageReady)
case State::QuerySent:
if (auto expmsg = logic->ExpectingMessage(linkLayerTimeout); expmsg != MessageReady)
return expmsg;
}
// [[fallthrough]];
[[fallthrough]];
case State::ContinueFromIdle:
switch (logic->rsp.paramCode) {
case ResponseMsgParamCodes::Processing:
Expand Down Expand Up @@ -251,21 +282,18 @@ StepStatus Command::Step() {
return ProtocolError;
}
break;
case State::FilamentSensorStateSent:{
auto expmsg = logic->ExpectingMessage(linkLayerTimeout);
if (expmsg != MessageReady)
case State::FilamentSensorStateSent:
if (auto expmsg = logic->ExpectingMessage(linkLayerTimeout); expmsg != MessageReady)
return expmsg;
SendFINDAQuery();
} break;
break;
case State::FINDAReqSent:
return ProcessFINDAReqSent(Processing, State::Wait);
case State::ButtonSent:{
// button is never confirmed ... may be it should be
auto expmsg = logic->ExpectingMessage(linkLayerTimeout);
if (expmsg != MessageReady)
if (auto expmsg = logic->ExpectingMessage(linkLayerTimeout); expmsg != MessageReady)
return expmsg;
if (logic->rsp.paramCode == ResponseMsgParamCodes::Accepted)
{
if (logic->rsp.paramCode == ResponseMsgParamCodes::Accepted) {
// Button was accepted, decrement the retry.
mmu2.DecrementRetryAttempts();
}
Expand All @@ -289,9 +317,8 @@ StepStatus Idle::Step() {
return Processing;
}
break;
case State::QuerySent: { // check UART
auto expmsg = logic->ExpectingMessage(linkLayerTimeout);
if (expmsg != MessageReady)
case State::QuerySent: // check UART
if (auto expmsg = logic->ExpectingMessage(linkLayerTimeout); expmsg != MessageReady)
return expmsg;
// If we are accidentally in Idle and we receive something like "T0 P1" - that means the communication dropped out while a command was in progress.
// That causes no issues here, we just need to switch to Command processing and continue there from now on.
Expand Down Expand Up @@ -331,7 +358,7 @@ StepStatus Idle::Step() {
}
SendFINDAQuery();
return Processing;
} break;
break;
case State::FINDAReqSent:
return ProcessFINDAReqSent(Finished, State::Ready);
default:
Expand All @@ -351,21 +378,31 @@ StepStatus Idle::Step() {
ProtocolLogic::ProtocolLogic(MMU2Serial *uart)
: stopped(this)
, startSeq(this)
, delayedRestart(this)
, idle(this)
, command(this)
, currentState(&stopped)
, plannedRq(RequestMsgCodes::unknown, 0)
, lastUARTActivityMs(0)
, dataTO()
, rsp(RequestMsg(RequestMsgCodes::unknown, 0), ResponseMsgParamCodes::unknown, 0)
, state(State::Stopped)
, lrb(0)
, uart(uart)
, errorCode(ErrorCode::OK)
, progressCode(ProgressCode::OK)
, buttonCode(NoButton)
, lastFSensor((uint8_t)WhereIsFilament())
, findaPressed(false)
, mmuFwVersionMajor(0)
, mmuFwVersionMinor(0)
, mmuFwVersionBuild(0)
{}

void ProtocolLogic::Start() {
state = State::InitSequence;
currentState = &startSeq;
protocol.ResetResponseDecoder(); // important - finished delayed restart relies on this
startSeq.Restart();
}

Expand Down Expand Up @@ -446,13 +483,6 @@ void ProtocolLogic::SwitchToIdle() {
idle.Restart();
}

void ProtocolLogic::HandleCommunicationTimeout() {
uart->flush(); // clear the output buffer
currentState = &startSeq;
state = State::InitSequence;
startSeq.Restart();
}

bool ProtocolLogic::Elapsed(uint32_t timeout) const {
return _millis() >= (lastUARTActivityMs + timeout);
}
Expand Down Expand Up @@ -554,9 +584,7 @@ void ProtocolLogic::LogResponse(){
SERIAL_ECHOLN();
}

StepStatus ProtocolLogic::HandleCommError(const char *msg, StepStatus ss){
protocol.ResetResponseDecoder();
HandleCommunicationTimeout();
StepStatus ProtocolLogic::SuppressShortDropOuts(const char *msg, StepStatus ss) {
if( dataTO.Record(ss) ){
LogError(msg);
return dataTO.InitialCause();
Expand All @@ -565,6 +593,21 @@ StepStatus ProtocolLogic::HandleCommError(const char *msg, StepStatus ss){
}
}

StepStatus ProtocolLogic::HandleCommunicationTimeout() {
uart->flush(); // clear the output buffer
protocol.ResetResponseDecoder();
Start();
return SuppressShortDropOuts("Communication timeout", CommunicationTimeout);
}

StepStatus ProtocolLogic::HandleProtocolError() {
uart->flush(); // clear the output buffer
state = State::InitSequence;
currentState = &delayedRestart;
delayedRestart.Restart();
return SuppressShortDropOuts("Protocol Error", ProtocolError);
}

StepStatus ProtocolLogic::Step() {
if( ! currentState->ExpectsResponse() ){ // if not waiting for a response, activate a planned request immediately
ActivatePlannedRequest();
Expand All @@ -587,8 +630,7 @@ StepStatus ProtocolLogic::Step() {
currentStatus = Processing;
}
}
}
break;
} break;
case CommandRejected:
// we have to repeat it - that's the only thing we can do
// no change in state
Expand All @@ -606,10 +648,10 @@ StepStatus ProtocolLogic::Step() {
Stop(); // cannot continue
break;
case ProtocolError:
currentStatus = HandleCommError("Protocol error", ProtocolError);
currentStatus = HandleProtocolError();
break;
case CommunicationTimeout:
currentStatus = HandleCommError("Communication timeout", CommunicationTimeout);
currentStatus = HandleCommunicationTimeout();
break;
default:
break;
Expand Down
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