Fix timeout management in ROBUS protocol

engine/core/src/service.c

@@ -139,6 +139,14 @@ void Service_AddAutoUpdateTarget(service_t *service, uint16_t target, uint16_t t
     LUOS_ASSERT(service && (target != 0));
     for (uint16_t i = 0; i < MAX_AUTO_REFRESH_NUMBER; i++)
     {
+        // If this target ask something from this service just update the value
+        if ((service_ctx.auto_refresh[i].service == service) && (service_ctx.auto_refresh[i].target == target))
+        {
+            service_ctx.auto_refresh[i].time_ms     = time_ms;
+            service_ctx.auto_refresh[i].last_update = LuosHAL_GetSystick();
+            return;
+        }
+        // If this slot is empty this mean that we didn't find the target in the list, just add it.
         if (service_ctx.auto_refresh[i].time_ms == 0)
         {
             service_ctx.auto_refresh[i].service     = service;

examples/projects/product/custom_gate/src/custom_json_conversion.c

@@ -92,7 +92,7 @@ void Convert_CustomJsonToMsg(service_t *service, uint16_t target_id, char *prope
 // This function is called by the gate to convert a message into a piece of Json.
 // This is typically used when a message is received by the gate with an unknown command.
 // You can use it to compose your own piece of Json out of the message data.
-void Convert_CustomMsgToJson(msg_t *msg, char *data)
+void Convert_CustomMsgToJson(const msg_t *msg, char *data)
 {
     if (msg->header.cmd == LINEAR_POSITION_2D)
     {

network/robus_network/HAL/STM32G4/robus_hal.c

@@ -198,7 +198,7 @@ _CRITICAL void RobusHAL_SetRxState(uint8_t Enable)
 _CRITICAL void ROBUS_COM_IRQHANDLER()
 {
     // Reset timeout to it's default value
-    RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+    RobusHAL_ResetTimeout(true, 0);
     // reception management
     if ((LL_USART_IsActiveFlag_RXNE(ROBUS_COM) != RESET) && (LL_USART_IsEnabledIT_RXNE(ROBUS_COM) != RESET))
     {
@@ -305,7 +305,7 @@ _CRITICAL void RobusHAL_ComTransmit(uint8_t *data, uint16_t size)
         // Enable Transmission complete interrupt because we only have one.
         LL_USART_EnableIT_TC(ROBUS_COM);
     }
-    RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+    RobusHAL_ResetTimeout(true, 0);
 }
 /******************************************************************************
  * @brief set state of Txlock detection pin
@@ -339,7 +339,7 @@ _CRITICAL uint8_t RobusHAL_GetTxLockState(void)
 #ifdef USART_ISR_BUSY
     if (LL_USART_IsActiveFlag_BUSY(ROBUS_COM) == true)
     {
-        RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+        RobusHAL_ResetTimeout(true, 0);
         result = true;
     }
 #else
@@ -353,7 +353,7 @@ _CRITICAL uint8_t RobusHAL_GetTxLockState(void)
         {
             if (result == true)
             {
-                RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+                RobusHAL_ResetTimeout(true, 0);
             }
         }
     }
@@ -388,15 +388,28 @@ static void RobusHAL_TimeoutInit(void)
  * @param None
  * @return None
  ******************************************************************************/
-_CRITICAL void RobusHAL_ResetTimeout(uint16_t nbrbit)
+_CRITICAL void RobusHAL_ResetTimeout(uint16_t enable, uint16_t nbrbit)
 {
-    LL_TIM_DisableCounter(ROBUS_TIMER);
-    NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ); // Clear IT pending NVIC
-    LL_TIM_ClearFlag_UPDATE(ROBUS_TIMER);
-    LL_TIM_SetCounter(ROBUS_TIMER, 0); // Reset counter
-    if (nbrbit != 0)
-    {
+    uint32_t arr_val, diff;
+    arr_val = LL_TIM_ReadReg(ROBUS_TIMER, ARR);  // Get actual timeout value
+    diff = arr_val-LL_TIM_ReadReg(ROBUS_TIMER, CNT);  // Compute remaining time before timeout 
+
+    if( diff < DEFAULT_TIMEOUT ){
+        // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, SET);
+        LL_TIM_DisableCounter(ROBUS_TIMER);
+        NVIC_ClearPendingIRQ(ROBUS_TIMER_IRQ); // Clear IT pending NVIC
+        LL_TIM_ClearFlag_UPDATE(ROBUS_TIMER);
+
+        LL_TIM_SetAutoReload(ROBUS_TIMER, DEFAULT_TIMEOUT);
+        LL_TIM_SetCounter(ROBUS_TIMER, 0);
+        // HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, RESET);
+    }
+    if(nbrbit != 0){
         LL_TIM_SetAutoReload(ROBUS_TIMER, nbrbit); // reload value
+        LL_TIM_SetCounter(ROBUS_TIMER, 0); // Reset counter
+    }
+
+    if(enable){
         LL_TIM_EnableCounter(ROBUS_TIMER);
     }
 }
@@ -544,7 +557,7 @@ _CRITICAL void PINOUT_IRQHANDLER(uint16_t GPIO_Pin)
     if ((GPIO_Pin == TX_LOCK_DETECT_PIN) && (TX_LOCK_DETECT_IRQ != DISABLE))
     {
         ctx.tx.lock = true;
-        RobusHAL_ResetTimeout(DEFAULT_TIMEOUT);
+        RobusHAL_ResetTimeout(true, 0);
         EXTI->IMR1 &= ~TX_LOCK_DETECT_PIN;
     }
     else

network/robus_network/HAL/STM32G4/robus_hal.h

@@ -22,7 +22,7 @@ void RobusHAL_SetRxState(uint8_t Enable);
 void RobusHAL_ComTransmit(uint8_t *data, uint16_t size);
 uint8_t RobusHAL_GetTxLockState(void);
 void RobusHAL_SetRxDetecPin(uint8_t Enable);
-void RobusHAL_ResetTimeout(uint16_t nbrbit);
+void RobusHAL_ResetTimeout(uint16_t enable, uint16_t nbrbit);
 void RobusHAL_SetPTPDefaultState(uint8_t PTPNbr);
 void RobusHAL_SetPTPReverseState(uint8_t PTPNbr);
 void RobusHAL_PushPTP(uint8_t PTPNbr);

network/robus_network/src/reception.c

@@ -243,7 +243,7 @@ _CRITICAL void Recep_GetCollision(luos_phy_t *phy_robus, volatile uint8_t *data)
             // Collision detection end
             data_count = 0;
             RobusHAL_SetRxState(false);
-            RobusHAL_ResetTimeout(0);
+            RobusHAL_ResetTimeout(false, 0);
             if (ctx.tx.status == TX_NOK)
             {
                 // Switch to catch Ack.

network/robus_network/src/transmission.c

@@ -256,7 +256,7 @@ _CRITICAL void Transmit_End(void)
         // A tx_task failed
         nbrRetry++;
         // compute a delay before retry
-        RobusHAL_ResetTimeout(20 * nbrRetry * (Phy_GetNodeId() + 1));
+        RobusHAL_ResetTimeout(true, 20 * nbrRetry * (Phy_GetNodeId() + 1));
         // Lock the trasmission to be sure no one can send something from this node until next timeout.
         ctx.tx.lock   = true;
         ctx.tx.status = TX_DISABLE;

tool_services/gate/TinyJSON/bootloader_ex.c

@@ -39,7 +39,7 @@ uint16_t Bootloader_StartData(char *data)
  * @param service pointer, luos message
  * @return None
  ******************************************************************************/
-uint16_t Bootloader_LuosToJson(msg_t *msg, char *data)
+uint16_t Bootloader_LuosToJson(const msg_t *msg, char *data)
 {
     uint16_t response_cmd = msg->header.cmd;
     uint16_t node_id      = RoutingTB_NodeIDFromID(msg->header.source);

tool_services/gate/TinyJSON/bootloader_ex.h

@@ -20,7 +20,7 @@
 /*******************************************************************************
  * Function
  ******************************************************************************/
-uint16_t Bootloader_LuosToJson(msg_t *, char *);
+uint16_t Bootloader_LuosToJson(const msg_t *, char *);
 void Bootloader_JsonToLuos(service_t *, char *, json_t const *);
 uint16_t Bootloader_StartData(char *);
 void Bootloader_EndData(service_t *, char *, char *);

tool_services/gate/TinyJSON/convert.c

@@ -45,7 +45,7 @@ __attribute__((weak)) void Convert_CustomJsonToMsg(service_t *service, uint16_t
  * @param None
  * @return None
  ******************************************************************************/
-__attribute__((weak)) void Convert_CustomMsgToJson(msg_t *msg, char *data)
+__attribute__((weak)) void Convert_CustomMsgToJson(const msg_t *msg, char *data)
 {
     return;
 }
@@ -132,7 +132,7 @@ void Convert_DataToMsg(service_t *service, char *data)
         return;
     }
 
-    json_t const *services = json_getProperty(root, "services");
+    json_t const *services = json_getProperty(root, "s");
     // Get services
     if (services != 0)
     {
@@ -543,12 +543,7 @@ void Convert_JsonToMsg(service_t *service, uint16_t id, luos_type_t type, char *
     {
         if (type != GATE_TYPE)
         {
-            // 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
+            // Configure the new update value
             time = TimeOD_TimeFrom_s((float)json_getReal(jobj));
             TimeOD_TimeToMsg(&time, &msg);
             msg.header.cmd = UPDATE_PUB;
@@ -736,8 +731,8 @@ void Convert_JsonToMsg(service_t *service, uint16_t id, luos_type_t type, char *
 // This function start a Json structure and return the string size.
 uint16_t Convert_StartData(char *data)
 {
-    memcpy(data, "{\"services\":{", sizeof("{\"services\":{"));
-    return (sizeof("{\"services\":{") - 1);
+    memcpy(data, "{\"s\":{", sizeof("{\"s\":{"));
+    return (sizeof("{\"s\":{") - 1);
 }
 // This function start a Service into a Json structure and return the string size.
 uint16_t Convert_StartServiceData(char *data, char *alias)
@@ -746,7 +741,7 @@ uint16_t Convert_StartServiceData(char *data, char *alias)
     return (uint16_t)strlen(data);
 }
 // This function create the Json content from a message and return the string size.
-uint16_t Convert_MsgToData(msg_t *msg, char *data)
+uint16_t Convert_MsgToData(const msg_t *msg, char *data)
 {
     float fdata;
     switch (msg->header.cmd)
@@ -1086,12 +1081,6 @@ void Convert_RoutingTableData(service_t *service)
     *(--json_ptr) = '\0';
     // End the Json message
     sprintf(json_ptr, "]}\n");
-    // Run loop before to flush residual msg on the pipe
-    Luos_Loop();
-    // reset all the msg in pipe link
-    PipeLink_Reset(service);
-    // call Luos loop to generap a Luos Task with this msg
-    Luos_Loop();
     // Send the message to pipe
     PipeLink_Send(service, json, strlen(json));
 }

tool_services/gate/TinyJSON/custom-json.h

@@ -9,5 +9,5 @@
 #include "luos_engine.h"
 
 void Convert_CustomJsonToMsg(service_t *service, uint16_t target_id, char *property, const json_t *jobj, char *json_str);
-void Convert_CustomMsgToJson(msg_t *msg, char *data);
+void Convert_CustomMsgToJson(const msg_t *msg, char *data);
 const char *Convert_CustomStringFromType(luos_type_t type);

tool_services/gate/convert.h

@@ -31,7 +31,7 @@ void Convert_DataToMsg(service_t *service, char *data);
 // Luos service information to Data convertion
 uint16_t Convert_StartData(char *data);
 uint16_t Convert_StartServiceData(char *data, char *alias);
-uint16_t Convert_MsgToData(msg_t *msg, char *data);
+uint16_t Convert_MsgToData(const msg_t *msg, char *data);
 uint16_t Convert_EndServiceData(char *data);
 void Convert_EndData(service_t *service, char *data, char *data_ptr);
 void Convert_VoidData(service_t *service);