Right way to resend an Object Pool

[thiagozf1]

Hi guys, could anyone tell me how I should resend an Object Pool to the VT? Just terminating the VTClient and initializing it again doesn't seem the proper way to do it, and I can't figure out a nice way to do it. Btw, I'm using a callback function to send the pool (via register_object_pool_data_chunk_callback). I need this because sometimes I may receive a new .iop, therefore the object pool needs to be resent.

[ad3154]

Well, first of all, looking at register_object_pool_data_chunk_callback has led me to think we should make some improvements there... it seems like we might be letting the auto scale variables go uninitialized when using that approach, and we should probably let people pass in a version label... So I will make an issue to make some improvements there.

But, as far as what you're trying to accomplish though, if you're expecting to receive IOP files at runtime and reload your pool, generally that will require doing all the handshaking with the VT over again, so terminating the client and restarting (after about 3 seconds due to the timeouts involved) is maybe one of the more convenient ways to do it. Technically though, the nicest way to do it would be to send the delete object pool message to the VT, wait for a response (at which time the working set will be deactivated), terminate the working set maintenance message, then restart communication. The client doesn't support this right now, but it would be easy enough to add if that is something that would be useful, and it would probably make for a nicer experience on some terminals. So if that's something you'd like to see I'd make an issue for it.

[thiagozf1]

Adding this is probably a good idea, at least to me it would be really usefull. By now, I tried to restart the connection all over again, but after terminating the VT and initializing it again, VirtualTerminalClient::process_rx_message doesn't seem to recognize the VT status message on the bus anymore. It gets stuck at WaitForPartnerVTStatusMessage state. Here is a part of the code, but it isn't working very well. TestVirtualTerminalClient is global.

    std::shared_ptr<void> pxButtonCallback;
    // std::shared_ptr<void> pxChangeStringCallback;
    // std::shared_ptr<void> pxSoftkeyCallback;
    Isobus_pp_vConfigInit();

    pxButtonCallback = TestVirtualTerminalClient->add_vt_button_event_listener(Isobus_pp_OnVTKeyEventsCallback);

    while(1)
    {
        esp_task_wdt_reset();

        // Get the event flags
        evtBits = xEventGroupGetBits(xIsobus_pp_EventGroup);
        if((evtBits & isISOBUS_NEW_OBJECT_POOL))
        {
            xEventGroupClearBits(xIsobus_pp_EventGroup, isISOBUS_NEW_OBJECT_POOL);

            // specific variables, just ignore
            u8TotalPageLines = 0;
            u32LastTimeCheck = 0;
            u32StopTimerLastTimeCheck = 0;
            u32StopTimer = 0;
            u32StopTimerBegin = 0;
            u8TimerSegundo = 0;
            u8TimerMinuto = 0;
            u8TimerHora = 0;
            isTimerOk = 0;

#ifdef TC_ENABLE
            if(TestTCClient->get_is_initialized())
            {
                ESP_LOGW(TAG, "TC terminated");
                TestTCClient->terminate();
            }
#endif
            if(TestVirtualTerminalClient->get_is_initialized())
            {
                ESP_LOGW(TAG, "VT terminated");
                TestVirtualTerminalClient->terminate();
            }
            
            vTaskDelay(pdMS_TO_TICKS(5000));
    
            Isobus_pp_vConfigInit();
            //================= CALLBACKS SHARED POINTERS =======================
            pxButtonCallback = TestVirtualTerminalClient->add_vt_button_event_listener(Isobus_pp_OnVTKeyEventsCallback);
        }
               .
               .
               .

The Isobus_pp_vConfigInit function (TC_ENABLE isn't defined):

static void Isobus_pp_vConfigInit(void)
{
    // Clear all event flags
    xEventGroupClearBits(xIsobus_pp_EventGroup, ISOBUS_EVENT_ALL_BITS);

    std::this_thread::sleep_for(std::chrono::milliseconds(250));

    //================= DEVICE NAME CREATION ===========================
    isobus::NAME DeviceNAME(0);

    //! Make sure you change these for your device!!!!
    //! This is an example device that is using a manufacturer code that is currently unused at time of writing
    DeviceNAME.set_arbitrary_address_capable(true);
    DeviceNAME.set_industry_group(1);
    DeviceNAME.set_device_class(0);
    DeviceNAME.set_function_code(static_cast<std::uint8_t>(isobus::NAME::Function::SteeringControl));
    DeviceNAME.set_identity_number(2);
    DeviceNAME.set_ecu_instance(0);
    DeviceNAME.set_function_instance(0);
    DeviceNAME.set_device_class_instance(0);
    DeviceNAME.set_manufacturer_code(64);

    //================ GETTING .IOP FILE ===============================
    while(pcPoolData == NULL)
    {
        pcPoolData = FileSystem_pcFileReadToBuffer(EXTERN_OBJECT_POOL_FILEPATH, &u32PoolSize);
        if(pcPoolData == NULL)
        {
            esp_task_wdt_reset();
            ESP_LOGE(TAG, "Failed to open IOP file, retrying");
            vTaskDelay(pdMS_TO_TICKS(1000));
        }
    }

    //================== STRING HASH (OPTIONAL) ========================
    // std::vector<std::uint8_t> vu8iopData((uint8_t*)pcPoolData, (uint8_t*)pcPoolData + u32PoolSize);
    // std::string objectPoolHash = isobus::IOPFileInterface::hash_object_pool_to_version(vu8iopData);

    //================= INTERNAL ECU CREATION =======================
    std::shared_ptr<isobus::InternalControlFunction> TestInternalECU = std::make_shared<isobus::InternalControlFunction>(DeviceNAME, 0x1C, 0);

    //================= VT CLIENT CREATION ==========================
    const isobus::NAMEFilter filterVirtualTerminal(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::VirtualTerminal));
    const std::vector<isobus::NAMEFilter> vtNameFilters = {filterVirtualTerminal};

    std::shared_ptr<isobus::PartneredControlFunction> TestPartnerVT = std::make_shared<isobus::PartneredControlFunction>(0, vtNameFilters);

    TestVirtualTerminalClient = std::make_shared<isobus::VirtualTerminalClient>(TestPartnerVT, TestInternalECU);

    //================= TC CLIENT CREATION ==========================
#ifdef TC_ENABLE
    const isobus::NAMEFilter filterTaskController(isobus::NAME::NAMEParameters::FunctionCode, static_cast<std::uint8_t>(isobus::NAME::Function::TaskController));
    const std::vector<isobus::NAMEFilter> tcNameFilters = {filterTaskController};

    std::shared_ptr<isobus::PartneredControlFunction> TestPartnerTC = std::make_shared<isobus::PartneredControlFunction>(0, tcNameFilters);

    TestTCClient = std::make_shared<isobus::TaskControllerClient>(TestPartnerTC, TestInternalECU, nullptr);

    // Set up some TC specific variables
    auto myDDOP = std::make_shared<isobus::DeviceDescriptorObjectPool>();
    // bool tcClientStarted = false;

    constexpr std::uint16_t NUMBER_OF_SECTIONS_TO_CREATE = 16;
    SectionControlImplementSimulator rateController;
    rateController.set_number_of_sections(NUMBER_OF_SECTIONS_TO_CREATE);
#endif

    //================= OBJECT POOL LOADING =============================
    // TestVirtualTerminalClient->set_object_pool(0, isobus::VirtualTerminalClient::VTVersion::Version4, xFsFile.pu8FileData, xFsFile.u32FileLength);
    TestVirtualTerminalClient->register_object_pool_data_chunk_callback(0, isobus::VirtualTerminalClient::VTVersion::Version4, u32PoolSize, Isobus_pp_IOPdataChunkCallback);

    //================= CALLBACKS SHARED POINTERS =======================
    // auto softKeyListener = TestVirtualTerminalClient->add_vt_soft_key_event_listener(Isobus_pp_OnVTKeyEventsCallback);
    // auto pxButtonListener = TestVirtualTerminalClient->add_vt_button_event_listener(Isobus_pp_OnVTKeyEventsCallback);
    // auto changeStringListener = TestVirtualTerminalClient->add_vt_change_string_value_event_listener(handleVTChangeStringEvents);

    //================= VT CLIENT INIT ==================================
    TestVirtualTerminalClient->initialize(true);

    //================= TC CLIENT INIT ==================================
#ifdef TC_ENABLE
    //if(!tcClientStarted)
    {
        if(rateController.create_ddop(myDDOP, TestInternalECU->get_NAME()))
        {
            TestTCClient->configure(myDDOP, 1, NUMBER_OF_SECTIONS_TO_CREATE, 1, true, false, true, false, true);
            TestTCClient->add_request_value_callback(SectionControlImplementSimulator::request_value_command_callback, &rateController);
            TestTCClient->add_value_command_callback(SectionControlImplementSimulator::value_command_callback, &rateController);
            TestTCClient->initialize(true);
            // tcClientStarted = true;
        }
        else
        {
            ESP_LOGE(TAG, "Failed to create DDOP");
            //TODO verificar o que fazer quando da erro no TC
            xEventGroupSetBits(xIsobus_pp_EventGroup, isISOBUS_NEW_OBJECT_POOL);
        }
    }
#endif

    esp_task_wdt_reset();
    vTaskDelay(pdMS_TO_TICKS(100));
}

[ad3154]

doesn't seem to recognize the VT status message on the bus anymore

Yeah, that'd be because the PGN registrations only happen in the constructor, but get removed in the terminate 😣

I think it probably makes sense to move that to happen in the initialize instead. I'll add that to the fix I submit for #278 then it should behave better for you, hopefully.

[ad3154]

Added many improvements in #280 including a graceful restart. 😁