Add Cancel Port To FpySequencer

Svc/FpySequencer/FpySequencer.cpp

@@ -357,6 +357,15 @@ void FpySequencer::cmdResponseIn_handler(FwIndexType portNum,             //!< T
     this->m_runtime.stack.push(static_cast<I32>(response.e));
 }
 
+void FpySequencer ::seqCancelIn_handler(FwIndexType portNum) {
+    // only state you can't cancel in is IDLE
+    if (sequencer_getState() == State::IDLE) {
+        this->log_WARNING_HI_InvalidCommand(static_cast<I32>(sequencer_getState()));
+        return;
+    }
+    this->sequencer_sendSignal_cmd_CANCEL();
+}
+
 //! Handler for input port seqRunIn
 void FpySequencer::seqRunIn_handler(FwIndexType portNum, const Fw::StringBase& filename) {
     // can only run a seq while in idle

Svc/FpySequencer/FpySequencer.fpp

@@ -53,6 +53,10 @@ module Svc {
         # same priority as RUN cmd
         async input port seqRunIn: Svc.CmdSeqIn priority 7 assert
 
+        @ port for requesting to cancel the currently running sequence
+        # same priority as CANCEL cmd
+        async input port seqCancelIn: Svc.CmdSeqCancel priority 8 assert
+
         @ called when a sequence begins running
         output port seqStartOut: Svc.CmdSeqIn
 

Svc/FpySequencer/FpySequencer.hpp

@@ -472,6 +472,12 @@ class FpySequencer : public FpySequencerComponentBase {
     //! Handler for input port seqRunIn
     void seqRunIn_handler(FwIndexType portNum, const Fw::StringBase& filename) override;
 
+    //! Handler implementation for seqCancelIn
+    //!
+    //! port for requesting to cancel the currently running sequence
+    void seqCancelIn_handler(FwIndexType portNum  //!< The port number
+                             ) override;
+
     //! Handler for input port pingIn
     void pingIn_handler(FwIndexType portNum,  //!< The port number
                         U32 key               //!< Value to return to pinger

Svc/FpySequencer/test/ut/FpySequencerTestMain.cpp

@@ -3191,6 +3191,56 @@ TEST_F(FpySequencerTester, seqRunIn) {
     removeFile("test.bin");
 }
 
+TEST_F(FpySequencerTester, seqCancelIn) {
+    this->tester_setState(State::IDLE);
+    this->invoke_to_seqCancelIn(0);
+    this->tester_doDispatch();
+    // should fail if we're in IDLE
+    ASSERT_EVENTS_InvalidCommand_SIZE(1);
+
+    dispatchCurrentMessages(cmp);
+    ASSERT_EQ(this->tester_getState(), State::IDLE);
+
+    this->clearHistory();
+    this->tester_setState(State::RUNNING_SLEEPING);
+    this->invoke_to_seqCancelIn(0);
+    this->tester_doDispatch();
+    // should go back to idle
+    dispatchUntilState(State::IDLE);
+    ASSERT_EVENTS_SequenceCancelled_SIZE(1);
+    ASSERT_from_seqDoneOut(0, 0, 0, Fw::CmdResponse::EXECUTION_ERROR);
+}
+
+
+TEST_F(FpySequencerTester, flag_EXIT_ON_CMD_FAIL) {
+    // test a simple seq that fails because a cmd fails
+    this->paramSet_FLAG_DEFAULT_EXIT_ON_CMD_FAIL(true, Fw::ParamValid::VALID);
+    this->paramSend_FLAG_DEFAULT_EXIT_ON_CMD_FAIL(0, 0);
+    this->clearHistory();
+    allocMem();
+    add_CONST_CMD(123);
+    writeAndRun();
+    dispatchUntilState(State::RUNNING_AWAITING_STATEMENT_RESPONSE);
+    // okay now send in a failure
+    invoke_to_cmdResponseIn(0, 123, 0x00010001, Fw::CmdResponse::EXECUTION_ERROR);
+    dispatchUntilState(State::IDLE);
+    ASSERT_CMD_RESPONSE_SIZE(1);
+    ASSERT_CMD_RESPONSE(0, 0, get_OPCODE_RUN(), Fw::CmdResponse::EXECUTION_ERROR);
+
+    // now test that it doesn't fail if we set flag to false
+    this->paramSet_FLAG_DEFAULT_EXIT_ON_CMD_FAIL(false, Fw::ParamValid::VALID);
+    this->paramSend_FLAG_DEFAULT_EXIT_ON_CMD_FAIL(0, 0);
+    this->clearHistory();
+    // cmd is already in seq, can just rerun
+    writeAndRun();
+    dispatchUntilState(State::RUNNING_AWAITING_STATEMENT_RESPONSE);
+    // okay now send in a failure
+    invoke_to_cmdResponseIn(0, 123, 0x00020002, Fw::CmdResponse::EXECUTION_ERROR);
+    dispatchUntilState(State::IDLE);
+    ASSERT_CMD_RESPONSE_SIZE(1);
+    ASSERT_CMD_RESPONSE(0, 0, get_OPCODE_RUN(), Fw::CmdResponse::OK);
+}
+
 // ----------------------------------------------------------------------
 // Stack Unit Tests
 // ----------------------------------------------------------------------