eive-obsw/bsp_te0720_1cfa/ObjectFactory.cpp

#include "ObjectFactory.h"

#include "OBSWConfig.h"
#include "busConf.h"
#include "devConf.h"
#include "ccsdsConfig.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "linux/ObjectFactory.h"
#include "linux/devices/ploc/PlocMPSoCHandler.h"
#include "linux/devices/ploc/PlocMPSoCHelper.h"
#include "linux/devices/ploc/PlocMemoryDumper.h"
#include "linux/devices/ploc/PlocSupervisorHandler.h"
#include "linux/devices/ploc/PlocSupvHelper.h"
#include "linux/obc/AxiPtmeConfig.h"
#include "linux/obc/PapbVcInterface.h"
#include "linux/obc/PdecHandler.h"
#include "linux/obc/Ptme.h"
#include "linux/obc/PtmeConfig.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/tmtc/TmFunnel.h"
#include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h"
#include "objects/systemObjectList.h"
#include "test/gpio/DummyGpioIF.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"

void Factory::setStaticFrameworkObjectIds() {
  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
  PusServiceBase::packetDestination = objects::TM_FUNNEL;

  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;

  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
  TmFunnel::storageDestination = objects::NO_OBJECT;

  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}

void ObjectFactory::produce(void* args) {
  Factory::setStaticFrameworkObjectIds();
  ObjectFactory::produceGenericObjects();

  LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);;
  new UartComIF(objects::UART_COM_IF);

#if OBSW_ADD_PLOC_MPSOC == 1
  UartCookie* mpsocUartCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER, te0720_1cfa::MPSOC_UART,
                                               uart::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE);
  mpsocUartCookie->setNoFixedSizeReply();
  PlocMPSoCHelper* plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER);
  auto dummyGpioIF = new DummyGpioIF();
  PlocMPSoCHandler* plocMPSoCHandler = new PlocMPSoCHandler(
      objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, mpsocUartCookie, plocMpsocHelper,
      Gpio(gpioIds::ENABLE_MPSOC_UART, dummyGpioIF), objects::PLOC_SUPERVISOR_HANDLER);
  plocMPSoCHandler->setStartUpImmediately();
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */

#if OBSW_ADD_PLOC_SUPERVISOR == 1
  UartCookie* supervisorCookie =
      new UartCookie(objects::PLOC_SUPERVISOR_HANDLER, std::string("/dev/ttyPS1"),
                     uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20);
  supervisorCookie->setNoFixedSizeReply();
  auto supvGpioIF = new DummyGpioIF();
  auto supvHelper = new PlocSupvHelper(objects::PLOC_SUPERVISOR_HELPER);
  new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF,
                            supervisorCookie, Gpio(gpioIds::ENABLE_SUPV_UART, supvGpioIF),
                            pcdu::PDU1_CH6_PLOC_12V, supvHelper);

#endif

  new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);

#if OBSW_TEST_LIBGPIOD == 1
#if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
  /* Configure MIO0 as input */
  GpiodRegular* testGpio = new GpiodRegular("MIO0", Direction::OUT, 0, "/amba_pl/gpio@41200000", 0);
#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
  GpiodRegularByLineName* testGpio =
      new GpiodRegularByLineName("test-name", "gpio-test", Direction::OUT, 0);
#else
  /* Configure MIO0 as input */
  GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
#endif /* OBSW_TEST_GPIO_LABEL == 1 */
  GpioCookie* gpioCookie = new GpioCookie;
  gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
  new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif

#if OBSW_TEST_SUS == 1
  GpioCookie* gpioCookieSus = new GpioCookie;
  GpiodRegular* chipSelectSus = new GpiodRegular(
      std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), Direction::OUT, 1);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
  gpioComIF->addGpios(gpioCookieSus);

  SpiCookie* spiCookieSus =
      new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);

  new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
#endif

#if OBSW_TEST_RAD_SENSOR == 1
  GpioCookie* gpioCookieRadSensor = new GpioCookie;
  GpiodRegular* chipSelectRadSensor = new GpiodRegular(
      std::string("gpiochip1"), 0, std::string("Chip select radiation sensor"), Direction::OUT, 1);
  gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
  gpioComIF->addGpios(gpioCookieRadSensor);

  SpiCookie* spiCookieRadSensor =
      new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string("/dev/spidev1.0"),
                    SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);

  RadiationSensorHandler* radSensor =
      new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
  radSensor->setStartUpImmediately();
#endif

#if OBSW_TEST_TE7020_HEATER == 1
  /* Configuration for MIO0 on TE0720-03-1CFA */
  GpiodRegular* heaterGpio =
      new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
  GpioCookie* gpioCookie = new GpioCookie;
  gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
                    pcdu::TCS_BOARD_8V_HEATER_IN);
#endif

  new I2cComIF(objects::I2C_COM_IF);

  I2cCookie* i2cCookieTmp1075tcs1 =
      new I2cCookie(addresses::TMP1075_TCS_1, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
  I2cCookie* i2cCookieTmp1075tcs2 =
      new I2cCookie(addresses::TMP1075_TCS_2, TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));

  /* Temperature sensors */
  new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
  new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);

#if OBSW_USE_CCSDS_IP_CORE == 1
  createCcsdsComponents(gpioComIF);
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
  static_cast<void>(gpioComIF);
}

void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
  using namespace gpio;
  // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
  GpioCookie* gpioCookiePtmeIp = new GpioCookie;
  GpiodRegularByLineName* gpio = nullptr;
  std::stringstream consumer;
  consumer.str("PAPB VC0");
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
  consumer.str("PAPB VC0");
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
  consumer.str("PAPB VC 1");
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 1");
  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 2");
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 2");
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 3");
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 3");
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);

  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");

  // Creating virtual channel interfaces
  VcInterfaceIF* vc0 =
      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, te0720_1cfa::UIO_PTME,
                          te0720_1cfa::uiomapids::PTME_VC0);
  VcInterfaceIF* vc1 =
      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, te0720_1cfa::UIO_PTME,
                          te0720_1cfa::uiomapids::PTME_VC1);
  VcInterfaceIF* vc2 =
      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, te0720_1cfa::UIO_PTME,
                          te0720_1cfa::uiomapids::PTME_VC2);
  VcInterfaceIF* vc3 =
      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, te0720_1cfa::UIO_PTME,
                          te0720_1cfa::uiomapids::PTME_VC3);

  // Creating ptme object and adding virtual channel interfaces
  Ptme* ptme = new Ptme(objects::PTME);
  ptme->addVcInterface(ccsds::VC0, vc0);
  ptme->addVcInterface(ccsds::VC1, vc1);
  ptme->addVcInterface(ccsds::VC2, vc2);
  ptme->addVcInterface(ccsds::VC3, vc3);

  AxiPtmeConfig* axiPtmeConfig =
      new AxiPtmeConfig(objects::AXI_PTME_CONFIG, te0720_1cfa::UIO_PTME, te0720_1cfa::uiomapids::PTME_CONFIG);
  PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
  // Set to high value when not sending via syrlinks
  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
#else
  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
#endif

  // The DummyGpioIF is used here because there are no RS485 chips on the TE7020-1CFA
  auto dummyGpioIF = new DummyGpioIF();
  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
      dummyGpioIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);

  VirtualChannel* vc = nullptr;
  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);

  GpioCookie* gpioCookiePdec = new GpioCookie;
  consumer.str("");
  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
  // GPIO also low after linux boot (specified by device-tree)
  gpio = new GpiodRegularByLineName(te0720_1cfa::gpioNames::PDEC_RESET, consumer.str(),
                                    Direction::OUT, Levels::LOW);
  gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);

  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");

  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
                  te0720_1cfa::UIO_PDEC_CONFIG_MEMORY, te0720_1cfa::UIO_PDEC_RAM,
                  te0720_1cfa::UIO_PDEC_REGISTERS);
}