eive-obsw/bsp_q7s/devices/PlocSupervisorHandler.h

#ifndef MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_
#define MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_

#include <bsp_q7s/memory/SdCardManager.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/uart/UartComIF.h>

#include "devicedefinitions/PlocSupervisorDefinitions.h"

/**
 * @brief	This is the device handler for the supervisor of the PLOC which is programmed by
 *          Thales.
 *
 * @details The PLOC uses the space packet protocol for communication. To each command the PLOC
 *          answers with at least one acknowledgment and one execution report.
 *          Flight manual:
 *          https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
 *          ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
 *          Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
 * @author	J. Meier
 */
class PlocSupervisorHandler : public DeviceHandlerBase {
 public:
  PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie);
  virtual ~PlocSupervisorHandler();

  virtual ReturnValue_t initialize() override;

 protected:
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
  void fillCommandAndReplyMap() override;
  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
                                        size_t commandDataLen) override;
  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                             size_t* foundLen) override;
  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
  void setNormalDatapoolEntriesInvalid() override;
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;
  ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
                                      uint8_t expectedReplies = 1, bool useAlternateId = false,
                                      DeviceCommandId_t alternateReplyID = 0) override;
  size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_SUPERVISOR_HANDLER;

  //! [EXPORT] : [COMMENT] Space Packet received from PLOC supervisor has invalid CRC
  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
  //! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC supervisor
  static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
  //! [EXPORT] : [COMMENT] Received execution failure reply from PLOC supervisor
  static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
  //! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC supervisor
  static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
  //! [EXPORT] : [COMMENT] Failed to read current system time
  static const ReturnValue_t GET_TIME_FAILURE = MAKE_RETURN_CODE(0xA4);
  //! [EXPORT] : [COMMENT] Invalid communication interface specified
  static const ReturnValue_t INVALID_UART_COM_IF = MAKE_RETURN_CODE(0xA5);
  //! [EXPORT] : [COMMENT] Received command with invalid watchdog parameter. Valid watchdogs are 0
  //! for PS, 1 for PL and 2 for INT
  static const ReturnValue_t INVALID_WATCHDOG = MAKE_RETURN_CODE(0xA6);
  //! [EXPORT] : [COMMENT] Received watchdog timeout config command with invalid timeout. Valid
  //! timeouts must be in the range between 1000 and 360000 ms.
  static const ReturnValue_t INVALID_WATCHDOG_TIMEOUT = MAKE_RETURN_CODE(0xA7);
  //! [EXPORT] : [COMMENT] Received latchup config command with invalid latchup ID
  static const ReturnValue_t INVALID_LATCHUP_ID = MAKE_RETURN_CODE(0xA8);
  //! [EXPORT] : [COMMENT] Received set adc sweep period command with invalid sweep period. Must be
  //! larger than 21.
  static const ReturnValue_t SWEEP_PERIOD_TOO_SMALL = MAKE_RETURN_CODE(0xA9);
  //! [EXPORT] : [COMMENT] Receive auto EM test command with invalid test param. Valid params are 1
  //! and 2.
  static const ReturnValue_t INVALID_TEST_PARAM = MAKE_RETURN_CODE(0xAA);
  //! [EXPORT] : [COMMENT] Returned when scanning for MRAM dump packets failed.
  static const ReturnValue_t MRAM_PACKET_PARSING_FAILURE = MAKE_RETURN_CODE(0xAB);
  //! [EXPORT] : [COMMENT] Returned when the start and stop addresses of the MRAM dump or MRAM  wipe
  //! commands are invalid (e.g. start address bigger than stop address)
  static const ReturnValue_t INVALID_MRAM_ADDRESSES = MAKE_RETURN_CODE(0xAC);
  //! [EXPORT] : [COMMENT] Expect reception of an MRAM dump packet but received space packet with
  //! other apid.
  static const ReturnValue_t NO_MRAM_PACKET = MAKE_RETURN_CODE(0xAD);
  //! [EXPORT] : [COMMENT] Path to PLOC directory on SD card does not exist
  static const ReturnValue_t PATH_DOES_NOT_EXIST = MAKE_RETURN_CODE(0xAE);
  //! [EXPORT] : [COMMENT] MRAM dump file does not exists. The file should actually already have
  //! been created with the reception of the first dump packet.
  static const ReturnValue_t MRAM_FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xAF);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;

  //! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
  static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
  //! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
  static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
  //! [EXPORT] : [COMMENT] PLOC received execution failure report
  static const Event SUPV_EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
  //! [EXPORT] : [COMMENT] PLOC supervisor reply has invalid crc
  static const Event SUPV_CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);

  static const uint16_t APID_MASK = 0x7FF;
  static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;

  uint8_t commandBuffer[PLOC_SPV::MAX_COMMAND_SIZE];

  /**
   * This variable is used to store the id of the next reply to receive. This is necessary
   * because the PLOC sends as reply to each command at least one acknowledgment and execution
   * report.
   */
  DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;

  UartComIF* uartComIf = nullptr;

  PLOC_SPV::HkSet hkset;
  PLOC_SPV::BootStatusReport bootStatusReport;
  PLOC_SPV::LatchupStatusReport latchupStatusReport;

  /** Number of expected replies following the MRAM dump command */
  uint32_t expectedMramDumpPackets = 0;
  uint32_t receivedMramDumpPackets = 0;
  /** Set to true as soon as a complete space packet is present in the spacePacketBuffer */
  bool packetInBuffer = false;
  /** Points to the next free position in the space packet buffer */
  uint16_t bufferTop = 0;

  /** This buffer is used to concatenate space packets received in two different read steps */
  uint8_t spacePacketBuffer[PLOC_SPV::MAX_PACKET_SIZE];

#if BOARD_TE0720 == 0
  SdCardManager* sdcMan = nullptr;
#endif /* BOARD_TE0720 == 0 */

  /** Path to PLOC specific files on SD card */
  std::string plocFilePath = "ploc";
  std::string activeMramFile;

  /** Setting this variable to true will enable direct downlink of MRAM packets */
  bool downlinkMramDump = false;

  /**
   * @brief   This function checks the crc of the received PLOC reply.
   *
   * @param start Pointer to the first byte of the reply.
   * @param foundLen  Pointer to the length of the whole packet.
   *
   * @return  RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
   */
  ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);

  /**
   * @brief   This function handles the acknowledgment report.
   *
   * @param data  Pointer to the data holding the acknowledgment report.
   *
   * @return  RETURN_OK if successful, otherwise an error code.
   */
  ReturnValue_t handleAckReport(const uint8_t* data);

  /**
   * @brief   This function handles the data of a execution report.
   *
   * @param data  Pointer to the received data packet.
   *
   * @return  RETURN_OK if successful, otherwise an error code.
   */
  ReturnValue_t handleExecutionReport(const uint8_t* data);

  /**
   * @brief   This function handles the housekeeping report. This means verifying the CRC of the
   *          reply and filling the appropriate dataset.
   *
   * @param data  Pointer to the data buffer holding the housekeeping read report.
   *
   * @return  RETURN_OK if successful, otherwise an error code.
   */
  ReturnValue_t handleHkReport(const uint8_t* data);

  /**
   * @brief   This function calls the function to check the CRC of the received boot status report
   *          and fills the associated dataset with the boot status information.
   */
  ReturnValue_t handleBootStatusReport(const uint8_t* data);

  ReturnValue_t handleLatchupStatusReport(const uint8_t* data);

  /**
   * @brief   Depending on the current active command, this function sets the reply id of the
   *          next reply after a successful acknowledgment report has been received. This is
   *          required by the function getNextReplyLength() to identify the length of the next
   *          reply to read.
   */
  void setNextReplyId();

  /**
   * @brief   This function handles action message replies in case the telemetry has been
   *          requested by another object.
   *
   * @param data  Pointer to the telemetry data.
   * @param dataSize  Size of telemetry in bytes.
   * @param replyId   Id of the reply. This will be added to the ActionMessage.
   */
  void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);

  /**
   * @brief   This function prepares a space packet which does not transport any data in the
   *          packet data field apart from the crc.
   */
  void prepareEmptyCmd(uint16_t apid);

  /**
   * @brief   This function initializes the space packet to select the boot image of the MPSoC.
   */
  void prepareSelBootImageCmd(const uint8_t* commandData);

  void prepareDisableHk();

  /**
   * @brief   This function fills the commandBuffer with the data to update the time of the
   *          PLOC supervisor.
   */
  ReturnValue_t prepareSetTimeRefCmd();

  /**
   * @brief   This function fills the commandBuffer with the data to change the boot timeout
   *          value in the PLOC supervisor.
   */
  void prepareSetBootTimeoutCmd(const uint8_t* commandData);

  void prepareRestartTriesCmd(const uint8_t* commandData);

  /**
   * @brief   This function fills the command buffer with the packet to enable or disable the
   *          watchdogs on the PLOC.
   */
  void prepareWatchdogsEnableCmd(const uint8_t* commandData);

  /**
   * @brief   This function fills the command buffer with the packet to set the watchdog timer
   *          of one of the three watchdogs (PS, PL, INT).
   */
  ReturnValue_t prepareWatchdogsConfigTimeoutCmd(const uint8_t* commandData);

  ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData,
                                        DeviceCommandId_t deviceCommand);
  ReturnValue_t prepareAutoCalibrateAlertCmd(const uint8_t* commandData);
  ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData);
  ReturnValue_t prepareSetAlertIrqFilterCmd(const uint8_t* commandData);
  ReturnValue_t prepareSetAdcSweetPeriodCmd(const uint8_t* commandData);
  void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
  void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
  void prepareSetAdcThresholdCmd(const uint8_t* commandData);
  void prepareEnableNvmsCmd(const uint8_t* commandData);
  void prepareSelectNvmCmd(const uint8_t* commandData);
  ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData);
  ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData);
  ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData);
  void preparePrintCpuStatsCmd(const uint8_t* commandData);
  void prepareSetDbgVerbosityCmd(const uint8_t* commandData);
  void prepareSetGpioCmd(const uint8_t* commandData);
  void prepareReadGpioCmd(const uint8_t* commandData);

  /**
   * @brief   Copies the content of a space packet to the command buffer.
   */
  void packetToOutBuffer(uint8_t* packetData, size_t fullSize);

  /**
   * @brief   In case an acknowledgment failure reply has been received this function disables
   *          all previously enabled commands and resets the exepected replies variable of an
   *          active command.
   */
  void disableAllReplies();

  /**
   * @brief   This function sends a failure report if the active action was commanded by an other
   *          object.
   *
   * @param replyId   The id of the reply which signals a failure.
   * @param status    A status byte which gives information about the failure type.
   */
  void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);

  /**
   * @brief   This function disables the execution report reply. Within this function also the
   *          the variable expectedReplies of an active command will be set to 0.
   */
  void disableExeReportReply();

  /**
   * @brief   Function is called in scanForReply and fills the spacePacketBuffer with the read
   *          data until a full packet has been received.
   */
  ReturnValue_t parseMramPackets(const uint8_t* packet, size_t remainingSize, size_t* foundlen);

  /**
   * @brief   This function generates the Service 8 packets for the MRAM dump data.
   */
  ReturnValue_t handleMramDumpPacket(DeviceCommandId_t id);

  /**
   * @brief   With this function the number of expected replies following an MRAM dump command
   *          will be increased. This is necessary to release the command in case not all replies
   *          have been received.
   */
  void increaseExpectedMramReplies(DeviceCommandId_t id);

  /**
   * @brief   Function checks if the packet written to the space packet buffer is really a
   *          MRAM dump packet.
   */
  ReturnValue_t checkMramPacketApid();

  /**
   * @brief   Writes the data of the MRAM dump to a file. The file will be created when receiving
   *          the first packet.
   */
  ReturnValue_t handleMramDumpFile(DeviceCommandId_t id);

  /**
   * @brief   Extracts the length field of a spacePacket referenced by the spacePacket pointer.
   *
   * @param spacePacket   Pointer to the buffer holding the space packet.
   *
   * @return The value stored in the length field of the data field.
   */
  uint16_t readSpacePacketLength(uint8_t* spacePacket);

  /**
   * @brief   Extracts the sequence flags from a space packet referenced by the spacePacket
   *          pointer.
   *
   * @param spacePacket   Pointer to the buffer holding the space packet.
   *
   * @return uint8_t where the two least significant bits hold the sequence flags.
   */
  uint8_t readSequenceFlags(uint8_t* spacePacket);

  ReturnValue_t createMramDumpFile();
  ReturnValue_t getTimeStampString(std::string& timeStamp);
};

#endif /* MISSION_DEVICES_PLOCSUPERVISORHANDLER_H_ */