eive-obsw/bsp_q7s/devices/ploc/PlocMPSoCHelper.h

#ifndef BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_
#define BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_

#include <string>
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "bsp_q7s/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"

/**
 * @brief   Helper class for MPSoC of PLOC intended to accelerate large data transfers between
 *          MPSoC and OBC.
 * @author  J. Meier
 */
class PlocMPSoCHelper: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:

    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;

    //! [EXPORT] : [COMMENT] Flash write fails
    static const Event FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW);
    //! [EXPORT] : [COMMENT] Flash write successful
    static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
    //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command ot the PLOC
    //!P1: Return value returned by the communication interface sendMessage function
    //!P2: Internal state of MPSoC helper
    static const Event SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
    //! [EXPORT] : [COMMENT] Request receive message of communication interface failed
    //!P1: Return value returned by the communication interface requestReceiveMessage function
    //!P2: Internal state of MPSoC helper
    static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
    //! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
    //!P1: Return value returned by the communication interface readingReceivedMessage function
    //!P2: Internal state of MPSoC helper
    static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
    //! [EXPORT] : [COMMENT] Did not receive acknowledgement report
    //!P1: Number of bytes missing
    //!P2: Internal state of MPSoC helper
    static const Event MISSING_ACK = MAKE_EVENT(5, severity::LOW);
    //! [EXPORT] : [COMMENT] Did not receive execution report
    //!P1: Number of bytes missing
    //!P2: Internal state of MPSoC helper
    static const Event MISSING_EXE = MAKE_EVENT(6, severity::LOW);
    //! [EXPORT] : [COMMENT] Received acknowledgement failure report
    //!P1: Internal state of MPSoC
    static const Event ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
    //! [EXPORT] : [COMMENT] Received execution failure report
    //!P1: Internal state of MPSoC
    static const Event EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
    //! [EXPORT] : [COMMENT] Expected acknowledgement report but received space packet with other apid
    //!P1: Apid of received space packet
    //!P2: Internal state of MPSoC
    static const Event ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
    //! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
    //!P1: Apid of received space packet
    //!P2: Internal state of MPSoC
    static const Event EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);

    PlocMPSoCHelper(object_id_t objectId);
    virtual ~PlocMPSoCHelper();

    ReturnValue_t initialize() override;
    ReturnValue_t performOperation(uint8_t operationCode = 0) override;

    ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
    void setComCookie(CookieIF* comCookie_);

    /**
     * @brief   Starts flash write sequence
     *
     * @param file  File with data to write
     *
     * @return  RETURN_OK if successful, otherwise error return value
     */
    ReturnValue_t startFlashWrite(std::string file);

    /**
     * @brief   Can be used to interrupt a running data transfer.
     */
    void stopProcess();

    /**
     * @brief   Sets the sequence count object responsible for the sequence count handling
     */
    void setSequenceCount(SourceSequenceCounter* sequenceCount_);

private:

    static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;

    // Maximum number of times the communication interface retries polling data from the reply
    // buffer
    static const int RETRIES = 3;

    class FlashWrite {
    public:
        static const std::string file;
    };

    FlashWrite flashWrite;

    enum class InternalState {
        IDLE,
        FLASH_WRITE,
        FLASH_READ
    };

    InternalState internalState = InternalState::IDLE;

    BinarySemaphore semaphore;

    SdCardManager* sdcMan = nullptr;

    uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];

    bool terminate = false;

    /**
     * Communication interface of MPSoC responsible for low level access. Must be set by the
     * MPSoC Handler.
     */
    UartComIF* uartComIF = nullptr;
    // Communication cookie. Must be set by the MPSoC Handler
    CookieIF* comCookie = nullptr;
    // Sequence count, must be set by Ploc MPSoC Handler
    SourceSequenceCounter* sequenceCount;

    ReturnValue_t performFlashWrite();
    ReturnValue_t sendCommand(mpsoc::TcBase* tc);
    ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
    ReturnValue_t handleAck();
    ReturnValue_t handleExe();
    void handleAckApidFailure(uint16_t apid);
    void handleExeApidFailure(uint16_t apid);
    ReturnValue_t handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes);
};

#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */