eive-obsw/linux/payload/FreshMpsocHandler.cpp

#include "FreshMpsocHandler.h"

#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "linux/payload/MpsocCommunication.h"
#include "linux/payload/plocSupvDefs.h"

FreshMpsocHandler::FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                                     PlocMpsocSpecialComHelper* specialComHelper,
                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
    : FreshDeviceHandlerBase(cfg),
      comInterface(comInterface),
      specialComHelper(specialComHelper),
      commandActionHelper(this),
      uartIsolatorSwitch(uartIsolatorSwitch),
      hkReport(this) {
  commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
  eventQueue = QueueFactory::instance()->createMessageQueue(10);
}

void FreshMpsocHandler::performDeviceOperation(uint8_t opCode) {
  if (not transitionActive and mode == MODE_OFF) {
    // Nothing to do for now.
    return;
  }
}

ReturnValue_t FreshMpsocHandler::handleCommandMessage(CommandMessage* message) {
  return FreshDeviceHandlerBase::handleCommandMessage(message);
}

ReturnValue_t FreshMpsocHandler::initialize() {
  ReturnValue_t result = FreshDeviceHandlerBase::initialize();
  if (result != returnvalue::OK) {
    return result;
  }
  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
  if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
#endif
    return ObjectManagerIF::CHILD_INIT_FAILED;
    ;
  }
  result = manager->registerListener(eventQueue->getId());
  if (result != returnvalue::OK) {
    return result;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_FAILED));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(),
      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(),
      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_SUCCESSFUL));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_FAILED));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

  specialComHelper->setSequenceCount(&sequenceCount);
  result = commandActionHelper.initialize();
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  return result;
}

// HK manager abstract functions.
LocalPoolDataSetBase* FreshMpsocHandler::getDataSetHandle(sid_t sid) {
  if (sid == hkReport.getSid()) {
    return &hkReport;
  }
  return nullptr;
}

ReturnValue_t FreshMpsocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
  localDataPoolMap.emplace(mpsoc::poolid::STATUS, &peStatus);
  localDataPoolMap.emplace(mpsoc::poolid::MODE, &peMode);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_PWR_ON, &peDownlinkPwrOn);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_REPLY_ACTIIVE, &peDownlinkReplyActive);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, &peDownlinkJesdSyncStatus);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_DAC_STATUS, &peDownlinkDacStatus);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_STATUS, &peCameraStatus);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_SDI_STATUS, &peCameraSdiStatus);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_FPGA_TEMP, &peCameraFpgaTemp);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_SOC_TEMP, &peCameraSocTemp);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_TEMP, &peSysmonTemp);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCINT, &peSysmonVccInt);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCAUX, &peSysmonVccAux);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCBRAM, &peSysmonVccBram);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPAUX, &peSysmonVccPaux);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPINT, &peSysmonVccPint);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPDRO, &peSysmonVccPdro);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB12V, &peSysmonMb12V);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB3V3, &peSysmonMb3V3);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB1V8, &peSysmonMb1V8);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC12V, &peSysmonVcc12V);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC5V, &peSysmonVcc5V);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3, &peSysmonVcc3V3);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3VA, &peSysmonVcc3V3VA);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC2V5DDR, &peSysmonVcc2V5DDR);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC1V2DDR, &peSysmonVcc1V2DDR);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V9, &peSysmonVcc0V9);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V6VTT, &peSysmonVcc0V6VTT);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_SAFE_COTS_CUR, &peSysmonSafeCotsCur);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_NVM4_XO_CUR, &peSysmonNvm4XoCur);
  localDataPoolMap.emplace(mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, &peSemUncorrectableErrs);
  localDataPoolMap.emplace(mpsoc::poolid::SEM_CORRECTABLE_ERRS, &peSemCorrectableErrs);
  localDataPoolMap.emplace(mpsoc::poolid::SEM_STATUS, &peSemStatus);
  localDataPoolMap.emplace(mpsoc::poolid::REBOOT_MPSOC_REQUIRED, &peRebootMpsocRequired);
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(hkReport.getSid(), false, 10.0));
  return returnvalue::OK;
}

// Mode abstract functions
ReturnValue_t FreshMpsocHandler::checkModeCommand(Mode_t mode, Submode_t submode,
                                                  uint32_t* msToReachTheMode) {
  return returnvalue::OK;
}

// Action override. Forward to user.
ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                               const uint8_t* data, size_t size) {
  ReturnValue_t result = returnvalue::OK;
  switch (actionId) {
    case mpsoc::SET_UART_TX_TRISTATE: {
      uartIsolatorSwitch.pullLow();
      return EXECUTION_FINISHED;
      break;
    }
    case mpsoc::RELEASE_UART_TX: {
      uartIsolatorSwitch.pullHigh();
      return EXECUTION_FINISHED;
      break;
      default:
        break;
    }
  }

  if (specialComHelperExecuting) {
    return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
  }

  switch (actionId) {
    case mpsoc::TC_FLASH_WRITE_FULL_FILE: {
      mpsoc::FlashBasePusCmd flashWritePusCmd;
      result = flashWritePusCmd.extractFields(data, size);
      if (result != returnvalue::OK) {
        return result;
      }
      result = specialComHelper->startFlashWrite(flashWritePusCmd.getObcFile(),
                                                 flashWritePusCmd.getMPSoCFile());
      if (result != returnvalue::OK) {
        return result;
      }
      specialComHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case mpsoc::TC_FLASH_READ_FULL_FILE: {
      mpsoc::FlashReadPusCmd flashReadPusCmd;
      result = flashReadPusCmd.extractFields(data, size);
      if (result != returnvalue::OK) {
        return result;
      }
      result = specialComHelper->startFlashRead(flashReadPusCmd.getObcFile(),
                                                flashReadPusCmd.getMPSoCFile(),
                                                flashReadPusCmd.getReadSize());
      if (result != returnvalue::OK) {
        return result;
      }
      specialComHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (mpsoc::OBSW_RESET_SEQ_COUNT): {
      sequenceCount = 0;
      return EXECUTION_FINISHED;
    }
    default:
      break;
  }
  // For longer commands, do not set these.
  commandIsPending = true;
  cmdCountdown.resetTimer();
  // TODO: Do all the stuff the form buildDeviceFromDevice blah did.
  return returnvalue::OK;
}

/**
 * @overload
 * @param submode
 */
void FreshMpsocHandler::startTransition(Mode_t newMode, Submode_t submode) {}

ReturnValue_t FreshMpsocHandler::performDeviceOperationPreQueueHandling(uint8_t opCode) {
  return returnvalue::OK;
}

void FreshMpsocHandler::handleTransitionToOn() {}

void FreshMpsocHandler::handleTransitionToOff() {}

MessageQueueIF* FreshMpsocHandler::getCommandQueuePtr() { return commandActionHelperQueue; }

void FreshMpsocHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }

void FreshMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
                                           ReturnValue_t returnCode) {
  switch (actionId) {
    case supv::START_MPSOC: {
      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
      break;
    }
    case supv::SHUTDOWN_MPSOC: {
      triggerEvent(MPSOC_SHUTDOWN_FAILED);
      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
      break;
    }
    default:
      sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
                 << std::endl;
      break;
  }
  powerState = PowerState::SUPV_FAILED;
}

void FreshMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
  return;
}

void FreshMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
  if (actionId == supv::ACK_REPORT) {
    // I seriously don't know why this happens..
    //    sif::warning
    //        << "PlocMpsocHandler::completionSuccessfulReceived: Only received ACK report. Consider
    //        "
    //           "increasing the MPSoC boot timer."
    //        << std::endl;
  } else if (actionId != supv::EXE_REPORT) {
    sif::warning << "PlocMpsocHandler::completionSuccessfulReceived: Did not expect the action "
                 << "ID " << actionId << std::endl;
    return;
  }
  switch (powerState) {
    case PowerState::PENDING_STARTUP: {
      mpsocBootTransitionCd.resetTimer();
      powerState = PowerState::DONE;
      break;
    }
    case PowerState::PENDING_SHUTDOWN: {
      powerState = PowerState::DONE;
      break;
    }
    default: {
      break;
    }
  }
}

void FreshMpsocHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
  handleActionCommandFailure(actionId);
}

void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId) {
  switch (actionId) {
    case supv::ACK_REPORT:
    case supv::EXE_REPORT:
      break;
    default:
      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect the action ID "
                   << actionId << std::endl;
      return;
  }
  switch (powerState) {
    case PowerState::PENDING_STARTUP: {
      sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
                << std::endl;
      // This is commonly the case when the MPSoC is already operational. Thus the power state is
      // set to on here
      break;
    }
    case PowerState::PENDING_SHUTDOWN: {
      // FDIR will intercept event and switch PLOC power off
      triggerEvent(MPSOC_SHUTDOWN_FAILED);
      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
                   << std::endl;
      break;
    }
    default:
      break;
  }
  powerState = PowerState::SUPV_FAILED;
  return;
}