eive-obsw/linux/payload/PlocSupervisorHandler.cpp

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#include "PlocSupervisorHandler.h"
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#include <fsfw/filesystem/HasFileSystemIF.h>
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#include <fsfw/globalfunctions/arrayprinter.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <filesystem>
#include <fstream>
#include <sstream>
#include <string>
#include "OBSWConfig.h"
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#include "eive/definitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/timemanager/Clock.h"
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using namespace supv;
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using namespace returnvalue;
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PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie,
Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
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PlocSupvUartManager& supvHelper)
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: DeviceHandlerBase(objectId, supvHelper.getObjectId(), comCookie),
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uartIsolatorSwitch(uartIsolatorSwitch),
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hkset(this),
bootStatusReport(this),
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latchupStatusReport(this),
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countersReport(this),
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adcReport(this),
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powerSwitch(powerSwitch),
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uartManager(supvHelper) {
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if (comCookie == nullptr) {
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sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
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eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}
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PlocSupervisorHandler::~PlocSupervisorHandler() {}
ReturnValue_t PlocSupervisorHandler::initialize() {
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ReturnValue_t result = returnvalue::OK;
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result = DeviceHandlerBase::initialize();
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if (result != returnvalue::OK) {
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return result;
}
#ifdef XIPHOS_Q7S
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sdcMan = SdCardManager::instance();
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#endif /* TE0720_1CFA */
result = eventSubscription();
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if (result != returnvalue::OK) {
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return result;
}
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return result;
}
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void PlocSupervisorHandler::performOperationHook() {
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if (normalCommandIsPending and normalCmdCd.hasTimedOut()) {
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// Event, FDIR, printout? Leads to spam though and normally should not happen..
normalCommandIsPending = false;
}
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if (commandIsPending and cmdCd.hasTimedOut()) {
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// Event, FDIR, printout? Leads to spam though and normally should not happen..
commandIsPending = false;
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// if(iter->second.sendReplyTo != NO_COMMANDER) {
// actionHelper.finish(true, iter->second.sendReplyTo, iter->first, returnvalue::OK);
// }
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disableAllReplies();
}
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
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result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "PlocSupervisorHandler::performOperationHook: Did not subscribe to this event"
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<< " message" << std::endl;
break;
}
}
}
ReturnValue_t PlocSupervisorHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
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using namespace supv;
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ReturnValue_t result = returnvalue::OK;
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switch (actionId) {
default:
break;
}
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if (uartManager.longerRequestActive()) {
return result::SUPV_HELPER_EXECUTING;
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}
result = acceptExternalDeviceCommands();
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if (result != returnvalue::OK) {
return result;
}
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switch (actionId) {
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case PERFORM_UPDATE: {
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if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return result::FILENAME_TOO_LONG;
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}
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shutdownCmdSent = false;
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UpdateParams params;
result = extractUpdateCommand(data, size, params);
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if (result != returnvalue::OK) {
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return result;
}
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result = uartManager.performUpdate(params);
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if (result != returnvalue::OK) {
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return result;
}
return EXECUTION_FINISHED;
}
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case CONTINUE_UPDATE: {
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shutdownCmdSent = false;
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uartManager.initiateUpdateContinuation();
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return EXECUTION_FINISHED;
}
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case MEMORY_CHECK_WITH_FILE: {
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shutdownCmdSent = false;
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UpdateParams params;
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result = extractBaseParams(&data, size, params);
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if (result != returnvalue::OK) {
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return result;
}
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if (not std::filesystem::exists(params.file)) {
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
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}
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uartManager.performMemCheck(params.file, params.memId, params.startAddr);
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return EXECUTION_FINISHED;
}
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default:
break;
}
return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
}
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void PlocSupervisorHandler::doStartUp() {
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if (startupState == StartupState::OFF) {
bootTimeout.resetTimer();
startupState = StartupState::BOOTING;
}
if (startupState == StartupState::BOOTING) {
if (bootTimeout.hasTimedOut()) {
uartIsolatorSwitch.pullHigh();
uartManager.start();
if (SET_TIME_DURING_BOOT) {
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startupState = StartupState::SET_TIME;
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} else {
startupState = StartupState::ON;
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}
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}
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}
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if (startupState == StartupState::TIME_WAS_SET) {
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startupState = StartupState::ON;
}
if (startupState == StartupState::ON) {
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hkset.setReportingEnabled(true);
supv::SUPV_ON = true;
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setMode(_MODE_TO_ON);
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}
}
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void PlocSupervisorHandler::doShutDown() {
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setMode(_MODE_POWER_DOWN);
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hkset.setReportingEnabled(false);
hkset.setValidity(false, true);
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shutdownCmdSent = false;
packetInBuffer = false;
nextReplyId = supv::NONE;
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uartManager.stop();
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uartIsolatorSwitch.pullLow();
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disableAllReplies();
supv::SUPV_ON = false;
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startupState = StartupState::OFF;
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}
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ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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if (not normalCommandIsPending) {
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*id = GET_HK_REPORT;
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normalCommandIsPending = true;
normalCmdCd.resetTimer();
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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return NOTHING_TO_SEND;
}
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ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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if (startupState == StartupState::SET_TIME) {
*id = supv::SET_TIME_REF;
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startupState = StartupState::WAIT_FOR_TIME_REPLY;
return buildCommandFromCommand(*id, nullptr, 0);
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}
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return NOTHING_TO_SEND;
}
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ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
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using namespace supv;
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ReturnValue_t result = returnvalue::FAILED;
spParams.buf = commandBuffer;
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switch (deviceCommand) {
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case GET_HK_REPORT: {
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prepareEmptyCmd(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT));
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result = returnvalue::OK;
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break;
}
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case START_MPSOC: {
sif::info << "PLOC SUPV: Starting MPSoC" << std::endl;
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prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::START_MPSOC));
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result = returnvalue::OK;
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break;
}
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case SHUTDOWN_MPSOC: {
sif::info << "PLOC SUPV: Shutting down MPSoC" << std::endl;
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prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC));
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result = returnvalue::OK;
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break;
}
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case SEL_MPSOC_BOOT_IMAGE: {
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prepareSelBootImageCmd(commandData);
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result = returnvalue::OK;
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break;
}
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case RESET_MPSOC: {
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sif::info << "PLOC SUPV: Resetting MPSoC" << std::endl;
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prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_MPSOC));
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result = returnvalue::OK;
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break;
}
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case SET_TIME_REF: {
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result = prepareSetTimeRefCmd();
break;
}
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case SET_BOOT_TIMEOUT: {
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prepareSetBootTimeoutCmd(commandData);
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result = returnvalue::OK;
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break;
}
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case SET_MAX_RESTART_TRIES: {
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prepareRestartTriesCmd(commandData);
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result = returnvalue::OK;
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break;
}
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case DISABLE_PERIOIC_HK_TRANSMISSION: {
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prepareDisableHk();
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result = returnvalue::OK;
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break;
}
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case GET_BOOT_STATUS_REPORT: {
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prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::GET_BOOT_STATUS_REPORT));
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result = returnvalue::OK;
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break;
}
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case ENABLE_LATCHUP_ALERT: {
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result = prepareLatchupConfigCmd(commandData, deviceCommand);
break;
}
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case DISABLE_LATCHUP_ALERT: {
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result = prepareLatchupConfigCmd(commandData, deviceCommand);
break;
}
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case SET_ALERT_LIMIT: {
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result = prepareSetAlertLimitCmd(commandData);
break;
}
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case GET_LATCHUP_STATUS_REPORT: {
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prepareEmptyCmd(Apid::LATCHUP_MON, static_cast<uint8_t>(tc::LatchupMonId::GET_STATUS_REPORT));
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result = returnvalue::OK;
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break;
}
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case RUN_AUTO_EM_TESTS: {
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result = prepareRunAutoEmTest(commandData);
break;
}
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case SET_GPIO: {
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result = prepareSetGpioCmd(commandData, commandDataLen);
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break;
}
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case FACTORY_RESET: {
result = prepareFactoryResetCmd(commandData, commandDataLen);
break;
}
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case READ_GPIO: {
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result = prepareReadGpioCmd(commandData, commandDataLen);
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break;
}
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case SET_SHUTDOWN_TIMEOUT: {
prepareSetShutdownTimeoutCmd(commandData);
result = returnvalue::OK;
break;
}
case FACTORY_FLASH: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::FACTORY_FLASH));
result = returnvalue::OK;
break;
}
case RESET_PL: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_PL));
result = returnvalue::OK;
break;
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}
case SET_ADC_ENABLED_CHANNELS: {
prepareSetAdcEnabledChannelsCmd(commandData);
result = returnvalue::OK;
break;
}
case SET_ADC_WINDOW_AND_STRIDE: {
prepareSetAdcWindowAndStrideCmd(commandData);
result = returnvalue::OK;
break;
}
case SET_ADC_THRESHOLD: {
prepareSetAdcThresholdCmd(commandData);
result = returnvalue::OK;
break;
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}
case WIPE_MRAM: {
result = prepareWipeMramCmd(commandData);
break;
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}
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case REQUEST_ADC_REPORT: {
prepareEmptyCmd(Apid::ADC_MON, static_cast<uint8_t>(tc::AdcMonId::REQUEST_ADC_SAMPLE));
result = returnvalue::OK;
break;
}
case REQUEST_LOGGING_COUNTERS: {
prepareEmptyCmd(Apid::DATA_LOGGER,
static_cast<uint8_t>(tc::DataLoggerServiceId::REQUEST_COUNTERS));
result = returnvalue::OK;
break;
}
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default:
sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;
result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
break;
}
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commandIsPending = true;
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cmdCd.resetTimer();
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return result;
}
void PlocSupervisorHandler::fillCommandAndReplyMap() {
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// Command only
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insertInCommandMap(GET_HK_REPORT);
insertInCommandMap(START_MPSOC);
insertInCommandMap(SHUTDOWN_MPSOC);
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insertInCommandMap(SEL_MPSOC_BOOT_IMAGE);
insertInCommandMap(SET_BOOT_TIMEOUT);
insertInCommandMap(SET_MAX_RESTART_TRIES);
insertInCommandMap(RESET_MPSOC);
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insertInCommandMap(WIPE_MRAM);
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insertInCommandMap(SET_TIME_REF);
insertInCommandMap(DISABLE_PERIOIC_HK_TRANSMISSION);
insertInCommandMap(GET_BOOT_STATUS_REPORT);
insertInCommandMap(ENABLE_LATCHUP_ALERT);
insertInCommandMap(DISABLE_LATCHUP_ALERT);
insertInCommandMap(SET_ALERT_LIMIT);
insertInCommandMap(GET_LATCHUP_STATUS_REPORT);
insertInCommandMap(RUN_AUTO_EM_TESTS);
insertInCommandMap(SET_GPIO);
insertInCommandMap(READ_GPIO);
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insertInCommandMap(FACTORY_RESET);
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insertInCommandMap(MEMORY_CHECK);
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insertInCommandMap(SET_SHUTDOWN_TIMEOUT);
insertInCommandMap(FACTORY_FLASH);
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insertInCommandMap(SET_ADC_ENABLED_CHANNELS);
insertInCommandMap(SET_ADC_THRESHOLD);
insertInCommandMap(SET_ADC_WINDOW_AND_STRIDE);
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insertInCommandMap(RESET_PL);
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insertInCommandMap(REQUEST_ADC_REPORT);
insertInCommandMap(REQUEST_LOGGING_COUNTERS);
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// ACK replies, use countdown for them
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insertInReplyMap(ACK_REPORT, 0, nullptr, SIZE_ACK_REPORT, false, &acknowledgementReportTimeout);
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insertInReplyMap(EXE_REPORT, 0, nullptr, SIZE_EXE_REPORT, false, &executionReportTimeout);
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insertInReplyMap(MEMORY_CHECK, 5, nullptr, 0, false);
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// TM replies
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insertInReplyMap(HK_REPORT, 3, &hkset);
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insertInReplyMap(BOOT_STATUS_REPORT, 3, &bootStatusReport, SIZE_BOOT_STATUS_REPORT);
insertInReplyMap(LATCHUP_REPORT, 3, &latchupStatusReport, SIZE_LATCHUP_STATUS_REPORT);
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insertInReplyMap(COUNTERS_REPORT, 3, &countersReport, SIZE_COUNTERS_REPORT);
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insertInReplyMap(ADC_REPORT, 3, &adcReport, SIZE_ADC_REPORT);
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}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies,
bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
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ReturnValue_t result = OK;
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uint8_t enabledReplies = 0;
switch (command->first) {
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case GET_HK_REPORT: {
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enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, HK_REPORT);
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if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << HK_REPORT
<< " not in replyMap" << std::endl;
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}
break;
}
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case GET_BOOT_STATUS_REPORT: {
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enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
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BOOT_STATUS_REPORT);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
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<< BOOT_STATUS_REPORT << " not in replyMap" << std::endl;
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}
break;
}
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case GET_LATCHUP_STATUS_REPORT: {
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enabledReplies = 3;
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, LATCHUP_REPORT);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
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<< LATCHUP_REPORT << " not in replyMap" << std::endl;
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}
break;
}
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case REQUEST_LOGGING_COUNTERS: {
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enabledReplies = 3;
result =
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DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, COUNTERS_REPORT);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
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<< COUNTERS_REPORT << " not in replyMap" << std::endl;
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}
break;
}
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case REQUEST_ADC_REPORT: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, ADC_REPORT);
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if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << ADC_REPORT
<< " not in replyMap" << std::endl;
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}
break;
}
case FIRST_MRAM_DUMP: {
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enabledReplies = 2; // expected replies will be increased in handleMramDumpPacket
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, FIRST_MRAM_DUMP);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
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<< FIRST_MRAM_DUMP << " not in replyMap" << std::endl;
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}
break;
}
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case CONSECUTIVE_MRAM_DUMP: {
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enabledReplies = 2; // expected replies will be increased in handleMramDumpPacket
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
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CONSECUTIVE_MRAM_DUMP);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
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<< CONSECUTIVE_MRAM_DUMP << " not in replyMap" << std::endl;
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}
break;
}
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case MEMORY_CHECK: {
enabledReplies = 3;
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, MEMORY_CHECK);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << MEMORY_CHECK
<< " not in replyMap" << std::endl;
}
break;
}
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case START_MPSOC:
case SHUTDOWN_MPSOC:
case SEL_MPSOC_BOOT_IMAGE:
case SET_BOOT_TIMEOUT:
case SET_MAX_RESTART_TRIES:
case RESET_MPSOC:
case SET_TIME_REF:
case ENABLE_LATCHUP_ALERT:
case DISABLE_LATCHUP_ALERT:
case SET_ALERT_LIMIT:
case SET_ADC_ENABLED_CHANNELS:
case SET_ADC_WINDOW_AND_STRIDE:
case SET_ADC_THRESHOLD:
case RUN_AUTO_EM_TESTS:
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case WIPE_MRAM:
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case SET_GPIO:
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case FACTORY_RESET:
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case READ_GPIO:
case DISABLE_PERIOIC_HK_TRANSMISSION:
case SET_SHUTDOWN_TIMEOUT:
case FACTORY_FLASH:
case ENABLE_AUTO_TM:
case DISABLE_AUTO_TM:
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case RESET_PL:
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enabledReplies = 2;
break;
default:
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
/**
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, ACK_REPORT);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << ACK_REPORT
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<< " not in replyMap" << std::endl;
}
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setExecutionTimeout(command->first);
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, EXE_REPORT);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << EXE_REPORT
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<< " not in replyMap" << std::endl;
}
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return returnvalue::OK;
}
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ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
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using namespace supv;
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tmReader.setData(start, remainingSize);
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uint16_t apid = tmReader.getModuleApid();
if (DEBUG_PLOC_SUPV) {
handlePacketPrint();
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}
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switch (apid) {
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case (Apid::TMTC_MAN): {
switch (tmReader.getServiceId()) {
case (static_cast<uint8_t>(supv::tm::TmtcId::ACK)):
case (static_cast<uint8_t>(supv::tm::TmtcId::NAK)): {
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*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::ACK_REPORT;
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return OK;
}
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)):
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)): {
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*foundLen = tmReader.getFullPacketLen();
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*foundId = EXE_REPORT;
return OK;
}
}
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break;
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}
case (Apid::HK): {
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::REPORT)) {
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normalCommandIsPending = false;
// Yeah apparently this is needed??
disableCommand(GET_HK_REPORT);
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*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::HK_REPORT;
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return OK;
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::HARDFAULTS)) {
handleBadApidServiceCombination(SUPV_UNINIMPLEMENTED_TM, apid, tmReader.getServiceId());
return INVALID_DATA;
}
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break;
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}
case (Apid::BOOT_MAN): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::BootManId::BOOT_STATUS_REPORT)) {
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*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::BOOT_STATUS_REPORT;
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return OK;
}
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break;
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}
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case (Apid::ADC_MON): {
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::AdcMonId::ADC_REPORT)) {
*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::ADC_REPORT;
return OK;
}
break;
}
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case (Apid::MEM_MAN): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::MemManId::UPDATE_STATUS_REPORT)) {
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*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::UPDATE_STATUS_REPORT;
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return OK;
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}
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break;
}
case (Apid::DATA_LOGGER): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::DataLoggerId::COUNTERS_REPORT)) {
*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::COUNTERS_REPORT;
return OK;
}
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}
}
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handleBadApidServiceCombination(SUPV_UNKNOWN_TM, apid, tmReader.getServiceId());
*foundLen = remainingSize;
return INVALID_DATA;
}
void PlocSupervisorHandler::handlePacketPrint() {
if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) or
(tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK))) {
AcknowledgmentReport ack(tmReader);
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ReturnValue_t result = ack.parse();
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Parsing ACK failed" << std::endl;
}
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if (REDUCE_NORMAL_MODE_PRINTOUT and ack.getRefModuleApid() == (uint8_t)supv::Apid::HK and
ack.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
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return;
}
const char* printStr = "???";
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
printStr = "ACK";
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
printStr = "NAK";
}
sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
<< (int)ack.getRefModuleApid() << " Service ID " << (int)ack.getRefServiceId()
<< " Seq Count " << ack.getRefSequenceCount() << std::endl;
return;
} else if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) or
(tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK))) {
ExecutionReport exe(tmReader);
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ReturnValue_t result = exe.parse();
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Parsing EXE failed" << std::endl;
}
const char* printStr = "???";
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if (REDUCE_NORMAL_MODE_PRINTOUT and exe.getRefModuleApid() == (uint8_t)supv::Apid::HK and
exe.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
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return;
}
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
printStr = "ACK EXE";
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
printStr = "NAK EXE";
}
sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
<< (int)exe.getRefModuleApid() << " Service ID " << (int)exe.getRefServiceId()
<< " Seq Count " << exe.getRefSequenceCount() << std::endl;
return;
}
}
sif::debug << "PlocSupervisorHandler: RECV PACKET Size " << tmReader.getFullPacketLen()
<< " Module APID " << (int)tmReader.getModuleApid() << " Service ID "
<< (int)tmReader.getServiceId() << std::endl;
}
ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t* packet) {
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using namespace supv;
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ReturnValue_t result = returnvalue::OK;
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switch (id) {
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case ACK_REPORT: {
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result = handleAckReport(packet);
break;
}
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case (HK_REPORT): {
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result = handleHkReport(packet);
break;
}
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case (BOOT_STATUS_REPORT): {
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result = handleBootStatusReport(packet);
break;
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}
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case (COUNTERS_REPORT): {
result = genericHandleTm("COUNTERS", packet, countersReport);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
countersReport.printSet();
#endif
break;
}
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case (LATCHUP_REPORT): {
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result = handleLatchupStatusReport(packet);
break;
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}
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case (ADC_REPORT): {
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result = genericHandleTm("ADC", packet, adcReport);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
adcReport.printSet();
#endif
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break;
}
case (EXE_REPORT): {
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result = handleExecutionReport(packet);
break;
}
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case (UPDATE_STATUS_REPORT): {
// TODO: handle status report here
break;
}
default: {
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sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
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}
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return result;
}
ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
2022-03-27 13:07:18 +02:00
LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(supv::NUM_TMS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TEMP_PS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TEMP_PL, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(supv::HK_SOC_STATE, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(supv::NVM0_1_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::NVM3_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::MISSION_IO_STATE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(supv::FMC_STATE, &fmcStateEntry);
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localDataPoolMap.emplace(supv::NUM_TCS, new PoolEntry<uint32_t>({0}));
2023-02-12 20:01:20 +01:00
localDataPoolMap.emplace(supv::TEMP_SUP, &tempSupEntry);
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localDataPoolMap.emplace(supv::UPTIME, new PoolEntry<uint64_t>({0}));
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localDataPoolMap.emplace(supv::CPULOAD, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::AVAILABLEHEAP, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(supv::BR_SOC_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::POWER_CYCLES, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(supv::BOOT_AFTER_MS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::BOOT_TIMEOUT_MS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::ACTIVE_NVM, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BP0_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BP1_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BP2_STATE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(supv::BOOT_STATE, &bootStateEntry);
localDataPoolMap.emplace(supv::BOOT_CYCLES, &bootCyclesEntry);
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localDataPoolMap.emplace(supv::LATCHUP_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::CNT0, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT1, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT2, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT3, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT4, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT5, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT6, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MON, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(supv::LATCHUP_RPT_IS_SET, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(supv::SIGNATURE, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNTS, &latchupCounters);
2022-04-22 08:55:57 +02:00
localDataPoolMap.emplace(supv::ADC_DEVIATION_TRIGGERS_CNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TC_RECEIVED_CNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TM_AVAILABLE_CNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::SUPERVISOR_BOOTS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_BOOTS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_BOOT_FAILED_ATTEMPTS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_POWER_UP, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_UPDATES, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(supv::MPSOC_HEARTBEAT_RESETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::CPU_WDT_RESETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::PS_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::PL_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::EB_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::BM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::AM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TCTMM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::HK_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::DL_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::RWS_TASKS_LOST, new PoolEntry<uint32_t>(3));
localDataPoolMap.emplace(supv::ADC_RAW, &adcRawEntry);
localDataPoolMap.emplace(supv::ADC_ENG, &adcEngEntry);
2022-04-21 16:30:23 +02:00
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poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(hkset.getSid(), false, 10.0));
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return returnvalue::OK;
}
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void PlocSupervisorHandler::handleEvent(EventMessage* eventMessage) {
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ReturnValue_t result = returnvalue::OK;
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object_id_t objectId = eventMessage->getReporter();
Event event = eventMessage->getEvent();
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switch (objectId) {
case objects::PLOC_SUPERVISOR_HELPER: {
// After execution of update procedure, PLOC is in a state where it draws approx. 700 mA of
// current. To leave this state the shutdown MPSoC command must be sent here.
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if (event == PlocSupvUartManager::SUPV_UPDATE_FAILED ||
event == PlocSupvUartManager::SUPV_UPDATE_SUCCESSFUL ||
event == PlocSupvUartManager::SUPV_CONTINUE_UPDATE_FAILED ||
event == PlocSupvUartManager::SUPV_CONTINUE_UPDATE_SUCCESSFUL ||
event == PlocSupvUartManager::SUPV_MEM_CHECK_FAIL ||
event == PlocSupvUartManager::SUPV_MEM_CHECK_OK) {
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// Wait for a short period for the uart state machine to adjust
// TaskFactory::delayTask(5);
if (not shutdownCmdSent) {
shutdownCmdSent = true;
result = this->executeAction(supv::SHUTDOWN_MPSOC, NO_COMMANDER, nullptr, 0);
if (result != returnvalue::OK) {
triggerEvent(SUPV_MPSOC_SHUTDOWN_BUILD_FAILED);
sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown "
"command"
<< std::endl;
return;
}
}
}
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break;
}
default:
sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
break;
}
}
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void PlocSupervisorHandler::setExecutionTimeout(DeviceCommandId_t command) {
using namespace supv;
switch (command) {
case FIRST_MRAM_DUMP:
case CONSECUTIVE_MRAM_DUMP:
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executionReportTimeout.setTimeout(MRAM_DUMP_EXECUTION_TIMEOUT);
break;
case COPY_ADC_DATA_TO_MRAM:
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executionReportTimeout.setTimeout(COPY_ADC_TO_MRAM_TIMEOUT);
break;
default:
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executionReportTimeout.setTimeout(EXECUTION_DEFAULT_TIMEOUT);
break;
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}
}
ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
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if (CRC::crc16ccitt(start, foundLen) != 0) {
return result::CRC_FAILURE;
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}
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
using namespace supv;
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ReturnValue_t result = returnvalue::OK;
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if (not tmReader.verifyCrc()) {
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sif::error << "PlocSupervisorHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = supv::NONE;
replyRawReplyIfnotWiretapped(data, supv::SIZE_ACK_REPORT);
triggerEvent(SUPV_CRC_FAILURE_EVENT);
sendFailureReport(supv::ACK_REPORT, result::CRC_FAILURE);
disableAllReplies();
return returnvalue::OK;
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}
AcknowledgmentReport ack(tmReader);
result = ack.parse();
if (result != returnvalue::OK) {
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nextReplyId = supv::NONE;
replyRawReplyIfnotWiretapped(data, supv::SIZE_ACK_REPORT);
triggerEvent(SUPV_CRC_FAILURE_EVENT);
sendFailureReport(supv::ACK_REPORT, result);
disableAllReplies();
return result;
}
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_ACK_FAILURE, commandId, static_cast<uint32_t>(ack.getStatusCode()));
}
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ack.printStatusInformation();
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printAckFailureInfo(ack.getStatusCode(), commandId);
sendFailureReport(supv::ACK_REPORT, result::RECEIVED_ACK_FAILURE);
disableAllReplies();
nextReplyId = supv::NONE;
result = IGNORE_REPLY_DATA;
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
setNextReplyId();
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}
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return result;
}
ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
using namespace supv;
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ReturnValue_t result = returnvalue::OK;
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if (not tmReader.verifyCrc()) {
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nextReplyId = supv::NONE;
return result::CRC_FAILURE;
}
ExecutionReport report(tmReader);
result = report.parse();
if (result != OK) {
nextReplyId = supv::NONE;
return result;
}
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
result = handleExecutionSuccessReport(report);
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
handleExecutionFailureReport(report);
}
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commandIsPending = false;
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nextReplyId = supv::NONE;
return result;
}
ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
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ReturnValue_t result = returnvalue::OK;
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result = verifyPacket(data, tmReader.getFullPacketLen());
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if (result == result::CRC_FAILURE) {
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sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
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return result;
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}
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uint16_t offset = supv::PAYLOAD_OFFSET;
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hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
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size_t size = sizeof(hkset.uptime.value);
result = SerializeAdapter::deSerialize(&hkset.uptime, data + offset, &size,
SerializeIF::Endianness::BIG);
offset += 8;
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hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.nvm0_1_state = *(data + offset);
offset += 1;
hkset.nvm3_state = *(data + offset);
offset += 1;
hkset.missionIoState = *(data + offset);
offset += 1;
hkset.fmcState = *(data + offset);
offset += 1;
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nextReplyId = supv::EXE_REPORT;
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hkset.setValidity(true, true);
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
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sif::info << "PlocSupervisorHandler::handleHkReport: temp_ps: " << hkset.tempPs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: temp_pl: " << hkset.tempPl << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap
<< std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: nvm0_1_state: "
<< static_cast<unsigned int>(hkset.nvm0_1_state.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleHkReport: nvm3_state: "
<< static_cast<unsigned int>(hkset.nvm3_state.value) << std::endl;
2022-04-06 17:27:44 +02:00
sif::info << "PlocSupervisorHandler::handleHkReport: mission_io_state: "
<< static_cast<unsigned int>(hkset.missionIoState.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleHkReport: fmc_state: "
<< static_cast<unsigned int>(hkset.fmcState.value) << std::endl;
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#endif
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return result;
}
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ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
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ReturnValue_t result = returnvalue::OK;
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result = verifyPacket(data, tmReader.getFullPacketLen());
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if (result == result::CRC_FAILURE) {
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sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
" crc"
<< std::endl;
return result;
}
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const uint8_t* payloadStart = tmReader.getPayloadStart();
uint16_t offset = 0;
bootStatusReport.socState = payloadStart[0];
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offset += 1;
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bootStatusReport.powerCycles = payloadStart[1];
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offset += 1;
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bootStatusReport.bootAfterMs = *(payloadStart + offset) << 24 |
*(payloadStart + offset + 1) << 16 |
*(payloadStart + offset + 2) << 8 | *(payloadStart + offset + 3);
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offset += 4;
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bootStatusReport.bootTimeoutMs = *(payloadStart + offset) << 24 |
*(payloadStart + offset + 1) << 16 |
*(payloadStart + offset + 2) << 8 | *(payloadStart + offset + 3);
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offset += 4;
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bootStatusReport.activeNvm = *(payloadStart + offset);
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offset += 1;
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bootStatusReport.bp0State = *(payloadStart + offset);
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offset += 1;
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bootStatusReport.bp1State = *(payloadStart + offset);
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offset += 1;
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bootStatusReport.bp2State = *(payloadStart + offset);
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offset += 1;
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bootStatusReport.bootState = *(payloadStart + offset);
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offset += 1;
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bootStatusReport.bootCycles = *(payloadStart + offset);
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nextReplyId = supv::EXE_REPORT;
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bootStatusReport.setValidity(true, true);
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
2022-05-17 13:40:19 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: SoC State (0 - off, 1 - booting, 2 "
"- Update, 3 "
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"- operating, 4 - Shutdown, 5 - Reset): "
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<< static_cast<unsigned int>(bootStatusReport.socState.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Power Cycles: "
<< static_cast<unsigned int>(bootStatusReport.powerCycles.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootAfterMs: "
<< bootStatusReport.bootAfterMs << " ms" << std::endl;
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sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootTimeoutMs: " << std::dec
<< bootStatusReport.bootTimeoutMs << " ms" << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Active NVM: "
<< static_cast<unsigned int>(bootStatusReport.activeNvm.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP0: "
<< static_cast<unsigned int>(bootStatusReport.bp0State.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP1: "
<< static_cast<unsigned int>(bootStatusReport.bp1State.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP2: "
<< static_cast<unsigned int>(bootStatusReport.bp2State.value) << std::endl;
2022-04-06 17:27:44 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot state: "
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<< static_cast<unsigned int>(bootStatusReport.bootState.value) << std::endl;
2022-04-06 17:27:44 +02:00
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot cycles: "
2022-04-10 18:46:39 +02:00
<< static_cast<unsigned int>(bootStatusReport.bootCycles.value) << std::endl;
2021-07-24 13:57:05 +02:00
#endif
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return result;
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}
ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {
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ReturnValue_t result = returnvalue::OK;
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result = verifyPacket(data, tmReader.getFullPacketLen());
if (result == result::CRC_FAILURE) {
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sif::error << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup status report has "
<< "invalid crc" << std::endl;
return result;
}
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const uint8_t* payloadData = tmReader.getPayloadStart();
uint16_t offset = 0;
latchupStatusReport.id = *(payloadData + offset);
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offset += 1;
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latchupStatusReport.cnt0 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
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offset += 2;
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latchupStatusReport.cnt1 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
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offset += 2;
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latchupStatusReport.cnt2 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
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offset += 2;
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latchupStatusReport.cnt3 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
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offset += 2;
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latchupStatusReport.cnt4 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
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offset += 2;
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latchupStatusReport.cnt5 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
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offset += 2;
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latchupStatusReport.cnt6 = *(payloadData + offset) << 8 | *(data + offset + 1);
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offset += 2;
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uint16_t msec = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
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latchupStatusReport.isSet = msec >> supv::LatchupStatusReport::IS_SET_BIT_POS;
latchupStatusReport.timeMsec = msec & (~(1 << latchupStatusReport.IS_SET_BIT_POS));
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offset += 2;
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latchupStatusReport.timeSec = *(payloadData + offset);
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offset += 1;
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latchupStatusReport.timeMin = *(payloadData + offset);
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offset += 1;
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latchupStatusReport.timeHour = *(payloadData + offset);
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offset += 1;
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latchupStatusReport.timeDay = *(payloadData + offset);
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offset += 1;
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latchupStatusReport.timeMon = *(payloadData + offset);
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offset += 1;
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latchupStatusReport.timeYear = *(payloadData + offset);
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nextReplyId = supv::EXE_REPORT;
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
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sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup ID: "
<< static_cast<unsigned int>(latchupStatusReport.id.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT0: "
<< latchupStatusReport.cnt0 << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT1: "
<< latchupStatusReport.cnt1 << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT2: "
<< latchupStatusReport.cnt2 << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT3: "
<< latchupStatusReport.cnt3 << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT4: "
<< latchupStatusReport.cnt4 << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT5: "
<< latchupStatusReport.cnt5 << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT6: "
<< latchupStatusReport.cnt6 << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Sec: "
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<< static_cast<unsigned int>(latchupStatusReport.timeSec.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Min: "
2022-04-06 17:27:44 +02:00
<< static_cast<unsigned int>(latchupStatusReport.timeMin.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Hour: "
2022-04-06 17:27:44 +02:00
<< static_cast<unsigned int>(latchupStatusReport.timeHour.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Day: "
2022-04-06 17:27:44 +02:00
<< static_cast<unsigned int>(latchupStatusReport.timeDay.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Mon: "
2022-04-06 17:27:44 +02:00
<< static_cast<unsigned int>(latchupStatusReport.timeMon.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Year: "
2022-04-06 17:27:44 +02:00
<< static_cast<unsigned int>(latchupStatusReport.timeYear.value) << std::endl;
2022-03-27 13:07:18 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
2022-04-06 17:27:44 +02:00
<< static_cast<unsigned int>(latchupStatusReport.timeMsec.value) << std::endl;
2022-04-11 16:52:50 +02:00
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: "
<< static_cast<unsigned int>(latchupStatusReport.isSet.value) << std::endl;
#endif
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return result;
}
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ReturnValue_t PlocSupervisorHandler::genericHandleTm(const char* contextString, const uint8_t* data,
LocalPoolDataSetBase& set) {
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ReturnValue_t result = returnvalue::OK;
2022-04-21 16:30:23 +02:00
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result = verifyPacket(data, tmReader.getFullPacketLen());
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if (result == result::CRC_FAILURE) {
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sif::warning << "PlocSupervisorHandler: " << contextString << " report has "
<< "invalid CRC" << std::endl;
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return result;
}
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const uint8_t* dataField = data + supv::PAYLOAD_OFFSET;
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PoolReadGuard pg(&set);
if (pg.getReadResult() != returnvalue::OK) {
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return result;
}
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set.setValidityBufferGeneration(false);
size_t size = set.getSerializedSize();
result = set.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::warning << "PlocSupervisorHandler: Deserialization failed" << std::endl;
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}
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set.setValidityBufferGeneration(true);
set.setValidity(true, true);
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nextReplyId = supv::EXE_REPORT;
return result;
}
void PlocSupervisorHandler::setNextReplyId() {
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switch (getPendingCommand()) {
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case supv::GET_HK_REPORT:
nextReplyId = supv::HK_REPORT;
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break;
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case supv::GET_BOOT_STATUS_REPORT:
nextReplyId = supv::BOOT_STATUS_REPORT;
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break;
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case supv::GET_LATCHUP_STATUS_REPORT:
nextReplyId = supv::LATCHUP_REPORT;
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break;
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case supv::FIRST_MRAM_DUMP:
nextReplyId = supv::FIRST_MRAM_DUMP;
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break;
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case supv::CONSECUTIVE_MRAM_DUMP:
nextReplyId = supv::CONSECUTIVE_MRAM_DUMP;
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break;
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case supv::REQUEST_LOGGING_COUNTERS:
nextReplyId = supv::COUNTERS_REPORT;
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break;
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case supv::REQUEST_ADC_REPORT:
nextReplyId = supv::ADC_REPORT;
break;
default:
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/* If no telemetry is expected the next reply is always the execution report */
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nextReplyId = supv::EXE_REPORT;
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break;
}
}
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size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
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if (nextReplyId == supv::NONE) {
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return replyLen;
}
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if (nextReplyId == supv::FIRST_MRAM_DUMP || nextReplyId == supv::CONSECUTIVE_MRAM_DUMP) {
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/**
* Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
* next doSendRead call. The command will be as long active as the packet with the sequence
* count indicating the last packet has not been received.
*/
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replyLen = supv::MAX_PACKET_SIZE * 20;
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return replyLen;
}
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DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
if (iter != deviceReplyMap.end()) {
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if ((iter->second.delayCycles == 0 && iter->second.countdown == nullptr) ||
(not iter->second.active && iter->second.countdown != nullptr)) {
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/* Reply inactive */
return replyLen;
}
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replyLen = iter->second.replyLen;
} else {
sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
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return replyLen;
}
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void PlocSupervisorHandler::doOffActivity() {}
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void PlocSupervisorHandler::handleDeviceTm(const uint8_t* data, size_t dataSize,
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DeviceCommandId_t replyId) {
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ReturnValue_t result = returnvalue::OK;
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if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
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DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
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if (queueId == NO_COMMANDER) {
return;
}
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result = actionHelper.reportData(queueId, replyId, data, dataSize);
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if (result != returnvalue::OK) {
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sif::debug << "PlocSupervisorHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}
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ReturnValue_t PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid, uint8_t serviceId) {
supv::NoPayloadPacket packet(spParams, apid, serviceId);
ReturnValue_t result = packet.buildPacket();
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t* commandData) {
supv::MPSoCBootSelect packet(spParams);
ReturnValue_t result =
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packet.buildPacket(commandData[0], commandData[1], commandData[2], commandData[3]);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() {
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Clock::TimeOfDay_t time;
ReturnValue_t result = Clock::getDateAndTime(&time);
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if (result != returnvalue::OK) {
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sif::warning << "PlocSupervisorHandler::prepareSetTimeRefCmd: Failed to get current time"
<< std::endl;
return result::GET_TIME_FAILURE;
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}
supv::SetTimeRef packet(spParams);
result = packet.buildPacket(&time);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareDisableHk() {
supv::DisablePeriodicHkTransmission packet(spParams);
ReturnValue_t result = packet.buildPacket();
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
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}
ReturnValue_t PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) {
supv::SetBootTimeout packet(spParams);
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uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
ReturnValue_t result = packet.buildPacket(timeout);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
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}
ReturnValue_t PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t* commandData) {
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uint8_t restartTries = *(commandData);
supv::SetRestartTries packet(spParams);
ReturnValue_t result = packet.buildPacket(restartTries);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* commandData,
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DeviceCommandId_t deviceCommand) {
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ReturnValue_t result = returnvalue::OK;
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uint8_t latchupId = *commandData;
if (latchupId > 6) {
return result::INVALID_LATCHUP_ID;
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}
switch (deviceCommand) {
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case (supv::ENABLE_LATCHUP_ALERT): {
supv::LatchupAlert packet(spParams);
result = packet.buildPacket(true, latchupId);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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break;
}
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case (supv::DISABLE_LATCHUP_ALERT): {
supv::LatchupAlert packet(spParams);
result = packet.buildPacket(false, latchupId);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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break;
}
default: {
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sif::debug << "PlocSupervisorHandler::prepareLatchupConfigCmd: Invalid command id"
<< std::endl;
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result = returnvalue::FAILED;
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break;
}
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}
return result;
}
ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* commandData) {
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uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return result::INVALID_LATCHUP_ID;
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}
supv::SetAlertlimit packet(spParams);
ReturnValue_t result = packet.buildPacket(latchupId, dutycycle);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
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ReturnValue_t PlocSupervisorHandler::prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData) {
uint16_t ch = *(commandData) << 8 | *(commandData + 1);
supv::SetAdcEnabledChannels packet(spParams);
ReturnValue_t result = packet.buildPacket(ch);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData) {
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uint8_t offset = 0;
uint16_t windowSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
offset += 2;
uint16_t stridingStepSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
supv::SetAdcWindowAndStride packet(spParams);
ReturnValue_t result = packet.buildPacket(windowSize, stridingStepSize);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
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uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
supv::SetAdcThreshold packet(spParams);
ReturnValue_t result = packet.buildPacket(threshold);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
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ReturnValue_t PlocSupervisorHandler::prepareRunAutoEmTest(const uint8_t* commandData) {
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uint8_t test = *commandData;
if (test != 1 && test != 2) {
return result::INVALID_TEST_PARAM;
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}
supv::RunAutoEmTests packet(spParams);
ReturnValue_t result = packet.buildPacket(test);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
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}
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ReturnValue_t PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData,
size_t commandDataLen) {
if (commandDataLen < 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
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uint8_t port = *commandData;
uint8_t pin = *(commandData + 1);
uint8_t val = *(commandData + 2);
supv::SetGpio packet(spParams);
ReturnValue_t result = packet.buildPacket(port, pin, val);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
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}
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ReturnValue_t PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandData,
size_t commandDataLen) {
if (commandDataLen < 2) {
return HasActionsIF::INVALID_PARAMETERS;
}
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uint8_t port = *commandData;
uint8_t pin = *(commandData + 1);
supv::ReadGpio packet(spParams);
ReturnValue_t result = packet.buildPacket(port, pin);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareFactoryResetCmd(const uint8_t* commandData,
size_t len) {
FactoryReset resetCmd(spParams);
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if (len < 1) {
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return HasActionsIF::INVALID_PARAMETERS;
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}
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ReturnValue_t result = resetCmd.buildPacket(commandData[0]);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(resetCmd);
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return returnvalue::OK;
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}
void PlocSupervisorHandler::finishTcPrep(TcBase& tc) {
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nextReplyId = supv::ACK_REPORT;
rawPacket = commandBuffer;
rawPacketLen = tc.getFullPacketLen();
if (DEBUG_PLOC_SUPV) {
sif::debug << "PLOC SUPV: SEND PACKET Size " << tc.getFullPacketLen() << " Module APID "
<< (int)tc.getModuleApid() << " Service ID " << (int)tc.getServiceId() << std::endl;
}
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}
ReturnValue_t PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData) {
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uint32_t timeout = 0;
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ReturnValue_t result = returnvalue::OK;
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size_t size = sizeof(timeout);
result =
SerializeAdapter::deSerialize(&timeout, &commandData, &size, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::warning
<< "PlocSupervisorHandler::prepareSetShutdownTimeoutCmd: Failed to deserialize timeout"
<< std::endl;
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return result;
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}
supv::SetShutdownTimeout packet(spParams);
result = packet.buildPacket(timeout);
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if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
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}
void PlocSupervisorHandler::disableAllReplies() {
using namespace supv;
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DeviceReplyMap::iterator iter;
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/* Disable ack reply */
iter = deviceReplyMap.find(ACK_REPORT);
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if (iter == deviceReplyMap.end()) {
return;
}
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DeviceReplyInfo* info = &(iter->second);
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if (info == nullptr) {
return;
}
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info->delayCycles = 0;
info->command = deviceCommandMap.end();
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DeviceCommandId_t commandId = getPendingCommand();
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/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case GET_HK_REPORT: {
disableReply(GET_HK_REPORT);
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break;
}
case FIRST_MRAM_DUMP:
case CONSECUTIVE_MRAM_DUMP: {
disableReply(commandId);
break;
}
case REQUEST_ADC_REPORT: {
disableReply(ADC_REPORT);
break;
}
case GET_BOOT_STATUS_REPORT: {
disableReply(BOOT_STATUS_REPORT);
break;
}
case GET_LATCHUP_STATUS_REPORT: {
disableReply(LATCHUP_REPORT);
break;
}
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case REQUEST_LOGGING_COUNTERS: {
disableReply(COUNTERS_REPORT);
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break;
}
default: {
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break;
}
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}
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/* We must always disable the execution report reply here */
disableExeReportReply();
}
void PlocSupervisorHandler::disableReply(DeviceCommandId_t replyId) {
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
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if (iter == deviceReplyMap.end()) {
return;
}
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->active = false;
info->command = deviceCommandMap.end();
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
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DeviceReplyIter iter = deviceReplyMap.find(replyId);
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if (iter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply not in reply map" << std::endl;
return;
}
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DeviceCommandInfo* info = &(iter->second.command->second);
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if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command"
<< std::endl;
return;
}
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if (info->sendReplyTo != NO_COMMANDER) {
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
}
void PlocSupervisorHandler::disableExeReportReply() {
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DeviceReplyIter iter = deviceReplyMap.find(supv::EXE_REPORT);
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if (iter == deviceReplyMap.end()) {
return;
}
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DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
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info->active = false;
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/* Expected replies is set to one here. The value will set to 0 in replyToReply() */
info->command->second.expectedReplies = 1;
}
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ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id) {
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ReturnValue_t result = returnvalue::FAILED;
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// Prepare packet for downlink
if (packetInBuffer) {
uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
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result = verifyPacket(spacePacketBuffer, ccsds::HEADER_LEN + packetLen + 1);
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if (result != returnvalue::OK) {
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sif::warning << "PlocSupervisorHandler::handleMramDumpPacket: CRC failure" << std::endl;
return result;
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}
result = handleMramDumpFile(id);
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if (result != returnvalue::OK) {
DeviceCommandMap::iterator iter = deviceCommandMap.find(id);
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if (iter != deviceCommandMap.end()) {
actionHelper.finish(false, iter->second.sendReplyTo, id, result);
}
disableAllReplies();
nextReplyId = supv::NONE;
return result;
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}
packetInBuffer = false;
receivedMramDumpPackets++;
if (expectedMramDumpPackets == receivedMramDumpPackets) {
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nextReplyId = supv::EXE_REPORT;
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}
increaseExpectedMramReplies(id);
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return returnvalue::OK;
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}
return result;
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}
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void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
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DeviceReplyMap::iterator mramDumpIter = deviceReplyMap.find(id);
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DeviceReplyMap::iterator exeReportIter = deviceReplyMap.find(supv::EXE_REPORT);
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if (mramDumpIter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::increaseExpectedMramReplies: Dump MRAM reply not "
<< "in reply map" << std::endl;
return;
}
if (exeReportIter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::increaseExpectedMramReplies: Execution report not "
<< "in reply map" << std::endl;
return;
}
DeviceReplyInfo* mramReplyInfo = &(mramDumpIter->second);
if (mramReplyInfo == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: MRAM reply info nullptr"
<< std::endl;
return;
}
DeviceReplyInfo* exeReplyInfo = &(exeReportIter->second);
if (exeReplyInfo == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Execution reply info"
<< " nullptr" << std::endl;
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return;
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}
DeviceCommandInfo* info = &(mramReplyInfo->command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Command info nullptr"
<< std::endl;
return;
}
uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
if (sequenceFlags != static_cast<uint8_t>(ccsds::SequenceFlags::LAST_SEGMENT) &&
(sequenceFlags != static_cast<uint8_t>(ccsds::SequenceFlags::UNSEGMENTED))) {
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// Command expects at least one MRAM packet more and the execution report
info->expectedReplies = 2;
mramReplyInfo->countdown->resetTimer();
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} else {
// Command expects the execution report
info->expectedReplies = 1;
mramReplyInfo->active = false;
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}
exeReplyInfo->countdown->resetTimer();
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return;
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}
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ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
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#ifdef XIPHOS_Q7S
if (not sdcMan->getActiveSdCard()) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
#endif
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ReturnValue_t result = returnvalue::OK;
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uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
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if (id == supv::FIRST_MRAM_DUMP) {
if (sequenceFlags == static_cast<uint8_t>(ccsds::SequenceFlags::FIRST_SEGMENT) ||
(sequenceFlags == static_cast<uint8_t>(ccsds::SequenceFlags::UNSEGMENTED))) {
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result = createMramDumpFile();
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if (result != returnvalue::OK) {
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return result;
}
}
}
if (not std::filesystem::exists(activeMramFile)) {
sif::warning << "PlocSupervisorHandler::handleMramDumpFile: MRAM file does not exist"
<< std::endl;
return result::MRAM_FILE_NOT_EXISTS;
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}
std::ofstream file(activeMramFile, std::ios_base::app | std::ios_base::out);
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file.write(reinterpret_cast<const char*>(spacePacketBuffer + ccsds::HEADER_LEN), packetLen - 1);
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file.close();
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return returnvalue::OK;
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}
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ReturnValue_t PlocSupervisorHandler::prepareWipeMramCmd(const uint8_t* commandData) {
uint32_t start = 0;
uint32_t stop = 0;
size_t size = sizeof(start) + sizeof(stop);
SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
if ((stop - start) <= 0) {
return result::INVALID_MRAM_ADDRESSES;
}
supv::MramCmd packet(spParams);
ReturnValue_t result = packet.buildPacket(start, stop, supv::MramCmd::MramAction::WIPE);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet);
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return returnvalue::OK;
}
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uint16_t PlocSupervisorHandler::readSpacePacketLength(uint8_t* spacePacket) {
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return spacePacket[4] << 8 | spacePacket[5];
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}
uint8_t PlocSupervisorHandler::readSequenceFlags(uint8_t* spacePacket) {
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return spacePacketBuffer[2] >> 6;
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}
ReturnValue_t PlocSupervisorHandler::createMramDumpFile() {
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ReturnValue_t result = returnvalue::OK;
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std::string timeStamp;
result = getTimeStampString(timeStamp);
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if (result != returnvalue::OK) {
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return result;
}
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std::string filename = "mram-dump--" + timeStamp + ".bin";
#ifdef XIPHOS_Q7S
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const char* currentMountPrefix = sdcMan->getCurrentMountPrefix();
#else
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const char* currentMountPrefix = "/mnt/sd0";
#endif /* BOARD_TE0720 == 0 */
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if (currentMountPrefix == nullptr) {
return returnvalue::FAILED;
}
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// Check if path to PLOC directory exists
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if (not std::filesystem::exists(std::string(currentMountPrefix) + "/" + supervisorFilePath)) {
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sif::warning << "PlocSupervisorHandler::createMramDumpFile: Supervisor path does not exist"
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<< std::endl;
return result::PATH_DOES_NOT_EXIST;
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}
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activeMramFile = std::string(currentMountPrefix) + "/" + supervisorFilePath + "/" + filename;
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// Create new file
std::ofstream file(activeMramFile, std::ios_base::out);
file.close();
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return returnvalue::OK;
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}
ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp) {
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Clock::TimeOfDay_t time;
ReturnValue_t result = Clock::getDateAndTime(&time);
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if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::getTimeStampString: Failed to get current time"
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<< std::endl;
return result::GET_TIME_FAILURE;
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}
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
std::to_string(time.minute) + "-" + std::to_string(time.second);
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return returnvalue::OK;
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}
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ReturnValue_t PlocSupervisorHandler::extractUpdateCommand(const uint8_t* commandData, size_t size,
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supv::UpdateParams& params) {
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size_t remSize = size;
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if (size > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE + sizeof(params.memId)) +
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sizeof(params.startAddr) + sizeof(params.bytesWritten) + sizeof(params.seqCount) +
sizeof(uint8_t)) {
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sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Data size too big" << std::endl;
return result::INVALID_LENGTH;
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}
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ReturnValue_t result = returnvalue::OK;
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result = extractBaseParams(&commandData, size, params);
result = SerializeAdapter::deSerialize(&params.bytesWritten, &commandData, &remSize,
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SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize bytes "
"already written"
<< std::endl;
return result;
}
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result = SerializeAdapter::deSerialize(&params.seqCount, &commandData, &remSize,
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SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::warning
<< "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize start sequence count"
<< std::endl;
return result;
}
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uint8_t delMemRaw = 0;
result = SerializeAdapter::deSerialize(&delMemRaw, &commandData, &remSize,
SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::warning
<< "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize whether to delete "
2022-08-24 15:16:46 +02:00
"memory"
<< std::endl;
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return result;
}
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params.deleteMemory = delMemRaw;
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return returnvalue::OK;
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}
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ReturnValue_t PlocSupervisorHandler::extractBaseParams(const uint8_t** commandData, size_t& remSize,
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supv::UpdateParams& params) {
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bool nullTermFound = false;
for (size_t idx = 0; idx < remSize; idx++) {
if ((*commandData)[idx] == '\0') {
nullTermFound = true;
break;
}
}
if (not nullTermFound) {
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return returnvalue::FAILED;
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}
params.file = std::string(reinterpret_cast<const char*>(*commandData));
if (params.file.size() > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE)) {
sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Filename too long" << std::endl;
return result::FILENAME_TOO_LONG;
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}
*commandData += params.file.size() + SIZE_NULL_TERMINATOR;
remSize -= (params.file.size() + SIZE_NULL_TERMINATOR);
params.memId = **commandData;
*commandData += 1;
remSize -= 1;
ReturnValue_t result = SerializeAdapter::deSerialize(&params.startAddr, commandData, &remSize,
SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::warning << "PlocSupervisorHandler::extractBaseParams: Failed to deserialize start address"
<< std::endl;
return result;
}
return result;
}
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ReturnValue_t PlocSupervisorHandler::eventSubscription() {
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ReturnValue_t result = returnvalue::OK;
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PlocSupervisorHandler::eventSubscritpion: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
;
}
result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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return result;
}
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result = manager->subscribeToEventRange(
eventQueue->getId(), event::getEventId(PlocSupvUartManager::SUPV_UPDATE_FAILED),
event::getEventId(PlocSupvUartManager::SUPV_MEM_CHECK_FAIL));
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PlocSupervisorHandler::eventSubscritpion: Failed to subscribe to events from "
" ploc supervisor helper"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return result;
}
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ReturnValue_t PlocSupervisorHandler::handleExecutionSuccessReport(ExecutionReport& report) {
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DeviceCommandId_t commandId = getPendingCommand();
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DeviceCommandMap::iterator iter = deviceCommandMap.find(commandId);
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if (iter != deviceCommandMap.end() and iter->second.sendReplyTo != NO_COMMANDER) {
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actionHelper.finish(true, iter->second.sendReplyTo, iter->first, returnvalue::OK);
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iter->second.isExecuting = false;
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}
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commandIsPending = false;
switch (commandId) {
case supv::READ_GPIO: {
2022-11-08 11:08:21 +01:00
// TODO: Fix
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uint16_t gpioState = report.getStatusCode();
#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
sif::info << "PlocSupervisorHandler: Read GPIO TM, State: " << gpioState << std::endl;
#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
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if (iter != deviceCommandMap.end() and iter->second.sendReplyTo == NO_COMMAND_ID) {
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return returnvalue::OK;
}
uint8_t data[sizeof(gpioState)];
size_t size = 0;
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ReturnValue_t result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState),
SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl;
}
result = actionHelper.reportData(iter->second.sendReplyTo, commandId, data, sizeof(data));
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Read GPIO, failed to report data" << std::endl;
}
break;
}
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case supv::SET_TIME_REF: {
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// We could only allow proper bootup when the time was set successfully, but
// this makes debugging difficult.
2023-05-12 09:32:24 +02:00
if (startupState == StartupState::WAIT_FOR_TIME_REPLY) {
startupState = StartupState::TIME_WAS_SET;
}
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break;
}
default:
break;
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}
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return returnvalue::OK;
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}
2022-05-03 14:59:23 +02:00
2022-11-08 19:53:26 +01:00
void PlocSupervisorHandler::handleExecutionFailureReport(ExecutionReport& report) {
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using namespace supv;
DeviceCommandId_t commandId = getPendingCommand();
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report.printStatusInformation();
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if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
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triggerEvent(SUPV_EXE_FAILURE, commandId, static_cast<uint32_t>(report.getStatusCode()));
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}
sendFailureReport(EXE_REPORT, result::RECEIVED_EXE_FAILURE);
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disableExeReportReply();
}
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void PlocSupervisorHandler::handleBadApidServiceCombination(Event event, unsigned int apid,
unsigned int serviceId) {
const char* printString = "";
if (event == SUPV_UNKNOWN_TM) {
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printString = "PlocSupervisorHandler: Unknown";
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} else if (event == SUPV_UNINIMPLEMENTED_TM) {
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printString = "PlocSupervisorHandler: Unimplemented";
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}
triggerEvent(event, apid, tmReader.getServiceId());
2022-11-16 13:26:49 +01:00
sif::warning << printString << " APID service combination 0x" << std::setw(2) << std::setfill('0')
<< std::hex << apid << ", 0x" << std::setw(2) << serviceId << std::endl;
2022-11-08 14:26:52 +01:00
}
void PlocSupervisorHandler::printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId) {
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switch (commandId) {
case (supv::SET_TIME_REF): {
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sif::warning
<< "PlocSupervisoHandler: Setting time failed. Make sure the OBC has a valid time"
<< std::endl;
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break;
}
default:
break;
}
}
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ReturnValue_t PlocSupervisorHandler::getSwitches(const uint8_t** switches,
uint8_t* numberOfSwitches) {
if (powerSwitch == power::NO_SWITCH) {
return DeviceHandlerBase::NO_SWITCH;
}
*numberOfSwitches = 1;
*switches = &powerSwitch;
return returnvalue::OK;
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 7000;
}
2022-11-08 20:41:20 +01:00
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void PlocSupervisorHandler::disableCommand(DeviceCommandId_t cmd) {
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auto commandIter = deviceCommandMap.find(GET_HK_REPORT);
commandIter->second.isExecuting = false;
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}
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ReturnValue_t PlocSupervisorHandler::checkModeCommand(Mode_t commandedMode,
Submode_t commandedSubmode,
uint32_t* msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
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if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
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}
}
}
return DeviceHandlerBase::checkModeCommand(commandedMode, commandedSubmode, msToReachTheMode);
}