eive-obsw/linux/devices/RwPollingTask.cpp

#include "RwPollingTask.h"

#include <fcntl.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/common/spi/spiCommon.h>
#include <unistd.h>

#include "devConf.h"
#include "mission/devices/devicedefinitions/rwHelpers.h"

RwPollingTask::RwPollingTask(object_id_t objectId, SpiComIF* spiIF)
    : SystemObject(objectId), spiIF(spiIF) {
  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
  semaphore->acquire();
  ipcLock = MutexFactory::instance()->createMutex();
  spiLock = spiIF->getCsMutex();
  spiDev = spiIF->getSpiDev().c_str();
}

ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
  while (true) {
    ipcLock->lockMutex();
    state = InternalState::IDLE;
    ipcLock->unlockMutex();
    semaphore->acquire();
    int fd = 0;
    ReturnValue_t result = openSpi(O_RDWR, fd);
    if (result != returnvalue::OK) {
      continue;
    }
    for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
      prepareSetSpeedCmd(idx);
      if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
        continue;
      }
    }
    closeSpi(fd);
    usleep(rws::SPI_REPLY_DELAY);
    if (readAllRws(fd, rws::SET_SPEED) != returnvalue::OK) {
      continue;
    }
    prepareSimpleCommand(rws::GET_LAST_RESET_STATUS);
    if (writeAndReadAllRws(rws::GET_LAST_RESET_STATUS) != returnvalue::OK) {
      continue;
    }
    prepareSimpleCommand(rws::GET_RW_STATUS);
    if (writeAndReadAllRws(rws::GET_RW_STATUS) != returnvalue::OK) {
      continue;
    }
    prepareSimpleCommand(rws::GET_TEMPERATURE);
    if (writeAndReadAllRws(rws::GET_TEMPERATURE) != returnvalue::OK) {
      continue;
    }
    prepareSimpleCommand(rws::CLEAR_LAST_RESET_STATUS);
    if (writeAndReadAllRws(rws::CLEAR_LAST_RESET_STATUS) != returnvalue::OK) {
      continue;
    }
  }

  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::initialize() {
  if (spiDev == nullptr) {
    sif::error << "SPI device is invalid" << std::endl;
    return returnvalue::FAILED;
  }
  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
  // We don't need to set the speed because a SPI core is used, but the mode has to be set once
  // correctly for all RWs
  if (not modeAndSpeedWasSet) {
    int fd = open(spiDev, O_RDWR);
    if (fd < 0) {
      sif::error << "could not open RW SPI bus" << std::endl;
      return returnvalue::FAILED;
    }
    spiIF->setSpiSpeedAndMode(fd, spi::RW_MODE, spi::RW_SPEED);
    close(fd);
    modeAndSpeedWasSet = true;
  }

  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                         size_t sendLen) {
  if (sendLen < 6) {
    return DeviceHandlerIF::INVALID_DATA;
  }
  int32_t speed = 0;
  uint16_t rampTime = 0;
  SerializeAdapter::deSerialize(&speed, &sendData, &sendLen, SerializeIF::Endianness::MACHINE);
  SerializeAdapter::deSerialize(&rampTime, &sendData, &sendLen, SerializeIF::Endianness::MACHINE);
  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
  if (sendLen == 7 and sendData[6] < static_cast<uint8_t>(rws::SpecialRwRequest::NUM_REQUESTS)) {
    specialRequest = static_cast<rws::SpecialRwRequest>(sendData[6]);
  }
  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
  if (rwCookie == nullptr) {
    return returnvalue::FAILED;
  }
  {
    MutexGuard mg(ipcLock);
    rwCookie->currentRwSpeed = speed;
    rwCookie->currentRampTime = rampTime;
    rwCookie->specialRequest = specialRequest;
    if (state == InternalState::IDLE and rwCookie->rwIdx == 3) {
      state = InternalState::BUSY;
      semaphore->release();
    }
  }
  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }

ReturnValue_t RwPollingTask::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
  {
    MutexGuard mg(ipcLock);
    *buffer = rwCookie->replyBuf.data();
    *size = rwCookie->replyBuf.size();
  }
  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::writeAndReadAllRws(DeviceCommandId_t id) {
  // Stopwatch watch;
  ReturnValue_t result = returnvalue::OK;

  int fd = 0;
  result = openSpi(O_RDWR, fd);
  if (result != returnvalue::OK) {
    return result;
  }
  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
    ReturnValue_t result = sendOneMessage(fd, *rwCookies[idx]);
    if (result != returnvalue::OK) {
      closeSpi(fd);
      return returnvalue::FAILED;
    }
  }

  closeSpi(fd);
  usleep(rws::SPI_REPLY_DELAY);
  return readAllRws(fd, id);
}

ReturnValue_t RwPollingTask::openSpi(int flags, int& fd) {
  fd = open(spiDev, flags);
  if (fd < 0) {
    sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
    return SpiComIF::OPENING_FILE_FAILED;
  }

  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf,
                                           size_t maxReplyLen) {
  ReturnValue_t result = returnvalue::OK;
  int fd = 0;
  gpioId_t gpioId = rwCookie.getChipSelectPin();
  GpioIF& gpioIF = spiIF->getGpioInterface();
  pullCsLow(gpioId, spiLock, gpioIF);
  for (unsigned idx = 0; idx < MAX_RETRIES_REPLY; idx++) {
    result = openSpi(O_RDWR, fd);
    if (result != returnvalue::OK) {
      return result;
    }
    /**
     * The reaction wheel responds with empty frames while preparing the reply data.
     * However, receiving more than 5 empty frames will be interpreted as an error.
     */
    uint8_t byteRead = 0;
    for (int idx = 0; idx < 5; idx++) {
      if (read(fd, &byteRead, 1) != 1) {
        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
        pullCsHigh(gpioId, spiLock, gpioIF);
        closeSpi(fd);
        return rws::SPI_READ_FAILURE;
      }
      if (idx == 0) {
        if (byteRead != FLAG_BYTE) {
          sif::error << "Invalid data, expected start marker" << std::endl;
          pullCsHigh(gpioId, spiLock, gpioIF);
          closeSpi(fd);
          return rws::NO_START_MARKER;
        }
      }

      if (byteRead != FLAG_BYTE) {
        break;
      }

      pullCsHigh(gpioId, spiLock, gpioIF);
      closeSpi(fd);
      if (idx == MAX_RETRIES_REPLY - 1) {
        sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
        return rws::NO_REPLY;
      }
      TaskFactory::delayTask(5);
    }

#if FSFW_HAL_SPI_WIRETAPPING == 1
    sif::info << "RW start marker detected" << std::endl;
#endif

    size_t decodedFrameLen = 0;

    while (decodedFrameLen < maxReplyLen) {
      /** First byte already read in */
      if (decodedFrameLen != 0) {
        byteRead = 0;
        if (read(fd, &byteRead, 1) != 1) {
          sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
          result = rws::SPI_READ_FAILURE;
          break;
        }
      }

      if (byteRead == FLAG_BYTE) {
        /** Reached end of frame */
        break;
      } else if (byteRead == 0x7D) {
        if (read(fd, &byteRead, 1) != 1) {
          sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
          result = rws::SPI_READ_FAILURE;
          break;
        }
        if (byteRead == 0x5E) {
          *(replyBuf + decodedFrameLen) = 0x7E;
          decodedFrameLen++;
          continue;
        } else if (byteRead == 0x5D) {
          *(replyBuf + decodedFrameLen) = 0x7D;
          decodedFrameLen++;
          continue;
        } else {
          sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
          closeSpi(fd);
          result = rws::INVALID_SUBSTITUTE;
          break;
        }
      } else {
        *(replyBuf + decodedFrameLen) = byteRead;
        decodedFrameLen++;
        continue;
      }

      /**
       * There might be the unlikely case that each byte in a get-telemetry reply has been
       * replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
       * Otherwise there might be something wrong.
       */
      if (decodedFrameLen == maxReplyLen) {
        if (read(fd, &byteRead, 1) != 1) {
          sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
          result = rws::SPI_READ_FAILURE;
          break;
        }
        if (byteRead != FLAG_BYTE) {
          sif::error << "rwSpiCallback::spiCallback: Missing end sign "
                     << static_cast<int>(FLAG_BYTE) << std::endl;
          decodedFrameLen--;
          result = rws::MISSING_END_SIGN;
          break;
        }
      }
      result = returnvalue::OK;
    }
  }
  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
  ReturnValue_t result = sendOneMessage(fd, *rwCookies[rwIdx]);
  if (result != returnvalue::OK) {
    closeSpi(fd);
    return returnvalue::FAILED;
  }
  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::readAllRws(int fd, DeviceCommandId_t id) {
  ReturnValue_t result = openSpi(O_RDWR, fd);
  if (result != returnvalue::OK) {
    return result;
  }
  for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
    if (spiLock == nullptr) {
      sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
      return returnvalue::FAILED;
    }
    // TODO: Fix buffer to write to
    uint8_t* replyBuf;
    size_t maxReadLen = idAndIdxToReadBuffer(id, idx, &replyBuf);
    readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
  }

  closeSpi(fd);
  return returnvalue::OK;
}

size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** ptr) {
  uint8_t* rawStart = rwCookies[rwIdx]->replyBuf.data();
  RwReplies replies(rawStart);
  switch (id) {
    case (rws::GET_RW_STATUS): {
      *ptr = replies.rwStatusReply;
      return rws::SIZE_GET_RW_STATUS;
    }
    case (rws::SET_SPEED): {
      *ptr = replies.setSpeedReply;
      return rws::SIZE_SET_SPEED_REPLY;
    }
    case (rws::CLEAR_LAST_RESET_STATUS): {
      *ptr = replies.clearLastResetStatusReply;
      return rws::SIZE_CLEAR_RESET_STATUS;
    }
    case (rws::GET_LAST_RESET_STATUS): {
      *ptr = replies.getLastResetStatusReply;
      return rws::SIZE_GET_RESET_STATUS;
    }
    case (rws::GET_TEMPERATURE): {
      *ptr = replies.readTemperatureReply;
      return rws::SIZE_GET_TEMPERATURE_REPLY;
    }
    case (rws::GET_TM): {
      *ptr = replies.hkDataReply;
      return rws::SIZE_GET_TELEMETRY_REPLY;
    }
    case (rws::INIT_RW_CONTROLLER): {
      *ptr = replies.initRwControllerReply;
      return rws::SIZE_INIT_RW;
    }
    default: {
      sif::error << "no reply buffer for rw command " << id << std::endl;
      *ptr = replies.dummyPointer;
      return 0;
    }
  }
}

void RwPollingTask::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen) {
  encodedBuffer[0] = FLAG_BYTE;
  encodedLen = 1;
  for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
    if (sourceBuf[sourceIdx] == 0x7E) {
      encodedBuffer[encodedLen++] = 0x7D;
      encodedBuffer[encodedLen++] = 0x5E;
    } else if (sourceBuf[sourceIdx] == 0x7D) {
      encodedBuffer[encodedLen++] = 0x7D;
      encodedBuffer[encodedLen++] = 0x5D;
    } else {
      encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
    }
  }
  encodedBuffer[encodedLen++] = FLAG_BYTE;
}

// This closes the SPI
void RwPollingTask::closeSpi(int fd) {
  // This will perform the function to close the SPI
  close(fd);
  // The SPI is now closed.
}

ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
  gpioId_t gpioId = rwCookie.getChipSelectPin();
  GpioIF& gpioIF = spiIF->getGpioInterface();
  if (spiLock == nullptr) {
    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
    return returnvalue::FAILED;
  }
  pullCsLow(gpioId, spiLock, gpioIF);
  /*
  //Encoding and sending command
  size_t idx = 0;
  while (idx < dataLen) {
    switch (*(data + idx)) {
      case 0x7E:
        writeBuffer[0] = 0x7D;
        writeBuffer[1] = 0x5E;
        writeSize = 2;
        break;
      case 0x7D:
        writeBuffer[0] = 0x7D;
        writeBuffer[1] = 0x5D;
        writeSize = 2;
        break;
      default:
        writeBuffer[0] = *(data + idx);
        writeSize = 1;
        break;
    }
  }
  */
  // Add datalinklayer like specified in the datasheet.
  size_t lenToSend = 0;
  encodeHdlc(writeBuffer.data(), writeLen, lenToSend);
  if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
    pullCsHigh(gpioId, spiLock, gpioIF);
    return rws::SPI_WRITE_FAILURE;
  }
  pullCsHigh(gpioId, spiLock, gpioIF);
  return returnvalue::OK;
}

ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF) {
  ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
  if (result != returnvalue::OK) {
    sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
    return result;
  }
  // Pull SPI CS low. For now, no support for active high given
  if (gpioId != gpio::NO_GPIO) {
    ReturnValue_t result = gpioIF.pullLow(gpioId);
    if (result != returnvalue::OK) {
      sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
      return result;
    }
  }
  return returnvalue::OK;
}

void RwPollingTask::pullCsHigh(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF) {
  if (gpioId != gpio::NO_GPIO) {
    if (gpioIF.pullHigh(gpioId) != returnvalue::OK) {
      sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
    }
  }
  if (spiLock->unlockMutex() != returnvalue::OK) {
    sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
    ;
  }
}

void RwPollingTask::prepareSimpleCommand(DeviceCommandId_t id) {
  writeBuffer[0] = static_cast<uint8_t>(id);
  uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 1, 0xFFFF);
  writeBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
  writeBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
  writeLen = 3;
}

ReturnValue_t RwPollingTask::prepareSetSpeedCmd(uint8_t rwIdx) {
  writeBuffer[0] = static_cast<uint8_t>(rws::SET_SPEED);
  uint8_t* serPtr = writeBuffer.data() + 1;
  int32_t speedToSet = 0;
  uint16_t rampTimeToSet = 10;
  {
    MutexGuard mg(ipcLock);
    speedToSet = rwCookies[rwIdx]->currentRwSpeed;
    rampTimeToSet = rwCookies[rwIdx]->currentRampTime;
  }
  size_t serLen = 0;
  SerializeAdapter::serialize(&speedToSet, &serPtr, &serLen, writeBuffer.size(),
                              SerializeIF::Endianness::LITTLE);
  SerializeAdapter::serialize(&rampTimeToSet, &serPtr, &serLen, writeBuffer.size(),
                              SerializeIF::Endianness::LITTLE);

  uint16_t crc = CRC::crc16ccitt(writeBuffer.data(), 7, 0xFFFF);
  writeBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
  writeBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
  writeLen = 9;
  return returnvalue::OK;
}