eive-obsw/linux/payload/FreshSupvHandler.h

#ifndef LINUX_PAYLOAD_FRESHSUPVHANDLER_H_
#define LINUX_PAYLOAD_FRESHSUPVHANDLER_H_

#include <fsfw/power/PowerSwitchIF.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>

#include <map>

#include "PlocSupvUartMan.h"
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
#include "fsfw/power/definitions.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "plocSupvDefs.h"

using supv::TcBase;

static constexpr bool DEBUG_PLOC_SUPV = false;

class FreshSupvHandler : public FreshDeviceHandlerBase {
 public:
  enum OpCode { DEFAULT_OPERATION = 0, HANDLE_ACTIVE_CMDS = 1 };

  FreshSupvHandler(DhbConfig cfg, CookieIF* comCookie, Gpio uartIsolatorSwitch,
                   PowerSwitchIF& switchIF, power::Switch_t powerSwitch,
                   PlocSupvUartManager& supvHelper);
  /**
   * Periodic helper executed function, implemented by child class.
   */
  void performDeviceOperation(uint8_t opCode) override;

  /**
   * Implemented by child class. Handle all command messages which are
   * not health, mode, action or housekeeping messages.
   * @param message
   * @return
   */
  ReturnValue_t handleCommandMessage(CommandMessage* message) override;

  ReturnValue_t initialize() override;

 private:
  // HK manager abstract functions.
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;

  // Mode abstract functions
  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                 uint32_t* msToReachTheMode) override;
  // Action override. Forward to user.
  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                              const uint8_t* data, size_t size) override;

  /**
   * @overload
   * @param submode
   */
  void startTransition(Mode_t newMode, Submode_t submode) override;

  void handleTransitionToOn();
  void handleTransitionToOff();

 private:
  static constexpr bool SET_TIME_DURING_BOOT = true;

  enum class StartupState : uint8_t {
    IDLE,
    POWER_SWITCHING,
    BOOTING,
    SET_TIME,
    WAIT_FOR_TIME_REPLY,
    TIME_WAS_SET,
    ON
  };

  StartupState startupState = StartupState::IDLE;

  enum class ShutdownState : uint8_t { IDLE, POWER_SWITCHING };
  ShutdownState shutdownState = ShutdownState::IDLE;

  PlocSupvUartManager uartManager;
  CookieIF* comCookie;
  PowerSwitchIF& switchIF;
  power::Switch_t switchId;
  Gpio uartIsolatorSwitch;

  supv::HkSet hkSet;
  supv::BootStatusReport bootStatusReport;
  supv::LatchupStatusReport latchupStatusReport;
  supv::CountersReport countersReport;
  supv::AdcReport adcReport;

  bool transitionActive = false;

  Mode_t targetMode = HasModesIF::MODE_INVALID;
  Submode_t targetSubmode = 0;

  // Vorago nees some time to boot properly
  Countdown bootTimeout = Countdown(supv::BOOT_TIMEOUT_MS);

  PoolEntry<uint16_t> adcRawEntry = PoolEntry<uint16_t>(16);
  PoolEntry<uint16_t> adcEngEntry = PoolEntry<uint16_t>(16);
  PoolEntry<uint32_t> latchupCounters = PoolEntry<uint32_t>(7);
  PoolEntry<uint8_t> fmcStateEntry = PoolEntry<uint8_t>(1);
  PoolEntry<uint8_t> bootStateEntry = PoolEntry<uint8_t>(1);
  PoolEntry<uint8_t> bootCyclesEntry = PoolEntry<uint8_t>(1);
  PoolEntry<uint32_t> tempSupEntry = PoolEntry<uint32_t>(1);

  pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);

  struct ActiveCmdInfo {
    ActiveCmdInfo(uint32_t cmdCountdownMs) : cmdCountdown(cmdCountdownMs) {}

    bool isPending = false;
    bool ackRecv = false;
    bool ackExeRecv = false;
    MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
    bool requiresActionReply = false;
    Countdown cmdCountdown;
  };

  // Map for Action commands. For normal commands, a separate static structure will be used.
  std::map<ActionId_t, ActiveCmdInfo> activeActionCmds;

  ActiveCmdInfo hkRequestCmdInfo = ActiveCmdInfo(500);

  std::array<uint8_t, supv::MAX_COMMAND_SIZE> commandBuffer;
  SpacePacketCreator creator;
  supv::TcParams spParams = supv::TcParams(creator);

  ReturnValue_t parseTmPackets();

  ReturnValue_t sendCommand(TcBase& tc);
  ReturnValue_t sendEmptyCmd(uint16_t apid, uint8_t serviceId);
  ReturnValue_t prepareSelBootImageCmd(const uint8_t* commandData);
  ReturnValue_t prepareSetTimeRefCmd();
  ReturnValue_t prepareSetBootTimeoutCmd(const uint8_t* commandData, size_t cmdDataLen);
  ReturnValue_t prepareRestartTriesCmd(const uint8_t* commandData, size_t cmdDataLen);
  ReturnValue_t prepareDisableHk();
  ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData, DeviceCommandId_t deviceCommand,
                                        size_t cmdDataLen);
  ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData, size_t cmdDataLen);
  ReturnValue_t prepareFactoryResetCmd(const uint8_t* commandData, size_t len);
  ReturnValue_t prepareSetShutdownTimeoutCmd(const uint8_t* commandData, size_t cmdDataLen);
  ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData, size_t commandDataLen);
  ReturnValue_t prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData);
  ReturnValue_t prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData);
  ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData);
  ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData, size_t cmdDataLen);

  bool isCommandAlreadyActive(ActionId_t actionId) const;
};

#endif /* LINUX_PAYLOAD_FRESHSUPVHANDLER_H_ */