eive-obsw/mission/devices/SyrlinksHkHandler.cpp

#include <mission/devices/SyrlinksHkHandler.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadHelper.h>

SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
        DeviceHandlerBase(objectId, comIF, comCookie), rxDataset(this), txDataset(this) {
    if (comCookie == NULL) {
        sif::error << "SyrlinksHkHandler: Invalid com cookie" << std::endl;
    }
}

SyrlinksHkHandler::~SyrlinksHkHandler() {
}


void SyrlinksHkHandler::doStartUp(){
	if(mode == _MODE_START_UP){
		setMode(MODE_ON);
	}
}

void SyrlinksHkHandler::doShutDown(){

}

ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(
		DeviceCommandId_t * id) {
    *id = SYRLINKS::READ_RX_STATUS_REGISTERS;
    return buildCommandFromCommand(*id, NULL, 0);
}

ReturnValue_t SyrlinksHkHandler::buildTransitionDeviceCommand(
		DeviceCommandId_t * id){
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
		size_t commandDataLen) {
	switch(deviceCommand) {
	case(SYRLINKS::RESET_UNIT): {
	    resetCommand.copy(reinterpret_cast<char*>(commandBuffer), resetCommand.size(), 0);
		rawPacketLen = resetCommand.size();
		rawPacket = commandBuffer;
		return RETURN_OK;
	}
	case(SYRLINKS::SET_TX_MODE_STANDBY): {
	    setTxModeStandby.copy(reinterpret_cast<char*>(commandBuffer), setTxModeStandby.size(), 0);
		rawPacketLen = setTxModeStandby.size();
		rawPacket = commandBuffer;
		return RETURN_OK;
	}
	case(SYRLINKS::SET_TX_MODE_MODULATION): {
	    setTxModeModulation.copy(reinterpret_cast<char*>(commandBuffer), setTxModeModulation.size(), 0);
		rawPacketLen = setTxModeModulation.size();
		rawPacket = commandBuffer;
		return RETURN_OK;
	}
	case(SYRLINKS::SET_TX_MODE_CW): {
	    setTxModeCw.copy(reinterpret_cast<char*>(commandBuffer), setTxModeCw.size(), 0);
		rawPacketLen = setTxModeCw.size();
		rawPacket = commandBuffer;
		return RETURN_OK;
	}
	case(SYRLINKS::READ_RX_STATUS_REGISTERS): {
	    readRxStatusRegCommand.copy(reinterpret_cast<char*>(commandBuffer), readRxStatusRegCommand.size(), 0);
		rawPacketLen = readRxStatusRegCommand.size();
		rawPacket = commandBuffer;
		return RETURN_OK;
	}
	case(SYRLINKS::READ_TX_STATUS): {
	    readTxStatus.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
		rawPacketLen = readTxStatus.size();
		rememberCommandId = SYRLINKS::READ_TX_STATUS;
		rawPacket = commandBuffer;
		return RETURN_OK;
	}
	default:
		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	return HasReturnvaluesIF::RETURN_FAILED;
}

void SyrlinksHkHandler::fillCommandAndReplyMap() {
    this->insertInCommandAndReplyMap(SYRLINKS::RESET_UNIT, 1, nullptr, SYRLINKS::ACK_SIZE, false,
            true, SYRLINKS::ACK_REPLY);
    this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_STANDBY, 1, nullptr, SYRLINKS::ACK_SIZE,
            false, true, SYRLINKS::ACK_REPLY);
    this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_MODULATION, 1, nullptr,
            SYRLINKS::ACK_SIZE, false, true, SYRLINKS::ACK_REPLY);
    this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_CW, 1, nullptr, SYRLINKS::ACK_SIZE,
            false, true, SYRLINKS::ACK_REPLY);
    this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_STATUS, 1, &txDataset,
            SYRLINKS::READ_TX_STATUS);
    this->insertInCommandAndReplyMap(SYRLINKS::READ_RX_STATUS_REGISTERS, 1, &rxDataset,
            SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
}

ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t *start,
        size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {

    ReturnValue_t result = RETURN_OK;

    if(*start != '<') {
        sif::error << "SyrlinksHkHandler::scanForReply: Missing start frame character" << std::endl;
        return MISSING_START_FRAME_CHARACTER;
    }

	switch(*(start + 1)) {
	case('A'):
        *foundLen = SYRLINKS::ACK_SIZE;
        *foundId = SYRLINKS::ACK_REPLY;
		break;
	case('E'):
        *foundLen = SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE;
        *foundId = SYRLINKS::READ_RX_STATUS_REGISTERS;
        break;
	case('R'):
	    if (rememberCommandId == SYRLINKS::READ_TX_STATUS) {
            *foundLen = SYRLINKS::READ_TX_STATUS_REPLY_SIZE;
            *foundId = SYRLINKS::READ_TX_STATUS;
            rememberCommandId = SYRLINKS::NONE;
	    }
        break;
	default:
	    sif::error << "SyrlinksHkHandler::scanForReply: Unknown reply identifier" << std::endl;
		result = IGNORE_REPLY_DATA;
		break;
	}

    return result;
}

ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id,
        const uint8_t *packet) {

    ReturnValue_t result;

    switch (id) {
    case (SYRLINKS::ACK_REPLY):
        result = verifyReply(packet, SYRLINKS::ACK_SIZE);
        if (result != RETURN_OK) {
            sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgement reply has "
                    "invalid crc" << std::endl;
            return CRC_FAILURE;
        }
        result = parseReplyStatus(reinterpret_cast<const char*>(packet + SYRLINKS::MESSAGE_HEADER_SIZE));
        if (result != RETURN_OK) {
            return result;
        }
        break;
    case(SYRLINKS::READ_RX_STATUS_REGISTERS):
        result = verifyReply(packet, SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
        if (result != RETURN_OK) {
            sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read rx status registers reply "
                    << "has invalid crc" << std::endl;
            return CRC_FAILURE;
        }
        parseRxStatusRegistersReply(packet);
        break;
    case(SYRLINKS::READ_TX_STATUS):
        result = verifyReply(packet, SYRLINKS::READ_TX_STATUS_REPLY_SIZE);
        if (result != RETURN_OK) {
            sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx status reply "
                    << "has invalid crc" << std::endl;
            return CRC_FAILURE;
        }
        parseTxStatusReply(packet);
        break;
	default: {
        sif::debug << "SyrlinksHkHandler::interpretDeviceReply: Unknown device reply id"
                << std::endl;
		return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
	}
	}

	return RETURN_OK;
}

std::string SyrlinksHkHandler::convertIntToHexString(uint16_t intValue) {
    std::stringstream stream;
    stream << std::hex << intValue;
    return stream.str();
}

ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) {
    switch (*status) {
    case '0':
        return RETURN_OK;
    case '1':
        sif::debug << "SyrlinksHkHandler::parseReplyStatus: Uart faming or parity error"
                << std::endl;
        return UART_FRAMIN_OR_PARITY_ERROR_ACK;
    case '2':
        sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad character detected" << std::endl;
        return BAD_CHARACTER_ACK;
    case '3':
        sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad parameter value (unexpected value "
                << "detected" << std::endl;
        return BAD_PARAMETER_VALUE_ACK;
    case '4':
        sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad end of frame" << std::endl;
        return BAD_END_OF_FRAME_ACK;
    case '5':
        sif::debug << "SyrlinksHkHandler::parseReplyStatus: Unknown command id or attempt to access"
                << " a protected register" << std::endl;
        return UNKNOWN_COMMAND_ID_ACK;
    case '6':
        sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad CRC" << std::endl;
        return BAD_CRC_ACK;
    default:
        sif::debug << "SyrlinksHkHandler::parseReplyStatus: Status reply contains an invalid "
            << "status id" << std::endl;
        return RETURN_FAILED;
    }
}

ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size) {
    int result = 0;
    /* Calculate crc of received packet */
    uint16_t crc = CRC::crc16ccitt(packet, size - SYRLINKS::SIZE_CRC_AND_TERMINATION,
            CRC_INITIAL_VALUE);
    std::string recalculatedCrc = convertIntToHexString(crc);
    const char* replyCrc = reinterpret_cast<const char*>(packet) + size - SYRLINKS::SIZE_CRC_AND_TERMINATION;
    size_t startPosition = 0;
    result = recalculatedCrc.compare(startPosition, SYRLINKS::CRC_FIELD_SIZE, replyCrc);
    if (result != 0) {
        return RETURN_FAILED;
    }
    return RETURN_OK;
}

void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
    PoolReadHelper readHelper(&rxDataset);
    uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
    rxDataset.rxStatus = *(packet + offset);
    packet += 1;
    rxDataset.rxSensitivity = *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
    packet += 3;
    rxDataset.rxFrequencyShift = *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
    packet += 3;
    rxDataset.rxIqPower = *(packet + offset) << 8 | *(packet + offset + 1);
    packet += 2;
    rxDataset.rxAgcValue = *(packet + offset + 1) << 8 | *(packet + offset);
    packet += 2;
    packet += 1; // reserved register
    rxDataset.rxDemodEb= *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
    packet += 3;
    rxDataset.rxDemodN0= *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
    packet += 3;
    rxDataset.rxDataRate = *(packet + offset);
}

void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
    PoolReadHelper readHelper(&txDataset);
    uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
    rxDataset.rxStatus = *(packet + offset);
}

void SyrlinksHkHandler::setNormalDatapoolEntriesInvalid(){

}

uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
	return 500;
}

ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
        LocalDataPoolManager& poolManager) {

    localDataPoolMap.emplace(SYRLINKS::RX_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(SYRLINKS::RX_SENSITIVITY, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(SYRLINKS::RX_FREQUENCY_SHIFT, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(SYRLINKS::RX_IQ_POWER, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(SYRLINKS::RX_AGC_VALUE, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_EB, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_N0, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(SYRLINKS::RX_DATA_RATE, new PoolEntry<uint8_t>( { 0 }));

    return HasReturnvaluesIF::RETURN_OK;
}

void SyrlinksHkHandler::setModeNormal() {
    mode = MODE_NORMAL;
}