eive-obsw/bsp_q7s/devices/ploc/PlocUpdater.h

#ifndef MISSION_DEVICES_PLOCUPDATER_H_
#define MISSION_DEVICES_PLOCUPDATER_H_

#include "OBSWConfig.h"
#include <bsp_q7s/devices/devicedefinitions/PlocSupervisorDefinitions.h>
#include "fsfw/action/CommandActionHelper.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"

/**
 * @brief   An object of this class can be used to perform the software updates of the PLOC. The
 *          software update will be read from one of the SD cards, split into multiple space
 *          packets and sent to the PlocSupervisorHandler.
 *
 * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition
 * A and Partition B)
 *
 * @author  J. Meier
 */
class PlocUpdater : public SystemObject,
                    public HasActionsIF,
                    public ExecutableObjectIF,
                    public HasReturnvaluesIF,
                    public CommandsActionsIF {
 public:
  static const ActionId_t UPDATE_A_UBOOT = 0;
  static const ActionId_t UPDATE_A_BITSTREAM = 1;
  static const ActionId_t UPDATE_A_LINUX = 2;
  static const ActionId_t UPDATE_A_APP_SW = 3;
  static const ActionId_t UPDATE_B_UBOOT = 4;
  static const ActionId_t UPDATE_B_BITSTREAM = 5;
  static const ActionId_t UPDATE_B_LINUX = 6;
  static const ActionId_t UPDATE_B_APP_SW = 7;

  PlocUpdater(object_id_t objectId);
  virtual ~PlocUpdater();

  ReturnValue_t performOperation(uint8_t operationCode = 0) override;
  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                              const uint8_t* data, size_t size);
  MessageQueueId_t getCommandQueue() const;
  ReturnValue_t initialize() override;
  MessageQueueIF* getCommandQueuePtr() override;
  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
  void completionSuccessfulReceived(ActionId_t actionId) override;
  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER;

  //! [EXPORT] : [COMMENT] Updater is already performing an update
  static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
  //! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
  static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
  //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not
  //! mounted.
  static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
  //! [EXPORT] : [COMMENT] Update file received with update command does not exist.
  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;

  //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
  //! P1: Indicates in which state the file read fails
  //! P2: During the update transfer the second parameter gives information about the number of
  //! already sent packets
  static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
  //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
  //! P1: Return value of CommandActionHelper::commandAction
  //! P2: Action ID of command to send
  static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
  //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution
  //! failure of the update available command
  static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
  //! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
  //! P1: Parameter holds the number of update packets already sent (inclusive the failed packet)
  static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
  //! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
  static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
  //! [EXPORT] : [COMMENT] MPSoC update successful completed
  static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO);

  static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
  static const size_t MAX_PLOC_UPDATE_PATH = 50;
  static const size_t SD_PREFIX_LENGTH = 8;
  // Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
  static const size_t MAX_SP_DATA = 1016;

  static const uint32_t TOPBIT_32 = (1 << 31);
  static const uint32_t POLYNOMIAL_32 = 0x04C11DB7;
  static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF;
  static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF;

  MessageQueueIF* commandQueue = nullptr;

#if BOARD_TE0720 == 0
  SdCardManager* sdcMan = nullptr;
#endif
  CommandActionHelper commandActionHelper;

  ActionHelper actionHelper;

  enum class State : uint8_t {
    IDLE,
    UPDATE_AVAILABLE,
    UPDATE_TRANSFER,
    UPDATE_VERIFY,
    COMMAND_EXECUTING
  };

  State state = State::IDLE;

  ActionId_t pendingCommand = PLOC_SPV::NONE;

  enum class Image : uint8_t { NONE, A, B };

  Image image = Image::NONE;

  enum class Partition : uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW };

  Partition partition = Partition::NONE;

  uint32_t packetsSent = 0;
  uint32_t remainingPackets = 0;
  // Number of packets required to transfer the update image
  uint32_t numOfUpdatePackets = 0;

  std::string updateFile;
  uint32_t imageSize = 0;
  uint32_t imageCrc = 0;

  void readCommandQueue();
  void doStateMachine();

  /**
   * @brief   Extracts the path and name of the update image from the service 8 command data.
   */
  ReturnValue_t getImageLocation(const uint8_t* data, size_t size);

  ReturnValue_t checkNameLength(size_t size);

  /**
   * @brief   Prepares and sends update available command to PLOC supervisor handler.
   */
  void commandUpdateAvailable();

  /**
   * @brief   Prepares and sends and update packet to the PLOC supervisor handler.
   */
  void commandUpdatePacket();

  /**
   * @brief   Prepares and sends the update verification packet to the PLOC supervisor handler.
   */
  void commandUpdateVerify();

  void calcImageCrc();

  void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet);
};

#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */