eive-obsw/bsp_q7s/devices/ploc/PlocMPSoCHandler.cpp

#include "../../bsp_q7s/devices/ploc/PlocMPSoCHandler.h"

#include "OBSWConfig.h"

#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>

PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
        CookieIF * comCookie) :
        DeviceHandlerBase(objectId, uartComIFid, comCookie) {
    if (comCookie == NULL) {
        sif::error << "PlocMPSoCHandler: Invalid com cookie" << std::endl;
    }
}

PlocMPSoCHandler::~PlocMPSoCHandler() {
}

ReturnValue_t PlocMPSoCHandler::initialize() {
    ReturnValue_t result = RETURN_OK;
    result = DeviceHandlerBase::initialize();
    if (result != RETURN_OK) {
        return result;
    }
    uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
    if (uartComIf == nullptr) {
        sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
        return ObjectManagerIF::CHILD_INIT_FAILED;
    }
    return result;
}


void PlocMPSoCHandler::doStartUp(){
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
    setMode(MODE_NORMAL);
#else
    setMode(_MODE_TO_ON);
#endif
}

void PlocMPSoCHandler::doShutDown(){
    setMode(_MODE_POWER_DOWN);
}

ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(
		DeviceCommandId_t * id) {
    return NOTHING_TO_SEND;
}

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

ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
		size_t commandDataLen) {
    ReturnValue_t result = RETURN_OK;
	switch(deviceCommand) {
	case(mpsoc::TC_MEM_WRITE): {
	    result =  prepareTcMemWriteCommand(commandData, commandDataLen);
	    break;
	}
	case(mpsoc::TC_MEM_READ): {
	    result = prepareTcMemReadCommand(commandData, commandDataLen);
	    break;
	}
	case(mpsoc::TC_FLASHFOPEN): {
	    result = prepareFlashFopenCmd(commandData, commandDataLen);
	    break;
	}
	case(mpsoc::TC_FLASHFCLOSE): {
	    result = prepareFlashFcloseCmd(commandData, commandDataLen);
	    break;
	}
	default:
	    sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented" << std::endl;
		result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
		break;
	}

	if (result == RETURN_OK) {
        /**
         * Flushing the receive buffer to make sure there are no data left from a faulty reply.
         */
        uartComIf->flushUartRxBuffer(comCookie);
    }

	return result;
}

void PlocMPSoCHandler::fillCommandAndReplyMap() {
    this->insertInCommandMap(mpsoc::TC_MEM_WRITE);
    this->insertInCommandMap(mpsoc::TC_MEM_READ);
    this->insertInCommandMap(mpsoc::TC_FLASHFOPEN);
    this->insertInCommandMap(mpsoc::TC_FLASHFCLOSE);
    this->insertInReplyMap(mpsoc::ACK_REPORT, 1, nullptr, mpsoc::SIZE_ACK_REPORT);
    this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
    this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
}

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

    ReturnValue_t result = RETURN_OK;

    uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;

	switch(apid) {
	case(mpsoc::apid::ACK_SUCCESS):
        *foundLen = mpsoc::SIZE_ACK_REPORT;
	    *foundId = mpsoc::ACK_REPORT;
		break;
	case(mpsoc::apid::ACK_FAILURE):
        *foundLen = mpsoc::SIZE_ACK_REPORT;
	    *foundId = mpsoc::ACK_REPORT;
		break;
	case(mpsoc::apid::TM_MEMORY_READ_REPORT):
        *foundLen = mpsoc::SIZE_TM_MEM_READ_REPORT;
	    *foundId = mpsoc::TM_MEMORY_READ_REPORT;
	    break;
	case(mpsoc::apid::EXE_SUCCESS):
        *foundLen = mpsoc::SIZE_EXE_REPORT;
	    *foundId = mpsoc::EXE_REPORT;
		break;
	case(mpsoc::apid::EXE_FAILURE):
        *foundLen = mpsoc::SIZE_EXE_REPORT;
	    *foundId = mpsoc::EXE_REPORT;
	    break;
	default: {
        sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
        *foundLen = remainingSize;
        return INVALID_APID;
	}
	}
	result = checkPacketSequenceCount(start);
    return result;
}

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

    ReturnValue_t result = RETURN_OK;

    switch (id) {
    case mpsoc::ACK_REPORT: {
        result = handleAckReport(packet);
        break;
    }
    case (mpsoc::TM_MEMORY_READ_REPORT): {
        result = handleMemoryReadReport(packet);
        break;
    }
    case (mpsoc::EXE_REPORT): {
        result = handleExecutionReport(packet);
        break;
    }
    default: {
        sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
    }

    return result;
}

void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid(){

}

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

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

    return HasReturnvaluesIF::RETURN_OK;
}

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

ReturnValue_t PlocMPSoCHandler::prepareTcMemWriteCommand(const uint8_t * commandData,
        size_t commandDataLen) {
    ReturnValue_t result = RETURN_OK;
    packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
    mpsoc::TcMemWrite tcMemWrite(packetSequenceCount);
    result = tcMemWrite.createPacket(commandData, commandDataLen);
    if (result != RETURN_OK) {
        return result;
    }
    copyToCommandBuffer(&tcMemWrite);
    return RETURN_OK;
}

ReturnValue_t PlocMPSoCHandler::prepareTcMemReadCommand(const uint8_t * commandData,
        size_t commandDataLen) {
    ReturnValue_t result = RETURN_OK;
    packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
    mpsoc::TcMemRead tcMemRead(packetSequenceCount);
    result = tcMemRead.createPacket(commandData, commandDataLen);
    if (result != RETURN_OK) {
        return result;
    }
    copyToCommandBuffer(&tcMemRead);
    return RETURN_OK;
}

ReturnValue_t PlocMPSoCHandler::prepareFlashFopenCmd(const uint8_t * commandData,
        size_t commandDataLen) {
    ReturnValue_t result = RETURN_OK;
    packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
    mpsoc::FlashFopen flashFopen(packetSequenceCount);
    result = flashFopen.createPacket(commandData, commandDataLen);
    if (result != RETURN_OK) {
        return result;
    }
    copyToCommandBuffer(&flashFopen);
    return RETURN_OK;
}

ReturnValue_t PlocMPSoCHandler::prepareFlashFcloseCmd(const uint8_t * commandData,
        size_t commandDataLen) {
    ReturnValue_t result = RETURN_OK;
    packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
    mpsoc::FlashFclose flashFclose(packetSequenceCount);
    result = flashFclose.createPacket(commandData, commandDataLen);
    if (result != RETURN_OK) {
        return result;
    }
    copyToCommandBuffer(&flashFclose);
    return RETURN_OK;
}

void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
    if (tc == nullptr) {
        sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
    }
    memcpy(commandBuffer, tc->getWholeData(), tc->getFullSize());
    rawPacket = commandBuffer;
    rawPacketLen = tc->getFullSize();
    nextReplyId = mpsoc::ACK_REPORT;
}

ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
    uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
    uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
    if (receivedCrc != recalculatedCrc) {
        return CRC_FAILURE;
    }
    return RETURN_OK;
}

ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
    if(result == CRC_FAILURE) {
        sif::error << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
        nextReplyId = mpsoc::NONE;
        replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
        triggerEvent(CRC_FAILURE_EVENT);
        sendFailureReport(mpsoc::ACK_REPORT, CRC_FAILURE);
        disableAllReplies();
        return IGNORE_REPLY_DATA;
    }

    uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;

   switch(apid) {
   case mpsoc::apid::ACK_FAILURE: {
       //TODO: Interpretation of status field in acknowledgment report
       sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
       DeviceCommandId_t commandId = getPendingCommand();
       if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
           triggerEvent(ACK_FAILURE, commandId);
       }
       sendFailureReport(mpsoc::ACK_REPORT, RECEIVED_ACK_FAILURE);
       disableAllReplies();
       nextReplyId = mpsoc::NONE;
       result = IGNORE_REPLY_DATA;
       break;
   }
   case mpsoc::apid::ACK_SUCCESS: {
       setNextReplyId();
       break;
   }
   default: {
       sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
       result = RETURN_FAILED;
       break;
   }
   }

    return result;
}

ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
    if(result == CRC_FAILURE) {
        sif::error << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
        nextReplyId = mpsoc::NONE;
        return result;
    }

    uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;

    switch (apid) {
    case (mpsoc::apid::EXE_SUCCESS): {
        break;
    }
    case (mpsoc::apid::EXE_FAILURE): {
        //TODO: Interpretation of status field in execution report
        sif::error << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
                << std::endl;
        DeviceCommandId_t commandId = getPendingCommand();
        if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
            triggerEvent(EXE_FAILURE, commandId);
        }
        else {
            sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
        }
        sendFailureReport(mpsoc::EXE_REPORT, RECEIVED_EXE_FAILURE);
        disableExeReportReply();
        result = IGNORE_REPLY_DATA;
        break;
    }
    default: {
        sif::error << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
        result = RETURN_FAILED;
        break;
    }
    }
    nextReplyId = mpsoc::NONE;
    return result;
}

ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
    ReturnValue_t result = RETURN_OK;
    result = verifyPacket(data, mpsoc::SIZE_TM_MEM_READ_REPORT);
    if(result == CRC_FAILURE) {
        sif::error << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
                << std::endl;
    }
    /** Send data to commanding queue */
    handleDeviceTM(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_REPORT_DATA,
            mpsoc::TM_MEMORY_READ_REPORT);
    nextReplyId = mpsoc::EXE_REPORT;
    return result;
}

ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
                uint8_t expectedReplies, bool useAlternateId,
                DeviceCommandId_t alternateReplyID) {

    ReturnValue_t result = RETURN_OK;

    uint8_t enabledReplies = 0;

    switch (command->first) {
    case mpsoc::TC_MEM_WRITE:
    case mpsoc::TC_FLASHFOPEN:
    case mpsoc::TC_FLASHFCLOSE:
        enabledReplies = 2;
        break;
    case mpsoc::TC_MEM_READ: {
        enabledReplies = 3;
        result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
                mpsoc::TM_MEMORY_READ_REPORT);
        if (result != RETURN_OK) {
            sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
                    << mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
        }
        break;
    }
    default:
        sif::debug << "PlocMPSoCHandler::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, mpsoc::ACK_REPORT);
    if (result != RETURN_OK) {
        sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::ACK_REPORT
                << " not in replyMap" << std::endl;
    }

    result = DeviceHandlerBase::enableReplyInReplyMap(command,
                    enabledReplies, true, mpsoc::EXE_REPORT);
    if (result != RETURN_OK) {
        sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::EXE_REPORT
                << " not in replyMap" << std::endl;
    }

    return RETURN_OK;
}

void PlocMPSoCHandler::setNextReplyId() {
    switch(getPendingCommand()) {
    case mpsoc::TC_MEM_READ:
        nextReplyId = mpsoc::TM_MEMORY_READ_REPORT;
        break;
    default:
        /* If no telemetry is expected the next reply is always the execution report */
        nextReplyId = mpsoc::EXE_REPORT;
        break;
    }
}
size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId){

    size_t replyLen = 0;

    if (nextReplyId == mpsoc::NONE) {
        return replyLen;
    }

    DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
    if (iter != deviceReplyMap.end()) {
        if (iter->second.delayCycles == 0) {
            /* Reply inactive */
            return replyLen;
        }
        replyLen = iter->second.replyLen;
    }
    else {
        sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
                << std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
    }

    return replyLen;
}

void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {

    ReturnValue_t result = RETURN_OK;

    if (wiretappingMode == RAW) {
        /* Data already sent in doGetRead() */
        return;
    }

    DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
    if (iter == deviceReplyMap.end()) {
        sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
        return;
    }
    MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;

    if (queueId == NO_COMMANDER) {
        return;
    }

    result = actionHelper.reportData(queueId, replyId, data, dataSize);
    if (result != RETURN_OK) {
        sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
    }
}

void PlocMPSoCHandler::disableAllReplies() {

    DeviceReplyMap::iterator iter;

    /* Disable ack reply */
    iter = deviceReplyMap.find(mpsoc::ACK_REPORT);
    DeviceReplyInfo *info = &(iter->second);
    info->delayCycles = 0;
    info->command = deviceCommandMap.end();

    DeviceCommandId_t commandId = getPendingCommand();

    /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
    switch (commandId) {
    case mpsoc::TC_MEM_WRITE:
    case mpsoc::TC_FLASHFOPEN:
        break;
    case mpsoc::TC_MEM_READ: {
        iter = deviceReplyMap.find(mpsoc::TM_MEMORY_READ_REPORT);
        info = &(iter->second);
        info->delayCycles = 0;
        info->command = deviceCommandMap.end();
        break;
    }
    default: {
        sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
            << std::endl;
        break;
    }
    }

    /* We must always disable the execution report reply here */
    disableExeReportReply();
}

void PlocMPSoCHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {

    DeviceReplyIter iter = deviceReplyMap.find(replyId);

    if (iter == deviceReplyMap.end()) {
        sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
        return;
    }

    DeviceCommandInfo* info = &(iter->second.command->second);

    if (info == nullptr) {
        sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply has no active command" << std::endl;
        return;
    }

    if (info->sendReplyTo != NO_COMMANDER) {
        actionHelper.finish(false, info->sendReplyTo, iter->first, status);
    }
    info->isExecuting = false;
}

void PlocMPSoCHandler::disableExeReportReply() {
    DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
    DeviceReplyInfo *info = &(iter->second);
    info->delayCycles = 0;
    info->command = deviceCommandMap.end();
    /* Expected replies is set to one here. The value will set to 0 in replyToReply() */
    info->command->second.expectedReplies = 0;
}

ReturnValue_t PlocMPSoCHandler::checkPacketSequenceCount(const uint8_t* data) {
    uint16_t receivedSeqCnt = (*(data + 2) << 8 | *(data + 3)) & PACKET_SEQUENCE_COUNT_MASK;
    uint16_t expectedSeqCnt = ((packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK);
    if (receivedSeqCnt != expectedSeqCnt) {
        sif::warning << "PlocMPSoCHandler::checkPacketSequenceCount: Packet sequence count "
                "mismatch. Received: " << receivedSeqCnt << ", Expected: "
                << expectedSeqCnt << std::endl;
        triggerEvent(SEQ_CNT_MISMATCH, expectedSeqCnt, receivedSeqCnt);
    }
    packetSequenceCount = receivedSeqCnt;
    return RETURN_OK;
}