eive-obsw/mission/devices/PlocUpdater.cpp

#include "fsfw/ipc/QueueFactory.h"
#include <mission/devices/PlocUpdater.h>
#include <fstream>
#include <filesystem>
#include <string>

PlocUpdater::PlocUpdater(object_id_t objectId) :
        SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
    commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
}

PlocUpdater::~PlocUpdater() {
}

ReturnValue_t PlocUpdater::initialize() {
    sdcMan = SdCardManager::instance();

    ReturnValue_t result = SystemObject::initialize();
    if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }
    result = commandActionHelper.initialize();
    if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }
    result = actionHelper.initialize(commandQueue);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }

    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
    readCommandQueue();
    doStateMachine();
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
        MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
    ReturnValue_t result = RETURN_FAILED;

    if (state != State::IDLE) {
        return IS_BUSY;
    }

    if (size > MAX_PLOC_UPDATE_PATH) {
        return NAME_TOO_LONG;
    }

    switch (actionId) {
    case UPDATE_NVM0_A:
        updatePartition = Partition::A;
        updateMemory = Memory::NVM0;
        break;
    case UPDATE_NVM0_B:
        updatePartition = Partition::B;
        updateMemory = Memory::NVM0;
        break;
    case UPDATE_NVM1_A:
        updatePartition = Partition::A;
        updateMemory = Memory::NVM1;
        break;
    case UPDATE_NVM1_B:
        updatePartition = Partition::B;
        updateMemory = Memory::NVM1;
        break;
    default:
        return INVALID_ACTION_ID;
    }

    result = getImageLocation(data, size);

    if (result != RETURN_OK) {
        return result;
    }

    state = State::UPDATE_AVAILABLE;

    return EXECUTION_FINISHED;
}

MessageQueueId_t PlocUpdater::getCommandQueue() const {
    return commandQueue->getId();
}

MessageQueueIF* PlocUpdater::getCommandQueuePtr() {
    return commandQueue;
}

void PlocUpdater::readCommandQueue() {
    CommandMessage message;
    ReturnValue_t result;

    for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
            result = commandQueue->receiveMessage(&message)) {
        if (result != RETURN_OK) {
            continue;
        }
        result = actionHelper.handleActionMessage(&message);
        if (result == HasReturnvaluesIF::RETURN_OK) {
            continue;
        }

        result = commandActionHelper.handleReply(&message);
        if (result == HasReturnvaluesIF::RETURN_OK) {
            continue;
        }

        sif::debug << "PlocUpdater::readCommandQueue: Received message with invalid format"
                << std::endl;
    }
}

void PlocUpdater::doStateMachine() {
    switch (state) {
    case State::IDLE:
        break;
    case State::UPDATE_AVAILABLE:
        commandUpdateAvailable();
        break;
    case State::UPDATE_TRANSFER:
        commandUpdatePacket();
        break;
    case State::UPDATE_VERIFY:
        commandUpdateVerify();
        break;
    case State::COMMAND_EXECUTING:
        break;
    default:
        sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
        break;
    }
}

ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
    if (size > MAX_PLOC_UPDATE_PATH) {
        return NAME_TOO_LONG;
    }
    return RETURN_OK;
}

ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
    ReturnValue_t result = checkNameLength(size);
    if (result != RETURN_OK) {
        return result;
    }

    // Check if file is stored on SD card and if associated SD card is mounted
    if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
        if (!isSdCardMounted(sd::SLOT_0)) {
            sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 0 not mounted" << std::endl;
            return SD_NOT_MOUNTED;
        }
    }
    else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
        if (!isSdCardMounted(sd::SLOT_0)) {
            sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl;
            return SD_NOT_MOUNTED;
        }
    }
    else {
        //update image not stored on SD card
    }

    updateFile = std::string(reinterpret_cast<const char*>(data), size);

    // Check if file exists
    if(not std::filesystem::exists(updateFile)) {
        return FILE_NOT_EXISTS;
    }
    return RETURN_OK;
}

bool PlocUpdater::isSdCardMounted(sd::SdCard sdCard) {
    SdCardManager::SdStatePair active;
    ReturnValue_t result = sdcMan->getSdCardActiveStatus(active);
    if (result != RETURN_OK) {
        sif::debug << "PlocUpdater::isSdCardMounted: Failed to get SD card active state";
        return false;
    }
    if (sdCard == sd::SLOT_0) {
        if (active.first == sd::MOUNTED) {
            return true;
        }
        else {
            return false;
        }
    }
    else if (sdCard == sd::SLOT_1) {
        if (active.second == sd::MOUNTED) {
            return true;
        }
        else {
            return false;
        }
    }
    else {
        sif::debug << "PlocUpdater::isSdCardMounted: Unknown SD card specified" << std::endl;
    }
    return false;
}

void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId,
        uint8_t step) {
}

void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step,
        ReturnValue_t returnCode) {
}

void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {

}

void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
    switch (pendingCommand) {
    case (PLOC_SPV::UPDATE_AVAILABLE):
        state = State::UPDATE_TRANSFER;
        break;
    case (PLOC_SPV::UPDATE_IMAGE_DATA):
        if (remainingPackets == 0) {
            packetsSent = 0; // Reset packets sent variable for next update sequence
            state = State::UPDATE_VERIFY;
        }
        else {
            state = State::UPDATE_TRANSFER;
        }
        break;
    case (PLOC_SPV::UPDATE_VERIFY):
        triggerEvent(UPDATE_FINISHED);
        state = State::IDLE;
        pendingCommand = PLOC_SPV::NONE;
        break;
    default:
        sif::debug << "PlocUpdater::completionSuccessfulReceived: Invalid pending command"
                << std::endl;
        state = State::IDLE;
        break;
    }
}

void PlocUpdater::completionFailedReceived(ActionId_t actionId,
        ReturnValue_t returnCode) {
    switch(pendingCommand) {
    case(PLOC_SPV::UPDATE_AVAILABLE): {
        triggerEvent(UPDATE_AVAILABLE_FAILED);
        break;
    }
    case(PLOC_SPV::UPDATE_IMAGE_DATA): {
        triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
        break;
    }
    case(PLOC_SPV::UPDATE_VERIFY): {
        triggerEvent(UPDATE_VERIFY_FAILED);
        break;
    }
    default:
        sif::debug << "PlocUpdater::completionFailedReceived: Invalid pending command "
                << std::endl;
        break;
    }
    state = State::IDLE;
}

void PlocUpdater::commandUpdateAvailable() {
    ReturnValue_t result = RETURN_OK;

    if (not std::filesystem::exists(updateFile)) {
        triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
        state = State::IDLE;
        return;
    }

    std::ifstream file(updateFile, std::ifstream::binary);
    file.seekg(0, file.end);
    imageSize = static_cast<size_t>(file.tellg());
    file.close();

    numOfUpdatePackets = imageSize / MAX_SP_DATA ;
    if (imageSize % MAX_SP_DATA) {
        numOfUpdatePackets++;
    }

    remainingPackets = numOfUpdatePackets;
    packetsSent = 0;

    uint32_t imageCrc = makeCrc();

    PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(updateMemory),
            static_cast<uint8_t>(updatePartition), imageSize, imageCrc, numOfUpdatePackets);

    result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
            PLOC_SPV::UPDATE_AVAILABLE, packet.getWholeData(), packet.getFullSize());
    if (result != RETURN_OK) {
        sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                << " packet to supervisor handler" << std::endl;
        triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_AVAILABLE);
        state = State::IDLE;
        pendingCommand = PLOC_SPV::NONE;
        return;
    }

    pendingCommand = PLOC_SPV::UPDATE_AVAILABLE;
    state = State::COMMAND_EXECUTING;
    return;
}

void PlocUpdater::commandUpdatePacket() {
    ReturnValue_t result = RETURN_OK;
    uint16_t payloadLength = 0;

    if (not std::filesystem::exists(updateFile)) {
        triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
        state = State::IDLE;
        return;
    }

    std::ifstream file(updateFile, std::ifstream::binary);
    file.seekg(packetsSent * MAX_SP_DATA, file.beg);

    if (remainingPackets == 1) {
        payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
    }
    else {
        payloadLength = MAX_SP_DATA;
    }

    PLOC_SPV::UpdatePacket packet(payloadLength);
    file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
    file.close();
    // sequence count of first packet is 1
    packet.setPacketSequenceCount((packetsSent + 1) & PLOC_SPV::SEQUENCE_COUNT_MASK);
    if (numOfUpdatePackets > 0) {
        adjustSequenceFlags(packet);
    }
    packet.makeCrc();

    result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
            PLOC_SPV::UPDATE_IMAGE_DATA, packet.getWholeData(), packet.getFullSize());

    if (result != RETURN_OK) {
        sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
                << " packet to supervisor handler" << std::endl;
        triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_IMAGE_DATA);
        state = State::IDLE;
        pendingCommand = PLOC_SPV::NONE;
        return;
    }

    remainingPackets--;
    packetsSent++;

    pendingCommand = PLOC_SPV::UPDATE_IMAGE_DATA;
    state = State::COMMAND_EXECUTING;
}

void PlocUpdater::commandUpdateVerify() {
    ReturnValue_t result = RETURN_OK;

    PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(updateMemory),
            static_cast<uint8_t>(updatePartition), imageSize, imageCrc, numOfUpdatePackets);

    result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER,
            PLOC_SPV::UPDATE_VERIFY, packet.getWholeData(), packet.getFullSize());
    if (result != RETURN_OK) {
        sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
                << " packet to supervisor handler" << std::endl;
        triggerEvent(ACTION_COMMANDING_FAILED, result, PLOC_SPV::UPDATE_VERIFY);
        state = State::IDLE;
        pendingCommand = PLOC_SPV::NONE;
        return;
    }
    state = State::COMMAND_EXECUTING;
    pendingCommand = PLOC_SPV::UPDATE_VERIFY;
    return;
}

ReturnValue_t PlocUpdater::makeCrc() {
    //TODO: Waiting on input from TAS about the CRC to use
    return 0;
}

void PlocUpdater::adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet) {
    if (packetsSent == 0) {
        packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT));
    }
    else if (remainingPackets == 1) {
        packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT));
    }
    else {
        packet.setSequenceFlags(static_cast<uint8_t>(PLOC_SPV::SequenceFlags::CONTINUED_PKT));
    }
}