eive-obsw/mission/devices/GomspaceDeviceHandler.cpp

#include <mission/devices/GomspaceDeviceHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>

GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
                                             CookieIF* comCookie, uint16_t maxConfigTableAddress,
                                             uint16_t maxHkTableAddress, uint16_t hkTableReplySize,
                                             LocalPoolDataSetBase* hkTableDataset)
    : DeviceHandlerBase(objectId, comIF, comCookie),
      maxConfigTableAddress(maxConfigTableAddress),
      maxHkTableAddress(maxHkTableAddress),
      hkTableReplySize(hkTableReplySize),
      hkTableDataset(hkTableDataset) {
  if (comCookie == nullptr) {
    sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie" << std::endl;
  }
  if (hkTableDataset == nullptr) {
    sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid hk table data set"
               << std::endl;
  }
}

GomspaceDeviceHandler::~GomspaceDeviceHandler() {}

void GomspaceDeviceHandler::doStartUp() {}

void GomspaceDeviceHandler::doShutDown() {}

ReturnValue_t GomspaceDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
  return HasReturnvaluesIF::RETURN_OK;
}

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

ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                             const uint8_t* commandData,
                                                             size_t commandDataLen) {
  ReturnValue_t result;
  switch (deviceCommand) {
    case (GOMSPACE::PING): {
      result = generatePingCommand(commandData, commandDataLen);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      break;
    }
    case (GOMSPACE::REBOOT): {
      generateRebootCommand();
      break;
    }
    case (GOMSPACE::PARAM_SET): {
      result = generateSetParamCommand(commandData, commandDataLen);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      break;
    }
    case (GOMSPACE::PARAM_GET): {
      result = generateGetParamCommand(commandData, commandDataLen);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      break;
    }
    case (GOMSPACE::GNDWDT_RESET): {
      result = generateResetWatchdogCmd();
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      break;
    }
    case (GOMSPACE::PRINT_SWITCH_V_I): {
      result = printStatus(deviceCommand);
      break;
    }
    case (GOMSPACE::REQUEST_HK_TABLE): {
      result = generateRequestFullHkTableCmd(hkTableReplySize);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      break;
    }
    default:
      return deviceSpecificCommand(deviceCommand);
  }
  return HasReturnvaluesIF::RETURN_OK;
}

void GomspaceDeviceHandler::fillCommandAndReplyMap() {
  this->insertInCommandAndReplyMap(GOMSPACE::PING, 3);
  this->insertInCommandMap(GOMSPACE::REBOOT);
  this->insertInCommandAndReplyMap(GOMSPACE::PARAM_SET, 3);
  this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
  this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
  this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
  this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
}

ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                  DeviceCommandId_t* foundId, size_t* foundLen) {
  switch (rememberCommandId) {
    case (GOMSPACE::PING):
      *foundId = GOMSPACE::PING;
      *foundLen = PING_REPLY_SIZE;
      rememberCommandId = GOMSPACE::NONE;
      break;
    case (GOMSPACE::PARAM_GET): {
      *foundId = GOMSPACE::PARAM_GET;
      *foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
      rememberCommandId = GOMSPACE::NONE;
      break;
    }
    case (GOMSPACE::PARAM_SET): {
      *foundId = GOMSPACE::PARAM_SET;
      *foundLen = rememberRequestedSize;
      rememberCommandId = GOMSPACE::NONE;
      break;
    }
    case (GOMSPACE::REQUEST_HK_TABLE): {
      *foundId = GOMSPACE::REQUEST_HK_TABLE;
      *foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
      rememberCommandId = GOMSPACE::NONE;
      break;
    }
    default:
      return IGNORE_REPLY_DATA;
  }
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                          const uint8_t* packet) {
  switch (id) {
    case (GOMSPACE::PING): {
      SerializeElement<uint32_t> replyTime = *packet;
      handleDeviceTM(&replyTime, id, true);
      break;
    }
    case (GOMSPACE::PARAM_GET): {
      // -2 to subtract address size from gomspace parameter reply packet
      uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2;
      if (payloadLength > sizeof(uint32_t)) {
        sif::error << "GomspaceDeviceHandler: PARAM_GET: Invalid payload "
                   << "size in reply" << std::endl;
        return INVALID_PAYLOAD_SIZE;
      }
      uint8_t tempPayloadBuffer[payloadLength];
      /* Extract information from received data */
      CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
      size_t size = GOMSPACE::GS_HDR_LENGTH + payloadLength;
      ReturnValue_t result =
          cspGetParamReply.deSerialize(&packet, &size, SerializeIF::Endianness::BIG);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "GomspaceDeviceHandler: Failed to deserialize get parameter"
                   << "reply" << std::endl;
        return result;
      }
      uint8_t action = cspGetParamReply.getAction();
      uint8_t tableId = cspGetParamReply.getTableId();
      uint16_t address = cspGetParamReply.getAddress();
      /* Pack relevant information into a tm packet */
      ParamReply paramReply(action, tableId, address, payloadLength, tempPayloadBuffer);
      handleDeviceTM(&paramReply, id, true);
      break;
    }
    case (GOMSPACE::PARAM_SET): {
      /* When setting a parameter, the p60dock sends back the state of the
       * operation */
      if (*packet != PARAM_SET_OK) {
        return HasReturnvaluesIF::RETURN_FAILED;
      }
      break;
    }
    case (GOMSPACE::REQUEST_HK_TABLE): {
      letChildHandleHkReply(id, packet);
      break;
    }
    default:
      break;
  }
  return HasReturnvaluesIF::RETURN_OK;
}

void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid() {}

ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* commandData,
                                                             size_t commandDataLen) {
  SetParamMessageUnpacker setParamMessageUnpacker;
  ReturnValue_t result = setParamMessageUnpacker.deSerialize(&commandData, &commandDataLen,
                                                             SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter "
                  "message"
               << std::endl;
    return result;
  }
  /* Get and check address */
  uint16_t address = setParamMessageUnpacker.getAddress();
  if (address > maxConfigTableAddress) {
    sif::error << "GomspaceDeviceHandler: Invalid address for set parameter "
               << "action" << std::endl;
    return INVALID_ADDRESS;
  }
  uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
  uint16_t seq = 0;
  uint16_t total = 0;
  /* CSP reply only contains the transaction state */
  uint16_t querySize = 1;
  const uint8_t* parameterPtr = setParamMessageUnpacker.getParameter();
  uint8_t parameterSize = setParamMessageUnpacker.getParameterSize();
  uint16_t payloadlength = sizeof(address) + parameterSize;

  /* Generate command for CspComIF */
  CspSetParamCommand setParamCmd(querySize, payloadlength, checksum, seq, total, address,
                                 parameterPtr, parameterSize);
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  result = setParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                 SerializeIF::Endianness::BIG);

  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize command for "
               << "CspComIF" << std::endl;
    return result;
  }
  if (cspPacketLen > MAX_PACKET_LEN) {
    sif::error << "GomspaceDeviceHandler: Invalid length of set parameter "
                  "command"
               << std::endl;
    return PACKET_TOO_LONG;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = querySize;
  rememberCommandId = GOMSPACE::PARAM_SET;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::generateGetParamCommand(const uint8_t* commandData,
                                                             size_t commandDataLen) {
  ReturnValue_t result;
  /* Unpack the received action message */
  GetParamMessageUnpacker getParamMessage;
  result = getParamMessage.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Failed to deserialize message to extract information "
                  "from get parameter message"
               << std::endl;
    return result;
  }
  /* Get an check table id to read from */
  uint8_t tableId = getParamMessage.getTableId();
  if (tableId != CONFIG_TABLE_ID && tableId != HK_TABLE_ID) {
    sif::error << "GomspaceDeviceHandler: Invalid table id in get parameter"
                  " message"
               << std::endl;
    return INVALID_TABLE_ID;
  }
  /* Get and check address */
  uint16_t address = getParamMessage.getAddress();
  if (address > maxHkTableAddress && tableId == HK_TABLE_ID) {
    sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
               << "housekeeping table" << std::endl;
    return INVALID_ADDRESS;
  }
  if (address > maxConfigTableAddress && tableId == CONFIG_TABLE_ID) {
    sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
               << "configuration table" << std::endl;
    return INVALID_ADDRESS;
  }
  uint16_t length = sizeof(address);
  uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
  uint16_t seq = 0;
  uint16_t total = 0;
  uint8_t parameterSize = getParamMessage.getParameterSize();
  if (parameterSize > sizeof(uint32_t)) {
    sif::error << "GomspaceDeviceHandler: GET_PARAM: Invalid parameter "
               << "size" << std::endl;
    return INVALID_PARAM_SIZE;
  }
  uint16_t querySize = parameterSize + GOMSPACE::GS_HDR_LENGTH;

  /* Generate the CSP command to send to the P60 Dock */
  CspGetParamCommand getParamCmd(querySize, tableId, length, checksum, seq, total, address);
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  result = getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                 SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize command to "
               << "get parameter" << std::endl;
  }
  if (cspPacketLen > MAX_PACKET_LEN) {
    sif::error << "GomspaceDeviceHandler: Received invalid get parameter "
                  "command"
               << std::endl;
    return PACKET_TOO_LONG;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = querySize;
  rememberCommandId = GOMSPACE::PARAM_GET;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::generatePingCommand(const uint8_t* commandData,
                                                         size_t commandDataLen) {
  CspPingCommand cspPingCommand(commandData, commandDataLen);
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  ReturnValue_t result = cspPingCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                                  SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize ping command" << std::endl;
    return result;
  }
  if (cspPacketLen > MAX_PACKET_LEN) {
    sif::error << "GomspaceDeviceHandler: Received invalid ping message" << std::endl;
    return PACKET_TOO_LONG;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberCommandId = GOMSPACE::PING;
  return HasReturnvaluesIF::RETURN_OK;
}

void GomspaceDeviceHandler::generateRebootCommand() {
  uint8_t cspPort = GOMSPACE::REBOOT_PORT;
  uint16_t querySize = 0;
  *cspPacket = GOMSPACE::REBOOT_PORT;
  *(cspPacket + 1) = querySize;
  size_t cspPacketLen = sizeof(cspPort) + sizeof(cspPacketLen);
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
}

ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
  WatchdogResetCommand watchdogResetCommand;
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  ReturnValue_t result = watchdogResetCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                                        SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize watchdog reset "
               << "command" << std::endl;
    return result;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = 0;  // No bytes will be queried with the ground
  // watchdog command.
  rememberCommandId = GOMSPACE::GNDWDT_RESET;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::generateRequestFullHkTableCmd(uint16_t hkTableReplySize) {
  uint16_t querySize = hkTableReplySize;
  uint8_t tableId = HK_TABLE_ID;
  RequestFullTableCommand requestFullTableCommand(querySize, tableId);

  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  ReturnValue_t result = requestFullTableCommand.serialize(
      &buffer, &cspPacketLen, sizeof(cspPacket), SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler::generateRequestFullHkTableCmd Failed to serialize "
                  "full table request command "
               << std::endl;
    return result;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = querySize;
  rememberCommandId = GOMSPACE::REQUEST_HK_TABLE;
  return RETURN_OK;
}

uint32_t GomspaceDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }

LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
  if (sid == hkTableDataset->getSid()) {
    return hkTableDataset;
  } else {
    return nullptr;
  }
}

ReturnValue_t GomspaceDeviceHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
  return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}

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

ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
  sif::info << "No printHkTable implementation given.." << std::endl;
  return HasReturnvaluesIF::RETURN_OK;
}