eive-obsw/mission/devices/ScexDeviceHandler.cpp

#include "ScexDeviceHandler.h"

#include <linux/devices/ScexHelper.h>
#include <mission/memory/SdCardMountedIF.h>

#include <algorithm>
#include <ctime>
#include <iostream>
#include <random>

#include "fsfw/globalfunctions/CRC.h"
#include "mission/devices/devicedefinitions/ScexDefinitions.h"

using std::ofstream;
using namespace returnvalue;

ScexDeviceHandler::ScexDeviceHandler(object_id_t objectId, ScexUartReader& reader, CookieIF* cookie,
                                     SdCardMountedIF* sdcMan)
    : DeviceHandlerBase(objectId, reader.getObjectId(), cookie), sdcMan(sdcMan), reader(reader) {}

ScexDeviceHandler::~ScexDeviceHandler() {}

void ScexDeviceHandler::doStartUp() {
  // mode on
  setMode(MODE_ON);
}

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

ReturnValue_t ScexDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) { return OK; }

ReturnValue_t ScexDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { return OK; }

ReturnValue_t ScexDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                         const uint8_t* commandData,
                                                         size_t commandDataLen) {
  using namespace scex;

  auto cmdTyped = static_cast<scex::Cmds>(deviceCommand);
  if (std::find(VALID_CMDS.begin(), VALID_CMDS.end(), deviceCommand) == VALID_CMDS.end()) {
    return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
  bool tempCheck = false;
  if (commandDataLen == 1) {
    tempCheck = commandData[0];
  }
  if (commandActive) {
    return DeviceHandlerIF::BUSY;
  }

  switch (deviceCommand) {
    case (PING): {
      finishCountdown.setTimeout(SHORT_CD);
      // countdown starten
      finishCountdown.resetTimer();
      prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen, {nullptr, 0},
                     tempCheck);
      break;
    }
    case (EXP_STATUS_CMD): {
      finishCountdown.setTimeout(SHORT_CD);
      // countdown starten
      finishCountdown.resetTimer();
      prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen, {nullptr, 0},
                     tempCheck);
      break;
    }
    case (ION_CMD): {
      finishCountdown.setTimeout(SHORT_CD);
      // countdown starten
      finishCountdown.resetTimer();
      prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen, {nullptr, 0},
                     tempCheck);
      break;
    }
    case (TEMP_CMD): {
      finishCountdown.setTimeout(SHORT_CD);
      // countdown starten
      finishCountdown.resetTimer();
      prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen, {nullptr, 0},
                     tempCheck);
      break;
    }
    case (FRAM): {
      finishCountdown.setTimeout(LONG_CD);
      // countdown starten
      finishCountdown.resetTimer();
      if (debugMode) {
        uint32_t remainingMillis = finishCountdown.getRemainingMillis();

        sif::info << "ScexDeviceHandler::buildCommandFromCommand: RemainingMillis: "
                  << remainingMillis << std::endl;
      }

      prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen,
                     {commandData + 1, commandDataLen - 1}, tempCheck);
      updatePeriodicReply(true, deviceCommand);
      actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand, OK);
      break;
    }
    case (ONE_CELL): {
      finishCountdown.setTimeout(LONG_CD);
      // countdown starts
      finishCountdown.resetTimer();
      prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen,
                     {commandData + 1, commandDataLen - 1}, tempCheck);
      updatePeriodicReply(true, deviceCommand);
      actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand, OK);
      break;
    }
    case (ALL_CELLS_CMD): {
      finishCountdown.setTimeout(LONG_CD);
      // countdown starts
      finishCountdown.resetTimer();
      prepareScexCmd(cmdTyped, {cmdBuf.data(), cmdBuf.size()}, rawPacketLen,
                     {commandData + 1, commandDataLen - 1}, tempCheck);
      actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand, OK);
      updatePeriodicReply(true, deviceCommand);
      break;
    }
    default: {
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
  }
  commandActive = true;
  rawPacket = cmdBuf.data();
  return OK;
}

void ScexDeviceHandler::fillCommandAndReplyMap() {
  insertInCommandAndReplyMap(scex::Cmds::PING, 5);
  insertInCommandAndReplyMap(scex::Cmds::ION_CMD, 3);
  insertInCommandAndReplyMap(scex::Cmds::TEMP_CMD, 3);
  insertInCommandAndReplyMap(scex::Cmds::EXP_STATUS_CMD, 3);

  insertInCommandAndReplyMap(scex::Cmds::ALL_CELLS_CMD, 0, nullptr, 0, true, false,
                             scex::Cmds::ALL_CELLS_CMD, &finishCountdown);
  insertInCommandAndReplyMap(scex::Cmds::ONE_CELL, 0, nullptr, 0, true, false, scex::Cmds::ONE_CELL,
                             &finishCountdown);
  insertInCommandAndReplyMap(scex::Cmds::FRAM, 0, nullptr, 0, true, false, scex::Cmds::FRAM,
                             &finishCountdown);

  insertInReplyMap(scex::Cmds::ERROR_REPLY, 3);
}

ReturnValue_t ScexDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                              DeviceCommandId_t* foundId, size_t* foundLen) {
  size_t len = remainingSize;
  ReturnValue_t result = helper.deSerialize(&start, &len);

  if (result == ScexHelper::INVALID_CRC) {
    sif::warning << "ScexDeviceHandler::scanForReply: CRC invalid" << std::endl;
    *foundLen = remainingSize;
  } else {
    result = handleValidReply(remainingSize, foundId, foundLen);
  }
  return result;
}

ReturnValue_t ScexDeviceHandler::handleValidReply(size_t remSize, DeviceCommandId_t* foundId,
                                                  size_t* foundLen) {
  using namespace scex;
  ReturnValue_t result = OK;

  switch (helper.getCmd()) {
    case (FRAM): {
      if (debugMode) {
        uint32_t remainingMillis = finishCountdown.getRemainingMillis();

        sif::info << "ScexDeviceHandler::handleValidReply: RemMillis: " << remainingMillis
                  << std::endl;
      }
      result = APERIODIC_REPLY;
      break;
    }
    case (ONE_CELL): {
      result = APERIODIC_REPLY;
      break;
    }
    case (ALL_CELLS_CMD): {
      result = APERIODIC_REPLY;
      break;
    }
    default: {
      break;
    }
  }
  *foundId = helper.getCmd();
  *foundLen = remSize;
  return result;
}

ReturnValue_t ScexDeviceHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
  using namespace scex;

  ReturnValue_t status = OK;
  auto oneFileHandler = [&](std::string cmdName) {
    fileId = date_time_string();
    std::ostringstream oss("/tmp/scex-", std::ostringstream::ate);
    oss << cmdName << fileId << ".bin";
    fileName = oss.str();
    ofstream out(fileName, ofstream::binary);
    if (out.bad()) {
      sif::error << "ScexDeviceHandler::interpretDeviceReply: Could not open file " << fileName
                 << std::endl;
      return FAILED;
    }
    out << helper;
    return OK;
  };
  auto multiFileHandler = [&](std::string cmdName) {
    if ((helper.getPacketCounter() == 1) or (not fileNameSet)) {
      fileId = date_time_string();
      std::ostringstream oss("/tmp/scex-", std::ostringstream::ate);
      oss << cmdName << fileId << ".bin";
      fileName = oss.str();
      fileNameSet = true;
      ofstream out(fileName, ofstream::binary);
      if (out.bad()) {
        sif::error << "ScexDeviceHandler::handleValidReply: Could not open file " << fileName
                   << std::endl;
        return FAILED;
      }
      out << helper;
    } else {
      ofstream out(fileName,
                   ofstream::binary | ofstream::app);  // append
      if (out.bad()) {
        sif::error << "ScexDeviceHandler::handleValidReply: Could not open file " << fileName
                   << std::endl;
        return FAILED;
      }
      out << helper;
    }
    return OK;
  };
  switch (id) {
    case (PING): {
      status = oneFileHandler("ping_");
      break;
    }
    case (ION_CMD): {
      status = oneFileHandler("ion_");
      break;
    }
    case (TEMP_CMD): {
      status = oneFileHandler("temp_");
      break;
    }
    case (EXP_STATUS_CMD): {
      status = oneFileHandler("exp_status_");
      break;
    }
    case (FRAM): {
      status = multiFileHandler("fram_");
      break;
    }
    case (ONE_CELL): {
      status = multiFileHandler("one_cell_");
      break;
    }
    case (ALL_CELLS_CMD): {
      status = multiFileHandler("multi_cell_");
      break;
    }
    default:
      // Unknown DeviceCommand
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
  if (helper.getPacketCounter() == helper.getTotalPacketCounter()) {
    reader.finish();
    commandActive = false;
    if (id != PING) {
      fileNameSet = false;
    }
    if (id == FRAM or id == ALL_CELLS_CMD or id == ONE_CELL) {
      triggerEvent(MULTI_PACKET_COMMAND_DONE, id);
      updatePeriodicReply(false, id);
    }
  }
  if (debugMode) {
    uint32_t remainingMillis = finishCountdown.getRemainingMillis();
    sif::info << __FILE__ << __func__ << "(" << __LINE__ << ") RemMillis: " << remainingMillis
              << std::endl;
  }
  return status;
}

void ScexDeviceHandler::performOperationHook() {
  uint32_t remainingMillis = finishCountdown.getRemainingMillis();
  if (commandActive and finishCountdown.hasTimedOut()) {
    triggerEvent(scex::EXPERIMENT_TIMEDOUT, currCmd, 0);
    reader.finish();
    sif::warning << "ScexDeviceHandler::scanForReply: Reader timeout; RemMillis: "
                 << remainingMillis << std::endl;
    fileNameSet = false;
    commandActive = false;
  }
}

uint32_t ScexDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return OK; }

ReturnValue_t ScexDeviceHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
  return OK;
}

ReturnValue_t ScexDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
  return OK;
}

std::string ScexDeviceHandler::date_time_string() {
  using namespace std;
  string date_time;
  Clock::TimeOfDay_t tod;
  Clock::getDateAndTime(&tod);
  time_t now = time(0);
  tm* ltm = localtime(&now);
  ostringstream oss(std::ostringstream::ate);

  //TODO mit tod ersetzen
  if (ltm->tm_hour < 10) {
    oss << tod.year << tod.month << ltm->tm_mday << "_0" << ltm->tm_hour;
  } else {
    oss << 1900 + ltm->tm_year << 1 + ltm->tm_mon << ltm->tm_mday << "_" << ltm->tm_hour;
  }
  if (ltm->tm_min < 10) {
    oss << 0 << ltm->tm_min;

  } else {
    oss << ltm->tm_min;
  }
  if (ltm->tm_sec < 10) {
    oss << 0 << ltm->tm_sec;
  } else {
    oss << ltm->tm_sec;
  }

  date_time = oss.str();

  return date_time;
}

void ScexDeviceHandler::modeChanged() {}