eive-obsw/linux/devices/ploc/PlocSupvHelper.cpp

#include "PlocSupvHelper.h"

#include <filesystem>
#include <fstream>

#include "OBSWConfig.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/memory/FilesystemHelper.h"
#endif

#include "mission/utility/Timestamp.h"

PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) {}

PlocSupvHelper::~PlocSupvHelper() {}

ReturnValue_t PlocSupvHelper::initialize() {
#ifdef XIPHOS_Q7S
  sdcMan = SdCardManager::instance();
  if (sdcMan == nullptr) {
    sif::warning << "PlocSupvHelper::initialize: Invalid SD Card Manager" << std::endl;
    return RETURN_FAILED;
  }
#endif
  return RETURN_OK;
}

ReturnValue_t PlocSupvHelper::performOperation(uint8_t operationCode) {
  ReturnValue_t result = RETURN_OK;
  semaphore.acquire();
  while (true) {
    switch (internalState) {
      case InternalState::IDLE: {
        semaphore.acquire();
        break;
      }
      case InternalState::FLASH_WRITE: {
        result = performUpdate();
        if (result == RETURN_OK) {
          triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
        } else {
          triggerEvent(MPSOC_FLASH_WRITE_FAILED);
        }
        internalState = InternalState::IDLE;
        break;
      }
      default:
        sif::debug << "PlocSupvHelper::performOperation: Invalid state" << std::endl;
        break;
    }
  }
}

ReturnValue_t PlocSupvHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
  uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
  if (uartComIF == nullptr) {
    sif::warning << "PlocSupvHelper::initialize: Invalid uart com if" << std::endl;
    return RETURN_FAILED;
  }
  return RETURN_OK;
}

void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }

void PlocSupvHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
  sequenceCount = sequenceCount_;
}

ReturnValue_t PlocSupvHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
  ReturnValue_t result = RETURN_OK;
#ifdef XIPHOS_Q7S
  result = FilesystemHelper::checkPath(obcFile);
  if (result != RETURN_OK) {
    return result;
  }
  result = FilesystemHelper::fileExists(mpsocFile);
  if (result != RETURN_OK) {
    return result;
  }
#endif
#ifdef TE0720_1CFA
  if (not std::filesystem::exists(obcFile)) {
    sif::warning << "PlocSupvHelper::startFlashWrite: File " << obcFile << "does not exist"
                 << std::endl;
    return RETURN_FAILED;
  }
#endif

  flashWrite.obcFile = obcFile;
  flashWrite.mpsocFile = mpsocFile;
  internalState = InternalState::FLASH_WRITE;
  result = resetHelper();
  if (result != RETURN_OK) {
    return result;
  }
  return result;
}

ReturnValue_t PlocSupvHelper::resetHelper() {
  ReturnValue_t result = RETURN_OK;
  semaphore.release();
  terminate = false;
  result = uartComIF->flushUartRxBuffer(comCookie);
  return result;
}

void PlocSupvHelper::stopProcess() { terminate = true; }

ReturnValue_t PlocSupvHelper::performUpdate() {
  ReturnValue_t result = RETURN_OK;
  result = eraseMemory();
  if (result != RETURN_OK) {
    return result;
  }
  uint8_t tempData[supv::UpdatePacket::MAX_UPDATE_DATA];
  std::ifstream file(update.file, std::ifstream::binary);
  // Set position of next character to end of file input stream
  file.seekg(0, file.end);
  // tellg returns position of character in input stream
  size_t remainingSize = file.tellg();
  size_t dataLength = 0;
  size_t bytesRead = 0;
  while (remainingSize > 0) {
    update.startAddress = bytesRead;
    if (terminate) {
      return RETURN_OK;
    }
    if (remainingSize > supv::UpdatePacket::MAX_UPDATE_DATA) {
      dataLength = supv::UpdatePacket::MAX_UPDATE_DATA;
    } else {
      dataLength = remainingSize;
    }
    if (file.is_open()) {
      file.seekg(bytesRead, file.beg);
      file.read(reinterpret_cast<char*>(tempData), dataLength);
      bytesRead += dataLength;
      remainingSize -= dataLength;
    } else {
      return FILE_CLOSED_ACCIDENTALLY;
    }
    supv::UpdatePacket tc(update.memoryId, update.startAddress, tempData);
    result = handlePacketTransmission(tc);
    if (result != RETURN_OK) {
      return result;
    }
  }
  return result;
}

ReturnValue_t PlocSupvHelper::eraseMemory() {
  ReturnValue_t result = RETURN_OK;
  supv::EraseMemory eraseMemory(memoryId, startAddress, length);
  result = handlePacketTransmission(eraseMemory);
  if (result != RETURN_OK) {
    return result;
  }
  return RETURN_OK;
}

ReturnValue_t PlocSupvHelper::flashfclose() {
  ReturnValue_t result = RETURN_OK;
  (*sequenceCount)++;
  supv::FlashFclose flashFclose(*sequenceCount);
  result = flashFclose.createPacket(flashWrite.mpsocFile);
  if (result != RETURN_OK) {
    return result;
  }
  result = handlePacketTransmission(flashFclose);
  if (result != RETURN_OK) {
    return result;
  }
  return RETURN_OK;
}

ReturnValue_t PlocSupvHelper::handlePacketTransmission(SpacePacket& tc) {
  ReturnValue_t result = RETURN_OK;
  result = sendCommand(tc);
  if (result != RETURN_OK) {
    return result;
  }
  result = handleAck();
  if (result != RETURN_OK) {
    return result;
  }
  result = handleExe();
  if (result != RETURN_OK) {
    return result;
  }
  return RETURN_OK;
}

ReturnValue_t PlocSupvHelper::sendCommand(supv::TcBase& tc) {
  ReturnValue_t result = RETURN_OK;
  result = uartComIF->sendMessage(comCookie, tc.getWholeData(), tc.getFullSize());
  if (result != RETURN_OK) {
    sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
    triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
    return result;
  }
  return result;
}

ReturnValue_t PlocSupvHelper::handleAck() {
  ReturnValue_t result = RETURN_OK;
  supv::TmPacket tmPacket;
  result = handleTmReception(&tmPacket, supv::SIZE_ACK_REPORT);
  if (result != RETURN_OK) {
    return result;
  }
  uint16_t apid = tmPacket.getAPID();
  if (apid != supv::APID_ACK_SUCCESS) {
    handleAckApidFailure(apid);
    return RETURN_FAILED;
  }
  return RETURN_OK;
}

void PlocSupvHelper::handleAckApidFailure(uint16_t apid) {
  if (apid == supv::APID_ACK_FAILURE) {
    triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
    sif::warning << "PlocSupvHelper::handleAckApidFailure: Received acknowledgement failure "
                 << "report" << std::endl;
  } else {
    triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
    sif::warning << "PlocSupvHelper::handleAckApidFailure: Expected acknowledgement report "
                 << "but received space packet with apid " << std::hex << apid << std::endl;
  }
}

ReturnValue_t PlocSupvHelper::handleExe() {
  ReturnValue_t result = RETURN_OK;
  supv::TmPacket tmPacket;
  result = handleTmReception(&tmPacket, supv::SIZE_EXE_REPORT);
  if (result != RETURN_OK) {
    return result;
  }
  uint16_t apid = tmPacket.getAPID();
  if (apid != supv::apid::EXE_SUCCESS) {
    handleExeApidFailure(apid);
    return RETURN_FAILED;
  }
  return RETURN_OK;
}

void PlocSupvHelper::handleExeApidFailure(uint16_t apid) {
  if (apid == supv::apid::EXE_FAILURE) {
    triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
    sif::warning << "PlocSupvHelper::handleExeApidFailure: Received execution failure "
                 << "report" << std::endl;
  } else {
    triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
    sif::warning << "PlocSupvHelper::handleExeApidFailure: Expected execution report "
                 << "but received space packet with apid " << std::hex << apid << std::endl;
  }
}

ReturnValue_t PlocSupvHelper::handleTmReception(supv::TmPacket* tmPacket, size_t remainingBytes) {
  ReturnValue_t result = RETURN_OK;
  size_t readBytes = 0;
  size_t currentBytes = 0;
  for (int retries = 0; retries < RETRIES; retries++) {
    result = receive(tmPacket->getWholeData() + readBytes, &currentBytes, remainingBytes);
    if (result != RETURN_OK) {
      return result;
    }
    readBytes += currentBytes;
    remainingBytes = remainingBytes - currentBytes;
    if (remainingBytes == 0) {
      break;
    }
  }
  if (remainingBytes != 0) {
    sif::warning << "PlocSupvHelper::handleTmReception: Failed to receive reply" << std::endl;
    triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
    return RETURN_FAILED;
  }
  result = tmPacket->checkCrc();
  if (result != RETURN_OK) {
    sif::warning << "PlocSupvHelper::handleTmReception: CRC check failed" << std::endl;
    return result;
  }
  (*sequenceCount)++;
  uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
  if (recvSeqCnt != *sequenceCount) {
    triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
    *sequenceCount = recvSeqCnt;
  }
  return result;
}

ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
  ReturnValue_t result = RETURN_OK;
  uint8_t* buffer = nullptr;
  result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
  if (result != RETURN_OK) {
    sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
    triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
                 static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
    return RETURN_FAILED;
  }
  result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
  if (result != RETURN_OK) {
    sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
    triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
    return RETURN_FAILED;
  }
  if (*readBytes > 0) {
    std::memcpy(data, buffer, *readBytes);
  }
  return result;
}