eive-obsw/bsp_q7s/devices/devicedefinitions/PlocMPSoCDefinitions.h

#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_

#include <fsfw/tmtcpacket/SpacePacket.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serialize/SerializeAdapter.h>

namespace mpsoc {

static const DeviceCommandId_t NONE = 0;
static const DeviceCommandId_t TC_MEM_WRITE = 1;
static const DeviceCommandId_t TC_MEM_READ = 2;
static const DeviceCommandId_t ACK_REPORT = 3;
static const DeviceCommandId_t EXE_REPORT = 5;
static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 6;
static const DeviceCommandId_t TC_FLASHFOPEN = 7;
static const DeviceCommandId_t TC_FLASHFCLOSE = 8;
static const DeviceCommandId_t TC_FLASHWRITE = 9;

static const uint16_t SIZE_ACK_REPORT = 14;
static const uint16_t SIZE_EXE_REPORT = 14;
static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;

/**
 * SpacePacket apids of PLOC telecommands and telemetry.
 */
namespace apid {
    static const uint16_t TC_MEM_WRITE = 0x114;
    static const uint16_t TC_MEM_READ = 0x115;
    static const uint16_t TC_FLASHWRITE = 0x117;
    static const uint16_t TC_FLASHFOPEN = 0x119;
    static const uint16_t TC_FLASHFCLOSE = 0x11A;
    static const uint16_t TM_MEMORY_READ_REPORT = 0x404;
    static const uint16_t ACK_SUCCESS = 0x400;
    static const uint16_t ACK_FAILURE = 0x401;
    static const uint16_t EXE_SUCCESS = 0x402;
    static const uint16_t EXE_FAILURE = 0x403;
}

/** Offset from first byte in space packet to first byte of data field */
static const uint8_t DATA_FIELD_OFFSET = 6;

/**
 * The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
 * 8.
 */
static const uint8_t SIZE_MEM_READ_REPORT_DATA = 10;

static const size_t MAX_FILENAME_SIZE = 256;

/**
 * PLOC space packet length for fixed size packets. This is the size of the whole packet data
 * field. For the length field in the space packet this size will be substracted by one.
 */
static const uint16_t LENGTH_TC_MEM_WRITE = 12;
static const uint16_t LENGTH_TC_MEM_READ = 8;

static const size_t MAX_REPLY_SIZE = SpacePacket::PACKET_MAX_SIZE;
static const size_t MAX_COMMAND_SIZE = SpacePacket::PACKET_MAX_SIZE;
static const size_t MAX_DATA_SIZE = 1016;

/**
 * @breif   Abstract base class for TC space packet of MPSoC.
 */
class TcBase : public SpacePacket, public HasReturnvaluesIF {
public:

    // Initial length field of space packet. Will always be updated when packet is created.
    static const uint16_t INIT_LENGTH = 1;

    static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_CMD;

    //! [EXPORT] : [COMMENT] Received command with invalid length
    static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xC0);

    /**
     * @brief    Constructor
     *
     * @param sequenceCount Sequence count of space packet which will be incremented with each
     *        sent and received packet.s
     */
    TcBase(uint16_t apid, uint16_t sequenceCount) :
            SpacePacket(INIT_LENGTH, true, apid, sequenceCount) {
    }

    /**
     * @brief   Function to initialitze the space packet
     *
     * @param commandData       Pointer to command specific data
     * @param commandDataLen    Length of command data
     *
     * @return  RETURN_OK if packet creation was successful, otherwise error return value
     */
    ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) {
        ReturnValue_t result = RETURN_OK;
        result = initPacket(commandData, commandDataLen);
        if (result != RETURN_OK) {
            return result;
        }
        result = addCrc();
        if (result != RETURN_OK) {
            return result;
        }
        return result;
    }

protected:
    /**
     * @brief   Must be overwritten by the child class to define the command specific parameters
     *
     * @param commandData       Pointer to received command data
     * @param commandDataLen    Length of received command data
     */
    virtual ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) = 0;

private:
    /**
     * @brief   Calculates and adds the CRC
     */
    ReturnValue_t addCrc() {
        ReturnValue_t result = RETURN_OK;
        size_t serializedSize = 0;
        uint32_t full_size = getFullSize();
        uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE);
        result = SerializeAdapter::serialize<uint16_t>(&crc,
                this->localData.byteStream + full_size - CRC_SIZE, &serializedSize, sizeof(crc),
                SerializeIF::Endianness::BIG);
        if (result != RETURN_OK) {
            sif::debug << "TcBase::addCrc: Failed to serialize crc field" << std::endl;
        }
        return result;
    }
};

/**
 * @brief   Class for handling tm replies of the PLOC MPSoC.
 */
class TmPacket : public SpacePacket, public HasReturnvaluesIF {
public:

    static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_CMD;

    //! [EXPORT] : [COMMENT] CRC check of received packet failed
    static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
    /**
     * @brief   Constructor creates idle packet and sets length field to maximum allowed size.
     */
    TmPacket() : SpacePacket(PACKET_MAX_SIZE) {
    }

    ReturnValue_t checkCrc() {
        uint8_t* crcPtr = this->getPacketData() + this->getPacketDataLength() - 1;
        uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1);
        uint16_t recalculatedCrc = CRC::crc16ccitt(this->localData.byteStream, this->getFullSize());
        if (recalculatedCrc != receivedCrc) {
            return CRC_FAILURE;
        }
        return RETURN_OK;
    }
};

/**
 * @brief   This class helps to build the memory read command for the PLOC.
 */
class TcMemRead: public TcBase {
public:

    /**
     * @brief   Constructor
     */
    TcMemRead(uint16_t sequenceCount) :
            TcBase(apid::TC_MEM_READ, sequenceCount) {
        this->setPacketDataLength(PACKET_LENGTH);
    }

protected:

    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
        ReturnValue_t result = RETURN_OK;
        result = lengthCheck(commandDataLen);
        if (result != RETURN_OK) {
            return result;
        }
        std::memcpy(this->localData.fields.buffer, commandData, MEM_ADDRESS_SIZE);
        std::memcpy(this->localData.fields.buffer + MEM_ADDRESS_SIZE,
                commandData + MEM_ADDRESS_SIZE, MEM_LEN_SIZE);
        return result;
    }

private:

    static const size_t COMMAND_LENGTH = 6;
    static const size_t MEM_ADDRESS_SIZE = 4;
    static const size_t MEM_LEN_SIZE = 2;
    static const uint16_t PACKET_LENGTH = 7;

    ReturnValue_t lengthCheck(size_t commandDataLen) {
        if (commandDataLen != COMMAND_LENGTH){
            return INVALID_LENGTH;
        }
        return RETURN_OK;
    }
};

/**
 * @brief   This class helps to generate the space packet to write data to a memory address within
 *          the PLOC.
 */
class TcMemWrite: public TcBase {
public:
    /**
     * @brief   Constructor
     */
    TcMemWrite(uint16_t sequenceCount) : TcBase(apid::TC_MEM_WRITE, sequenceCount) {
    }

protected:

    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
        ReturnValue_t result = RETURN_OK;
        result = lengthCheck(commandDataLen);
        if (result != RETURN_OK) {
            return result;
        }
        std::memcpy(this->localData.fields.buffer, commandData, commandDataLen);
        uint16_t memLen = *(commandData + MEM_ADDRESS_SIZE) << 8
                | *(commandData + MEM_ADDRESS_SIZE + 1);
        this->setPacketDataLength(memLen * 4 + FIX_LENGTH - 1);
        return result;
    }

private:

    // Min length consists of 4 byte address, 2 byte mem length field, 4 byte data (1 word)
    static const size_t MIN_COMMAND_DATA_LENGTH = 10;
    static const size_t MEM_ADDRESS_SIZE = 4;
    static const size_t FIX_LENGTH = 8;

    ReturnValue_t lengthCheck(size_t commandDataLen) {
        if (commandDataLen < MIN_COMMAND_DATA_LENGTH) {
            return INVALID_LENGTH;
        }
        return RETURN_OK;
    }
};

/**
 * @brief   Class to help creation of flash fopen command.
 */
class FlashFopen : public TcBase {
public:

    FlashFopen(uint16_t sequenceCount) :
            TcBase(apid::TC_FLASHFOPEN, sequenceCount) {
    }

protected:

    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
        ReturnValue_t result = RETURN_OK;
        result = lengthCheck(commandDataLen);
        if (result != RETURN_OK) {
            return result;
        }
        std::string filename = std::string(reinterpret_cast<const char*>(commandData), commandDataLen - 1);
        accessMode = *(commandData + commandDataLen);
        uint16_t truePacketLen = filename.size() + sizeof(accessMode) + CRC_SIZE;
        this->setPacketDataLength(truePacketLen - 1);
        std::memcpy(this->getPacketData(), filename.c_str(),
                truePacketLen - CRC_SIZE - sizeof(accessMode));
        std::memcpy(this->getPacketData() + truePacketLen - CRC_SIZE, &accessMode,
                sizeof(accessMode));
        return RETURN_OK;
    }

private:
    uint8_t accessMode = 0;

    ReturnValue_t lengthCheck(size_t commandDataLen) {
        if (commandDataLen > MAX_FILENAME_SIZE + sizeof(accessMode)) {
            return INVALID_LENGTH;
        }
        return RETURN_OK;
    }
};

/**
 * @brief   Class to help creation of flash fclose command.
 */
class FlashFclose : public TcBase {
public:

    FlashFclose(uint16_t sequenceCount) :
            TcBase(apid::TC_FLASHFCLOSE, sequenceCount) {
    }

protected:

    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
        ReturnValue_t result = RETURN_OK;
        result = lengthCheck(commandDataLen);
        if (result != RETURN_OK) {
            return result;
        }
        std::string filename = std::string(reinterpret_cast<const char*>(commandData), commandDataLen - 1);
        uint16_t truePacketLen = filename.size() + CRC_SIZE;
        this->setPacketDataLength(truePacketLen - 1);
        std::memcpy(this->getPacketData(), filename.c_str(),
                truePacketLen - CRC_SIZE);
        return RETURN_OK;
    }

private:

    ReturnValue_t lengthCheck(size_t commandDataLen) {
        if (commandDataLen > MAX_FILENAME_SIZE) {
            return INVALID_LENGTH;
        }
        return RETURN_OK;
    }
};

/**
 * @brief   Class to build flash write space packet.
 */
class FlashWrite : public TcBase {
public:

    FlashWrite(uint16_t sequenceCount) :
            TcBase(apid::TC_FLASHWRITE, sequenceCount) {
    }

protected:

    ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) {
        if (commandDataLen > MAX_DATA_SIZE) {
            sif::debug << "FlashWrite::initPacket: Command data too big" << std::endl;
            return RETURN_FAILED;
        }
        std::memcpy(this->getPacketData(), commandData, commandDataLen);
        this->setPacketDataLength(static_cast<uint16_t>(commandDataLen + CRC_SIZE - 1));
        return RETURN_OK;
    }
};

}

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */