eive-obsw/bsp_q7s/devices/ploc/PlocMPSoCHelper.cpp

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#include "PlocMPSoCHelper.h"
#include "mission/utility/Timestamp.h"
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#include "bsp_q7s/memory/FileSystemHelper.h"
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#include <fstream>
#include <filesystem>
PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId){
}
PlocMPSoCHelper::~PlocMPSoCHelper() {
}
ReturnValue_t PlocMPSoCHelper::initialize() {
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHelper::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 = performFlashWrite();
if (result == RETURN_OK){
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
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}
else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED);
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}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) {
comCookie = comCookie_;
}
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void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
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sequenceCount = sequenceCount_;
}
ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string file) {
ReturnValue_t result = FilesystemHelper::checkPath(file);
if (result != RETURN_OK) {
return result;
}
result = FilesystemHelper::fileExists(file);
if (result != RETURN_OK) {
return result;
}
flashWrite.file = file;
internalState = InternalState::FLASH_WRITE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
void PlocMPSoCHelper::stopProcess() {
terminate = true;
}
ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
ReturnValue_t result = RETURN_OK;
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uint8_t tempData[mpsoc::MAX_DATA_SIZE];
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std::ifstream file(flashWrite.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
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size_t remainingSize = file.tellg();
size_t dataLength = 0;
while (remainingSize > 0) {
if (terminate) {
return RETURN_OK;
}
if (remainingSize > mpsoc::MAX_DATA_SIZE) {
dataLength = mpsoc::MAX_DATA_SIZE;
}
else {
dataLength = remainingSize;
}
file.read(reinterpret_cast<char*>(tempData), dataLength);
sequenceCount++;
mpsoc::FlashWrite tc(*sequenceCount);
tc.createPacket(tempData, dataLength);
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;
}
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}
return result;
}
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ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase* tc) {
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ReturnValue_t result = RETURN_OK;
result = uartComIF->sendMessage(comCookie, tc->getWholeData(), tc->getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
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triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
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return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::handleAck() {
ReturnValue_t result = RETURN_OK;
mpsoc::TmPacket tmPacket;
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result = handleTmReception(&tmPacket, mpsoc::SIZE_ACK_REPORT);
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if (result != RETURN_OK) {
return result;
}
uint16_t apid = tmPacket.getAPID();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(apid);
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::ACK_FAILURE) {
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triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
<< "report" << std::endl;
}
else {
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triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMPSoCHelper::handleExe() {
ReturnValue_t result = RETURN_OK;
mpsoc::TmPacket tmPacket;
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result = handleTmReception(&tmPacket, mpsoc::SIZE_EXE_REPORT);
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if (result != RETURN_OK) {
return result;
}
uint16_t apid = tmPacket.getAPID();
if (apid != mpsoc::apid::EXE_SUCCESS) {
handleExeApidFailure(apid);
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::EXE_FAILURE) {
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triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
<< "report" << std::endl;
}
else {
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triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
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ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes) {
ReturnValue_t result = RETURN_OK;
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size_t readBytes = 0;
for(int retries = 0; retries < RETRIES; retries++) {
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result = receive(tmPacket->getWholeData(), &readBytes, remainingBytes);
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if (result != RETURN_OK) {
return result;
}
remainingBytes = remainingBytes - readBytes;
if (remainingBytes == 0) {
break;
}
}
if (remainingBytes != 0) {
sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
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triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
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return RETURN_FAILED;
}
result = tmPacket->checkCrc();
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
return result;
}
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uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
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if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
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*sequenceCount = recvSeqCnt;
return result;
}
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return result;
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}
ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
ReturnValue_t result = RETURN_OK;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
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triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
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return RETURN_FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &data, readBytes);
if (result != RETURN_OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
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triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result,
static_cast<uint32_t>(internalState));
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return RETURN_FAILED;
}
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return result;
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}