eive-obsw/mission/devices/PlocMPSoCHandler.cpp

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#include "PlocMPSoCHandler.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include "OBSWConfig.h"
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PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie) {
if (comCookie == NULL) {
sif::error << "PlocMPSoCHandler: Invalid com cookie" << std::endl;
}
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}
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PlocMPSoCHandler::~PlocMPSoCHandler() {}
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void PlocMPSoCHandler::doStartUp() {
if (mode == _MODE_START_UP) {
setMode(MODE_ON);
}
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}
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void PlocMPSoCHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (PLOC_MPSOC::TC_MEM_WRITE): {
return prepareTcMemWriteCommand(commandData, commandDataLen);
}
case (PLOC_MPSOC::TC_MEM_READ): {
return prepareTcMemReadCommand(commandData, commandDataLen);
}
default:
sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
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}
void PlocMPSoCHandler::fillCommandAndReplyMap() {
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this->insertInCommandMap(PLOC_MPSOC::TC_MEM_WRITE);
this->insertInCommandMap(PLOC_MPSOC::TC_MEM_READ);
this->insertInReplyMap(PLOC_MPSOC::ACK_REPORT, 1, nullptr, PLOC_MPSOC::SIZE_ACK_REPORT);
this->insertInReplyMap(PLOC_MPSOC::EXE_REPORT, 3, nullptr, PLOC_MPSOC::SIZE_EXE_REPORT);
this->insertInReplyMap(PLOC_MPSOC::TM_MEMORY_READ_REPORT, 2, nullptr,
PLOC_MPSOC::SIZE_TM_MEM_READ_REPORT);
}
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ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
ReturnValue_t result = RETURN_OK;
uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
switch (apid) {
case (PLOC_MPSOC::APID_ACK_SUCCESS):
*foundLen = PLOC_MPSOC::SIZE_ACK_REPORT;
*foundId = PLOC_MPSOC::ACK_REPORT;
break;
case (PLOC_MPSOC::APID_ACK_FAILURE):
*foundLen = PLOC_MPSOC::SIZE_ACK_REPORT;
*foundId = PLOC_MPSOC::ACK_REPORT;
break;
case (PLOC_MPSOC::APID_TM_MEMORY_READ_REPORT):
*foundLen = PLOC_MPSOC::SIZE_TM_MEM_READ_REPORT;
*foundId = PLOC_MPSOC::TM_MEMORY_READ_REPORT;
break;
case (PLOC_MPSOC::APID_EXE_SUCCESS):
*foundLen = PLOC_MPSOC::SIZE_EXE_REPORT;
*foundId = PLOC_MPSOC::EXE_REPORT;
break;
case (PLOC_MPSOC::APID_EXE_FAILURE):
*foundLen = PLOC_MPSOC::SIZE_EXE_REPORT;
*foundId = PLOC_MPSOC::EXE_REPORT;
break;
default: {
sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
*foundLen = remainingSize;
return INVALID_APID;
}
}
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/**
* This should normally never fail. However, this function is also responsible for incrementing
* the packet sequence count why it is called here.
*/
result = checkPacketSequenceCount(start);
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return result;
}
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ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
ReturnValue_t result = RETURN_OK;
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switch (id) {
case PLOC_MPSOC::ACK_REPORT: {
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result = handleAckReport(packet);
break;
}
case (PLOC_MPSOC::TM_MEMORY_READ_REPORT): {
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result = handleMemoryReadReport(packet);
break;
}
case (PLOC_MPSOC::EXE_REPORT): {
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result = handleExecutionReport(packet);
break;
}
default: {
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sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
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}
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return result;
}
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void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {}
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uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
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void PlocMPSoCHandler::setModeNormal() { mode = MODE_NORMAL; }
ReturnValue_t PlocMPSoCHandler::prepareTcMemWriteCommand(const uint8_t* commandData,
size_t commandDataLen) {
const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16 |
*(commandData + 2) << 8 | *(commandData + 3);
const uint32_t memoryData = *(commandData + 4) << 24 | *(commandData + 5) << 16 |
*(commandData + 6) << 8 | *(commandData + 7);
packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
PLOC_MPSOC::TcMemWrite tcMemWrite(memoryAddress, memoryData, packetSequenceCount);
if (tcMemWrite.getFullSize() > PLOC_MPSOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocMPSoCHandler::prepareTcMemWriteCommand: Command too big" << std::endl;
return RETURN_FAILED;
}
memcpy(commandBuffer, tcMemWrite.getWholeData(), tcMemWrite.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcMemWrite.getFullSize();
nextReplyId = PLOC_MPSOC::ACK_REPORT;
return RETURN_OK;
}
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ReturnValue_t PlocMPSoCHandler::prepareTcMemReadCommand(const uint8_t* commandData,
size_t commandDataLen) {
const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16 |
*(commandData + 2) << 8 | *(commandData + 3);
packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
PLOC_MPSOC::TcMemRead tcMemRead(memoryAddress, packetSequenceCount);
if (tcMemRead.getFullSize() > PLOC_MPSOC::MAX_COMMAND_SIZE) {
sif::debug << "PlocMPSoCHandler::prepareTcMemReadCommand: Command too big" << std::endl;
return RETURN_FAILED;
}
memcpy(commandBuffer, tcMemRead.getWholeData(), tcMemRead.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcMemRead.getFullSize();
nextReplyId = PLOC_MPSOC::ACK_REPORT;
return RETURN_OK;
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}
ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
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uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
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uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
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if (receivedCrc != recalculatedCrc) {
return CRC_FAILURE;
}
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return RETURN_OK;
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}
ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
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ReturnValue_t result = RETURN_OK;
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result = verifyPacket(data, PLOC_MPSOC::SIZE_ACK_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = PLOC_MPSOC::NONE;
replyRawReplyIfnotWiretapped(data, PLOC_MPSOC::SIZE_ACK_REPORT);
triggerEvent(CRC_FAILURE_EVENT);
sendFailureReport(PLOC_MPSOC::ACK_REPORT, CRC_FAILURE);
disableAllReplies();
return IGNORE_REPLY_DATA;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case PLOC_MPSOC::APID_ACK_FAILURE: {
// TODO: Interpretation of status field in acknowledgment report
sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(ACK_FAILURE, commandId);
}
sendFailureReport(PLOC_MPSOC::ACK_REPORT, RECEIVED_ACK_FAILURE);
disableAllReplies();
nextReplyId = PLOC_MPSOC::NONE;
result = IGNORE_REPLY_DATA;
break;
}
case PLOC_MPSOC::APID_ACK_SUCCESS: {
setNextReplyId();
break;
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}
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default: {
sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
result = RETURN_FAILED;
break;
}
}
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return result;
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}
ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
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ReturnValue_t result = RETURN_OK;
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result = verifyPacket(data, PLOC_MPSOC::SIZE_EXE_REPORT);
if (result == CRC_FAILURE) {
sif::error << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = PLOC_MPSOC::NONE;
return result;
}
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uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
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switch (apid) {
case (PLOC_MPSOC::APID_EXE_SUCCESS): {
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break;
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}
case (PLOC_MPSOC::APID_EXE_FAILURE): {
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// TODO: Interpretation of status field in execution report
sif::error << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(EXE_FAILURE, commandId);
} else {
sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
}
sendFailureReport(PLOC_MPSOC::EXE_REPORT, RECEIVED_EXE_FAILURE);
disableExeReportReply();
result = IGNORE_REPLY_DATA;
break;
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}
default: {
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sif::error << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
result = RETURN_FAILED;
break;
}
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}
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nextReplyId = PLOC_MPSOC::NONE;
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return result;
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}
ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
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ReturnValue_t result = RETURN_OK;
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result = verifyPacket(data, PLOC_MPSOC::SIZE_TM_MEM_READ_REPORT);
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if (result == CRC_FAILURE) {
sif::error << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
<< std::endl;
}
/** Send data to commanding queue */
handleDeviceTM(data + PLOC_MPSOC::DATA_FIELD_OFFSET, PLOC_MPSOC::SIZE_MEM_READ_REPORT_DATA,
PLOC_MPSOC::TM_MEMORY_READ_REPORT);
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nextReplyId = PLOC_MPSOC::EXE_REPORT;
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return result;
}
ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
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uint8_t expectedReplies, bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
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uint8_t enabledReplies = 0;
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switch (command->first) {
case PLOC_MPSOC::TC_MEM_WRITE:
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enabledReplies = 2;
break;
case PLOC_MPSOC::TC_MEM_READ: {
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enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_MPSOC::TM_MEMORY_READ_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_MPSOC::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
}
break;
}
default:
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sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
/**
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_MPSOC::ACK_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_MPSOC::ACK_REPORT << " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_MPSOC::EXE_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_MPSOC::EXE_REPORT << " not in replyMap" << std::endl;
}
return RETURN_OK;
}
void PlocMPSoCHandler::setNextReplyId() {
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switch (getPendingCommand()) {
case PLOC_MPSOC::TC_MEM_READ:
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nextReplyId = PLOC_MPSOC::TM_MEMORY_READ_REPORT;
break;
default:
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/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = PLOC_MPSOC::EXE_REPORT;
break;
}
}
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size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
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if (nextReplyId == PLOC_MPSOC::NONE) {
return replyLen;
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}
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DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles == 0) {
/* Reply inactive */
return replyLen;
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}
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replyLen = iter->second.replyLen;
} else {
sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
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return replyLen;
}
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void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
}
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}
void PlocMPSoCHandler::disableAllReplies() {
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DeviceReplyMap::iterator iter;
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/* Disable ack reply */
iter = deviceReplyMap.find(PLOC_MPSOC::ACK_REPORT);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
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DeviceCommandId_t commandId = getPendingCommand();
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/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case PLOC_MPSOC::TC_MEM_WRITE:
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break;
case PLOC_MPSOC::TC_MEM_READ: {
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iter = deviceReplyMap.find(PLOC_MPSOC::TM_MEMORY_READ_REPORT);
info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
break;
}
default: {
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sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
<< std::endl;
break;
}
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}
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/* We must always disable the execution report reply here */
disableExeReportReply();
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}
void PlocMPSoCHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
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DeviceReplyIter iter = deviceReplyMap.find(replyId);
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if (iter == deviceReplyMap.end()) {
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
return;
}
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DeviceCommandInfo* info = &(iter->second.command->second);
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if (info == nullptr) {
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply has no active command" << std::endl;
return;
}
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if (info->sendReplyTo != NO_COMMANDER) {
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
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}
void PlocMPSoCHandler::disableExeReportReply() {
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DeviceReplyIter iter = deviceReplyMap.find(PLOC_MPSOC::EXE_REPORT);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
/* Expected replies is set to one here. The value will set to 0 in replyToReply() */
info->command->second.expectedReplies = 0;
}
ReturnValue_t PlocMPSoCHandler::checkPacketSequenceCount(const uint8_t* data) {
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uint16_t receivedSequenceCount = (*(data + 2) << 8 | *(data + 3)) & PACKET_SEQUENCE_COUNT_MASK;
uint16_t expectedPacketSequenceCount = ((packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK);
if (receivedSequenceCount != expectedPacketSequenceCount) {
sif::debug << "PlocMPSoCHandler::checkPacketSequenceCount: Packet sequence count mismatch. "
<< std::endl;
sif::debug << "Received sequence count: " << receivedSequenceCount << ". OBSW sequence "
<< "count: " << expectedPacketSequenceCount << std::endl;
}
packetSequenceCount = receivedSequenceCount;
return RETURN_OK;
}