eive-obsw/mission/devices/PlocHandler.cpp

#include "PlocHandler.h"
#include "OBSWConfig.h"

#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>

PlocHandler::PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
        DeviceHandlerBase(objectId, comIF, comCookie) {
    if (comCookie == NULL) {
        sif::error << "PlocHandler: Invalid com cookie" << std::endl;
    }
}

PlocHandler::~PlocHandler() {
}


void PlocHandler::doStartUp(){
	if(mode == _MODE_START_UP){
		setMode(MODE_ON);
	}
}

void PlocHandler::doShutDown(){

}

ReturnValue_t PlocHandler::buildNormalDeviceCommand(
		DeviceCommandId_t * id) {
    return RETURN_OK;
}

ReturnValue_t PlocHandler::buildTransitionDeviceCommand(
		DeviceCommandId_t * id){
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PlocHandler::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
		size_t commandDataLen) {
	switch(deviceCommand) {
	case(PLOC::TC_MEM_WRITE): {
	    return prepareTcMemWriteCommand(commandData, commandDataLen);
	}
	case(PLOC::TC_MEM_READ): {
	    return prepareTcMemReadCommand(commandData, commandDataLen);
	}
	default:
	    sif::debug << "PlocHandler::buildCommandFromCommand: Command not implemented" << std::endl;
		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	return HasReturnvaluesIF::RETURN_FAILED;
}

void PlocHandler::fillCommandAndReplyMap() {
    this->insertInCommandMap(PLOC::TC_MEM_WRITE);
    this->insertInCommandMap(PLOC::TC_MEM_READ);
    this->insertInReplyMap(PLOC::ACK_REPORT, 1, nullptr, PLOC::SIZE_ACK_REPORT);
    this->insertInReplyMap(PLOC::EXE_REPORT, 3, nullptr, PLOC::SIZE_EXE_REPORT);
    this->insertInReplyMap(PLOC::TM_MEMORY_READ_REPORT, 2, nullptr, PLOC::SIZE_TM_MEM_READ_REPORT);
}

ReturnValue_t PlocHandler::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::APID_ACK_SUCCESS):
        *foundLen = PLOC::SIZE_ACK_REPORT;
	    *foundId = PLOC::ACK_REPORT;
		break;
	case(PLOC::APID_ACK_FAILURE):
        *foundLen = PLOC::SIZE_ACK_REPORT;
	    *foundId = PLOC::ACK_REPORT;
		break;
	case(PLOC::APID_TM_MEMORY_READ_REPORT):
        *foundLen = PLOC::SIZE_TM_MEM_READ_REPORT;
	    *foundId = PLOC::TM_MEMORY_READ_REPORT;
	    break;
	case(PLOC::APID_EXE_SUCCESS):
        *foundLen = PLOC::SIZE_EXE_REPORT;
	    *foundId = PLOC::EXE_REPORT;
		break;
	case(PLOC::APID_EXE_FAILURE):
        *foundLen = PLOC::SIZE_EXE_REPORT;
	    *foundId = PLOC::EXE_REPORT;
	    break;
	default: {
        sif::debug << "PlocHandler::scanForReply: Reply has invalid apid" << std::endl;
        *foundLen = remainingSize;
        return INVALID_APID;
	}
	}

	/**
	 * 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);

    return result;
}

ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
        const uint8_t *packet) {

    ReturnValue_t result = RETURN_OK;

    switch (id) {
    case PLOC::ACK_REPORT: {
        result = handleAckReport(packet);
        break;
    }
    case (PLOC::TM_MEMORY_READ_REPORT): {
        result = handleMemoryReadReport(packet);
        break;
    }
    case (PLOC::EXE_REPORT): {
        result = handleExecutionReport(packet);
        break;
    }
    default: {
        sif::debug << "PlocHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
    }

    return result;
}

void PlocHandler::setNormalDatapoolEntriesInvalid(){

}

uint32_t PlocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
    return 500;
}

ReturnValue_t PlocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
        LocalDataPoolManager& poolManager) {

    return HasReturnvaluesIF::RETURN_OK;
}

void PlocHandler::setModeNormal() {
    mode = MODE_NORMAL;
}

ReturnValue_t PlocHandler::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::TcMemWrite tcMemWrite(memoryAddress, memoryData, packetSequenceCount);
    if (tcMemWrite.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
        sif::debug << "PlocHandler::prepareTcMemWriteCommand: Command too big" << std::endl;
        return RETURN_FAILED;
    }
    memcpy(commandBuffer, tcMemWrite.getWholeData(), tcMemWrite.getFullSize());
    rawPacket = commandBuffer;
    rawPacketLen = tcMemWrite.getFullSize();
    nextReplyId = PLOC::ACK_REPORT;
    return RETURN_OK;
}

ReturnValue_t PlocHandler::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::TcMemRead tcMemRead(memoryAddress, packetSequenceCount);
    if (tcMemRead.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
        sif::debug << "PlocHandler::prepareTcMemReadCommand: Command too big" << std::endl;
        return RETURN_FAILED;
    }
    memcpy(commandBuffer, tcMemRead.getWholeData(), tcMemRead.getFullSize());
    rawPacket = commandBuffer;
    rawPacketLen = tcMemRead.getFullSize();
    nextReplyId = PLOC::ACK_REPORT;

    return RETURN_OK;
}

ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {

    uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);

    uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);

    if (receivedCrc != recalculatedCrc) {
        return CRC_FAILURE;
    }

    return RETURN_OK;
}

ReturnValue_t PlocHandler::handleAckReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC::SIZE_ACK_REPORT);
    if(result == CRC_FAILURE) {
        sif::error << "PlocHandler::handleAckReport: CRC failure" << std::endl;
        nextReplyId = PLOC::NONE;
        replyRawReplyIfnotWiretapped(data, PLOC::SIZE_ACK_REPORT);
        triggerEvent(CRC_FAILURE_EVENT);
        sendFailureReport(PLOC::ACK_REPORT, CRC_FAILURE);
        disableAllReplies();
        return IGNORE_REPLY_DATA;
    }

    uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;

   switch(apid) {
   case PLOC::APID_ACK_FAILURE: {
       //TODO: Interpretation of status field in acknowledgment report
       sif::debug << "PlocHandler::handleAckReport: Received Ack failure report" << std::endl;
       DeviceCommandId_t commandId = getPendingCommand();
       if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
           triggerEvent(ACK_FAILURE, commandId);
       }
       sendFailureReport(PLOC::ACK_REPORT, RECEIVED_ACK_FAILURE);
       disableAllReplies();
       nextReplyId = PLOC::NONE;
       result = IGNORE_REPLY_DATA;
       break;
   }
   case PLOC::APID_ACK_SUCCESS: {
       setNextReplyId();
       break;
   }
   default: {
       sif::debug << "PlocHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
       result = RETURN_FAILED;
       break;
   }
   }

    return result;
}

ReturnValue_t PlocHandler::handleExecutionReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC::SIZE_EXE_REPORT);
    if(result == CRC_FAILURE) {
        sif::error << "PlocHandler::handleExecutionReport: CRC failure" << std::endl;
        nextReplyId = PLOC::NONE;
        return result;
    }

    uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;

    switch (apid) {
    case (PLOC::APID_EXE_SUCCESS): {
        break;
    }
    case (PLOC::APID_EXE_FAILURE): {
        //TODO: Interpretation of status field in execution report
        sif::error << "PlocHandler::handleExecutionReport: Received execution failure report"
                << std::endl;
        DeviceCommandId_t commandId = getPendingCommand();
        if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
            triggerEvent(EXE_FAILURE, commandId);
        }
        else {
            sif::debug << "PlocHandler::handleExecutionReport: Unknown command id" << std::endl;
        }
        sendFailureReport(PLOC::EXE_REPORT, RECEIVED_EXE_FAILURE);
        disableExeReportReply();
        result = IGNORE_REPLY_DATA;
        break;
    }
    default: {
        sif::error << "PlocHandler::handleExecutionReport: Unknown APID" << std::endl;
        result = RETURN_FAILED;
        break;
    }
    }

    nextReplyId = PLOC::NONE;

    return result;
}

ReturnValue_t PlocHandler::handleMemoryReadReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC::SIZE_TM_MEM_READ_REPORT);

    if(result == CRC_FAILURE) {
        sif::error << "PlocHandler::handleMemoryReadReport: Memory read report has invalid crc"
                << std::endl;
    }
    /** Send data to commanding queue */
    handleDeviceTM(data + PLOC::DATA_FIELD_OFFSET, PLOC::SIZE_MEM_READ_REPORT_DATA,
            PLOC::TM_MEMORY_READ_REPORT);

    nextReplyId = PLOC::EXE_REPORT;

    return result;
}

ReturnValue_t PlocHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
                uint8_t expectedReplies, bool useAlternateId,
                DeviceCommandId_t alternateReplyID) {

    ReturnValue_t result = RETURN_OK;

    uint8_t enabledReplies = 0;

    switch (command->first) {
    case PLOC::TC_MEM_WRITE:
        enabledReplies = 2;
        break;
    case PLOC::TC_MEM_READ: {
        enabledReplies = 3;
        result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
                PLOC::TM_MEMORY_READ_REPORT);
        if (result != RETURN_OK) {
            sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id "
                    << PLOC::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
        }
        break;
    }
    default:
        sif::debug << "PlocHandler::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::ACK_REPORT);
    if (result != RETURN_OK) {
        sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id " << PLOC::ACK_REPORT
                << " not in replyMap" << std::endl;
    }

    result = DeviceHandlerBase::enableReplyInReplyMap(command,
                    enabledReplies, true, PLOC::EXE_REPORT);
    if (result != RETURN_OK) {
        sif::debug << "PlocHandler::enableReplyInReplyMap: Reply with id " << PLOC::EXE_REPORT
                << " not in replyMap" << std::endl;
    }

    return RETURN_OK;
}

void PlocHandler::setNextReplyId() {
    switch(getPendingCommand()) {
    case PLOC::TC_MEM_READ:
        nextReplyId = PLOC::TM_MEMORY_READ_REPORT;
        break;
    default:
        /* If no telemetry is expected the next reply is always the execution report */
        nextReplyId = PLOC::EXE_REPORT;
        break;
    }
}
size_t PlocHandler::getNextReplyLength(DeviceCommandId_t commandId){

    size_t replyLen = 0;

    if (nextReplyId == PLOC::NONE) {
        return replyLen;
    }

    DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
    if (iter != deviceReplyMap.end()) {
        if (iter->second.delayCycles == 0) {
            /* Reply inactive */
            return replyLen;
        }
        replyLen = iter->second.replyLen;
    }
    else {
        sif::debug << "PlocHandler::getNextReplyLength: No entry for reply with reply id "
                << std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
    }

    return replyLen;
}

void PlocHandler::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 << "PlocHandler::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 << "PlocHandler::handleDeviceTM: Failed to report data" << std::endl;
    }
}

void PlocHandler::disableAllReplies() {

    DeviceReplyMap::iterator iter;

    /* Disable ack reply */
    iter = deviceReplyMap.find(PLOC::ACK_REPORT);
    DeviceReplyInfo *info = &(iter->second);
    info->delayCycles = 0;
    info->command = deviceCommandMap.end();

    DeviceCommandId_t commandId = getPendingCommand();

    /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
    switch (commandId) {
    case PLOC::TC_MEM_WRITE:
        break;
    case PLOC::TC_MEM_READ: {
        iter = deviceReplyMap.find(PLOC::TM_MEMORY_READ_REPORT);
        info = &(iter->second);
        info->delayCycles = 0;
        info->command = deviceCommandMap.end();
        break;
    }
    default: {
        sif::debug << "PlocHandler::disableAllReplies: Unknown command id" << commandId
            << std::endl;
        break;
    }
    }

    /* We must always disable the execution report reply here */
    disableExeReportReply();
}

void PlocHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {

    DeviceReplyIter iter = deviceReplyMap.find(replyId);

    if (iter == deviceReplyMap.end()) {
        sif::debug << "PlocHandler::sendFailureReport: Reply not in reply map" << std::endl;
        return;
    }

    DeviceCommandInfo* info = &(iter->second.command->second);

    if (info == nullptr) {
        sif::debug << "PlocHandler::sendFailureReport: Reply has no active command" << std::endl;
        return;
    }

    if (info->sendReplyTo != NO_COMMANDER) {
        actionHelper.finish(false, info->sendReplyTo, iter->first, status);
    }
    info->isExecuting = false;
}

void PlocHandler::disableExeReportReply() {
    DeviceReplyIter iter = deviceReplyMap.find(PLOC::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 PlocHandler::checkPacketSequenceCount(const uint8_t* data) {
    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
                << "PlocHandler::checkPacketSequenceCount: Packet sequence count mismatch. "
                << std::endl;
        sif::debug << "Received sequence count: " << receivedSequenceCount << ". OBSW sequence "
                << "count: " << expectedPacketSequenceCount << std::endl;
    }
    packetSequenceCount = receivedSequenceCount;
    return RETURN_OK;
}