eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

implemented the last tricky parts

Browse Source
This commit is contained in:
Robin Müller
2022-11-08 16:26:30 +01:00
parent f564fb5c1a
commit 28cd78db96
5 changed files with 297 additions and 264 deletions
Download Patch File Download Diff File Expand all files Collapse all files

364
linux/devices/ploc/PlocSupvUartMan.cpp
View File

@ -29,12 +29,13 @@ using namespace supv;
PlocSupvHelper::PlocSupvHelper(object_id_t objectId)
: SystemObject(objectId),
recRingBuf(4096, true),
decodedRingBuf(1200 * MAX_STORED_DECODED_PACKETS, true),
ipcRingBuf(1200 * MAX_STORED_DECODED_PACKETS, true) {
spParams.maxSize = sizeof(commandBuffer);
resetSpParams();
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
lock = MutexFactory::instance()->createMutex();
ipcLock = MutexFactory::instance()->createMutex();
}
PlocSupvHelper::~PlocSupvHelper() = default;
@ -158,14 +159,14 @@ bool PlocSupvHelper::handleUartReception() {
return false;
}
ReturnValue_t PlocSupvHelper::setComIF(UartComIF* uartComIF_) {
if (uartComIF_ == nullptr) {
sif::warning << "PlocSupvHelper::initialize: Provided invalid uart com if" << std::endl;
return returnvalue::FAILED;
}
uartComIF = uartComIF_;
return returnvalue::OK;
}
// ReturnValue_t PlocSupvHelper::setComIF(UartComIF* uartComIF_) {
// if (uartComIF_ == nullptr) {
// sif::warning << "PlocSupvHelper::initialize: Provided invalid uart com if" << std::endl;
// return returnvalue::FAILED;
// }
// //uartComIF = uartComIF_;
// return returnvalue::OK;
// }
// void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
@ -431,7 +432,8 @@ ReturnValue_t PlocSupvHelper::writeUpdatePackets() {
update.bytesWritten);
return result;
}
result = handlePacketTransmission(packet);
// TODO: Fix
// result = handlePacketTransmission(packet);
if (result != returnvalue::OK) {
triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
update.bytesWritten);
@ -514,7 +516,7 @@ ReturnValue_t PlocSupvHelper::selectMemory() {
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(packet);
result = handlePacketTransmissionNoReply(packet);
if (result != returnvalue::OK) {
return result;
}
@ -530,7 +532,7 @@ ReturnValue_t PlocSupvHelper::prepareUpdate() {
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(packet, PREPARE_UPDATE_EXECUTION_REPORT);
result = handlePacketTransmissionNoReply(packet, PREPARE_UPDATE_EXECUTION_REPORT);
if (result != returnvalue::OK) {
return result;
}
@ -546,140 +548,131 @@ ReturnValue_t PlocSupvHelper::eraseMemory() {
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(eraseMemory, supv::timeout::ERASE_MEMORY);
result = handlePacketTransmissionNoReply(eraseMemory, supv::timeout::ERASE_MEMORY);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocSupvHelper::handlePacketTransmission(ploc::SpTcBase& packet,
uint32_t timeoutExecutionReport) {
ReturnValue_t PlocSupvHelper::handlePacketTransmissionNoReply(supv::TcBase& packet,
uint32_t timeoutExecutionReport) {
ReturnValue_t result = returnvalue::OK;
result = sendCommand(packet);
result = encodeAndSendPacket(packet.getFullPacket(), packet.getFullPacketLen());
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
result = handleExe(timeoutExecutionReport);
if (result != returnvalue::OK) {
return result;
Countdown countdown(timeoutExecutionReport);
bool ackReceived = false;
while (true) {
if (not decodedQueue.empty()) {
size_t packetLen = 0;
decodedQueue.retrieve(&packetLen);
decodedRingBuf.readData(decodedBuf.data(), packetLen);
tmReader.setData(decodedBuf.data(), packetLen);
result = checkReceivedTm();
if (result != returnvalue::OK) {
continue;
}
if (tmReader.getApid() == Apid::TMTC_MAN) {
uint8_t serviceId = tmReader.getServiceId();
int retval = 0;
if (not ackReceived) {
retval = handleAckReception(packet, serviceId, packetLen);
if (retval == 1) {
ackReceived = true;
} else if (retval == -1) {
return returnvalue::FAILED;
}
} else {
retval = handleExeAckReception(packet, serviceId, packetLen);
if (retval == 1) {
break;
} else if (retval == -1) {
return returnvalue::FAILED;
}
}
} else {
pushIpcData(decodedBuf.data(), packetLen);
decodedRingBuf.deleteData(packetLen);
}
} else {
TaskFactory::delayTask(50);
}
if (countdown.hasTimedOut()) {
return result::NO_REPLY_TIMEOUT;
}
}
return returnvalue::OK;
}
ReturnValue_t PlocSupvHelper::sendCommand(ploc::SpTcBase& packet) {
ReturnValue_t result = returnvalue::OK;
rememberApid = packet.getApid();
result = uartComIF->sendMessage(comCookie, packet.getFullPacket(), packet.getFullPacketLen());
if (result != returnvalue::OK) {
sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(SUPV_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(state));
return result;
}
return result;
}
ReturnValue_t PlocSupvHelper::handleAck() {
ReturnValue_t result = returnvalue::OK;
// TODO: Fix
// result = handleTmReception(supv::SIZE_ACK_REPORT);
// if (result != returnvalue::OK) {
// triggerEvent(ACK_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
// sif::warning << "PlocSupvHelper::handleAck: Error in reception of acknowledgment report"
// << std::endl;
// return result;
// }
// supv::AcknowledgmentReport ackReport(tmBuf.data(), tmBuf.size());
// result = checkReceivedTm(ackReport);
// if (result != returnvalue::OK) {
// return result;
// }
// result = ackReport.checkApid();
// if (result != returnvalue::OK) {
// if (result == SupvReturnValuesIF::RECEIVED_ACK_FAILURE) {
// triggerEvent(SUPV_ACK_FAILURE_REPORT, static_cast<uint32_t>(ackReport.getRefApid()));
// } else if (result == SupvReturnValuesIF::INVALID_APID) {
// triggerEvent(SUPV_ACK_INVALID_APID, static_cast<uint32_t>(rememberApid));
// }
// return result;
// }
return result;
}
ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception(supv::SIZE_EXE_REPORT, tmBuf.data(), timeout);
if (result != returnvalue::OK) {
triggerEvent(EXE_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
sif::warning << "PlocSupvHelper::handleExe: Error in reception of execution report"
<< std::endl;
return result;
}
return exeReportHandling();
}
ReturnValue_t PlocSupvHelper::exeReportHandling() {
// TODO: Fix
// supv::ExecutionReport exeReport(tmBuf.data(), tmBuf.size());
//
// ReturnValue_t result = checkReceivedTm(exeReport);
// if (result != returnvalue::OK) {
// return result;
// }
// result = exeReport.checkApid();
// if (result != returnvalue::OK) {
// if (result == SupvReturnValuesIF::RECEIVED_EXE_FAILURE) {
// triggerEvent(SUPV_EXE_FAILURE_REPORT, static_cast<uint32_t>(exeReport.getRefApid()));
// } else if (result == SupvReturnValuesIF::INVALID_APID) {
// triggerEvent(SUPV_EXE_INVALID_APID, static_cast<uint32_t>(rememberApid));
// }
// return result;
// }
return OK;
}
ReturnValue_t PlocSupvHelper::handleTmReception(size_t remainingBytes, uint8_t* readBuf,
uint32_t timeout) {
ReturnValue_t result = returnvalue::OK;
size_t readBytes = 0;
size_t currentBytes = 0;
Countdown countdown(timeout);
if (readBuf == nullptr) {
readBuf = tmBuf.data();
}
while (!countdown.hasTimedOut()) {
result = receive(readBuf + readBytes, &currentBytes, remainingBytes);
int PlocSupvHelper::handleAckReception(supv::TcBase& tc, uint8_t serviceId, size_t packetLen) {
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::ACK) or
serviceId == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
AcknowledgmentReport ackReport(tmReader);
ReturnValue_t result = ackReport.parse();
if (result != returnvalue::OK) {
return result;
triggerEvent(ACK_RECEPTION_FAILURE);
return returnvalue::FAILED;
}
readBytes += currentBytes;
remainingBytes = remainingBytes - currentBytes;
if (remainingBytes == 0) {
break;
if (ackReport.getRefApid() == tc.getApid() and
ackReport.getRefServiceId() == tc.getServiceId()) {
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
return 1;
} else if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
ackReport.printStatusInformation();
triggerEvent(SUPV_ACK_FAILURE_REPORT,
buildApidServiceParam1(ackReport.getRefApid(), ackReport.getRefServiceId()),
ackReport.getStatusCode());
return -1;
}
// Should never happen
return -1;
} else {
pushIpcData(decodedBuf.data(), packetLen);
decodedRingBuf.deleteData(packetLen);
}
}
if (remainingBytes != 0) {
sif::warning << "PlocSupvHelper::handleTmReception: Failed to read " << std::dec
<< remainingBytes << " remaining bytes" << std::endl;
return returnvalue::FAILED;
}
return result;
return 0;
}
ReturnValue_t PlocSupvHelper::checkReceivedTm(ploc::SpTmReader& reader) {
ReturnValue_t result = reader.checkSize();
int PlocSupvHelper::handleExeAckReception(supv::TcBase& tc, uint8_t serviceId, size_t packetLen) {
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK) or
serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
ExecutionReport exeReport(tmReader);
ReturnValue_t result = exeReport.parse();
if (result != returnvalue::OK) {
triggerEvent(EXE_RECEPTION_FAILURE);
return returnvalue::FAILED;
}
if (exeReport.getRefApid() == tc.getApid() and
exeReport.getRefServiceId() == tc.getServiceId()) {
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
return 1;
} else if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
exeReport.printStatusInformation();
triggerEvent(SUPV_EXE_FAILURE_REPORT,
buildApidServiceParam1(exeReport.getRefApid(), exeReport.getRefServiceId()),
exeReport.getStatusCode());
return -1;
}
// Should never happen
return -1;
} else {
pushIpcData(decodedBuf.data(), packetLen);
decodedRingBuf.deleteData(packetLen);
}
}
return 0;
}
ReturnValue_t PlocSupvHelper::checkReceivedTm() {
ReturnValue_t result = tmReader.checkSize();
if (result != returnvalue::OK) {
triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid);
return result;
}
result = reader.checkCrc();
result = tmReader.checkCrc();
if (result != returnvalue::OK) {
triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
return result;
@ -687,30 +680,6 @@ ReturnValue_t PlocSupvHelper::checkReceivedTm(ploc::SpTmReader& reader) {
return result;
}
ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
ReturnValue_t result = returnvalue::OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
triggerEvent(SUPV_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(state)));
return returnvalue::FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
triggerEvent(SUPV_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(state));
return returnvalue::FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
} else {
TaskFactory::delayTask(40);
}
return result;
}
ReturnValue_t PlocSupvHelper::calcImageCrc() {
ReturnValue_t result = returnvalue::OK;
if (update.fullFileSize == 0) {
@ -760,20 +729,64 @@ ReturnValue_t PlocSupvHelper::calcImageCrc() {
ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() {
ReturnValue_t result = returnvalue::OK;
// TODO: Fix
// resetSpParams();
// // Will hold status report for later processing
resetSpParams();
// Will hold status report for later processing
// std::array<uint8_t, 32> statusReportBuf{};
// supv::UpdateStatusReport updateStatusReport(tmBuf.data(), tmBuf.size());
// // Verification of update write procedure
// supv::CheckMemory packet(spParams);
// result = packet.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
// if (result != returnvalue::OK) {
// return result;
// }
// result = sendCommand(packet);
// if (result != returnvalue::OK) {
// return result;
// }
// Verification of update write procedure
supv::CheckMemory packet(spParams);
result = packet.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
if (result != returnvalue::OK) {
return result;
}
result = encodeAndSendPacket(packet.getFullPacket(), packet.getFullPacketLen());
if (result != returnvalue::OK) {
return result;
}
Countdown countdown(timeout::CRC_EXECUTION_TIMEOUT);
bool ackReceived = false;
bool checkReplyReceived = false;
while (true) {
if (not decodedQueue.empty()) {
size_t packetLen = 0;
decodedQueue.retrieve(&packetLen);
decodedRingBuf.readData(decodedBuf.data(), packetLen);
tmReader.setData(decodedBuf.data(), packetLen);
result = checkReceivedTm();
if (result != returnvalue::OK) {
continue;
}
if (tmReader.getApid() == Apid::TMTC_MAN) {
uint8_t serviceId = tmReader.getServiceId();
int retval = 0;
if (not ackReceived) {
retval = handleAckReception(packet, serviceId, packetLen);
if (retval == 1) {
ackReceived = true;
} else if (retval == -1) {
return returnvalue::FAILED;
}
} else if (not checkReplyReceived) {
// if (serviceId == )
retval = handleExeAckReception(packet, serviceId, packetLen);
if (retval == 1) {
break;
} else if (retval == -1) {
return returnvalue::FAILED;
}
}
} else {
pushIpcData(decodedBuf.data(), packetLen);
decodedRingBuf.deleteData(packetLen);
}
} else {
TaskFactory::delayTask(50);
}
if (countdown.hasTimedOut()) {
return result::NO_REPLY_TIMEOUT;
}
}
return returnvalue::OK;
// result = handleAck();
// if (result != returnvalue::OK) {
// return result;
@ -896,7 +909,7 @@ ReturnValue_t PlocSupvHelper::handleEventBufferReception(ploc::SpTmReader& reade
return result;
}
void PlocSupvHelper::resetSpParams() { spParams.buf = commandBuffer; }
void PlocSupvHelper::resetSpParams() { spParams.buf = cmdBuf.data(); }
ReturnValue_t PlocSupvHelper::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
@ -968,8 +981,8 @@ ReturnValue_t PlocSupvHelper::handleRunningLongerRequest() {
ReturnValue_t PlocSupvHelper::encodeAndSendPacket(const uint8_t* sendData, size_t sendLen) {
size_t encodedLen = 0;
hdlc_add_framing(sendData, sendLen, sendBuf.data(), &encodedLen);
size_t bytesWritten = write(serialPort, sendBuf.data(), encodedLen);
hdlc_add_framing(sendData, sendLen, encodedSendBuf.data(), &encodedLen);
size_t bytesWritten = write(serialPort, encodedSendBuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed"
<< std::endl;
@ -980,7 +993,7 @@ ReturnValue_t PlocSupvHelper::encodeAndSendPacket(const uint8_t* sendData, size_
ReturnValue_t PlocSupvHelper::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
MutexGuard mg(lock);
MutexGuard mg(ipcLock);
if (ipcQueue.empty()) {
*size = 0;
return OK;
@ -999,7 +1012,14 @@ ReturnValue_t PlocSupvHelper::tryHdlcParsing() {
ReturnValue_t result = parseRecRingBufForHdlc(bytesRead);
if (result == returnvalue::OK) {
// Packet found, advance read pointer.
ipcRingBuf.writeData(decodedBuf.data(), bytesRead);
if (state == InternalState::LONGER_REQUEST) {
decodedRingBuf.writeData(decodedBuf.data(), bytesRead);
decodedQueue.insert(bytesRead);
} else {
MutexGuard mg(ipcLock);
ipcRingBuf.writeData(decodedBuf.data(), bytesRead);
ipcQueue.insert(bytesRead);
}
recRingBuf.deleteData(bytesRead);
} else if (result != NO_PACKET_FOUND) {
sif::warning << "ScexUartReader::performOperation: Possible packet loss" << std::endl;
@ -1053,10 +1073,28 @@ ReturnValue_t PlocSupvHelper::parseRecRingBufForHdlc(size_t& readSize) {
return NO_PACKET_FOUND;
}
void PlocSupvHelper::pushIpcData(const uint8_t* data, size_t len) {
MutexGuard mg(ipcLock);
ipcRingBuf.writeData(data, len);
ipcQueue.insert(len);
}
uint32_t PlocSupvHelper::buildApidServiceParam1(uint8_t apid, uint8_t serviceId) {
return (apid << 8) | serviceId;
}
void PlocSupvHelper::performUartShutdown() {
tcflush(serialPort, TCIOFLUSH);
// Clear ring buffers
recRingBuf.clear();
decodedRingBuf.clear();
while (not decodedQueue.empty()) {
decodedQueue.pop();
}
MutexGuard mg(ipcLock);
ipcRingBuf.clear();
while (not ipcQueue.empty()) {
ipcQueue.pop();
}
state = InternalState::GO_TO_SLEEP;
}