Merge pull request 'Move CFDP handler to mission code' (#586) from move_cfdp_handler into develop

Reviewed-on: #586
Reviewed-by: Michael Steinert <steinertm@irs.uni-stuttgart.de>

fsfw

@@ -1 +1 @@
-Subproject commit 285d327b97514946f0714e477289f67ee8bd413f
+Subproject commit ffa2fa477f105cc876264335d5b25fc9b174a181

mission/cfdp/CMakeLists.txt

@@ -1 +1,3 @@
 
+target_sources(
+  ${LIB_EIVE_MISSION} PRIVATE CfdpHandler.cpp)

mission/cfdp/CfdpHandler.cpp

@@ -0,0 +1,134 @@
+#include "CfdpHandler.h"
+
+#include "fsfw/cfdp/pdu/AckPduReader.h"
+#include "fsfw/cfdp/pdu/PduHeaderReader.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+using namespace returnvalue;
+using namespace cfdp;
+
+CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg)
+    : SystemObject(fsfwParams.objectId),
+      msgQueue(fsfwParams.msgQueue),
+      destHandler(
+          DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler),
+                            cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList,
+                            cfdpCfg.lostSegmentsList),
+          FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore,
+                     fsfwParams.tmStore)) {
+  destHandler.setMsgQueue(msgQueue);
+}
+
+[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; }
+
+[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const {
+  return destHandler.getDestHandlerParams().cfg.localId.getValue();
+}
+
+[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue.getId(); }
+
+ReturnValue_t CfdpHandler::initialize() {
+  ReturnValue_t result = destHandler.initialize();
+  if (result != OK) {
+    return result;
+  }
+  tcStore = destHandler.getTcStore();
+  tmStore = destHandler.getTmStore();
+
+  return SystemObject::initialize();
+}
+
+ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) {
+  // TODO: Receive TC packets and route them to source and dest handler, depending on which is
+  //       correct or more appropriate
+  ReturnValue_t status;
+  ReturnValue_t result = OK;
+  TmTcMessage tmtcMsg;
+  for (status = msgQueue.receiveMessage(&tmtcMsg); status == returnvalue::OK;
+       status = msgQueue.receiveMessage(&tmtcMsg)) {
+    result = handleCfdpPacket(tmtcMsg);
+    if (result != OK) {
+      status = result;
+    }
+  }
+  auto& fsmRes = destHandler.performStateMachine();
+  // TODO: Error handling?
+  while (fsmRes.callStatus == CallStatus::CALL_AGAIN) {
+    destHandler.performStateMachine();
+    // TODO: Error handling?
+  }
+  return status;
+}
+
+ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) {
+  auto accessorPair = tcStore->getData(msg.getStorageId());
+  if (accessorPair.first != OK) {
+    return accessorPair.first;
+  }
+  PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size());
+  ReturnValue_t result = reader.parseData();
+  if (result != returnvalue::OK) {
+    return INVALID_PDU_FORMAT;
+  }
+  // The CFDP distributor should have taken care of ensuring the destination ID is correct
+  PduType type = reader.getPduType();
+  // Only the destination handler can process these PDUs
+  if (type == PduType::FILE_DATA) {
+    // Disable auto-deletion of packet
+    accessorPair.second.release();
+    PacketInfo info(type, msg.getStorageId());
+    result = destHandler.passPacket(info);
+  } else {
+    // Route depending on PDU type and directive type if applicable. It retrieves directive type
+    // from the raw stream for better performance (with sanity and directive code check).
+    // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
+    // procedure.
+
+    // PDU header only. Invalid supplied data. A directive packet should have a valid data field
+    // with at least one byte being the directive code
+    const uint8_t* pduDataField = reader.getPduDataField();
+    if (pduDataField == nullptr) {
+      return INVALID_PDU_FORMAT;
+    }
+    if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) {
+      return INVALID_DIRECTIVE_FIELD;
+    }
+    auto directive = static_cast<FileDirective>(pduDataField[0]);
+
+    auto passToDestHandler = [&]() {
+      accessorPair.second.release();
+      PacketInfo info(type, msg.getStorageId(), directive);
+      result = destHandler.passPacket(info);
+    };
+    auto passToSourceHandler = [&]() {
+
+    };
+    if (directive == FileDirective::METADATA or directive == FileDirective::EOF_DIRECTIVE or
+        directive == FileDirective::PROMPT) {
+      // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
+      // the destination handler
+      passToDestHandler();
+    } else if (directive == FileDirective::FINISH or directive == FileDirective::NAK or
+               directive == FileDirective::KEEP_ALIVE) {
+      // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
+      // the source handler
+      passToSourceHandler();
+    } else if (directive == FileDirective::ACK) {
+      // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
+      // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
+      // the source handler, for a Finished PDU, it is passed to the destination handler.
+      FileDirective ackedDirective;
+      if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) {
+        return INVALID_ACK_DIRECTIVE_FIELDS;
+      }
+      if (ackedDirective == FileDirective::EOF_DIRECTIVE) {
+        passToSourceHandler();
+      } else if (ackedDirective == FileDirective::FINISH) {
+        passToDestHandler();
+      }
+    }
+  }
+  return result;
+}

mission/cfdp/CfdpHandler.h

@@ -0,0 +1,71 @@
+#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H
+
+#include <utility>
+
+#include "fsfw/cfdp/handler/DestHandler.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+
+struct FsfwHandlerParams {
+  FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest,
+                    StorageManagerIF& tcStore, StorageManagerIF& tmStore, MessageQueueIF& msgQueue)
+      : objectId(objectId),
+        vfs(vfs),
+        packetDest(packetDest),
+        tcStore(tcStore),
+        tmStore(tmStore),
+        msgQueue(msgQueue) {}
+  object_id_t objectId{};
+  HasFileSystemIF& vfs;
+  AcceptsTelemetryIF& packetDest;
+  StorageManagerIF& tcStore;
+  StorageManagerIF& tmStore;
+  MessageQueueIF& msgQueue;
+};
+
+struct CfdpHandlerCfg {
+  CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg,
+                 cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler,
+                 cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList,
+                 cfdp::RemoteConfigTableIF& remoteCfgProvider)
+      : id(std::move(localId)),
+        indicCfg(indicationCfg),
+        packetInfoList(packetInfo),
+        lostSegmentsList(lostSegmentsList),
+        remoteCfgProvider(remoteCfgProvider),
+        userHandler(userHandler),
+        faultHandler(userFaultHandler) {}
+
+  cfdp::EntityId id;
+  cfdp::IndicationCfg indicCfg;
+  cfdp::PacketInfoListBase& packetInfoList;
+  cfdp::LostSegmentsListBase& lostSegmentsList;
+  cfdp::RemoteConfigTableIF& remoteCfgProvider;
+  cfdp::UserBase& userHandler;
+  cfdp::FaultHandlerBase& faultHandler;
+};
+
+class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF {
+ public:
+  explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg);
+
+  [[nodiscard]] const char* getName() const override;
+  [[nodiscard]] uint32_t getIdentifier() const override;
+  [[nodiscard]] MessageQueueId_t getRequestQueue() const override;
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+
+ private:
+  MessageQueueIF& msgQueue;
+  cfdp::DestHandler destHandler;
+  StorageManagerIF* tcStore = nullptr;
+  StorageManagerIF* tmStore = nullptr;
+
+  ReturnValue_t handleCfdpPacket(TmTcMessage& msg);
+};
+
+#endif  // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H

mission/genericFactory.cpp

@@ -1,5 +1,5 @@
 #include <fsfw/cfdp/CfdpDistributor.h>
-#include <fsfw/cfdp/handler/CfdpHandler.h>
+#include <mission/cfdp/CfdpHandler.h>
 #include <fsfw/cfdp/handler/RemoteConfigTableIF.h>
 #include <fsfw/controller/ControllerBase.h>
 #include <fsfw/controller/ExtendedControllerBase.h>