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eive/eive-obsw
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it is getting annoying again

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This commit is contained in:
Robin Müller 2023-05-16 18:41:04 +02:00
parent 4ba9ebf58f
commit 90b7f069dc
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
4 changed files with 136 additions and 81 deletions
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17
linux/payload/PlocMpsocHandler.cpp
View File

@ -136,7 +136,6 @@ ReturnValue_t PlocMpsocHandler::executeAction(ActionId_t actionId, MessageQueueI
if (result != returnvalue::OK) {
return result;
}
specialComHelper->setSequenceCount(&sequenceCount);
result = specialComHelper->startFlashWrite(flashWritePusCmd.getObcFile(),
flashWritePusCmd.getMPSoCFile());
if (result != returnvalue::OK) {
@ -151,7 +150,6 @@ ReturnValue_t PlocMpsocHandler::executeAction(ActionId_t actionId, MessageQueueI
if (result != returnvalue::OK) {
return result;
}
specialComHelper->setSequenceCount(&sequenceCount);
result = specialComHelper->startFlashRead(flashReadPusCmd.getObcFile(),
flashReadPusCmd.getMPSoCFile(),
flashReadPusCmd.getReadSize());
@ -226,9 +224,8 @@ void PlocMpsocHandler::doShutDown() {
uartIsolatorSwitch.pullLow();
commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
powerState = PowerState::SHUTDOWN;
break;
return;
case PowerState::OFF:
sequenceCount = 0;
hkReport.setReportingEnabled(false);
setMode(_MODE_POWER_DOWN);
break;
@ -236,13 +233,19 @@ void PlocMpsocHandler::doShutDown() {
break;
}
#else
sequenceCount = 0;
uartIsolatorSwitch.pullLow();
hkReport.setReportingEnabled(false);
setMode(_MODE_POWER_DOWN);
powerState = PowerState::OFF;
#endif
#endif
if (specialComHelper != nullptr) {
specialComHelper->stopProcess();
}
hkReport.setReportingEnabled(false);
setMode(_MODE_POWER_DOWN);
commandIsPending = false;
sequenceCount = 0;
plocMPSoCHelperExecuting = false;
startupState = StartupState::IDLE;
}

177
linux/payload/PlocMpsocSpecialComHelper.cpp
View File

@ -1,5 +1,7 @@
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/payload/PlocMpsocSpecialComHelper.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
@ -40,16 +42,15 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
#endif
switch (internalState) {
case InternalState::IDLE: {
sif::debug << "ploc mpsoc helper idle" << std::endl;
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED);
triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
}
internalState = InternalState::IDLE;
break;
@ -57,9 +58,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL);
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
} else {
triggerEvent(MPSOC_FLASH_READ_FAILED);
triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
}
internalState = InternalState::IDLE;
break;
@ -155,13 +156,18 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
(*sequenceCount)++;
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
result = tc.buildPacket(fileBuf.data(), dataLength);
result = tc.setPayload(fileBuf.data(), dataLength);
if (result != returnvalue::OK) {
flashfclose();
return result;
}
result = tc.finishPacket();
if (result != returnvalue::OK) {
flashfclose();
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(tc);
if (result != returnvalue::OK) {
flashfclose();
@ -205,7 +211,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
flashfclose();
return FILE_READ_ERROR;
}
(*sequenceCount)++;
mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
result = flashReadRequest.setPayload(nextReadSize);
if (result != returnvalue::OK) {
@ -219,15 +224,11 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
flashfclose();
return result;
}
result = handlePacketTransmissionFlashRead(flashReadRequest);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
flashfclose();
return result;
}
result = handleFlashReadReply(ofile, nextReadSize);
(*sequenceCount)++;
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
sif::debug << "flash close" << std::endl;
flashfclose();
return result;
}
@ -239,7 +240,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(mpsoc::FileAccessMode mode) {
spParams.buf = commandBuffer;
(*sequenceCount)++;
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
if (result != returnvalue::OK) {
@ -249,6 +249,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(mpsoc::FileAccessMode mode)
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(flashFopen);
if (result != returnvalue::OK) {
return result;
@ -258,12 +259,22 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(mpsoc::FileAccessMode mode)
ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
spParams.buf = commandBuffer;
(*sequenceCount)++;
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
return handlePacketTransmissionNoReply(flashFclose);
ReturnValue_t result = flashFclose.finishPacket();
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(flashFclose);
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc) {
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc,
std::ofstream& ofile,
size_t expectedReadLen) {
ReturnValue_t result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
@ -272,12 +283,29 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
if (result != returnvalue::OK) {
return result;
}
result = handleTmReception(ccsds::HEADER_LEN + mpsoc::FLASH_READ_MIN_OVERHEAD + tc.readSize +
mpsoc::CRC_SIZE);
// ccsds::HEADER_LEN + mpsoc::FLASH_READ_MIN_OVERHEAD + tc.readSize + mpsoc::CRC_SIZE
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
return handleExe();
// We have the nominal case where the flash read report appears first, or the case where we
// get an EXE failure immediately.
if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
result = handleFlashReadReply(ofile, expectedReadLen);
if (result != returnvalue::OK) {
return result;
}
return handleExe();
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << spReader.getApid()
<< std::endl;
}
return returnvalue::FAILED;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
@ -294,7 +322,6 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S
ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
arrayprinter::print(tc.getFullPacket(), tc.getFullPacketLen());
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
@ -306,12 +333,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception(mpsoc::SIZE_ACK_REPORT);
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
result = checkReceivedTm(tmPacket);
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
@ -327,7 +354,7 @@ void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& rea
uint16_t apid = reader.getApid();
if (apid == mpsoc::apid::ACK_FAILURE) {
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
} else {
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@ -339,74 +366,93 @@ void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& rea
ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception(mpsoc::SIZE_EXE_REPORT);
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
ploc::SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
result = checkReceivedTm(tmPacket);
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = tmPacket.getApid();
if (apid != mpsoc::apid::EXE_SUCCESS) {
handleExeApidFailure(tmPacket);
uint16_t apid = spReader.getApid();
if (apid == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
return returnvalue::FAILED;
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleExeApidFailure(const ploc::SpTmReader& reader) {
uint16_t apid = reader.getApid();
if (apid == mpsoc::apid::EXE_FAILURE) {
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
sif::warning << "MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
void PlocMpsocSpecialComHelper::handleExeFailure() {
uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
}
ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception(size_t remainingBytes) {
ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
ReturnValue_t result = returnvalue::OK;
tmCountdown.resetTimer();
size_t readBytes = 0;
size_t currentBytes = 0;
for (int retries = 0; retries < RETRIES; retries++) {
result = receive(tmBuf.data() + readBytes, &currentBytes, remainingBytes);
uint32_t usleepDelay = 5;
size_t fullPacketLen = 0;
while (true) {
if (tmCountdown.hasTimedOut()) {
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
return returnvalue::FAILED;
}
result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
if (result != returnvalue::OK) {
return result;
}
spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
fullPacketLen = spReader.getFullPacketLen();
readBytes += currentBytes;
remainingBytes = remainingBytes - currentBytes;
if (remainingBytes == 0) {
if (readBytes == 6) {
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
if (remainingBytes != 0) {
sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
sif::debug << "recvd first 6 bytes" << std::endl;
while (true) {
if (tmCountdown.hasTimedOut()) {
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
return returnvalue::FAILED;
}
result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
readBytes += currentBytes;
if (fullPacketLen == readBytes) {
sif::debug << "recvd full " << fullPacketLen << std::endl;
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofile,
size_t expectedReadLen) {
SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
ReturnValue_t result = checkReceivedTm(tmPacket);
ReturnValue_t result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = tmPacket.getApid();
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
return result;
}
const uint8_t* packetData = tmPacket.getPacketData();
size_t deserDummy = tmPacket.getPacketDataLen() - mpsoc::CRC_SIZE;
const uint8_t* packetData = spReader.getPacketData();
size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
uint32_t receivedReadLen = 0;
std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 12)) {
@ -462,21 +508,20 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm(SpTmReader& reader) {
ReturnValue_t result = reader.checkSize();
ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
ReturnValue_t result = spReader.checkSize();
if (result != returnvalue::OK) {
sif::error << "PlocMPSoCHelper::handleTmReception: Size check on received TM failed"
<< std::endl;
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
triggerEvent(MPSOC_TM_SIZE_ERROR);
return result;
}
reader.checkCrc();
spReader.checkCrc();
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
return result;
}
uint16_t recvSeqCnt = reader.getSequenceCount();
uint16_t recvSeqCnt = spReader.getSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
@ -486,8 +531,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm(SpTmReader& reader) {
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t* readBytes,
size_t requestBytes) {
ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
size_t* readBytes) {
ReturnValue_t result = returnvalue::OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);

15
linux/payload/PlocMpsocSpecialComHelper.h
View File

@ -75,6 +75,7 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW);
static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW);
static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO);
static const Event MPSOC_READ_TIMEOUT = MAKE_EVENT(17, severity::LOW);
enum FlashReadErrorType : uint32_t {
FLASH_READ_APID_ERROR = 0,
@ -157,6 +158,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
Countdown tmCountdown = Countdown(5000);
std::array<uint8_t, mpsoc::SP_MAX_DATA_SIZE> fileBuf{};
std::array<uint8_t, mpsoc::MAX_REPLY_SIZE> tmBuf{};
@ -171,6 +174,7 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
CookieIF* comCookie = nullptr;
// Sequence count, must be set by Ploc MPSoC Handler
SourceSequenceCounter* sequenceCount = nullptr;
ploc::SpTmReader spReader;
void resetHelper();
ReturnValue_t performFlashWrite();
@ -178,18 +182,19 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
ReturnValue_t flashfopen(mpsoc::FileAccessMode mode);
ReturnValue_t flashfclose();
ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc);
ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc);
ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc, std::ofstream& ofile,
size_t expectedReadLen);
ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen);
ReturnValue_t sendCommand(ploc::SpTcBase& tc);
ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
ReturnValue_t receive(uint8_t* data, size_t requestBytes, size_t* readBytes);
ReturnValue_t handleAck();
ReturnValue_t handleExe();
ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile);
ReturnValue_t fileCheck(std::string obcFile);
void handleAckApidFailure(const ploc::SpTmReader& reader);
void handleExeApidFailure(const ploc::SpTmReader& reader);
ReturnValue_t handleTmReception(size_t remainingBytes);
ReturnValue_t checkReceivedTm(ploc::SpTmReader& reader);
void handleExeFailure();
ReturnValue_t handleTmReception();
ReturnValue_t checkReceivedTm();
};
#endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */

8
linux/payload/plocMpsocHelpers.h
View File

@ -229,7 +229,7 @@ class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
virtual ~TcBase() = default;
// Initial length field of space packet. Will always be updated when packet is created.
static const uint16_t INIT_LENGTH = 2;
static const uint16_t INIT_LENGTH = CRC_SIZE;
/**
* @brief Constructor
@ -391,7 +391,9 @@ class FlashFopen : public TcBase {
class FlashFclose : public TcBase {
public:
FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {}
: TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
spParams.setFullPayloadLen(CRC_SIZE);
}
};
/**
@ -402,7 +404,7 @@ class TcFlashWrite : public TcBase {
TcFlashWrite(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_FLASHWRITE, sequenceCount) {}
ReturnValue_t buildPacket(const uint8_t* writeData, uint32_t writeLen_) {
ReturnValue_t setPayload(const uint8_t* writeData, uint32_t writeLen_) {
ReturnValue_t result = returnvalue::OK;
writeLen = writeLen_;
if (writeLen > SP_MAX_DATA_SIZE) {