eive/eive-obsw
eive/eive-obsw
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various improvements and bugfixes
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This commit is contained in:
Robin Müller 2022-11-18 17:25:52 +01:00
parent f545928adc
commit 98fcf06e31
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GPG Key ID: 11D4952C8CCEF814
6 changed files with 39 additions and 46 deletions
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2
linux/devices/devicedefinitions/PlocSupervisorDefinitions.h
View File

@ -501,7 +501,7 @@ class TcBase : public ploc::SpTcBase {
uint16_t getModuleApid() const { return getApid() & APID_MODULE_MASK; }
uint8_t getServiceId() const { return payloadStart[supv::PAYLOAD_OFFSET]; }
uint8_t getServiceId() const { return getPacketData()[TIMESTAMP_LEN]; }
static size_t fullSpDataLenFromPayloadLen(size_t payloadLen) {
return SECONDARY_HEADER_LEN + payloadLen + CRC_LEN;

2
linux/devices/ploc/PlocSupervisorHandler.cpp
View File

@ -138,12 +138,12 @@ void PlocSupervisorHandler::doStartUp() {
if (setTimeDuringStartup) {
if (startupState == StartupState::OFF) {
bootTimeout.resetTimer();
uartManager.start();
startupState = StartupState::BOOTING;
}
if (startupState == StartupState::BOOTING) {
if (bootTimeout.hasTimedOut()) {
uartIsolatorSwitch.pullHigh();
uartManager.start();
startupState = StartupState::SET_TIME;
}
}

67
linux/devices/ploc/PlocSupvUartMan.cpp
View File

@ -101,12 +101,11 @@ ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
lock->unlockMutex();
semaphore->acquire();
while (true) {
// sif::debug << "SUPV UART MAN: Running.." << std::endl;
putTaskToSleep = handleUartReception();
if (putTaskToSleep) {
performUartShutdown();
break;
}
handleUartReception();
lock->lockMutex();
InternalState currentState = state;
lock->unlockMutex();
@ -126,44 +125,39 @@ ReturnValue_t PlocSupvUartManager::performOperation(uint8_t operationCode) {
break;
}
}
if (putTaskToSleep) {
performUartShutdown();
break;
}
}
}
}
bool PlocSupvUartManager::handleUartReception() {
ReturnValue_t PlocSupvUartManager::handleUartReception() {
ReturnValue_t result = OK;
ReturnValue_t status = OK;
ssize_t bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
static_cast<unsigned int>(recBuf.size()));
if (bytesRead == 0) {
{
MutexGuard mg(lock);
if (state == InternalState::GO_TO_SLEEP) {
return true;
}
}
while (result != NO_PACKET_FOUND) {
result = tryHdlcParsing();
if (result != NO_PACKET_FOUND and result != OK) {
status = result;
}
}
} else if (bytesRead < 0) {
sif::warning << "PlocSupvHelper::performOperation: read call failed with error [" << errno
<< ", " << strerror(errno) << "]" << std::endl;
return true;
return FAILED;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::error << "PlocSupvHelper::performOperation: Receive buffer too small for " << bytesRead
<< " bytes" << std::endl;
return FAILED;
} else if (bytesRead > 0) {
if (debugMode) {
sif::info << "Received " << bytesRead << " bytes from the PLOC Supervisor:" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead);
}
recRingBuf.writeData(recBuf.data(), bytesRead);
tryHdlcParsing();
status = tryHdlcParsing();
}
return false;
return status;
}
ReturnValue_t PlocSupvUartManager::startUpdate(std::string file, uint8_t memoryId,
@ -571,23 +565,20 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
bool ackReceived = false;
bool packetWasHandled = false;
while (true) {
do {
result = tryHdlcParsing();
} while (result != NO_PACKET_FOUND);
handleUartReception();
if (not decodedQueue.empty()) {
size_t packetLen = 0;
decodedQueue.retrieve(&packetLen);
decodedRingBuf.readData(decodedBuf.data(), packetLen);
decodedRingBuf.readData(decodedBuf.data(), packetLen, true);
tmReader.setData(decodedBuf.data(), packetLen);
result = checkReceivedTm();
if (result != returnvalue::OK) {
continue;
}
if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
uint8_t serviceId = tmReader.getServiceId();
int retval = 0;
if (not ackReceived) {
retval = handleAckReception(packet, serviceId, packetLen);
retval = handleAckReception(packet, packetLen);
if (retval == 1) {
sif::debug << "ACK received" << std::endl;
ackReceived = true;
@ -596,7 +587,7 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
return returnvalue::FAILED;
}
} else {
retval = handleExeAckReception(packet, serviceId, packetLen);
retval = handleExeAckReception(packet, packetLen);
if (retval == 1) {
sif::debug << "EXE ACK received" << std::endl;
break;
@ -619,7 +610,8 @@ ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
return returnvalue::OK;
}
int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, uint8_t serviceId, size_t packetLen) {
int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {
uint8_t serviceId = tmReader.getServiceId();
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::ACK) or
serviceId == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
AcknowledgmentReport ackReport(tmReader);
@ -650,8 +642,8 @@ int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, uint8_t serviceId,
return 0;
}
int PlocSupvUartManager::handleExeAckReception(supv::TcBase& tc, uint8_t serviceId,
size_t packetLen) {
int PlocSupvUartManager::handleExeAckReception(supv::TcBase& tc, size_t packetLen) {
uint8_t serviceId = tmReader.getServiceId();
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);
@ -660,7 +652,7 @@ int PlocSupvUartManager::handleExeAckReception(supv::TcBase& tc, uint8_t service
triggerEvent(EXE_RECEPTION_FAILURE);
return -1;
}
if (exeReport.getRefModuleApid() == tc.getApid() and
if (exeReport.getRefModuleApid() == tc.getModuleApid() and
exeReport.getRefServiceId() == tc.getServiceId()) {
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
return 1;
@ -688,8 +680,7 @@ ReturnValue_t PlocSupvUartManager::checkReceivedTm() {
triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid);
return result;
}
result = tmReader.checkCrc();
if (result != returnvalue::OK) {
if (not tmReader.verifyCrc()) {
triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
return result;
}
@ -745,12 +736,12 @@ ReturnValue_t PlocSupvUartManager::calcImageCrc() {
ReturnValue_t PlocSupvUartManager::handleCheckMemoryCommand() {
ReturnValue_t result = returnvalue::OK;
resetSpParams();
supv::CheckMemory packet(spParams);
result = packet.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
supv::CheckMemory tcPacket(spParams);
result = tcPacket.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
if (result != returnvalue::OK) {
return result;
}
result = encodeAndSendPacket(packet.getFullPacket(), packet.getFullPacketLen());
result = encodeAndSendPacket(tcPacket.getFullPacket(), tcPacket.getFullPacketLen());
if (result != returnvalue::OK) {
return result;
}
@ -760,14 +751,11 @@ ReturnValue_t PlocSupvUartManager::handleCheckMemoryCommand() {
bool packetWasHandled = false;
bool exeReceived = false;
while (true) {
do {
result = tryHdlcParsing();
} while (result != NO_PACKET_FOUND);
handleUartReception();
if (not decodedQueue.empty()) {
size_t packetLen = 0;
decodedQueue.retrieve(&packetLen);
decodedRingBuf.readData(decodedBuf.data(), packetLen);
decodedRingBuf.readData(decodedBuf.data(), packetLen, true);
tmReader.setData(decodedBuf.data(), packetLen);
result = checkReceivedTm();
if (result != returnvalue::OK) {
@ -775,10 +763,9 @@ ReturnValue_t PlocSupvUartManager::handleCheckMemoryCommand() {
}
packetWasHandled = false;
if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
uint8_t serviceId = tmReader.getServiceId();
int retval = 0;
if (not ackReceived) {
retval = handleAckReception(packet, serviceId, packetLen);
retval = handleAckReception(tcPacket, packetLen);
if (retval == 1) {
packetWasHandled = true;
ackReceived = true;
@ -786,7 +773,7 @@ ReturnValue_t PlocSupvUartManager::handleCheckMemoryCommand() {
return returnvalue::FAILED;
}
} else {
retval = handleExeAckReception(packet, serviceId, packetLen);
retval = handleExeAckReception(tcPacket, packetLen);
if (retval == 1) {
packetWasHandled = true;
exeReceived = true;

8
linux/devices/ploc/PlocSupvUartMan.h
View File

@ -252,14 +252,14 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
std::array<uint8_t, supv::MAX_COMMAND_SIZE> tmBuf{};
bool debugMode = false;
bool debugMode = true;
bool timestamping = true;
// Remembers APID to know at which command a procedure failed
uint16_t rememberApid = 0;
ReturnValue_t handleRunningLongerRequest();
bool handleUartReception();
ReturnValue_t handleUartReception();
void addHdlcFraming(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen, size_t maxDest);
int removeHdlcFramingWithCrcCheck(const uint8_t* src, size_t slen, uint8_t* dst, size_t* dlen);
@ -275,8 +275,8 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
// ReturnValue_t performEventBufferRequest();
ReturnValue_t handlePacketTransmissionNoReply(supv::TcBase& packet,
uint32_t timeoutExecutionReport = 60000);
int handleAckReception(supv::TcBase& tc, uint8_t serviceId, size_t packetLen);
int handleExeAckReception(supv::TcBase& tc, uint8_t serviceId, size_t packetLen);
int handleAckReception(supv::TcBase& tc, size_t packetLen);
int handleExeAckReception(supv::TcBase& tc, size_t packetLen);
/**
* @brief Handles reading of TM packets from the communication interface

4
linux/scheduling.cpp
View File

@ -54,6 +54,8 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_WRITE);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_SUPERVISOR_HANDLER, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_PLOC_MPSOC == 1
@ -62,5 +64,7 @@ void scheduling::addMpsocSupvHandlers(PeriodicTaskIF* plTask) {
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_WRITE);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::SEND_READ);
plTask->addComponent(objects::PLOC_MPSOC_HANDLER, DeviceHandlerIF::GET_READ);
#endif
}

2
mission/devices/devicedefinitions/SpBase.h
View File

@ -46,6 +46,8 @@ class SpTcBase {
void updateLenFromParams() { spParams.creator.setDataLenField(spParams.fullPayloadLen - 1); }
const uint8_t* getFullPacket() const { return spParams.buf; }
const uint8_t* getPacketData() const { return spParams.buf + ccsds::HEADER_LEN; }
size_t getFullPacketLen() const { return spParams.creator.getFullPacketLen(); }
uint16_t getApid() const { return spParams.creator.getApid(); }