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Merge pull request 'meier/plocSupervisorHandler' (#64) from meier/plocSupervisorHandler into develop

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Reviewed-on: #64
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Robin Müller 2021-07-26 13:40:43 +02:00
commit a2079ffb8c
5 changed files with 255 additions and 13 deletions
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2
bsp_q7s/core/CoreController.cpp
View File

@ -360,7 +360,7 @@ void CoreController::initPrint() {
#if OBSW_VERBOSE_LEVEL >= 1
#if OBSW_USE_TMTC_TCP_BRIDGE == 0
sif::info << "Created UDP server for TMTC commanding with listener port " <<
TcpTmTcBridge::DEFAULT_UDP_SERVER_PORT << std::endl;
UdpTmTcBridge::DEFAULT_UDP_SERVER_PORT << std::endl;
#else
sif::info << "Created TCP server for TMTC commanding with listener port " <<
TcpTmTcBridge::DEFAULT_TCP_SERVER_PORT << std::endl;

125
mission/devices/PlocSupervisorHandler.cpp
View File

@ -6,7 +6,7 @@
#include <fsfw/timemanager/Clock.h>
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie) :
DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this) {
DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this), bootStatusReport(this) {
if (comCookie == NULL) {
sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
@ -105,6 +105,16 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
prepareDisableHk();
result = RETURN_OK;
break;
}
case(PLOC_SPV::GET_BOOT_STATUS_REPORT): {
prepareEmptyCmd(PLOC_SPV::APID_GET_BOOT_STATUS_RPT);
result = RETURN_OK;
break;
}
case(PLOC_SPV::UPDATE_AVAILABLE): {
prepareUpdateAvailableCmd(commandData);
result = RETURN_OK;
break;
}
default:
sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
@ -134,9 +144,12 @@ void PlocSupervisorHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(PLOC_SPV::RESET_MPSOC);
this->insertInCommandMap(PLOC_SPV::SET_TIME_REF);
this->insertInCommandMap(PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION);
this->insertInCommandMap(PLOC_SPV::GET_BOOT_STATUS_REPORT);
this->insertInReplyMap(PLOC_SPV::ACK_REPORT, 3, nullptr, PLOC_SPV::SIZE_ACK_REPORT);
this->insertInReplyMap(PLOC_SPV::EXE_REPORT, 3, nullptr, PLOC_SPV::SIZE_EXE_REPORT);
this->insertInReplyMap(PLOC_SPV::HK_REPORT, 3, nullptr, PLOC_SPV::SIZE_HK_REPORT);
this->insertInReplyMap(PLOC_SPV::HK_REPORT, 3, &hkset, PLOC_SPV::SIZE_HK_REPORT);
this->insertInReplyMap(PLOC_SPV::BOOT_STATUS_REPORT, 3, &bootStatusReport,
PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
}
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
@ -159,6 +172,10 @@ ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
*foundLen = PLOC_SPV::SIZE_HK_REPORT;
*foundId = PLOC_SPV::HK_REPORT;
break;
case(PLOC_SPV::APID_BOOT_STATUS_REPORT):
*foundLen = PLOC_SPV::SIZE_BOOT_STATUS_REPORT;
*foundId = PLOC_SPV::BOOT_STATUS_REPORT;
break;
case(PLOC_SPV::APID_EXE_SUCCESS):
*foundLen = PLOC_SPV::SIZE_EXE_REPORT;
*foundId = PLOC_SPV::EXE_REPORT;
@ -191,6 +208,10 @@ ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
result = handleHkReport(packet);
break;
}
case (PLOC_SPV::BOOT_STATUS_REPORT): {
result = handleBootStatusReport(packet);
break;
}
case (PLOC_SPV::EXE_REPORT): {
result = handleExecutionReport(packet);
break;
@ -228,6 +249,15 @@ ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool
localDataPoolMap.emplace(PLOC_SPV::CPULOAD, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::AVAILABLEHEAP, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BOOT_SIGNAL, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::RESET_COUNTER, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BOOT_AFTER_MS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BOOT_TIMEOUT_MS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::ACTIVE_NVM, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BP0_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BP1_STATE, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(PLOC_SPV::BP2_STATE, new PoolEntry<uint8_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}
@ -408,6 +438,61 @@ ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
return result;
}
ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
if(result == CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
" crc" << std::endl;
return result;
}
uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
bootStatusReport.bootSignal = *(data + offset);
offset += 1;
bootStatusReport.resetCounter = *(data + offset);
offset += 1;
bootStatusReport.bootAfterMs = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
bootStatusReport.bootTimeoutMs = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
bootStatusReport.activeNvm = *(data + offset);
offset += 1;
bootStatusReport.bp0State = *(data + offset);
offset += 1;
bootStatusReport.bp1State = *(data + offset);
offset += 1;
bootStatusReport.bp2State = *(data + offset);
nextReplyId = PLOC_SPV::EXE_REPORT;
#if OBSW_VERBOSE_LEVEL >= 1 && PLOC_SUPERVISOR_DEBUG == 1
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot signal: "
<< static_cast<unsigned int>(bootStatusReport.bootSignal.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Reset counter: "
<< static_cast<unsigned int>(bootStatusReport.resetCounter.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootAfterMs: "
<< bootStatusReport.bootAfterMs << " ms" << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootTimeoutMs: "
<< bootStatusReport.bootTimeoutMs << " ms" << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Active NVM: "
<< static_cast<unsigned int>(bootStatusReport.activeNvm.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP0: "
<< static_cast<unsigned int>(bootStatusReport.bp0State.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP1: "
<< static_cast<unsigned int>(bootStatusReport.bp1State.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP2: "
<< static_cast<unsigned int>(bootStatusReport.bp2State.value) << std::endl;
#endif
return result;
}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
@ -427,6 +512,16 @@ ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::ite
}
break;
}
case PLOC_SPV::GET_BOOT_STATUS_REPORT: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
PLOC_SPV::BOOT_STATUS_REPORT);
if (result != RETURN_OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< PLOC_SPV::BOOT_STATUS_REPORT << " not in replyMap" << std::endl;
}
break;
}
case PLOC_SPV::RESTART_MPSOC:
case PLOC_SPV::START_MPSOC:
case PLOC_SPV::SHUTDOWN_MPSOC:
@ -468,6 +563,9 @@ void PlocSupervisorHandler::setNextReplyId() {
case PLOC_SPV::GET_HK_REPORT:
nextReplyId = PLOC_SPV::HK_REPORT;
break;
case PLOC_SPV::GET_BOOT_STATUS_REPORT:
nextReplyId = PLOC_SPV::BOOT_STATUS_REPORT;
break;
default:
/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = PLOC_SPV::EXE_REPORT;
@ -584,6 +682,29 @@ void PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t * commandData)
nextReplyId = PLOC_SPV::ACK_REPORT;
}
void PlocSupervisorHandler::prepareUpdateAvailableCmd(const uint8_t * commandData) {
uint8_t offset = 0;
uint8_t imageSelect = *(commandData + offset);
offset += 1;
uint8_t imagePartition = *(commandData + offset);
offset += 1;
uint32_t imageSize = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
offset += 4;
uint32_t imageCrc = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
offset += 4;
uint32_t numberOfPackets = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
| *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
PLOC_SPV::UpdateAvailable packet(imageSelect, imagePartition, imageSize, imageCrc,
numberOfPackets);
memcpy(commandBuffer, packet.getWholeData(), packet.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = packet.getFullSize();
nextReplyId = PLOC_SPV::ACK_REPORT;
}
void PlocSupervisorHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;

13
mission/devices/PlocSupervisorHandler.h
View File

@ -100,6 +100,7 @@ private:
DeviceCommandId_t nextReplyId = PLOC_SPV::NONE;
PLOC_SPV::HkSet hkset;
PLOC_SPV::BootStatusReport bootStatusReport;
UartComIF* uartComIf = nullptr;
@ -141,6 +142,12 @@ private:
*/
ReturnValue_t handleHkReport(const uint8_t* data);
/**
* @brief This function calls the function to check the CRC of the received boot status report
* and fills the associated dataset with the boot status information.
*/
ReturnValue_t handleBootStatusReport(const uint8_t* data);
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
@ -187,6 +194,12 @@ private:
void prepareRestartTriesCmd(const uint8_t * commandData);
/**
* @brief This function fills the command buffer with the packet to notify the supervisor
* about the availability of an update for the MPSoC
*/
void prepareUpdateAvailableCmd(const uint8_t * commandData);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an

126
mission/devices/devicedefinitions/PlocSupervisorDefinitions.h
View File

@ -20,15 +20,20 @@ static const DeviceCommandId_t SET_MAX_RESTART_TRIES = 7;
static const DeviceCommandId_t RESET_MPSOC = 8;
static const DeviceCommandId_t SET_TIME_REF = 9;
static const DeviceCommandId_t DISABLE_PERIOIC_HK_TRANSMISSION = 10;
static const DeviceCommandId_t GET_BOOT_STATUS_REPORT = 11;
/** Notifies the supervisor that a new update is available for the MPSoC */
static const DeviceCommandId_t UPDATE_AVAILABLE = 12;
/** Reply IDs */
static const DeviceCommandId_t ACK_REPORT = 50;
static const DeviceCommandId_t EXE_REPORT = 51;
static const DeviceCommandId_t HK_REPORT = 52;
static const DeviceCommandId_t BOOT_STATUS_REPORT = 53;
static const uint16_t SIZE_ACK_REPORT = 14;
static const uint16_t SIZE_EXE_REPORT = 14;
static const uint16_t SIZE_HK_REPORT = 48;
static const uint16_t SIZE_BOOT_STATUS_REPORT = 22;
/**
* SpacePacket apids of telemetry packets
@ -100,12 +105,22 @@ enum PoolIds
TEMP_SUP,
UPTIME,
CPULOAD,
AVAILABLEHEAP
AVAILABLEHEAP,
BOOT_SIGNAL,
RESET_COUNTER,
BOOT_AFTER_MS,
BOOT_TIMEOUT_MS,
ACTIVE_NVM,
BP0_STATE,
BP1_STATE,
BP2_STATE
};
static const uint8_t HK_SET_ENTRIES = 13;
static const uint8_t BOOT_REPORT_SET_ENTRIES = 8;
static const uint32_t HK_SET_ID = HK_REPORT;
static const uint32_t BOOT_REPORT_SET_ID = APID_BOOT_STATUS_REPORT;
/**
* @brief With this class a space packet can be created which does not contain any data.
@ -327,6 +342,99 @@ private:
}
};
/**
* @brief This dataset stores the boot status report of the supervisor.
*/
class BootStatusReport: public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
public:
BootStatusReport(HasLocalDataPoolIF* owner) :
StaticLocalDataSet(owner, BOOT_REPORT_SET_ID) {
}
BootStatusReport(object_id_t objectId) :
StaticLocalDataSet(sid_t(objectId, BOOT_REPORT_SET_ID)) {
}
/** Information about boot status of MPSoC */
lp_var_t<uint8_t> bootSignal = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_SIGNAL, this);
lp_var_t<uint8_t> resetCounter = lp_var_t<uint8_t>(sid.objectId, PoolIds::RESET_COUNTER, this);
/** Time the MPSoC needs for last boot */
lp_var_t<uint32_t> bootAfterMs = lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_AFTER_MS, this);
/** The currently set boot timeout */
lp_var_t<uint32_t> bootTimeoutMs = lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_TIMEOUT_MS, this);
lp_var_t<uint8_t> activeNvm = lp_var_t<uint8_t>(sid.objectId, PoolIds::ACTIVE_NVM, this);
/** States of the boot partition pins */
lp_var_t<uint8_t> bp0State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP0_STATE, this);
lp_var_t<uint8_t> bp1State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP1_STATE, this);
lp_var_t<uint8_t> bp2State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP2_STATE, this);
};
/**
* @brief This class packages the command to notify the supervisor that a new update for the
* MPSoC is available.
*/
class UpdateAvailable: public SpacePacket {
public:
/**
* @brief Constructor
*
* @param imageSelect
* @param imagePartition
* @param imageSize
* @param imageCrc
* @param numberOfPackets
*/
UpdateAvailable(uint8_t imageSelect, uint8_t imagePartition, uint32_t imageSize,
uint32_t imageCrc, uint32_t numberOfPackets) :
SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_UPDATE_AVAILABLE,
DEFAULT_SEQUENCE_COUNT), imageSelect(imageSelect), imagePartition(
imagePartition), imageSize(imageSize), imageCrc(imageCrc), numberOfPackets(
numberOfPackets) {
initPacket();
}
private:
static const uint16_t DATA_FIELD_LENGTH = 16;
static const uint16_t DEFAULT_SEQUENCE_COUNT = 1;
static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2;
uint8_t imageSelect = 0;
uint8_t imagePartition = 0;
uint32_t imageSize = 0;
uint32_t imageCrc = 0;
uint32_t numberOfPackets = 0;
void initPacket() {
size_t serializedSize = 0;
uint8_t* data_field_ptr = this->localData.fields.buffer;
SerializeAdapter::serialize<uint8_t>(&imageSelect, &data_field_ptr, &serializedSize,
sizeof(imageSelect), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint8_t>(&imagePartition, &data_field_ptr, &serializedSize,
sizeof(imagePartition), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&imageSize, &data_field_ptr, &serializedSize,
sizeof(imageSize), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&imageCrc, &data_field_ptr, &serializedSize,
sizeof(imageCrc), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&numberOfPackets, &data_field_ptr, &serializedSize,
sizeof(numberOfPackets), SerializeIF::Endianness::BIG);
serializedSize = 0;
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2);
serializedSize = 0;
uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
};
/**
* @brief With this class the space packet can be generated to disable to periodic transmission
* of housekeeping data. Normally, this will be disabled by default. However, adding this
@ -363,7 +471,7 @@ private:
};
/**
* @brief This dataset to store the housekeeping data of the supervisor.
* @brief This dataset stores the housekeeping data of the supervisor.
*/
class HkSet: public StaticLocalDataSet<HK_SET_ENTRIES> {
public:
@ -376,21 +484,21 @@ public:
StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {
}
lp_var_t<uint32_t> numTms = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TMS, this);
lp_var_t<uint32_t> tempPs = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
lp_var_t<uint32_t> tempPl = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_PS, this);
lp_var_t<uint32_t> tempSup = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_SUP, this);
lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, PoolIds::UPTIME, this);
lp_var_t<uint32_t> cpuLoad = lp_var_t<uint32_t>(sid.objectId, PoolIds::CPULOAD, this);
lp_var_t<uint32_t> availableHeap = lp_var_t<uint32_t>(sid.objectId, PoolIds::AVAILABLEHEAP,
this);
lp_var_t<uint32_t> numTcs = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TCS, this);
lp_var_t<uint32_t> numTms = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TMS, this);
lp_var_t<uint32_t> socState = lp_var_t<uint32_t>(sid.objectId, PoolIds::SOC_STATE, this);
lp_var_t<uint8_t> nvm0_1_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM0_1_STATE, this);
lp_var_t<uint8_t> nvm3_state = lp_var_t<uint8_t>(sid.objectId, PoolIds::NVM3_STATE, this);
lp_var_t<uint8_t> missionIoState = lp_var_t<uint8_t>(sid.objectId, PoolIds::MISSION_IO_STATE,
this);
lp_var_t<uint8_t> fmcState = lp_var_t<uint8_t>(sid.objectId, PoolIds::FMC_STATE, this);
lp_var_t<uint32_t> numTcs = lp_var_t<uint32_t>(sid.objectId, PoolIds::NUM_TCS, this);
lp_var_t<uint32_t> tempSup = lp_var_t<uint32_t>(sid.objectId, PoolIds::TEMP_SUP, this);
lp_var_t<uint32_t> uptime = lp_var_t<uint32_t>(sid.objectId, PoolIds::UPTIME, this);
lp_var_t<uint32_t> cpuLoad = lp_var_t<uint32_t>(sid.objectId, PoolIds::CPULOAD, this);
lp_var_t<uint32_t> availableHeap = lp_var_t<uint32_t>(sid.objectId, PoolIds::AVAILABLEHEAP,
this);
};
}

2
tmtc

@ -1 +1 @@
Subproject commit 2e942ec21e47485b9ab6416a0341b9ab8ec30543
Subproject commit 6352a6f272b3138257831fcd1f5d9ffcd4902681