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Re-work MPSoC handler module
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This commit is contained in:
Robin Müller
2024-04-30 15:14:22 +02:00
parent fa01afe0fa
commit aa2bfb7d0e
43 changed files with 3211 additions and 351 deletions
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2
linux/fsfwconfig/events/translateEvents.cpp
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@ -1,7 +1,7 @@
/**
* @brief Auto-generated event translation file. Contains 324 translations.
* @details
* Generated on: 2024-04-10 11:49:35
* Generated on: 2024-04-17 11:22:10
*/
#include "translateEvents.h"

7
linux/fsfwconfig/objects/translateObjects.cpp
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@ -1,8 +1,8 @@
/**
* @brief Auto-generated object translation file.
* @details
* Contains 179 translations.
* Generated on: 2024-04-10 11:49:35
* Contains 180 translations.
* Generated on: 2024-04-17 11:22:10
*/
#include "translateObjects.h"
@ -64,6 +64,7 @@ const char *PTME_VC3_CFDP_TM_STRING = "PTME_VC3_CFDP_TM";
const char *PLOC_MPSOC_HANDLER_STRING = "PLOC_MPSOC_HANDLER";
const char *PLOC_SUPERVISOR_HANDLER_STRING = "PLOC_SUPERVISOR_HANDLER";
const char *PLOC_SUPERVISOR_HELPER_STRING = "PLOC_SUPERVISOR_HELPER";
const char *PLOC_MPSOC_COMMUNICATION_STRING = "PLOC_MPSOC_COMMUNICATION";
const char *SCEX_STRING = "SCEX";
const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER";
const char *HEATER_HANDLER_STRING = "HEATER_HANDLER";
@ -304,6 +305,8 @@ const char *translateObject(object_id_t object) {
return PLOC_SUPERVISOR_HANDLER_STRING;
case 0x44330017:
return PLOC_SUPERVISOR_HELPER_STRING;
case 0x44330018:
return PLOC_MPSOC_COMMUNICATION_STRING;
case 0x44330032:
return SCEX_STRING;
case 0x444100A2:

4
linux/payload/CMakeLists.txt
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@ -1,7 +1,9 @@
target_sources(
${OBSW_NAME}
PUBLIC PlocMemoryDumper.cpp
PlocMpsocHandler.cpp
MpsocCommunication.cpp
SerialCommunicationHelper.cpp
FreshMpsocHandler.cpp
FreshSupvHandler.cpp
PlocMpsocSpecialComHelper.cpp
plocMpsocHelpers.cpp

1260
linux/payload/FreshMpsocHandler.cpp Normal file
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205
linux/payload/FreshMpsocHandler.h Normal file
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@ -0,0 +1,205 @@
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/modes/ModeMessage.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "linux/payload/MpsocCommunication.h"
#include "linux/payload/PlocMpsocSpecialComHelper.h"
#include "linux/payload/plocMpsocHelpers.h"
class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
public:
enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
static constexpr uint32_t MPSOC_MODE_CMD_TIMEOUT_MS = 120000;
FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
object_id_t supervisorHandler);
/**
* Periodic helper executed function, implemented by child class.
*/
void performDeviceOperation(uint8_t opCode) override;
void performDefaultDeviceOperation();
/**
* Implemented by child class. Handle all command messages which are
* not health, mode, action or housekeeping messages.
* @param message
* @return
*/
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
ReturnValue_t initialize() override;
private:
enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
enum TransitionState { NONE, TO_ON, TO_OFF, SUBMODE } transitionState = TransitionState::NONE;
MpsocCommunication& comInterface;
PlocMpsocSpecialComHelper& specialComHelper;
MessageQueueIF* eventQueue = nullptr;
SourceSequenceCounter commandSequenceCount = SourceSequenceCounter(0);
MessageQueueIF* commandActionHelperQueue = nullptr;
CommandActionHelper commandActionHelper;
Gpio uartIsolatorSwitch;
mpsoc::HkReport hkReport;
object_id_t supervisorHandler;
Countdown mpsocBootTransitionCd = Countdown(6500);
Countdown supvTransitionCd = Countdown(3000);
PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
PoolEntry<float> peSysmonTemp = PoolEntry<float>();
PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
PowerState powerState;
bool specialComHelperExecuting = false;
struct ActionCommandInfo {
Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
bool pending = false;
MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
uint16_t pendingCmdMpsocApid = 0;
void reset() {
pending = false;
commandedBy = MessageQueueIF::NO_QUEUE;
pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
}
void start(DeviceCommandId_t commandId, MessageQueueId_t commandedBy) {
pending = true;
cmdCountdown.resetTimer();
pendingCmd = commandId;
this->commandedBy = commandedBy;
}
} activeCmdInfo;
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
Mode_t targetMode = HasModesIF::MODE_UNDEFINED;
Submode_t targetSubmode = 0;
struct TmMemReadReport {
static const uint8_t FIX_SIZE = 14;
size_t rememberRequestedSize = 0;
};
TmMemReadReport tmMemReadReport;
uint32_t lastReplySequenceCount = 0;
uint8_t skipSupvCommandingToOn = false;
// HK manager abstract functions.
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
// Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
// Action override. Forward to user.
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
/**
* @overload
* @param submode
*/
void startTransition(Mode_t newMode, Submode_t submode) override;
ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
// CommandsActionsIF overrides.
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) override;
void handleActionCommandFailure(ActionId_t actionId, ReturnValue_t returnCode);
ReturnValue_t executeRegularCmd(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t dataLen);
void handleTransitionToOn();
void handleTransitionToOff();
ReturnValue_t commandTcModeReplay();
ReturnValue_t commandTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcMemRead(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcReplayStop();
ReturnValue_t commandTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcDownlinkPwrOff();
ReturnValue_t commandTcGetHkReport();
ReturnValue_t commandTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcModeIdle();
ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcSimplexStoreFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t commandTcModeSnapshot();
ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
void handleEvent(EventMessage* eventMessage);
void cmdDoneHandler(bool success, ReturnValue_t result);
ReturnValue_t handleDeviceReply();
ReturnValue_t handleAckReport();
ReturnValue_t handleExecutionReport();
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
ReturnValue_t reportReplyData(DeviceCommandId_t tmId);
ReturnValue_t handleGetHkReport();
bool handleHwStartup();
bool handleHwShutdown();
void stopSpecialComHelper();
void commandSubmodeTransition();
void commonSpecialComInit();
void commonSpecialComStop();
};

2
linux/payload/FreshSupvHandler.cpp
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@ -1299,7 +1299,7 @@ void FreshSupvHandler::handleExecutionFailureReport(ActiveCmdInfo& info, Executi
triggerEvent(SUPV_EXE_FAILURE, info.commandId, static_cast<uint32_t>(report.getStatusCode()));
}
if (info.commandedBy) {
actionHelper.finish(false, info.commandedBy, info.commandId, report.getStatusCode());
actionHelper.finish(false, info.commandedBy, info.commandId, result::RECEIVED_EXE_FAILURE);
}
info.isPending = false;
}

75
linux/payload/MpsocCommunication.cpp Normal file
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@ -0,0 +1,75 @@
#include "MpsocCommunication.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "fsfw/tmtcpacket/ccsds/header.h"
#include "linux/payload/plocMpsocHelpers.h"
#include "unistd.h"
MpsocCommunication::MpsocCommunication(object_id_t objectId, SerialConfig cfg)
: SystemObject(objectId), readRingBuf(4096, true), helper(cfg) {}
ReturnValue_t MpsocCommunication::initialize() { return helper.initialize(); }
ReturnValue_t MpsocCommunication::send(const uint8_t* data, size_t dataLen) {
if (MPSOC_LOW_LEVEL_TX_WIRETAPPING) {
sif::debug << "SEND MPSOC packet with size " << dataLen << std::endl;
}
return helper.send(data, dataLen);
}
ReturnValue_t MpsocCommunication::parseAndRetrieveNextPacket() {
// We do not have a data link layer, so this whole thing is a mess in any case..
// But basically, we try to parse space packets from the internal ring buffer and trasnfer
// them to the higher level device handler. The CRC check is performed here as well, with
// few other ways to detect if we even have a valid packet.
size_t availableReadData = readRingBuf.getAvailableReadData();
// Minimum valid size for a space packet header.
if (availableReadData < ccsds::HEADER_LEN + 1) {
return returnvalue::OK;
}
readRingBuf.readData(readBuf, availableReadData);
spReader.setReadOnlyData(readBuf, sizeof(readBuf));
auto res = spReader.checkSize();
if (res != returnvalue::OK) {
return res;
}
// The packet might be garbage, with no way to recover without a data link layer.
if (spReader.getFullPacketLen() > 4096) {
readRingBuf.clear();
// TODO: Maybe we should also clear the serial input buffer in Linux?
return FAULTY_PACKET_SIZE;
}
if (availableReadData < spReader.getFullPacketLen()) {
// Might be split packet where the rest still has to be read.
return returnvalue::OK;
}
if (CRC::crc16ccitt(readBuf, spReader.getFullPacketLen()) != 0) {
// Possibly invalid packet. We can not even trust the detected packet length.
// Just clear the whole read buffer as well.
readRingBuf.clear();
triggerEvent(mpsoc::CRC_FAILURE);
return CRC_CHECK_FAILED;
}
readRingBuf.deleteData(spReader.getFullPacketLen());
return PACKET_RECEIVED;
}
ReturnValue_t MpsocCommunication::readSerialInterface() {
int bytesRead = read(helper.rawFd(), readBuf, sizeof(readBuf));
if (bytesRead < 0) {
return returnvalue::FAILED;
}
if (bytesRead > 0) {
if (MPSOC_LOW_LEVEL_RX_WIRETAPPING) {
sif::debug << "Read " << bytesRead << " bytes on the MPSoC interface" << std::endl;
}
return readRingBuf.writeData(readBuf, bytesRead);
}
return returnvalue::OK;
}
const SpacePacketReader& MpsocCommunication::getSpReader() const { return spReader; }
SerialCommunicationHelper& MpsocCommunication::getComHelper() { return helper; }

44
linux/payload/MpsocCommunication.h Normal file
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@ -0,0 +1,44 @@
#pragma once
#include <fsfw/objectmanager/SystemObject.h>
#include "eive/resultClassIds.h"
#include "fsfw/container/SimpleRingBuffer.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "linux/payload/SerialCommunicationHelper.h"
static constexpr bool MPSOC_LOW_LEVEL_TX_WIRETAPPING = true;
static constexpr bool MPSOC_LOW_LEVEL_RX_WIRETAPPING = true;
class MpsocCommunication : public SystemObject {
public:
static const uint8_t CLASS_ID = CLASS_ID::PLOC_MPSOC_COM;
static constexpr ReturnValue_t PACKET_RECEIVED = returnvalue::makeCode(CLASS_ID, 0);
static constexpr ReturnValue_t FAULTY_PACKET_SIZE = returnvalue::makeCode(CLASS_ID, 1);
static constexpr ReturnValue_t CRC_CHECK_FAILED = returnvalue::makeCode(CLASS_ID, 2);
MpsocCommunication(object_id_t objectId, SerialConfig cfg);
ReturnValue_t initialize() override;
ReturnValue_t send(const uint8_t* data, size_t dataLen);
// Should be called periodically to transfer the received data from the MPSoC from the Linux
// buffer to the internal ring buffer for further processing.
ReturnValue_t readSerialInterface();
// Parses the internal ring buffer for packets and checks whether a packet was received.
ReturnValue_t parseAndRetrieveNextPacket();
// Can be used to read the parse packet, if one was received.
const SpacePacketReader& getSpReader() const;
SerialCommunicationHelper& getComHelper();
private:
SpacePacketReader spReader;
uint8_t readBuf[4096];
SimpleRingBuffer readRingBuf;
SerialCommunicationHelper helper;
};

1557
linux/payload/PlocMpsocHandler.cpp
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326
linux/payload/PlocMpsocHandler.h
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@ -1,326 +0,0 @@
#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#include <linux/payload/PlocMpsocSpecialComHelper.h>
#include <linux/payload/mpsocRetvals.h>
#include <linux/payload/plocMpsocHelpers.h>
#include <linux/payload/plocSupvDefs.h>
#include <mission/controller/controllerdefinitions/PowerCtrlDefinitions.h>
#include <string>
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
static constexpr bool DEBUG_MPSOC_COMMUNICATION = false;
/**
* @brief This is the device handler for the MPSoC of the payload computer.
*
* @details The PLOC uses the space packet protocol for communication. Each command will be
* answered with at least one acknowledgment and one execution report.
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_MPSoC ICD:
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
*
* @note The sequence count in the space packets must be incremented with each received and sent
* packet otherwise the MPSoC will reply with an acknowledgment failure report.
*
* NOTE: This is not an example for a good device handler, DO NOT USE THIS AS A REFERENCE HANDLER.
* @author J. Meier, R. Mueller
*/
class PlocMpsocHandler : public DeviceHandlerBase, public CommandsActionsIF {
public:
/**
* @brief Constructor
*
* @param ojectId Object ID of the MPSoC handler
* @param uartcomIFid Object ID of the UART communication interface
* @param comCookie UART communication cookie
* @param plocMPSoCHelper Pointer to MPSoC helper object
* @param uartIsolatorSwitch Gpio object representing the GPIO connected to the UART isolator
* module in the programmable logic
* @param supervisorHandler Object ID of the supervisor handler
*/
PlocMpsocHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
PlocMpsocSpecialComHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
object_id_t supervisorHandler);
virtual ~PlocMpsocHandler();
virtual ReturnValue_t initialize() override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
void performOperationHook() override;
MessageQueueIF* getCommandQueuePtr() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
ReturnValue_t doSendReadHook() override;
LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
bool dontCheckQueue() override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
//! P1: Command Id which leads the acknowledgment failure report
//! P2: The status field inserted by the MPSoC into the data field
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive execution failure report
//! P1: Command Id which leads the execution failure report
//! P2: The status field inserted by the MPSoC into the data field
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
//! count P1: Expected sequence count P2: Received sequence count
static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
//! thus also to shutdown the supervisor.
static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
//! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
//! ON transition.
static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
mpsoc::HkReport hkReport;
Countdown mpsocBootTransitionCd = Countdown(6500);
Countdown supvTransitionCd = Countdown(3000);
MessageQueueIF* eventQueue = nullptr;
MessageQueueIF* commandActionHelperQueue = nullptr;
SourceSequenceCounter sequenceCount = SourceSequenceCounter(0);
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
PoolEntry<float> peSysmonTemp = PoolEntry<float>();
PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
/**
* This variable is used to store the id of the next reply to receive. This is necessary
* because the PLOC sends as reply to each command at least one acknowledgment and execution
* report.
*/
DeviceCommandId_t nextReplyId = mpsoc::NONE;
SerialComIF* uartComIf = nullptr;
PlocMpsocSpecialComHelper* specialComHelper = nullptr;
Gpio uartIsolatorSwitch;
object_id_t supervisorHandler = 0;
CommandActionHelper commandActionHelper;
// Used to block incoming commands when MPSoC helper class is currently executing a command
bool specialComHelperExecuting = false;
bool commandIsPending = false;
struct TmMemReadReport {
static const uint8_t FIX_SIZE = 14;
size_t rememberRequestedSize = 0;
};
TmMemReadReport tmMemReadReport;
Countdown cmdCountdown = Countdown(10000);
struct TelemetryBuffer {
uint16_t length = 0;
uint8_t buffer[mpsoc::SP_MAX_SIZE];
};
size_t foundPacketLen = 0;
TelemetryBuffer tmBuffer;
enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
PowerState powerState = PowerState::IDLE;
uint8_t skipSupvCommandingToOn = false;
/**
* @brief Handles events received from the PLOC MPSoC helper
*/
void handleEvent(EventMessage* eventMessage);
ReturnValue_t prepareTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcMemRead(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayStop();
ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkPwrOff();
ReturnValue_t prepareTcGetHkReport();
ReturnValue_t prepareTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeIdle();
ReturnValue_t prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeSnapshot();
ReturnValue_t finishTcPrep(mpsoc::TcBase& tcBase);
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return returnvalue::OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return returnvalue::OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return returnvalue::OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the memory read report.
*
* @param data Pointer to the data buffer holding the memory read report.
*
* @return returnvalue::OK if successful, otherwise an error code.
*/
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
ReturnValue_t handleGetHkReport(const uint8_t* data);
ReturnValue_t handleCamCmdRpt(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
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @param dataSize Size of telemetry in bytes.
* @param replyId Id of the reply. This will be added to the ActionMessage.
*/
void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
/**
* @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
* active command.
*/
void disableAllReplies();
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
ReturnValue_t prepareTcModeReplay();
void cmdDoneHandler(bool success, ReturnValue_t result);
bool handleHwStartup();
bool handleHwShutdown();
void stopSpecialComHelper();
void handleActionCommandFailure(ActionId_t actionId);
pwrctrl::EnablePl enablePl = pwrctrl::EnablePl(objects::POWER_CONTROLLER);
ReturnValue_t checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
const ParameterWrapper* newValues, uint16_t startAtIndex) override;
};
#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */

145
linux/payload/PlocMpsocSpecialComHelper.cpp
View File

@ -6,16 +6,21 @@
#include <filesystem>
#include <fstream>
#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "linux/payload/MpsocCommunication.h"
#include "linux/payload/plocMpsocHelpers.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/FilesystemHelper.h"
#endif
#include "mission/utility/Timestamp.h"
using namespace ploc;
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId)
: SystemObject(objectId) {
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
MpsocCommunication& comInterface)
: SystemObject(objectId), comInterface(comInterface) {
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
}
@ -48,9 +53,9 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, txSequenceCount.get());
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
}
internalState = InternalState::IDLE;
break;
@ -58,9 +63,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
} else {
triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
}
internalState = InternalState::IDLE;
break;
@ -72,19 +78,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode)
}
}
ReturnValue_t PlocMpsocSpecialComHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
txSequenceCount.set(sequenceCount_);
}
void PlocMpsocSpecialComHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
sequenceCount = sequenceCount_;
uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
return txSequenceCount.get();
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
@ -117,7 +116,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std
void PlocMpsocSpecialComHelper::resetHelper() {
spParams.buf = commandBuffer;
terminate = false;
uartComIF->flushUartRxBuffer(comCookie);
auto& helper = comInterface.getComHelper();
helper.flushUartRxBuffer();
}
void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
@ -155,7 +155,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
mpsoc::TcFlashWrite tc(spParams, txSequenceCount);
result = tc.setPayload(fileBuf.data(), dataLength);
if (result != returnvalue::OK) {
return result;
@ -164,7 +164,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
txSequenceCount.increment();
result = handlePacketTransmissionNoReply(tc);
if (result != returnvalue::OK) {
return result;
@ -203,7 +203,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return FILE_READ_ERROR;
}
mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
result = flashReadRequest.setPayload(nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
@ -214,7 +214,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
(*sequenceCount)++;
txSequenceCount.increment();
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
@ -231,7 +231,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
spParams.buf = commandBuffer;
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
if (result != returnvalue::OK) {
return result;
@ -240,7 +240,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
txSequenceCount.increment();
result = handlePacketTransmissionNoReply(flashFopen);
if (result != returnvalue::OK) {
return result;
@ -250,12 +250,12 @@ ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
spParams.buf = commandBuffer;
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
ReturnValue_t result = flashFclose.finishPacket();
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
txSequenceCount.increment();
result = handlePacketTransmissionNoReply(flashFclose);
if (result != returnvalue::OK) {
return result;
@ -278,6 +278,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
if (result != returnvalue::OK) {
return result;
}
auto& spReader = comInterface.getSpReader();
// We have the nominal case where the flash read report appears first, or the case where we
// get an EXE failure immediately.
@ -288,7 +289,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc
}
return handleExe();
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
handleExeFailure(spReader);
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
@ -311,8 +312,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::S
}
ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
ReturnValue_t result = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
mpsoc::printTxPacket(tc);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
@ -331,6 +332,8 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
if (result != returnvalue::OK) {
return result;
}
const auto& spReader = comInterface.getSpReader();
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(spReader);
@ -339,7 +342,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& reader) {
uint16_t apid = reader.getApid();
if (apid == mpsoc::apid::ACK_FAILURE) {
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
@ -363,9 +366,10 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
if (result != returnvalue::OK) {
return result;
}
const auto& spReader = comInterface.getSpReader();
uint16_t apid = spReader.getApid();
if (apid == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
handleExeFailure(spReader);
return returnvalue::FAILED;
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
@ -375,7 +379,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleExeFailure() {
void PlocMpsocSpecialComHelper::handleExeFailure(const SpacePacketReader& spReader) {
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));
@ -384,46 +388,32 @@ void PlocMpsocSpecialComHelper::handleExeFailure() {
ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
ReturnValue_t result = returnvalue::OK;
tmCountdown.resetTimer();
size_t readBytes = 0;
size_t currentBytes = 0;
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);
result = tryReceiveNextReply();
if (result == MpsocCommunication::PACKET_RECEIVED) {
// Need to convert this, we are faking a synchronous API here.
result = returnvalue::OK;
break;
}
if (result != returnvalue::OK) {
if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
} else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
}
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
return result;
}
spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
fullPacketLen = spReader.getFullPacketLen();
readBytes += currentBytes;
if (readBytes == 6) {
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
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) {
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
// arrayprinter::print(tmBuf.data(), readBytes);
return result;
}
@ -433,6 +423,7 @@ ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofi
if (result != returnvalue::OK) {
return result;
}
auto& spReader = comInterface.getSpReader();
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
@ -498,47 +489,25 @@ ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string o
}
ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
const auto& spReader = comInterface.getSpReader();
ReturnValue_t result = spReader.checkSize();
if (result != returnvalue::OK) {
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
triggerEvent(MPSOC_TM_SIZE_ERROR);
return result;
}
result = spReader.checkCrc();
if (result != returnvalue::OK) {
sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
return result;
}
uint16_t recvSeqCnt = spReader.getSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
}
// This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
(*sequenceCount)++;
rxSequenceCount = spReader.getSequenceCount();
mpsoc::printRxPacket(spReader);
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
size_t* readBytes) {
ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
ReturnValue_t result = returnvalue::OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
result = comInterface.readSerialInterface();
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return returnvalue::FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
}
return result;
return comInterface.parseAndRetrieveNextPacket();
}

29
linux/payload/PlocMpsocSpecialComHelper.h
View File

@ -6,14 +6,13 @@
#include <string>
#include "OBSWConfig.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
#include "linux/payload/MpsocCommunication.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/SdCardManager.h"
#endif
@ -83,15 +82,12 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
FLASH_READ_READLEN_ERROR = 2
};
PlocMpsocSpecialComHelper(object_id_t objectId);
PlocMpsocSpecialComHelper(object_id_t objectId, MpsocCommunication& comInterface);
virtual ~PlocMpsocSpecialComHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
/**
* @brief Starts flash write sequence
*
@ -118,7 +114,8 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
/**
* @brief Sets the sequence count object responsible for the sequence count handling
*/
void setSequenceCount(SourceSequenceCounter* sequenceCount_);
void setCommandSequenceCount(uint16_t sequenceCount_);
uint16_t getCommandSequenceCount() const;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
@ -169,12 +166,14 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
* Communication interface of MPSoC responsible for low level access. Must be set by the
* MPSoC Handler.
*/
SerialComIF* uartComIF = nullptr;
// SerialComIF* uartComIF = nullptr;
// Communication cookie. Must be set by the MPSoC Handler
CookieIF* comCookie = nullptr;
// CookieIF* comCookie = nullptr;
MpsocCommunication& comInterface;
// Sequence count, must be set by Ploc MPSoC Handler
SourceSequenceCounter* sequenceCount = nullptr;
ploc::SpTmReader spReader;
// ploc::SpTmReader spReader;
uint16_t rxSequenceCount = 0;
SourceSequenceCounter txSequenceCount = 0;
void resetHelper();
ReturnValue_t performFlashWrite();
@ -186,13 +185,13 @@ class PlocMpsocSpecialComHelper : public SystemObject, public ExecutableObjectIF
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 requestBytes, size_t* readBytes);
ReturnValue_t tryReceiveNextReply();
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 handleExeFailure();
void handleAckApidFailure(const SpacePacketReader& reader);
void handleExeFailure(const SpacePacketReader& reader);
ReturnValue_t handleTmReception();
ReturnValue_t checkReceivedTm();
};

2
linux/payload/PlocSupvUartMan.cpp
View File

@ -437,6 +437,8 @@ ReturnValue_t PlocSupvUartManager::writeUpdatePackets() {
// Useful to allow restarting the update
triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
update.bytesWritten);
sif::info << "PLOC SUPV update progress " << (int)progPercent << " % at "
<< update.bytesWritten << " bytes" << std::endl;
}
}
supv::WriteMemory packet(spParams);

126
linux/payload/SerialCommunicationHelper.cpp Normal file
View File

@ -0,0 +1,126 @@
#include "SerialCommunicationHelper.h"
#include <errno.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>
#include <cstring>
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/linux/serial/helper.h"
SerialCommunicationHelper::SerialCommunicationHelper(SerialConfig cfg) : cfg(cfg) {}
ReturnValue_t SerialCommunicationHelper::initialize() {
fd = configureUartPort();
if (fd < 0) {
return returnvalue::FAILED;
}
return returnvalue::OK;
}
int SerialCommunicationHelper::rawFd() const { return fd; }
ReturnValue_t SerialCommunicationHelper::send(const uint8_t* data, size_t dataLen) {
if (write(fd, data, dataLen) != static_cast<int>(dataLen)) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
#endif
return returnvalue::FAILED;
}
return returnvalue::OK;
}
int SerialCommunicationHelper::configureUartPort() {
struct termios options = {};
int flags = O_RDWR;
if (cfg.getUartMode() == UartModes::CANONICAL) {
// In non-canonical mode, don't specify O_NONBLOCK because these properties will be
// controlled by the VTIME and VMIN parameters and O_NONBLOCK would override this
flags |= O_NONBLOCK;
}
int fd = open(cfg.getDeviceFile().c_str(), flags);
if (fd < 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to open uart "
<< cfg.getDeviceFile().c_str()
<< "with error code " << errno << strerror(errno) << std::endl;
#endif
return fd;
}
/* Read in existing settings */
if (tcgetattr(fd, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Error " << errno
<< "from tcgetattr: " << strerror(errno) << std::endl;
#endif
return fd;
}
serial::setParity(options, cfg.getParity());
serial::setStopbits(options, cfg.getStopBits());
serial::setBitsPerWord(options, cfg.getBitsPerWord());
setFixedOptions(&options);
serial::setMode(options, cfg.getUartMode());
tcflush(fd, TCIFLUSH);
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
serial::setBaudrate(options, cfg.getBaudrate());
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
#endif
return fd;
}
return fd;
}
void SerialCommunicationHelper::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
options->c_cflag |= CREAD | CLOCAL;
/* Disable echo */
options->c_lflag &= ~ECHO;
/* Disable erasure */
options->c_lflag &= ~ECHOE;
/* Disable new-line echo */
options->c_lflag &= ~ECHONL;
/* Disable interpretation of INTR, QUIT and SUSP */
options->c_lflag &= ~ISIG;
/* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* Disable any special handling of received bytes */
options->c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
/* Prevent special interpretation of output bytes (e.g. newline chars) */
options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */
options->c_oflag &= ~ONLCR;
}
ReturnValue_t SerialCommunicationHelper::flushUartRxBuffer() {
serial::flushRxBuf(fd);
return returnvalue::OK;
}
ReturnValue_t SerialCommunicationHelper::flushUartTxBuffer() {
serial::flushTxBuf(fd);
return returnvalue::OK;
}
ReturnValue_t SerialCommunicationHelper::flushUartTxAndRxBuf() {
serial::flushTxRxBuf(fd);
return returnvalue::OK;
}

69
linux/payload/SerialCommunicationHelper.h Normal file
View File

@ -0,0 +1,69 @@
#pragma once
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <fsfw_hal/linux/serial/helper.h>
#include "SerialConfig.h"
#include "fsfw/returnvalues/returnvalue.h"
/**
* @brief This is the communication interface to access serial ports on linux based operating
* systems.
*
* @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
* operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
*
* @author J. Meier
*/
class SerialCommunicationHelper {
public:
SerialCommunicationHelper(SerialConfig serialCfg);
ReturnValue_t send(const uint8_t* data, size_t dataLen);
int rawFd() const;
ReturnValue_t initialize();
/**
* @brief This function discards all data received but not read in the UART buffer.
*/
ReturnValue_t flushUartRxBuffer();
/**
* @brief This function discards all data in the transmit buffer of the UART driver.
*/
ReturnValue_t flushUartTxBuffer();
/**
* @brief This function discards both data in the transmit and receive buffer of the UART.
*/
ReturnValue_t flushUartTxAndRxBuf();
private:
SerialConfig cfg;
int fd = 0;
/**
* @brief This function opens and configures a uart device by using the information stored
* in the uart cookie.
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the
* uart device file, baudrate, parity, stopbits etc.
* @return The file descriptor of the configured uart.
*/
int configureUartPort();
void setStopBitOptions(struct termios* options);
/**
* @brief This function sets options which are not configurable by the uartCookie.
*/
void setFixedOptions(struct termios* options);
/**
* @brief With this function the datasize settings are added to the termios options struct.
*/
void setDatasizeOptions(struct termios* options);
};

70
linux/payload/SerialConfig.h Normal file
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@ -0,0 +1,70 @@
#pragma once
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw_hal/linux/serial/helper.h>
#include <string>
/**
* @brief Cookie for the UartComIF. There are many options available to configure the UART driver.
* The constructor only requests for common options like the baudrate. Other options can
* be set by member functions.
*
* @author J. Meier
*/
class SerialConfig : public CookieIF {
public:
/**
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use, e.g. "/dev/ttyPS1"
* @param uartMode Specify the UART mode. The canonical mode should be used if the
* messages are separated by a delimited character like '\n'. See the
* termios documentation for more information
* @param baudrate The baudrate to use for input and output.
* @param maxReplyLen The maximum size an object using this cookie expects
* @details
* Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*/
SerialConfig(std::string deviceFile, UartBaudRate baudrate, size_t maxReplyLen,
UartModes uartMode = UartModes::NON_CANONICAL)
: deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen), uartMode(uartMode) {}
virtual ~SerialConfig() = default;
UartBaudRate getBaudrate() const { return baudrate; }
size_t getMaxReplyLen() const { return maxReplyLen; }
std::string getDeviceFile() const { return deviceFile; }
Parity getParity() const { return parity; }
BitsPerWord getBitsPerWord() const { return bitsPerWord; }
StopBits getStopBits() const { return stopBits; }
UartModes getUartMode() const { return uartMode; }
/**
* Functions two enable parity checking.
*/
void setParityOdd() { parity = Parity::ODD; }
void setParityEven() { parity = Parity::EVEN; }
/**
* Function two set number of bits per UART frame.
*/
void setBitsPerWord(BitsPerWord bitsPerWord_) { bitsPerWord = bitsPerWord_; }
/**
* Function to specify the number of stopbits.
*/
void setTwoStopBits() { stopBits = StopBits::TWO_STOP_BITS; }
void setOneStopBit() { stopBits = StopBits::ONE_STOP_BIT; }
private:
std::string deviceFile;
UartBaudRate baudrate;
size_t maxReplyLen = 0;
const UartModes uartMode;
Parity parity = Parity::NONE;
BitsPerWord bitsPerWord = BitsPerWord::BITS_8;
StopBits stopBits = StopBits::ONE_STOP_BIT;
};

33
linux/payload/mpsocRetvals.h
View File

@ -1,33 +0,0 @@
#ifndef MPSOC_RETURN_VALUES_IF_H_
#define MPSOC_RETURN_VALUES_IF_H_
#include "eive/resultClassIds.h"
#include "fsfw/returnvalues/returnvalue.h"
class MPSoCReturnValuesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Received command with invalid length
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Command has invalid parameter
static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received command has file string with invalid length
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
};
#endif /* MPSOC_RETURN_VALUES_IF_H_ */

63
linux/payload/plocMpsocHelpers.cpp
View File

@ -1,87 +1,94 @@
#include "plocMpsocHelpers.h"
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
#include "mission/payload/plocSpBase.h"
uint16_t mpsoc::getStatusFromRawData(const uint8_t* data) {
return (*(data + STATUS_OFFSET) << 8) | *(data + STATUS_OFFSET + 1);
}
std::string mpsoc::getStatusString(uint16_t status) {
switch (status) {
case (mpsoc::status_code::UNKNOWN_APID): {
case (mpsoc::statusCode::UNKNOWN_APID): {
return "Unknown APID";
break;
}
case (mpsoc::status_code::INCORRECT_LENGTH): {
case (mpsoc::statusCode::INCORRECT_LENGTH): {
return "Incorrect length";
break;
}
case (mpsoc::status_code::INCORRECT_CRC): {
case (mpsoc::statusCode::FLASH_DRIVE_ERROR): {
return "flash drive error";
break;
}
case (mpsoc::statusCode::INCORRECT_CRC): {
return "Incorrect crc";
break;
}
case (mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
case (mpsoc::statusCode::INCORRECT_PKT_SEQ_CNT): {
return "Incorrect packet sequence count";
break;
}
case (mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
case (mpsoc::statusCode::TC_NOT_ALLOWED_IN_MODE): {
return "TC not allowed in this mode";
break;
}
case (mpsoc::status_code::TC_EXEUTION_DISABLED): {
case (mpsoc::statusCode::TC_EXEUTION_DISABLED): {
return "TC execution disabled";
break;
}
case (mpsoc::status_code::FLASH_MOUNT_FAILED): {
case (mpsoc::statusCode::FLASH_MOUNT_FAILED): {
return "Flash mount failed";
break;
}
case (mpsoc::status_code::FLASH_FILE_ALREADY_OPEN): {
case (mpsoc::statusCode::FLASH_FILE_ALREADY_OPEN): {
return "Flash file already open";
break;
}
case (mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
case (mpsoc::statusCode::FLASH_FILE_ALREADY_CLOSED): {
return "Flash file already closed";
break;
}
case (mpsoc::status_code::FLASH_FILE_OPEN_FAILED): {
case (mpsoc::statusCode::FLASH_FILE_OPEN_FAILED): {
return "Flash file open failed";
break;
}
case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
case (mpsoc::statusCode::FLASH_FILE_NOT_OPEN): {
return "Flash file not open";
break;
}
case (mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
case (mpsoc::statusCode::FLASH_UNMOUNT_FAILED): {
return "Flash unmount failed";
break;
}
case (mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
case (mpsoc::statusCode::HEAP_ALLOCATION_FAILED): {
return "Heap allocation failed";
break;
}
case (mpsoc::status_code::INVALID_PARAMETER): {
case (mpsoc::statusCode::INVALID_PARAMETER): {
return "Invalid parameter";
break;
}
case (mpsoc::status_code::NOT_INITIALIZED): {
case (mpsoc::statusCode::NOT_INITIALIZED): {
return "Not initialized";
break;
}
case (mpsoc::status_code::REBOOT_IMMINENT): {
case (mpsoc::statusCode::REBOOT_IMMINENT): {
return "Reboot imminent";
break;
}
case (mpsoc::status_code::CORRUPT_DATA): {
case (mpsoc::statusCode::CORRUPT_DATA): {
return "Corrupt data";
break;
}
case (mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
case (mpsoc::statusCode::FLASH_CORRECTABLE_MISMATCH): {
return "Flash correctable mismatch";
break;
}
case (mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
case (mpsoc::statusCode::FLASH_UNCORRECTABLE_MISMATCH): {
return "Flash uncorrectable mismatch";
break;
}
case (mpsoc::status_code::DEFAULT_ERROR_CODE): {
case (mpsoc::statusCode::DEFAULT_ERROR_CODE): {
return "Default error code";
break;
}
@ -93,3 +100,19 @@ std::string mpsoc::getStatusString(uint16_t status) {
}
return "";
}
void mpsoc::printRxPacket(const SpacePacketReader& spReader) {
if (mpsoc::MPSOC_RX_WIRETAPPING) {
sif::debug << "RECV MPSOC packet. APID 0x" << std::hex << std::setw(3) << spReader.getApid()
<< std::dec << " Size " << spReader.getFullPacketLen() << " SSC "
<< spReader.getSequenceCount() << std::endl;
}
}
void mpsoc::printTxPacket(const ploc::SpTcBase& tcBase) {
if (mpsoc::MPSOC_TX_WIRETAPPING) {
sif::debug << "SEND MPSOC packet. APID 0x" << std::hex << std::setw(3) << tcBase.getApid()
<< " Size " << std::dec << tcBase.getFullPacketLen() << " SSC "
<< tcBase.getSeqCount() << std::endl;
}
}

451
linux/payload/plocMpsocHelpers.h
View File

@ -3,16 +3,117 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <linux/payload/mpsocRetvals.h>
#include <mission/payload/plocSpBase.h>
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "fsfw/globalfunctions/CRC.h"
#include "eive/eventSubsystemIds.h"
#include "eive/resultClassIds.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "fsfw/serialize/SerializeIF.h"
namespace mpsoc {
static constexpr size_t CRC_SIZE = 2;
/**
* @brief Abstract base class for TC space packet of MPSoC.
*/
class TcBase : public ploc::SpTcBase {
public:
virtual ~TcBase() = default;
// Initial length field of space packet. Will always be updated when packet is created.
static const uint16_t INIT_LENGTH = CRC_SIZE;
/**
* @brief Constructor
*
* @param sequenceCount Sequence count of space packet which will be incremented with each
* sent and received packets.
*/
TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
: ploc::SpTcBase(params, apid, 0, sequenceCount) {
payloadStart = spParams.buf + ccsds::HEADER_LEN;
spParams.setFullPayloadLen(INIT_LENGTH);
}
/**
* @brief Function to finsh and write the space packet. It is expected that the user has
* set the payload fields in the child class*
* @return returnvalue::OK if packet creation was successful, otherwise error return value
*/
ReturnValue_t finishPacket() {
updateSpFields();
ReturnValue_t res = checkSizeAndSerializeHeader();
if (res != returnvalue::OK) {
return res;
}
return calcAndSetCrc();
}
};
void printRxPacket(const SpacePacketReader& spReader);
void printTxPacket(const ploc::SpTcBase& tcBase);
static constexpr bool MPSOC_TX_WIRETAPPING = true;
static constexpr bool MPSOC_RX_WIRETAPPING = true;
static constexpr uint32_t DEFAULT_CMD_TIMEOUT_MS = 5000;
static constexpr uint32_t CMD_TIMEOUT_MKFS = 15000;
enum FlashId : uint8_t { FLASH_0 = 0, FLASH_1 = 1 };
static const uint8_t INTERFACE_ID = CLASS_ID::MPSOC_RETURN_VALUES_IF;
//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Received command with invalid length
static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Filename of file in OBC filesystem is too long
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Filename of MPSoC file is to long (max. 256 bytes)
static const ReturnValue_t MPSOC_FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Command has invalid parameter
static const ReturnValue_t INVALID_PARAMETER = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received command has file string with invalid length
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Command has timed out.
static const ReturnValue_t COMMAND_TIMEOUT = MAKE_RETURN_CODE(0x10);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
//! P1: Command Id which leads the acknowledgment failure report
//! P2: The status field inserted by the MPSoC into the data field
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive execution failure report
//! P1: Command Id which leads the execution failure report
//! P2: The status field inserted by the MPSoC into the data field
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
//! count P1: Expected sequence count P2: Received sequence count
static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
//! thus also to shutdown the supervisor.
static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
//! [EXPORT] : [COMMENT] SUPV not on for boot or shutdown process. P1: 0 for OFF transition, 1 for
//! ON transition.
static constexpr Event SUPV_NOT_ON = event::makeEvent(SUBSYSTEM_ID, 7, severity::LOW);
static constexpr Event SUPV_REPLY_TIMEOUT = event::makeEvent(SUBSYSTEM_ID, 8, severity::LOW);
enum ParamId : uint8_t { SKIP_SUPV_ON_COMMANDING = 0x01 };
enum FileAccessModes : uint8_t {
@ -30,6 +131,8 @@ enum FileAccessModes : uint8_t {
};
static constexpr uint32_t HK_SET_ID = 0;
static constexpr uint32_t DEADBEEF_ADDR = 0x40000004;
static constexpr uint32_t DEADBEEF_VALUE = 0xdeadbeef;
namespace poolid {
enum {
@ -92,7 +195,8 @@ static const DeviceCommandId_t TM_CAM_CMD_RPT = 19;
static const DeviceCommandId_t SET_UART_TX_TRISTATE = 20;
static const DeviceCommandId_t RELEASE_UART_TX = 21;
static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22;
static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23;
// Stream file down using E-Band component directly.
static const DeviceCommandId_t TC_SIMPLEX_STREAM_FILE = 23;
static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24;
static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25;
static const DeviceCommandId_t TC_GET_HK_REPORT = 26;
@ -100,16 +204,33 @@ static const DeviceCommandId_t TM_GET_HK_REPORT = 27;
static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28;
static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29;
static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30;
// Store file on MPSoC.
static const DeviceCommandId_t TC_SIMPLEX_STORE_FILE = 31;
static const DeviceCommandId_t TC_VERIFY_BOOT = 32;
static const DeviceCommandId_t TC_ENABLE_TC_EXECTION = 33;
static const DeviceCommandId_t TC_FLASH_MKFS = 34;
// Will reset the sequence count of the OBSW
static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50;
// Will reset the sequence count of the OBSW. Not required anymore after MPSoC update.
static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT_LEGACY = 50;
static const uint16_t SIZE_ACK_REPORT = 14;
static const uint16_t SIZE_EXE_REPORT = 14;
static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
// static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;
// static const uint16_t SIZE_TM_CAM_CMD_RPT = 18;
static constexpr size_t SIZE_TM_HK_REPORT = 369;
enum Submode : uint8_t { IDLE_OR_NONE = 0, REPLAY = 1, SNAPSHOT = 2 };
// Setting the internal mode value to the actual telecommand ID
/*
enum InternalMode {
OFF = HasModesIF::MODE_OFF,
IDLE = ,
REPLAY = TC_MODE_REPLAY,
SNAPSHOT = TC_MODE_SNAPSHOT
};
*/
/**
* SpacePacket apids of PLOC telecommands and telemetry.
*/
@ -134,6 +255,8 @@ static const uint16_t TC_MODE_SNAPSHOT = 0x120;
static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121;
static constexpr uint16_t TC_HK_GET_REPORT = 0x123;
static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124;
static constexpr uint16_t TC_ENABLE_TC_EXECUTION = 0x129;
static constexpr uint16_t TC_FLASH_MKFS = 0x12A;
static const uint16_t TC_CAM_CMD_SEND = 0x12C;
static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E;
static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130;
@ -158,15 +281,15 @@ static const uint8_t SPACE_PACKET_HEADER_SIZE = 6;
static const uint8_t STATUS_OFFSET = 10;
static constexpr size_t CRC_SIZE = 2;
/**
* The size of payload data which will be forwarded to the requesting object. e.g. PUS Service
* 8.
*/
static const uint8_t SIZE_MEM_READ_RPT_FIX = 6;
static const size_t MAX_FILENAME_SIZE = 256;
static const size_t FILENAME_FIELD_SIZE = 256;
// Subtract size of NULL terminator.
static const size_t MAX_FILENAME_SIZE = FILENAME_FIELD_SIZE - 1;
/**
* PLOC space packet length for fixed size packets. This is the size of the whole packet data
@ -201,8 +324,9 @@ static const uint16_t TC_DOWNLINK_PWR_ON_EXECUTION_DELAY = 8;
static const uint16_t TC_CAM_TAKE_PIC_EXECUTION_DELAY = 20;
static const uint16_t TC_SIMPLEX_SEND_FILE_DELAY = 80;
namespace status_code {
namespace statusCode {
static const uint16_t DEFAULT_ERROR_CODE = 0x1;
static constexpr uint16_t FLASH_DRIVE_ERROR = 0xb;
static const uint16_t UNKNOWN_APID = 0x5DD;
static const uint16_t INCORRECT_LENGTH = 0x5DE;
static const uint16_t INCORRECT_CRC = 0x5DF;
@ -227,49 +351,12 @@ static const uint16_t RESERVED_1 = 0x5F1;
static const uint16_t RESERVED_2 = 0x5F2;
static const uint16_t RESERVED_3 = 0x5F3;
static const uint16_t RESERVED_4 = 0x5F4;
} // namespace status_code
/**
* @brief Abstract base class for TC space packet of MPSoC.
*/
class TcBase : public ploc::SpTcBase, public MPSoCReturnValuesIF {
public:
virtual ~TcBase() = default;
// Initial length field of space packet. Will always be updated when packet is created.
static const uint16_t INIT_LENGTH = CRC_SIZE;
/**
* @brief Constructor
*
* @param sequenceCount Sequence count of space packet which will be incremented with each
* sent and received packets.
*/
TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount)
: ploc::SpTcBase(params, apid, 0, sequenceCount) {
payloadStart = spParams.buf + ccsds::HEADER_LEN;
spParams.setFullPayloadLen(INIT_LENGTH);
}
/**
* @brief Function to finsh and write the space packet. It is expected that the user has
* set the payload fields in the child class*
* @return returnvalue::OK if packet creation was successful, otherwise error return value
*/
ReturnValue_t finishPacket() {
updateSpFields();
ReturnValue_t res = checkSizeAndSerializeHeader();
if (res != returnvalue::OK) {
return res;
}
return calcAndSetCrc();
}
};
} // namespace statusCode
/**
* @brief This class helps to build the memory read command for the PLOC.
*/
class TcMemRead : public TcBase {
class TcMemRead : public mpsoc::TcBase {
public:
/**
* @brief Constructor
@ -319,7 +406,7 @@ class TcMemRead : public TcBase {
* @brief This class helps to generate the space packet to write data to a memory address within
* the PLOC.
*/
class TcMemWrite : public TcBase {
class TcMemWrite : public mpsoc::TcBase {
public:
/**
* @brief Constructor
@ -369,24 +456,21 @@ class TcMemWrite : public TcBase {
/**
* @brief Class to help creation of flash fopen command.
*/
class FlashFopen : public TcBase {
class TcFlashFopen : public mpsoc::TcBase {
public:
FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
TcFlashFopen(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {}
ReturnValue_t setPayload(std::string filename, uint8_t mode) {
accessMode = mode;
size_t nameSize = filename.size();
spParams.setFullPayloadLen(256 + sizeof(uint8_t) + CRC_SIZE);
ReturnValue_t result = checkPayloadLen();
if (result != returnvalue::OK) {
return result;
}
std::memcpy(payloadStart, filename.c_str(), nameSize);
// payloadStart[nameSize] = NULL_TERMINATOR;
std::memset(payloadStart + nameSize, 0, 256 - nameSize);
// payloadStart[255] = NULL_TERMINATOR;
payloadStart[256] = accessMode;
std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
std::memcpy(payloadStart, filename.c_str(), filename.size());
payloadStart[FILENAME_FIELD_SIZE] = accessMode;
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + 1 + CRC_SIZE);
return returnvalue::OK;
}
@ -397,14 +481,46 @@ class FlashFopen : public TcBase {
/**
* @brief Class to help creation of flash fclose command.
*/
class FlashFclose : public TcBase {
class TcFlashFclose : public TcBase {
public:
FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
TcFlashFclose(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {
spParams.setFullPayloadLen(CRC_SIZE);
}
};
class TcEnableTcExec : public TcBase {
public:
TcEnableTcExec(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_ENABLE_TC_EXECUTION, sequenceCount) {
spParams.setFullPayloadLen(CRC_SIZE);
}
ReturnValue_t setPayload(const uint8_t* cmdData, size_t cmdDataLen) {
if (cmdDataLen != 2) {
return HasActionsIF::INVALID_PARAMETERS;
}
std::memcpy(payloadStart, cmdData, 2);
spParams.setFullPayloadLen(2 + CRC_SIZE);
return returnvalue::OK;
}
};
class TcFlashMkfs : public TcBase {
public:
TcFlashMkfs(ploc::SpTcParams params, uint16_t sequenceCount, FlashId flashId)
: TcBase(params, apid::TC_FLASH_MKFS, sequenceCount) {
const char* flashIdStr = "0:\\";
if (flashId == FlashId::FLASH_1) {
flashIdStr = "1:\\";
}
std::memcpy(payloadStart, flashIdStr, 3);
// Null terminator
payloadStart[3] = 0;
spParams.setFullPayloadLen(4 + CRC_SIZE);
}
};
/**
* @brief Class to build flash write space packet.
*/
@ -464,15 +580,6 @@ class TcFlashRead : public TcBase {
if (result != returnvalue::OK) {
return result;
}
updateSpFields();
result = checkSizeAndSerializeHeader();
if (result != returnvalue::OK) {
return result;
}
result = calcAndSetCrc();
if (result != returnvalue::OK) {
return result;
}
readSize = readLen;
return result;
}
@ -490,20 +597,14 @@ class TcFlashDelete : public TcBase {
ReturnValue_t setPayload(std::string filename) {
size_t nameSize = filename.size();
spParams.setFullPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE);
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
auto res = checkPayloadLen();
if (res != returnvalue::OK) {
return res;
}
std::memcpy(payloadStart, filename.c_str(), nameSize);
*(payloadStart + nameSize) = NULL_TERMINATOR;
updateSpFields();
res = checkSizeAndSerializeHeader();
if (res != returnvalue::OK) {
return res;
}
return calcAndSetCrc();
return returnvalue::OK;
}
};
@ -655,8 +756,9 @@ class TcGetDirContent : public TcBase {
if (result != returnvalue::OK) {
return result;
}
std::memset(payloadStart, 0, 256);
std::memcpy(payloadStart, commandData, commandDataLen);
payloadStart[255] = '\0';
payloadStart[255] = 0;
return result;
}
};
@ -697,7 +799,7 @@ class TcReplayWriteSeq : public TcBase {
static const size_t USE_DECODING_LENGTH = 1;
ReturnValue_t lengthCheck(size_t commandDataLen) {
if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or
if (commandDataLen > USE_DECODING_LENGTH + FILENAME_FIELD_SIZE or
checkPayloadLen() != returnvalue::OK) {
sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen
<< std::endl;
@ -710,24 +812,24 @@ class TcReplayWriteSeq : public TcBase {
/**
* @brief Helps to extract the fields of the flash write command from the PUS packet.
*/
class FlashBasePusCmd : public MPSoCReturnValuesIF {
class FlashBasePusCmd {
public:
FlashBasePusCmd() = default;
virtual ~FlashBasePusCmd() = default;
virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) {
if (commandDataLen > FILENAME_FIELD_SIZE) {
return INVALID_LENGTH;
}
size_t fileLen = strnlen(reinterpret_cast<const char*>(commandData), commandDataLen);
if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) {
if (fileLen > MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
obcFile = std::string(reinterpret_cast<const char*>(commandData), fileLen);
fileLen =
strnlen(reinterpret_cast<const char*>(commandData + obcFile.size() + SIZE_NULL_TERMINATOR),
commandDataLen - obcFile.size() - 1);
if (fileLen > MAX_FILENAME_SIZE) {
if (fileLen > FILENAME_FIELD_SIZE) {
return MPSOC_FILENAME_TOO_LONG;
}
mpsocFile = std::string(
@ -738,11 +840,11 @@ class FlashBasePusCmd : public MPSoCReturnValuesIF {
const std::string& getObcFile() const { return obcFile; }
const std::string& getMPSoCFile() const { return mpsocFile; }
const std::string& getMpsocFile() const { return mpsocFile; }
protected:
size_t getParsedSize() const {
return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR;
return getObcFile().size() + getMpsocFile().size() + 2 * SIZE_NULL_TERMINATOR;
}
static const size_t SIZE_NULL_TERMINATOR = 1;
@ -809,49 +911,190 @@ class TcCamTakePic : public TcBase {
: TcBase(params, apid::TC_CAM_TAKE_PIC, sequenceCount) {}
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > MAX_DATA_LENGTH) {
const uint8_t** dataPtr = &commandData;
if (commandDataLen > FULL_PAYLOAD_SIZE) {
return INVALID_LENGTH;
}
std::string fileName(reinterpret_cast<const char*>(commandData));
if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
size_t deserLen = commandDataLen;
size_t serLen = 0;
fileName = reinterpret_cast<const char*>(commandData);
if (fileName.size() > MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
if (commandDataLen - (fileName.size() + sizeof(NULL_TERMINATOR)) != PARAMETER_SIZE) {
return INVALID_LENGTH;
deserLen -= fileName.length() + 1;
*dataPtr += fileName.length() + 1;
uint8_t** payloadPtr = &payloadStart;
memcpy(payloadStart, fileName.data(), fileName.size());
*payloadPtr += FILENAME_FIELD_SIZE;
serLen += FILENAME_FIELD_SIZE;
ReturnValue_t result = SerializeAdapter::deSerialize(&encoderSettingY, dataPtr, &deserLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
std::memcpy(payloadStart, commandData, commandDataLen);
result = SerializeAdapter::serialize(&encoderSettingY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&quantizationY, dataPtr, &deserLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&quantizationY, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&encoderSettingsCb, dataPtr, &deserLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&encoderSettingsCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&quantizationCb, dataPtr, &deserLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&quantizationCb, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&encoderSettingsCr, dataPtr, &deserLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&encoderSettingsCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&quantizationCr, dataPtr, &deserLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&quantizationCr, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&bypassCompressor, dataPtr, &deserLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::serialize(&bypassCompressor, payloadPtr, &serLen, FULL_PAYLOAD_SIZE,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
spParams.setFullPayloadLen(FULL_PAYLOAD_SIZE + CRC_SIZE);
return returnvalue::OK;
}
std::string fileName;
uint8_t encoderSettingY = 7;
uint64_t quantizationY = 0;
uint8_t encoderSettingsCb = 7;
uint64_t quantizationCb = 0;
uint8_t encoderSettingsCr = 7;
uint64_t quantizationCr = 0;
uint8_t bypassCompressor = 0;
private:
static const size_t MAX_DATA_LENGTH = 286;
static const size_t PARAMETER_SIZE = 28;
static constexpr size_t FULL_PAYLOAD_SIZE = FILENAME_FIELD_SIZE + PARAMETER_SIZE;
};
/**
* @brief Class to build simplex send file command
*/
class TcSimplexSendFile : public TcBase {
class TcSimplexStreamFile : public TcBase {
public:
TcSimplexSendFile(ploc::SpTcParams params, uint16_t sequenceCount)
TcSimplexStreamFile(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen > MAX_DATA_LENGTH) {
if (commandDataLen > MAX_FILENAME_SIZE) {
return INVALID_LENGTH;
}
std::string fileName(reinterpret_cast<const char*>(commandData));
if (fileName.size() + sizeof(NULL_TERMINATOR) > MAX_FILENAME_SIZE) {
if (fileName.size() > MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
spParams.setFullPayloadLen(commandDataLen + CRC_SIZE);
std::memcpy(payloadStart, commandData, commandDataLen);
std::memset(payloadStart, 0, FILENAME_FIELD_SIZE);
std::memcpy(payloadStart, fileName.data(), fileName.length());
payloadStart[fileName.length()] = 0;
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
;
return returnvalue::OK;
}
private:
static const size_t MAX_DATA_LENGTH = 256;
};
/**
* @brief Class to build simplex send file command
*/
class TcSimplexStoreFile : public TcBase {
public:
TcSimplexStoreFile(ploc::SpTcParams params, uint16_t sequenceCount)
: TcBase(params, apid::TC_SIMPLEX_SEND_FILE, sequenceCount) {}
ReturnValue_t setPayload(const uint8_t* commandData, size_t commandDataLen) {
if (commandDataLen < MIN_DATA_LENGTH) {
return INVALID_LENGTH;
}
if (commandDataLen > MAX_DATA_LENGTH) {
return INVALID_LENGTH;
}
const uint8_t** dataPtr = &commandData;
ReturnValue_t result = SerializeAdapter::deSerialize(&chunkParameter, dataPtr, &commandDataLen,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
/// No chunks makes no sense, and DIV str can not be longer than whats representable with 3
/// decimal digits.
if (chunkParameter == 0 or chunkParameter > 999) {
return INVALID_PARAMETER;
}
std::string fileName(reinterpret_cast<const char*>(*dataPtr));
if (fileName.size() > MAX_FILENAME_SIZE) {
return FILENAME_TOO_LONG;
}
char divStr[16]{};
sprintf(divStr, "DIV%03u", chunkParameter);
std::memcpy(payloadStart, divStr, DIV_STR_LEN);
payloadStart[DIV_STR_LEN] = 0;
std::memset(payloadStart + DIV_STR_LEN + 1, 0, FILENAME_FIELD_SIZE - DIV_STR_LEN - 1);
std::memcpy(payloadStart + DIV_STR_LEN + 1, fileName.data(), fileName.length());
spParams.setFullPayloadLen(FILENAME_FIELD_SIZE + CRC_SIZE);
return returnvalue::OK;
}
private:
uint32_t chunkParameter = 0;
static constexpr size_t MIN_DATA_LENGTH = 4;
static constexpr size_t DIV_STR_LEN = 6;
static constexpr size_t MAX_DATA_LENGTH = 4 + MAX_FILENAME_SIZE;
};
/**