diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp index 2c3b20d2..3a53d288 100644 --- a/bsp_hosted/ObjectFactory.cpp +++ b/bsp_hosted/ObjectFactory.cpp @@ -47,8 +47,8 @@ #include "mission/utility/GlobalConfigHandler.h" void Factory::setStaticFrameworkObjectIds() { - PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; - PusServiceBase::packetDestination = objects::TM_FUNNEL; + PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR; + PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL; CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; @@ -57,8 +57,7 @@ void Factory::setStaticFrameworkObjectIds() { // No storage object for now. TmFunnel::storageDestination = objects::NO_OBJECT; - VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; - TmPacketBase::timeStamperId = objects::TIME_STAMPER; + VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION; } void ObjectFactory::produce(void* args) { diff --git a/bsp_q7s/core/CoreController.cpp b/bsp_q7s/core/CoreController.cpp index e387aa71..25d47b7c 100644 --- a/bsp_q7s/core/CoreController.cpp +++ b/bsp_q7s/core/CoreController.cpp @@ -92,7 +92,7 @@ ReturnValue_t CoreController::initializeLocalDataPool(localpool::DataPool &local localDataPoolMap.emplace(core::TEMPERATURE, new PoolEntry({0})); localDataPoolMap.emplace(core::PS_VOLTAGE, new PoolEntry({0})); localDataPoolMap.emplace(core::PL_VOLTAGE, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 10.0, false); + poolManager.subscribeForRegularPeriodicPacket({hkSet.getSid(), false, 10.0}); return HasReturnvaluesIF::RETURN_OK; } diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 43b1da31..3ac765ff 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -95,8 +95,8 @@ ResetArgs RESET_ARGS_GNSS; void Factory::setStaticFrameworkObjectIds() { - PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; - PusServiceBase::packetDestination = objects::TM_FUNNEL; + PusServiceBase::PUS_DISTRIBUTOR = objects::PUS_PACKET_DISTRIBUTOR; + PusServiceBase::PACKET_DESTINATION = objects::TM_FUNNEL; CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR; CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL; @@ -117,8 +117,7 @@ void Factory::setStaticFrameworkObjectIds() { LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING; - VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION; - TmPacketBase::timeStamperId = objects::TIME_STAMPER; + VerificationReporter::DEFAULT_RECEIVER = objects::PUS_SERVICE_1_VERIFICATION; } void ObjectFactory::setStatics() { Factory::setStaticFrameworkObjectIds(); } diff --git a/common/config/commonConfig.cpp b/common/config/commonConfig.cpp index 0fd78a61..08b7439f 100644 --- a/common/config/commonConfig.cpp +++ b/common/config/commonConfig.cpp @@ -1,8 +1,8 @@ #include "commonConfig.h" -#include "fsfw/tmtcpacket/SpacePacket.h" +#include "fsfw/tmtcpacket/ccsds/defs.h" #include "tmtc/apid.h" const fsfw::Version common::OBSW_VERSION{OBSW_VERSION_MAJOR, OBSW_VERSION_MINOR, OBSW_VERSION_REVISION, OBSW_VERSION_CST_GIT_SHA1}; -const uint16_t common::PUS_PACKET_ID = spacepacket::getTcSpacePacketIdFromApid(apid::EIVE_OBSW); +const uint16_t common::PUS_PACKET_ID = ccsds::getTcSpacePacketIdFromApid(apid::EIVE_OBSW); diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp index 5d97554a..32e3e40d 100644 --- a/linux/devices/GPSHyperionLinuxController.cpp +++ b/linux/devices/GPSHyperionLinuxController.cpp @@ -87,7 +87,7 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool( localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry()); localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry()); localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry()); - poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), false, 30.0, false); + poolManager.subscribeForRegularPeriodicPacket({gpsSet.getSid(), 30.0}); return HasReturnvaluesIF::RETURN_OK; } diff --git a/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h b/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h index d64bb863..aa0f85b8 100644 --- a/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h +++ b/linux/devices/devicedefinitions/PlocMPSoCDefinitions.h @@ -6,7 +6,7 @@ #include "eive/definitions.h" #include "fsfw/globalfunctions/CRC.h" #include "fsfw/serialize/SerializeAdapter.h" -#include "fsfw/tmtcpacket/SpacePacket.h" +#include "mission/devices/devicedefinitions/SpBase.h" namespace mpsoc { @@ -73,6 +73,8 @@ static const char NULL_TERMINATOR = '\0'; static const uint8_t MIN_SPACE_PACKET_LENGTH = 7; static const uint8_t SPACE_PACKET_HEADER_SIZE = 6; +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. @@ -88,8 +90,14 @@ static const size_t MAX_FILENAME_SIZE = 256; static const uint16_t LENGTH_TC_MEM_WRITE = 12; static const uint16_t LENGTH_TC_MEM_READ = 8; -static const size_t MAX_REPLY_SIZE = SpacePacket::PACKET_MAX_SIZE * 3; -static const size_t MAX_COMMAND_SIZE = SpacePacket::PACKET_MAX_SIZE; +/** + * Maximum SP packet size as specified in the TAS Supversior ICD. + * https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/TAS&fileid=942896 + * at sheet README + */ +static constexpr size_t SP_MAX_SIZE = 1024; +static const size_t MAX_REPLY_SIZE = SP_MAX_SIZE * 3; +static const size_t MAX_COMMAND_SIZE = SP_MAX_SIZE; static const size_t MAX_DATA_SIZE = 1016; /** @@ -130,8 +138,10 @@ static const uint16_t RESERVED_4 = 0x5F4; /** * @brief Abstract base class for TC space packet of MPSoC. */ -class TcBase : public SpacePacket, public MPSoCReturnValuesIF { +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 = 1; @@ -141,8 +151,12 @@ class TcBase : public SpacePacket, public MPSoCReturnValuesIF { * @param sequenceCount Sequence count of space packet which will be incremented with each * sent and received packets. */ - TcBase(uint16_t apid, uint16_t sequenceCount) - : SpacePacket(INIT_LENGTH, true, apid, sequenceCount) {} + TcBase(ploc::SpTcParams params, uint16_t apid, uint16_t sequenceCount) + : ploc::SpTcBase(params, apid, sequenceCount) { + spParams.setDataFieldLen(INIT_LENGTH); + } + + ReturnValue_t buildPacket() { return buildPacket(nullptr, 0); } /** * @brief Function to initialize the space packet @@ -152,17 +166,22 @@ class TcBase : public SpacePacket, public MPSoCReturnValuesIF { * * @return RETURN_OK if packet creation was successful, otherwise error return value */ - virtual ReturnValue_t createPacket(const uint8_t* commandData, size_t commandDataLen) { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - result = initPacket(commandData, commandDataLen); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; + ReturnValue_t buildPacket(const uint8_t* commandData, size_t commandDataLen) { + payloadStart = spParams.buf + ccsds::HEADER_LEN; + ReturnValue_t res; + if (commandData != nullptr and commandDataLen > 0) { + res = initPacket(commandData, commandDataLen); + if (res != result::OK) { + return res; + } } - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; + + updateSpFields(); + res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; } - return result; + return calcCrc(); } protected: @@ -175,45 +194,6 @@ class TcBase : public SpacePacket, public MPSoCReturnValuesIF { virtual ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { return HasReturnvaluesIF::RETURN_OK; } - - /** - * @brief Calculates and adds the CRC - */ - ReturnValue_t addCrc() { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - size_t serializedSize = 0; - uint32_t full_size = getFullSize(); - uint16_t crc = CRC::crc16ccitt(getWholeData(), full_size - CRC_SIZE); - result = SerializeAdapter::serialize( - &crc, this->localData.byteStream + full_size - CRC_SIZE, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::debug << "TcBase::addCrc: Failed to serialize crc field" << std::endl; - } - return result; - } -}; - -/** - * @brief Class for handling tm replies of the PLOC MPSoC. - */ -class TmPacket : public SpacePacket, public MPSoCReturnValuesIF { - public: - /** - * @brief Constructor creates idle packet and sets length field to maximum allowed size. - */ - TmPacket() : SpacePacket(PACKET_MAX_SIZE) {} - - ReturnValue_t checkCrc() { - uint8_t* crcPtr = this->getPacketData() + this->getPacketDataLength() - 1; - uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1); - uint16_t recalculatedCrc = - CRC::crc16ccitt(this->localData.byteStream, this->getFullSize() - CRC_SIZE); - if (recalculatedCrc != receivedCrc) { - return CRC_FAILURE; - } - return HasReturnvaluesIF::RETURN_OK; - } }; /** @@ -224,22 +204,22 @@ class TcMemRead : public TcBase { /** * @brief Constructor */ - TcMemRead(uint16_t sequenceCount) : TcBase(apid::TC_MEM_READ, sequenceCount) { - this->setPacketDataLength(PACKET_LENGTH); + TcMemRead(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_MEM_READ, sequenceCount) { + spParams.setPayloadLen(COMMAND_LENGTH); } uint16_t getMemLen() const { return memLen; } protected: - ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { + ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; result = lengthCheck(commandDataLen); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - std::memcpy(this->localData.fields.buffer, commandData, MEM_ADDRESS_SIZE); - std::memcpy(this->localData.fields.buffer + MEM_ADDRESS_SIZE, commandData + MEM_ADDRESS_SIZE, - MEM_LEN_SIZE); + std::memcpy(payloadStart, commandData, MEM_ADDRESS_SIZE); + std::memcpy(payloadStart + MEM_ADDRESS_SIZE, commandData + MEM_ADDRESS_SIZE, MEM_LEN_SIZE); size_t size = sizeof(memLen); const uint8_t* memLenPtr = commandData + MEM_ADDRESS_SIZE; result = @@ -259,7 +239,7 @@ class TcMemRead : public TcBase { uint16_t memLen = 0; ReturnValue_t lengthCheck(size_t commandDataLen) { - if (commandDataLen != COMMAND_LENGTH) { + if (commandDataLen != COMMAND_LENGTH or checkPayloadLen() != HasReturnvaluesIF::RETURN_OK) { return INVALID_LENGTH; } return HasReturnvaluesIF::RETURN_OK; @@ -275,31 +255,45 @@ class TcMemWrite : public TcBase { /** * @brief Constructor */ - TcMemWrite(uint16_t sequenceCount) : TcBase(apid::TC_MEM_WRITE, sequenceCount) {} + TcMemWrite(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_MEM_WRITE, sequenceCount) {} protected: - ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { + + ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; result = lengthCheck(commandDataLen); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - std::memcpy(this->localData.fields.buffer, commandData, commandDataLen); uint16_t memLen = *(commandData + MEM_ADDRESS_SIZE) << 8 | *(commandData + MEM_ADDRESS_SIZE + 1); - this->setPacketDataLength(memLen * 4 + FIX_LENGTH - 1); + spParams.setPayloadLen(MIN_FIXED_PAYLOAD_LENGTH + memLen * 4); + result = checkPayloadLen(); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + std::memcpy(payloadStart, commandData, commandDataLen); return result; } private: - // Min length consists of 4 byte address, 2 byte mem length field, 4 byte data (1 word) - static const size_t MIN_COMMAND_DATA_LENGTH = 10; + // 4 byte address, 2 byte mem length field static const size_t MEM_ADDRESS_SIZE = 4; - static const size_t FIX_LENGTH = 8; + static const size_t MIN_FIXED_PAYLOAD_LENGTH = MEM_ADDRESS_SIZE + 2; + // Min length consists of 4 byte address, 2 byte mem length field, 4 byte data (1 word) + static const size_t MIN_COMMAND_DATA_LENGTH = MIN_FIXED_PAYLOAD_LENGTH + 4; + ReturnValue_t lengthCheck(size_t commandDataLen) { if (commandDataLen < MIN_COMMAND_DATA_LENGTH) { - sif::warning << "TcMemWrite: Command has invalid length " << commandDataLen << std::endl; + sif::warning << "TcMemWrite: Length " << commandDataLen << " smaller than minimum " << + MIN_COMMAND_DATA_LENGTH << std::endl; + return INVALID_LENGTH; + } + if(commandDataLen + CRC_SIZE > spParams.maxSize) { + sif::warning << "TcMemWrite: Length " << commandDataLen << " larger than allowed " << + spParams.maxSize - CRC_SIZE << std::endl; return INVALID_LENGTH; } return HasReturnvaluesIF::RETURN_OK; @@ -309,9 +303,10 @@ class TcMemWrite : public TcBase { /** * @brief Class to help creation of flash fopen command. */ -class FlashFopen : public TcBase { +class FlashFopen : public ploc::SpTcBase { public: - FlashFopen(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFOPEN, sequenceCount) {} + FlashFopen(ploc::SpTcParams params, uint16_t sequenceCount) + : ploc::SpTcBase(params, apid::TC_FLASHFOPEN, sequenceCount) {} static const char APPEND = 'a'; static const char WRITE = 'w'; @@ -319,19 +314,17 @@ class FlashFopen : public TcBase { ReturnValue_t createPacket(std::string filename, char accessMode_) { accessMode = accessMode_; - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; size_t nameSize = filename.size(); - std::memcpy(this->getPacketData(), filename.c_str(), nameSize); - *(this->getPacketData() + nameSize) = NULL_TERMINATOR; - std::memcpy(this->getPacketData() + nameSize + sizeof(NULL_TERMINATOR), &accessMode, - sizeof(accessMode)); - this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode) + CRC_SIZE - - 1); - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { + spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR) + sizeof(accessMode)); + ReturnValue_t result = checkPayloadLen(); + if(result != HasReturnvaluesIF::RETURN_OK) { return result; } - return result; + std::memcpy(payloadStart, filename.c_str(), nameSize); + *(spParams.buf + nameSize) = NULL_TERMINATOR; + std::memcpy(payloadStart + nameSize + sizeof(NULL_TERMINATOR), &accessMode, sizeof(accessMode)); + updateSpFields(); + return calcCrc(); } private: @@ -341,52 +334,57 @@ class FlashFopen : public TcBase { /** * @brief Class to help creation of flash fclose command. */ -class FlashFclose : public TcBase { +class FlashFclose : public ploc::SpTcBase { public: - FlashFclose(uint16_t sequenceCount) : TcBase(apid::TC_FLASHFCLOSE, sequenceCount) {} + FlashFclose(ploc::SpTcParams params, uint16_t sequenceCount) + : ploc::SpTcBase(params, apid::TC_FLASHFCLOSE, sequenceCount) {} ReturnValue_t createPacket(std::string filename) { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; size_t nameSize = filename.size(); - std::memcpy(this->getPacketData(), filename.c_str(), nameSize); - *(this->getPacketData() + nameSize) = NULL_TERMINATOR; - this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1); - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { + spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR)); + ReturnValue_t result = checkPayloadLen(); + if(result != HasReturnvaluesIF::RETURN_OK) { return result; } - return result; + std::memcpy(payloadStart, filename.c_str(), nameSize); + *(payloadStart + nameSize) = NULL_TERMINATOR; + return calcCrc(); } }; /** * @brief Class to build flash write space packet. */ -class TcFlashWrite : public TcBase { +class TcFlashWrite : public ploc::SpTcBase { public: - TcFlashWrite(uint16_t sequenceCount) : TcBase(apid::TC_FLASHWRITE, sequenceCount) {} + TcFlashWrite(ploc::SpTcParams params, uint16_t sequenceCount) + : ploc::SpTcBase(params, apid::TC_FLASHWRITE, sequenceCount) {} - ReturnValue_t createPacket(const uint8_t* writeData, uint32_t writeLen_) { + ReturnValue_t buildPacket(const uint8_t* writeData, uint32_t writeLen_) { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; writeLen = writeLen_; if (writeLen > MAX_DATA_SIZE) { sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; } + spParams.setPayloadLen(static_cast(writeLen) + 4); + result = checkPayloadLen(); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } size_t serializedSize = 0; - result = - SerializeAdapter::serialize(&writeLen, this->getPacketData(), &serializedSize, - sizeof(writeLen), SerializeIF::Endianness::BIG); + result = SerializeAdapter::serialize(&writeLen, payloadStart, &serializedSize, sizeof(writeLen), + SerializeIF::Endianness::BIG); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - std::memcpy(this->getPacketData() + sizeof(writeLen), writeData, writeLen); - this->setPacketDataLength(static_cast(writeLen + CRC_SIZE - 1)); - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; + std::memcpy(payloadStart + sizeof(writeLen), writeData, writeLen); + updateSpFields(); + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; } - return HasReturnvaluesIF::RETURN_OK; + return calcCrc(); } private: @@ -396,21 +394,27 @@ class TcFlashWrite : public TcBase { /** * @brief Class to help creation of flash delete command. */ -class TcFlashDelete : public TcBase { +class TcFlashDelete : public ploc::SpTcBase { public: - TcFlashDelete(uint16_t sequenceCount) : TcBase(apid::TC_FLASHDELETE, sequenceCount) {} + TcFlashDelete(ploc::SpTcParams params, uint16_t sequenceCount) + : ploc::SpTcBase(params, apid::TC_FLASHDELETE, sequenceCount) {} - ReturnValue_t createPacket(std::string filename) { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + ReturnValue_t buildPacket(std::string filename) { size_t nameSize = filename.size(); - std::memcpy(this->getPacketData(), filename.c_str(), nameSize); - *(this->getPacketData() + nameSize) = NULL_TERMINATOR; - this->setPacketDataLength(nameSize + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1); - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; + spParams.setPayloadLen(nameSize + sizeof(NULL_TERMINATOR)); + auto res = checkPayloadLen(); + if(res != HasReturnvaluesIF::RETURN_OK) { + return res; } - return result; + std::memcpy(payloadStart, filename.c_str(), nameSize); + *(payloadStart + nameSize) = NULL_TERMINATOR; + + updateSpFields(); + res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + return calcCrc(); } }; @@ -419,17 +423,8 @@ class TcFlashDelete : public TcBase { */ class TcReplayStop : public TcBase { public: - TcReplayStop(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_STOP, sequenceCount) {} - - ReturnValue_t createPacket() { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - this->setPacketDataLength(static_cast(CRC_SIZE - 1)); - return HasReturnvaluesIF::RETURN_OK; - } + TcReplayStop(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_REPLAY_STOP, sequenceCount) {} }; /** @@ -440,11 +435,13 @@ class TcReplayStart : public TcBase { /** * @brief Constructor */ - TcReplayStart(uint16_t sequenceCount) : TcBase(apid::TC_REPLAY_START, sequenceCount) {} + TcReplayStart(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_REPLAY_START, sequenceCount) {} protected: - ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { + ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + spParams.setPayloadLen(commandDataLen); result = lengthCheck(commandDataLen); if (result != HasReturnvaluesIF::RETURN_OK) { return result; @@ -453,8 +450,7 @@ class TcReplayStart : public TcBase { if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - std::memcpy(this->localData.fields.buffer, commandData, commandDataLen); - this->setPacketDataLength(commandDataLen + CRC_SIZE - 1); + std::memcpy(payloadStart, commandData, commandDataLen); return result; } @@ -464,7 +460,7 @@ class TcReplayStart : public TcBase { static const uint8_t ONCE = 1; ReturnValue_t lengthCheck(size_t commandDataLen) { - if (commandDataLen != COMMAND_DATA_LENGTH) { + if (commandDataLen != COMMAND_DATA_LENGTH or checkPayloadLen() != HasReturnvaluesIF::RETURN_OK) { sif::warning << "TcReplayStart: Command has invalid length " << commandDataLen << std::endl; return INVALID_LENGTH; } @@ -488,10 +484,11 @@ class TcDownlinkPwrOn : public TcBase { /** * @brief Constructor */ - TcDownlinkPwrOn(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_ON, sequenceCount) {} + TcDownlinkPwrOn(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_DOWNLINK_PWR_ON, sequenceCount) {} protected: - ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { + ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; result = lengthCheck(commandDataLen); if (result != HasReturnvaluesIF::RETURN_OK) { @@ -505,10 +502,13 @@ class TcDownlinkPwrOn : public TcBase { if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - std::memcpy(this->localData.fields.buffer, commandData, commandDataLen); - std::memcpy(this->localData.fields.buffer + commandDataLen, &MAX_AMPLITUDE, - sizeof(MAX_AMPLITUDE)); - this->setPacketDataLength(commandDataLen + sizeof(MAX_AMPLITUDE) + CRC_SIZE - 1); + spParams.setPayloadLen(commandDataLen + sizeof(MAX_AMPLITUDE)); + result = checkPayloadLen(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + std::memcpy(payloadStart, commandData, commandDataLen); + std::memcpy(payloadStart + commandDataLen, &MAX_AMPLITUDE, sizeof(MAX_AMPLITUDE)); return result; } @@ -555,17 +555,8 @@ class TcDownlinkPwrOn : public TcBase { */ class TcDownlinkPwrOff : public TcBase { public: - TcDownlinkPwrOff(uint16_t sequenceCount) : TcBase(apid::TC_DOWNLINK_PWR_OFF, sequenceCount) {} - - ReturnValue_t createPacket() { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - this->setPacketDataLength(static_cast(CRC_SIZE - 1)); - return HasReturnvaluesIF::RETURN_OK; - } + TcDownlinkPwrOff(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_DOWNLINK_PWR_OFF, sequenceCount) {} }; /** @@ -576,19 +567,19 @@ class TcReplayWriteSeq : public TcBase { /** * @brief Constructor */ - TcReplayWriteSeq(uint16_t sequenceCount) - : TcBase(apid::TC_REPLAY_WRITE_SEQUENCE, sequenceCount) {} + TcReplayWriteSeq(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_REPLAY_WRITE_SEQUENCE, sequenceCount) {} protected: - ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { + ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override { ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + spParams.setPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR)); result = lengthCheck(commandDataLen); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - std::memcpy(this->localData.fields.buffer, commandData, commandDataLen); - *(this->localData.fields.buffer + commandDataLen) = NULL_TERMINATOR; - this->setPacketDataLength(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE - 1); + std::memcpy(payloadStart, commandData, commandDataLen); + *(payloadStart + commandDataLen) = NULL_TERMINATOR; return result; } @@ -596,7 +587,8 @@ 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) { + if (commandDataLen > USE_DECODING_LENGTH + MAX_FILENAME_SIZE or + checkPayloadLen() != HasReturnvaluesIF::RETURN_OK) { sif::warning << "TcReplayWriteSeq: Command has invalid length " << commandDataLen << std::endl; return INVALID_LENGTH; @@ -643,17 +635,8 @@ class FlashWritePusCmd : public MPSoCReturnValuesIF { */ class TcModeReplay : public TcBase { public: - TcModeReplay(uint16_t sequenceCount) : TcBase(apid::TC_MODE_REPLAY, sequenceCount) {} - - ReturnValue_t createPacket() { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - this->setPacketDataLength(static_cast(CRC_SIZE - 1)); - return HasReturnvaluesIF::RETURN_OK; - } + TcModeReplay(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_MODE_REPLAY, sequenceCount) {} }; /** @@ -661,36 +644,32 @@ class TcModeReplay : public TcBase { */ class TcModeIdle : public TcBase { public: - TcModeIdle(uint16_t sequenceCount) : TcBase(apid::TC_MODE_IDLE, sequenceCount) {} - - ReturnValue_t createPacket() { - ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; - result = addCrc(); - if (result != HasReturnvaluesIF::RETURN_OK) { - return result; - } - this->setPacketDataLength(static_cast(CRC_SIZE - 1)); - return HasReturnvaluesIF::RETURN_OK; - } + TcModeIdle(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_MODE_IDLE, sequenceCount) {} }; class TcCamcmdSend : public TcBase { public: - TcCamcmdSend(uint16_t sequenceCount) : TcBase(apid::TC_CAM_CMD_SEND, sequenceCount) {} + TcCamcmdSend(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_CAM_CMD_SEND, sequenceCount) {} protected: - ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { + ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) override { if (commandDataLen > MAX_DATA_LENGTH) { return INVALID_LENGTH; } uint16_t dataLen = static_cast(commandDataLen + sizeof(CARRIAGE_RETURN)); + spParams.setPayloadLen(sizeof(dataLen) + commandDataLen + sizeof(CARRIAGE_RETURN)); + auto res = checkPayloadLen(); + if(res != HasReturnvaluesIF::RETURN_OK) { + return res; + } size_t size = sizeof(dataLen); - SerializeAdapter::serialize(&dataLen, this->getPacketData(), &size, sizeof(dataLen), + SerializeAdapter::serialize(&dataLen, payloadStart, &size, sizeof(dataLen), SerializeIF::Endianness::BIG); - std::memcpy(this->getPacketData() + sizeof(dataLen), commandData, commandDataLen); - *(this->getPacketData() + sizeof(dataLen) + commandDataLen) = CARRIAGE_RETURN; - uint16_t trueLength = sizeof(dataLen) + commandDataLen + sizeof(CARRIAGE_RETURN) + CRC_SIZE; - this->setPacketDataLength(trueLength - 1); + std::memcpy(payloadStart + sizeof(dataLen), commandData, commandDataLen); + *(payloadStart + sizeof(dataLen) + commandDataLen) = CARRIAGE_RETURN; + return HasReturnvaluesIF::RETURN_OK; } diff --git a/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h b/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h index 462ee632..8ed6778a 100644 --- a/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h +++ b/linux/devices/devicedefinitions/PlocSupervisorDefinitions.h @@ -6,9 +6,12 @@ #include #include #include -#include +#include +#include +#include #include "linux/devices/devicedefinitions/SupvReturnValuesIF.h" +#include "mission/devices/devicedefinitions/SpBase.h" namespace supv { @@ -156,13 +159,6 @@ static const size_t MAX_PACKET_SIZE = 1024; static const uint8_t SPACE_PACKET_HEADER_LENGTH = 6; -enum class SequenceFlags : uint8_t { - CONTINUED_PKT = 0b00, - FIRST_PKT = 0b01, - LAST_PKT = 0b10, - STANDALONE_PKT = 0b11 -}; - enum PoolIds : lp_id_t { NUM_TMS, TEMP_PS, @@ -256,6 +252,7 @@ enum PoolIds : lp_id_t { ADC_ENG_15 }; +static constexpr uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint8_t HK_SET_ENTRIES = 13; static const uint8_t BOOT_REPORT_SET_ENTRIES = 10; static const uint8_t LATCHUP_RPT_SET_ENTRIES = 16; @@ -277,7 +274,7 @@ static const uint32_t UPDATE_STATUS_REPORT = 70000; /** * @brief This class creates a space packet containing only the header data and the CRC. */ -class ApidOnlyPacket : public SpacePacket { +class ApidOnlyPacket : public ploc::SpTcBase { public: /** * @brief Constructor @@ -286,29 +283,27 @@ class ApidOnlyPacket : public SpacePacket { * * @note Sequence count of empty packet is always 1. */ - ApidOnlyPacket(uint16_t apid) : SpacePacket(LENGTH_EMPTY_TC - 1, true, apid, 1) { calcCrc(); } + ApidOnlyPacket(ploc::SpTcParams params, uint16_t apid) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(LENGTH_EMPTY_TC); + spParams.creator.setApid(apid); + } + + ReturnValue_t buildPacket() { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + return calcCrc(); + } private: - /** - * @brief CRC calculation which involves only the header in an empty packet - */ - void calcCrc() { - /* Calculate crc */ - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, sizeof(CCSDSPrimaryHeader)); - - /* Add crc to packet data field of space packet */ - size_t serializedSize = 0; - uint8_t* crcPos = this->localData.fields.buffer; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); - } }; /** * @brief This class can be used to generate the space packet selecting the boot image of * of the MPSoC. */ -class MPSoCBootSelect : public SpacePacket { +class MPSoCBootSelect : public ploc::SpTcBase { public: static const uint8_t NVM0 = 0; static const uint8_t NVM1 = 1; @@ -323,18 +318,23 @@ class MPSoCBootSelect : public SpacePacket { * * @note Selection of partitions is currently not supported. */ - MPSoCBootSelect(uint8_t mem = 0, uint8_t bp0 = 0, uint8_t bp1 = 0, uint8_t bp2 = 0) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SEL_MPSOC_BOOT_IMAGE, DEFAULT_SEQUENCE_COUNT), - mem(mem), - bp0(bp0), - bp1(bp1), - bp2(bp2) { - initPacket(); + MPSoCBootSelect(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SEL_MPSOC_BOOT_IMAGE); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t mem = 0, uint8_t bp0 = 0, uint8_t bp1 = 0, uint8_t bp2 = 0) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(mem, bp0, bp1, bp2); + return calcCrc(); } private: static const uint16_t DATA_FIELD_LENGTH = 6; - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint8_t MEM_OFFSET = 0; static const uint8_t BP0_OFFSET = 1; @@ -342,26 +342,11 @@ class MPSoCBootSelect : public SpacePacket { static const uint8_t BP2_OFFSET = 3; static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; - uint8_t mem = 0; - uint8_t bp0 = 0; - uint8_t bp1 = 0; - uint8_t bp2 = 0; - - void initPacket() { - uint8_t* data_field_start = this->localData.fields.buffer; - std::memcpy(data_field_start + MEM_OFFSET, &mem, sizeof(mem)); - std::memcpy(data_field_start + BP0_OFFSET, &bp0, sizeof(bp0)); - std::memcpy(data_field_start + BP1_OFFSET, &bp1, sizeof(bp1)); - std::memcpy(data_field_start + BP2_OFFSET, &bp2, sizeof(bp2)); - /* Calculate crc */ - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - - /* Add crc to packet data field of space packet */ - size_t serializedSize = 0; - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + void initPacket(uint8_t mem = 0, uint8_t bp0 = 0, uint8_t bp1 = 0, uint8_t bp2 = 0) { + std::memcpy(payloadStart + MEM_OFFSET, &mem, sizeof(mem)); + std::memcpy(payloadStart + BP0_OFFSET, &bp0, sizeof(bp0)); + std::memcpy(payloadStart + BP1_OFFSET, &bp1, sizeof(bp1)); + std::memcpy(payloadStart + BP2_OFFSET, &bp2, sizeof(bp2)); } }; @@ -369,7 +354,7 @@ class MPSoCBootSelect : public SpacePacket { * @brief This class creates the command to enable or disable the NVMs connected to the * supervisor. */ -class EnableNvms : public SpacePacket { +class EnableNvms : public ploc::SpTcBase { public: /** * @brief Constructor @@ -379,55 +364,59 @@ class EnableNvms : public SpacePacket { * @param bp1 Partition pin 1 * @param bp2 Partition pin 2 */ - EnableNvms(uint8_t nvm01, uint8_t nvm3) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_ENABLE_NVMS, DEFAULT_SEQUENCE_COUNT), - nvm01(nvm01), - nvm3(nvm3) { - initPacket(); + EnableNvms(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_ENABLE_NVMS); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t nvm01, uint8_t nvm3) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(nvm01, nvm3); + return calcCrc(); } private: - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint8_t DATA_FIELD_LENGTH = 4; static const uint8_t CRC_OFFSET = 2; - uint8_t nvm01 = 0; - uint8_t nvm3 = 0; - void initPacket() { - *(this->localData.fields.buffer) = nvm01; - *(this->localData.fields.buffer + 1) = nvm3; - - /* Calculate crc */ - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - - /* Add crc to packet data field of space packet */ - size_t serializedSize = 0; - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + void initPacket(uint8_t nvm01, uint8_t nvm3) { + payloadStart[0] = nvm01; + payloadStart[1] = nvm3; } }; /** * @brief This class generates the space packet to update the time of the PLOC supervisor. */ -class SetTimeRef : public SpacePacket { +class SetTimeRef : public ploc::SpTcBase { public: - SetTimeRef(Clock::TimeOfDay_t* time) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_TIME_REF, DEFAULT_SEQUENCE_COUNT) { + SetTimeRef(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_TIME_REF); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(Clock::TimeOfDay_t* time) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } initPacket(time); + return calcCrc(); } private: static const uint16_t DATA_FIELD_LENGTH = 10; - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; static const uint16_t SYNC = 0x8000; void initPacket(Clock::TimeOfDay_t* time) { size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; + uint8_t* dataFieldPtr = payloadStart; uint16_t milliseconds = static_cast(time->usecond / 1000) | SYNC; SerializeAdapter::serialize(&milliseconds, &dataFieldPtr, &serializedSize, sizeof(milliseconds), SerializeIF::Endianness::BIG); @@ -455,65 +444,69 @@ class SetTimeRef : public SpacePacket { serializedSize = 0; SerializeAdapter::serialize(&year, &dataFieldPtr, &serializedSize, sizeof(time->year), SerializeIF::Endianness::BIG); - serializedSize = 0; - /* Calculate crc */ - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - SerializeAdapter::serialize(&crc, &dataFieldPtr, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); } }; /** * @brief This class can be used to generate the set boot timout command. */ -class SetBootTimeout : public SpacePacket { +class SetBootTimeout : public ploc::SpTcBase { public: /** * @brief Constructor * * @param timeout The boot timeout in milliseconds. */ - SetBootTimeout(uint32_t timeout) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_BOOT_TIMEOUT, 1), timeout(timeout) { - initPacket(); + SetBootTimeout(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_BOOT_TIMEOUT); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint32_t timeout) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(timeout); + return calcCrc(); } private: - uint32_t timeout = 0; - /** boot timeout value (uint32_t) and crc (uint16_t) */ static const uint16_t DATA_FIELD_LENGTH = 6; - void initPacket() { + void initPacket(uint32_t timeout) { size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; + uint8_t* dataFieldPtr = payloadStart; SerializeAdapter::serialize(&timeout, &dataFieldPtr, &serializedSize, sizeof(timeout), SerializeIF::Endianness::BIG); - /* Calculate crc */ - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - /* Add crc to packet data field of space packet */ - serializedSize = 0; - SerializeAdapter::serialize(&crc, &dataFieldPtr, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); } }; /** * @brief This class can be used to generate the space packet to set the maximum boot tries. */ -class SetRestartTries : public SpacePacket { +class SetRestartTries : public ploc::SpTcBase { public: /** * @brief Constructor * * @param restartTries Maximum restart tries to set. */ - SetRestartTries(uint8_t restartTries) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_MAX_RESTART_TRIES, 1), - restartTries(restartTries) { - initPacket(); + SetRestartTries(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_MAX_RESTART_TRIES); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t restartTries) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(restartTries); + return calcCrc(); } private: @@ -522,16 +515,7 @@ class SetRestartTries : public SpacePacket { /** Restart tries value (uint8_t) and crc (uint16_t) */ static const uint16_t DATA_FIELD_LENGTH = 3; - void initPacket() { - uint8_t* dataFieldPtr = this->localData.fields.buffer; - *dataFieldPtr = restartTries; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - size_t serializedSize = 0; - uint8_t* crcPtr = dataFieldPtr + 1; - SerializeAdapter::serialize(&crc, &crcPtr, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); - } + void initPacket(uint8_t restartTries) { payloadStart[0] = restartTries; } }; /** @@ -539,31 +523,31 @@ class SetRestartTries : public SpacePacket { * of housekeeping data. Normally, this will be disabled by default. However, adding this * command can be useful for debugging. */ -class DisablePeriodicHkTransmission : public SpacePacket { +class DisablePeriodicHkTransmission : public ploc::SpTcBase { public: /** * @brief Constructor */ - DisablePeriodicHkTransmission() : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_DISABLE_HK, 1) { + DisablePeriodicHkTransmission(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_DISABLE_HK); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket() { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } initPacket(); + return calcCrc(); } private: - uint8_t disableHk = 0; - /** Restart tries value (uint8_t) and crc (uint16_t) */ static const uint16_t DATA_FIELD_LENGTH = 3; - void initPacket() { - uint8_t* dataFieldPtr = this->localData.fields.buffer; - *dataFieldPtr = disableHk; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - size_t serializedSize = 0; - uint8_t* crcPtr = dataFieldPtr + 1; - SerializeAdapter::serialize(&crc, &crcPtr, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); - } + void initPacket() { payloadStart[0] = false; } }; /** @@ -571,7 +555,7 @@ class DisablePeriodicHkTransmission : public SpacePacket { * * @details There are 7 different latchup alerts. */ -class LatchupAlert : public SpacePacket { +class LatchupAlert : public ploc::SpTcBase { public: /** * @brief Constructor @@ -580,40 +564,36 @@ class LatchupAlert : public SpacePacket { * @param latchupId Identifies the latchup to enable/disable (0 - 0.85V, 1 - 1.8V, 2 - MISC, * 3 - 3.3V, 4 - NVM_4XO, 5 - MISSION, 6 - SAFECOTS) */ - LatchupAlert(bool state, uint8_t latchupId) - : SpacePacket(DATA_FIELD_LENGTH - 1, true), latchupId(latchupId) { + LatchupAlert(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(bool state, uint8_t latchupId) { if (state) { - this->setAPID(APID_ENABLE_LATCHUP_ALERT); + spParams.creator.setApid(APID_ENABLE_LATCHUP_ALERT); } else { - this->setAPID(APID_DISABLE_LATCHUP_ALERT); + spParams.creator.setApid(APID_DISABLE_LATCHUP_ALERT); } - this->setPacketSequenceCount(DEFAULT_SEQUENCE_COUNT); - initPacket(); + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(latchupId); + return calcCrc(); } private: static const uint16_t DATA_FIELD_LENGTH = 3; - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; uint8_t latchupId = 0; - void initPacket() { - size_t serializedSize = 0; - uint8_t* data_field_ptr = this->localData.fields.buffer; - SerializeAdapter::serialize(&latchupId, &data_field_ptr, &serializedSize, - sizeof(latchupId), SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); - } + void initPacket(uint8_t latchupId) { payloadStart[0] = latchupId; } }; -class SetAlertlimit : public SpacePacket { +class SetAlertlimit : public ploc::SpTcBase { public: /** * @brief Constructor @@ -622,75 +602,73 @@ class SetAlertlimit : public SpacePacket { * 3 - 3.3V, 4 - NVM_4XO, 5 - MISSION, 6 - SAFECOTS) * @param dutycycle */ - SetAlertlimit(uint8_t latchupId, uint32_t dutycycle) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_ALERT_LIMIT, DEFAULT_SEQUENCE_COUNT), - latchupId(latchupId), - dutycycle(dutycycle) { - initPacket(); + SetAlertlimit(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_ALERT_LIMIT); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t latchupId, uint32_t dutycycle) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + res = initPacket(latchupId, dutycycle); + if (res != result::OK) { + return res; + } + return calcCrc(); } private: static const uint16_t DATA_FIELD_LENGTH = 7; - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; - static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; uint8_t latchupId = 0; uint32_t dutycycle = 0; - void initPacket() { - size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&latchupId, &dataFieldPtr, &serializedSize, - sizeof(latchupId), SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&dutycycle, &dataFieldPtr, &serializedSize, - sizeof(dutycycle), SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + ReturnValue_t initPacket(uint8_t latchupId, uint32_t dutycycle) { + payloadStart[0] = latchupId; + size_t serLen = 0; + return SerializeAdapter::serialize(&dutycycle, payloadStart + 1, &serLen, + sizeof(dutycycle), SerializeIF::Endianness::BIG); } }; /** * @brief This class packages the space packet to enable or disable ADC channels. */ -class SetAdcEnabledChannels : public SpacePacket { +class SetAdcEnabledChannels : public ploc::SpTcBase { public: /** * @brief Constructor * * @param ch Defines channels to be enabled or disabled. */ - SetAdcEnabledChannels(uint16_t ch) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_ADC_ENABLED_CHANNELS, - DEFAULT_SEQUENCE_COUNT), - ch(ch) { - initPacket(); + SetAdcEnabledChannels(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_ADC_ENABLED_CHANNELS); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint16_t ch) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(ch); + return calcCrc(); } private: static const uint16_t DATA_FIELD_LENGTH = 4; - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; - uint16_t ch = 0; - - void initPacket() { + void initPacket(uint16_t ch) { size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&ch, &dataFieldPtr, &serializedSize, sizeof(ch), - SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&ch, &payloadStart, &serializedSize, sizeof(ch), + SerializeIF::Endianness::BIG); } }; @@ -698,7 +676,7 @@ class SetAdcEnabledChannels : public SpacePacket { * @brief This class packages the space packet to configures the window size and striding step of * the moving average filter applied to the ADC readings. */ -class SetAdcWindowAndStride : public SpacePacket { +class SetAdcWindowAndStride : public ploc::SpTcBase { public: /** * @brief Constructor @@ -706,54 +684,59 @@ class SetAdcWindowAndStride : public SpacePacket { * @param windowSize * @param stridingStepSize */ - SetAdcWindowAndStride(uint16_t windowSize, uint16_t stridingStepSize) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_ADC_WINDOW_AND_STRIDE, - DEFAULT_SEQUENCE_COUNT), - windowSize(windowSize), - stridingStepSize(stridingStepSize) { - initPacket(); + SetAdcWindowAndStride(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_ADC_WINDOW_AND_STRIDE); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint16_t windowSize, uint16_t stridingStepSize) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(windowSize, stridingStepSize); + return calcCrc(); } private: static const uint16_t DATA_FIELD_LENGTH = 6; - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; - uint16_t windowSize = 0; - uint16_t stridingStepSize = 0; - - void initPacket() { + void initPacket(uint16_t windowSize, uint16_t stridingStepSize) { size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&windowSize, &dataFieldPtr, &serializedSize, - sizeof(windowSize), SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&stridingStepSize, &dataFieldPtr, &serializedSize, - sizeof(stridingStepSize), SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + uint8_t* data = payloadStart; + SerializeAdapter::serialize(&windowSize, &data, &serializedSize, sizeof(windowSize), + SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&stridingStepSize, &data, &serializedSize, sizeof(stridingStepSize), + SerializeIF::Endianness::BIG); } }; /** * @brief This class packages the space packet to set the ADC trigger threshold. */ -class SetAdcThreshold : public SpacePacket { +class SetAdcThreshold : public ploc::SpTcBase { public: /** * @brief Constructor * * @param threshold */ - SetAdcThreshold(uint32_t threshold) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_ADC_THRESHOLD, DEFAULT_SEQUENCE_COUNT), - threshold(threshold) { - initPacket(); + SetAdcThreshold(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_ADC_THRESHOLD); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint32_t threshold) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(threshold); + return calcCrc(); } private: @@ -762,36 +745,36 @@ class SetAdcThreshold : public SpacePacket { static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; - uint32_t threshold = 0; - - void initPacket() { + void initPacket(uint32_t threshold) { size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&threshold, &dataFieldPtr, &serializedSize, - sizeof(threshold), SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&threshold, payloadStart, &serializedSize, sizeof(threshold), + SerializeIF::Endianness::BIG); } }; /** * @brief This class packages the space packet to run auto EM tests. */ -class RunAutoEmTests : public SpacePacket { +class RunAutoEmTests : public ploc::SpTcBase { public: /** * @brief Constructor * * @param test 1 - complete EM test, 2 - Short test (only memory readback NVM0,1,3) */ - RunAutoEmTests(uint8_t test) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_RUN_AUTO_EM_TESTS, DEFAULT_SEQUENCE_COUNT), - test(test) { - initPacket(); + RunAutoEmTests(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_RUN_AUTO_EM_TESTS); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t test) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(test); + return calcCrc(); } private: @@ -802,24 +785,13 @@ class RunAutoEmTests : public SpacePacket { uint8_t test = 0; - void initPacket() { - size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&test, &dataFieldPtr, &serializedSize, sizeof(test), - SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); - } + void initPacket(uint8_t test) { payloadStart[0] = test; } }; /** * @brief This class packages the space packet to wipe or dump parts of the MRAM. */ -class MramCmd : public SpacePacket { +class MramCmd : public ploc::SpTcBase { public: enum class MramAction { WIPE, DUMP }; @@ -832,30 +804,36 @@ class MramCmd : public SpacePacket { * * @note The content at the stop address is excluded from the dump or wipe operation. */ - MramCmd(uint32_t start, uint32_t stop, MramAction action) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_IDLE_PACKET, DEFAULT_SEQUENCE_COUNT), - start(start), - stop(stop) { + MramCmd(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint32_t start, uint32_t stop, MramAction action) { if (action == MramAction::WIPE) { - this->setAPID(APID_WIPE_MRAM); + spParams.creator.setApid(APID_WIPE_MRAM); } else if (action == MramAction::DUMP) { - this->setAPID(APID_DUMP_MRAM); + spParams.creator.setApid(APID_DUMP_MRAM); } else { sif::debug << "WipeMram: Invalid action specified"; } - initPacket(); + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(start, stop); + return calcCrc(); } private: static const uint16_t DATA_FIELD_LENGTH = 8; - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; static const uint16_t CRC_OFFSET = DATA_FIELD_LENGTH - 2; uint32_t start = 0; uint32_t stop = 0; - void initPacket() { + void initPacket(uint32_t start, uint32_t stop) { uint8_t concatBuffer[6]; concatBuffer[0] = static_cast(start >> 16); concatBuffer[1] = static_cast(start >> 8); @@ -863,14 +841,7 @@ class MramCmd : public SpacePacket { concatBuffer[3] = static_cast(stop >> 16); concatBuffer[4] = static_cast(stop >> 8); concatBuffer[5] = static_cast(stop); - uint8_t* dataFieldPtr = this->localData.fields.buffer; - std::memcpy(dataFieldPtr, concatBuffer, sizeof(concatBuffer)); - size_t serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + std::memcpy(payloadStart, concatBuffer, sizeof(concatBuffer)); } }; @@ -878,7 +849,7 @@ class MramCmd : public SpacePacket { * @brief This class packages the space packet change the state of a GPIO. This command is only * required for ground testing. */ -class SetGpio : public SpacePacket { +class SetGpio : public ploc::SpTcBase { public: /** * @brief Constructor @@ -887,12 +858,19 @@ class SetGpio : public SpacePacket { * @param pin * @param val */ - SetGpio(uint8_t port, uint8_t pin, uint8_t val) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_SET_GPIO, DEFAULT_SEQUENCE_COUNT), - port(port), - pin(pin), - val(val) { - initPacket(); + SetGpio(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_SET_GPIO); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t port, uint8_t pin, uint8_t val) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(port, pin, val); + return calcCrc(); } private: @@ -905,23 +883,10 @@ class SetGpio : public SpacePacket { uint8_t pin = 0; uint8_t val = 0; - void initPacket() { - size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&port, &dataFieldPtr, &serializedSize, sizeof(port), - SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&pin, &dataFieldPtr, &serializedSize, sizeof(pin), - SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&val, &dataFieldPtr, &serializedSize, sizeof(val), - SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + void initPacket(uint8_t port, uint8_t pin, uint8_t val) { + payloadStart[0] = port; + payloadStart[1] = pin; + payloadStart[2] = val; } }; @@ -929,7 +894,7 @@ class SetGpio : public SpacePacket { * @brief This class packages the space packet causing the supervisor print the state of a GPIO * to the debug output. */ -class ReadGpio : public SpacePacket { +class ReadGpio : public ploc::SpTcBase { public: /** * @brief Constructor @@ -937,11 +902,19 @@ class ReadGpio : public SpacePacket { * @param port * @param pin */ - ReadGpio(uint8_t port, uint8_t pin) - : SpacePacket(DATA_FIELD_LENGTH - 1, true, APID_READ_GPIO, DEFAULT_SEQUENCE_COUNT), - port(port), - pin(pin) { - initPacket(); + ReadGpio(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setDataFieldLen(DATA_FIELD_LENGTH); + spParams.creator.setApid(APID_READ_GPIO); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t port, uint8_t pin) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(port, pin); + return calcCrc(); } private: @@ -953,20 +926,9 @@ class ReadGpio : public SpacePacket { uint8_t port = 0; uint8_t pin = 0; - void initPacket() { - size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&port, &dataFieldPtr, &serializedSize, sizeof(port), - SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&pin, &dataFieldPtr, &serializedSize, sizeof(pin), - SerializeIF::Endianness::BIG); - serializedSize = 0; - uint16_t crc = CRC::crc16ccitt(this->localData.byteStream, - sizeof(CCSDSPrimaryHeader) + DATA_FIELD_LENGTH - 2); - uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + void initPacket(uint8_t port, uint8_t pin) { + payloadStart[0] = port; + payloadStart[1] = pin; } }; @@ -978,7 +940,7 @@ class ReadGpio : public SpacePacket { * OP = 0x01: Only the mirror entries will be wiped. * OP = 0x02: Only the circular entries will be wiped. */ -class FactoryReset : public SpacePacket { +class FactoryReset : public ploc::SpTcBase { public: enum class Op { CLEAR_ALL, MIRROR_ENTRIES, CIRCULAR_ENTRIES }; @@ -987,98 +949,74 @@ class FactoryReset : public SpacePacket { * * @param op */ - FactoryReset(Op op) : SpacePacket(0, true, APID_FACTORY_RESET, DEFAULT_SEQUENCE_COUNT), op(op) { - initPacket(); + FactoryReset(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.creator.setApid(APID_FACTORY_RESET); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(Op op) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(op); + return calcCrc(); } private: - uint16_t packetLen = 1; // only CRC in data field static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; - uint8_t crcOffset = 0; - - Op op = Op::CLEAR_ALL; - - void initPacket() { - uint8_t* dataFieldPtr = this->localData.fields.buffer; - + void initPacket(Op op) { + size_t packetDataLen = 2; switch (op) { case Op::MIRROR_ENTRIES: - *dataFieldPtr = 1; - packetLen = 2; - crcOffset = 1; + payloadStart[0] = 1; + packetDataLen = 3; break; case Op::CIRCULAR_ENTRIES: - *dataFieldPtr = 2; - packetLen = 2; - crcOffset = 1; + payloadStart[0] = 2; + packetDataLen = 3; break; default: break; } - this->setPacketDataLength(packetLen); - size_t serializedSize = 0; - uint16_t crc = - CRC::crc16ccitt(this->localData.byteStream, sizeof(CCSDSPrimaryHeader) + packetLen - 1); - uint8_t* crcPos = this->localData.fields.buffer + crcOffset; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + spParams.setDataFieldLen(packetDataLen); } }; -class SupvTcSpacePacket : public SpacePacket { +class SetShutdownTimeout : public ploc::SpTcBase { public: - /** - * @brief Constructor - * - * @param payloadDataLen Length of data field without CRC - */ - SupvTcSpacePacket(uint16_t payloadDataLen, uint16_t apid) - : SpacePacket(payloadDataLen + 1, true, apid, DEFAULT_SEQUENCE_COUNT), - payloadDataLen(payloadDataLen) {} + SetShutdownTimeout(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setPayloadLen(PAYLOAD_LEN); + spParams.creator.setApid(APID_SET_SHUTDOWN_TIMEOUT); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } - void makeCrc() { - size_t serializedSize = 0; - uint16_t crc = - CRC::crc16ccitt(this->localData.byteStream, sizeof(CCSDSPrimaryHeader) + payloadDataLen); - uint8_t* crcPos = this->localData.fields.buffer + payloadDataLen; - SerializeAdapter::serialize(&crc, &crcPos, &serializedSize, sizeof(crc), - SerializeIF::Endianness::BIG); + ReturnValue_t buildPacket(uint32_t timeout) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(timeout); + return calcCrc(); } private: - // The sequence count of most of the TC packets for the supervisor is 1. - static const uint16_t DEFAULT_SEQUENCE_COUNT = 1; - - // The size of the payload data (data field without crc size) - size_t payloadDataLen = 0; -}; - -class SetShutdownTimeout : public SupvTcSpacePacket { - public: - SetShutdownTimeout(uint32_t timeout) - : SupvTcSpacePacket(PACKET_LEN, APID_SET_SHUTDOWN_TIMEOUT), timeout(timeout) { - initPacket(); - makeCrc(); - } - - private: - static const uint16_t PACKET_LEN = 4; // uint32_t timeout + static const uint16_t PAYLOAD_LEN = 4; // uint32_t timeout uint32_t timeout = 0; - void initPacket() { - uint8_t* dataFieldPtr = this->localData.fields.buffer; - size_t serializedSize = 0; - SerializeAdapter::serialize(&timeout, dataFieldPtr, &serializedSize, sizeof(timeout), - SerializeIF::Endianness::BIG); + void initPacket(uint32_t timeout) { + size_t serLen = 0; + SerializeAdapter::serialize(&timeout, payloadStart, &serLen, sizeof(timeout), + SerializeIF::Endianness::BIG); } }; /** * @brief Command to request CRC over memory region of the supervisor. */ -class CheckMemory : public SupvTcSpacePacket { +class CheckMemory : public ploc::SpTcBase { public: /** * @brief Constructor @@ -1087,13 +1025,19 @@ class CheckMemory : public SupvTcSpacePacket { * @param startAddress Start address of CRC calculation * @param length Length in bytes of memory region */ - CheckMemory(uint8_t memoryId, uint32_t startAddress, uint32_t length) - : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_CHECK_MEMORY), - memoryId(memoryId), - startAddress(startAddress), - length(length) { - initPacket(); - makeCrc(); + CheckMemory(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setPayloadLen(PAYLOAD_LENGTH); + spParams.creator.setApid(APID_CHECK_MEMORY); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t memoryId, uint32_t startAddress, uint32_t length) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(memoryId, startAddress, length); + return calcCrc(); } private: @@ -1104,27 +1048,23 @@ class CheckMemory : public SupvTcSpacePacket { uint32_t startAddress = 0; uint32_t length = 0; - void initPacket() { - size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&memoryId, &dataFieldPtr, &serializedSize, - sizeof(memoryId), SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&n, &dataFieldPtr, &serializedSize, sizeof(n), - SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&startAddress, &dataFieldPtr, &serializedSize, - sizeof(startAddress), SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&length, &dataFieldPtr, &serializedSize, sizeof(length), - SerializeIF::Endianness::BIG); + void initPacket(uint8_t memoryId, uint32_t startAddress, uint32_t length) { + uint8_t* data = payloadStart; + size_t serLen = 0; + SerializeAdapter::serialize(&memoryId, &data, &serLen, sizeof(memoryId), + SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&n, &data, &serLen, sizeof(n), SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&startAddress, &data, &serLen, sizeof(startAddress), + SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&length, &data, &serLen, sizeof(length), + SerializeIF::Endianness::BIG); } }; /** * @brief This class packages the space packet transporting a part of an MPSoC update. */ -class WriteMemory : public SupvTcSpacePacket { +class WriteMemory : public ploc::SpTcBase { public: /** * @brief Constructor @@ -1133,69 +1073,82 @@ class WriteMemory : public SupvTcSpacePacket { * @param sequenceCount Sequence count (first update packet expects 1 as sequence count) * @param updateData Pointer to buffer containing update data */ - WriteMemory(SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId, - uint32_t startAddress, uint16_t length, uint8_t* updateData) - : SupvTcSpacePacket(META_DATA_LENGTH + length, APID_WRITE_MEMORY), - memoryId(memoryId), - startAddress(startAddress), - length(length) { - if (this->length > CHUNK_MAX) { - sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl; - } - initPacket(updateData); - this->setSequenceFlags(static_cast(seqFlags)); - this->setPacketSequenceCount(sequenceCount); - makeCrc(); + WriteMemory(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.creator.setApid(APID_WRITE_MEMORY); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); } + ReturnValue_t buildPacket(ccsds::SequenceFlags seqFlags, uint16_t sequenceCount, uint8_t memoryId, + uint32_t startAddress, uint16_t length, uint8_t* updateData) { + if (length > CHUNK_MAX) { + sif::error << "WriteMemory::WriteMemory: Invalid length" << std::endl; + return SerializeIF::BUFFER_TOO_SHORT; + } + spParams.creator.setSeqFlags(seqFlags); + spParams.creator.setSeqCount(sequenceCount); + initPacket(memoryId, startAddress, length, updateData); + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + return calcCrc(); + } // Although the space packet has space left for 1010 bytes of data to supervisor can only process // update packets with a maximum of 512 bytes. static const uint16_t CHUNK_MAX = 512; private: static const uint16_t META_DATA_LENGTH = 8; - - uint8_t memoryId = 0; uint8_t n = 1; - uint32_t startAddress = 0; - uint16_t length = 0; - void initPacket(uint8_t* updateData) { + ReturnValue_t initPacket(uint8_t memoryId, uint32_t startAddr, uint16_t updateDataLen, + uint8_t* updateData) { size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&memoryId, &dataFieldPtr, &serializedSize, - sizeof(memoryId), SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&n, &dataFieldPtr, &serializedSize, sizeof(n), - SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&startAddress, &dataFieldPtr, &serializedSize, - sizeof(startAddress), SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&length, &dataFieldPtr, &serializedSize, sizeof(length), - SerializeIF::Endianness::BIG); - std::memcpy(dataFieldPtr, updateData, length); - if (length % 2 != 0) { - this->setPacketDataLength(length + sizeof(CCSDSPrimaryHeader) + CRC_SIZE - 1); + uint8_t* data = payloadStart; + SerializeAdapter::serialize(&memoryId, &data, &serializedSize, sizeof(memoryId), + SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&n, &data, &serializedSize, sizeof(n), + SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&startAddr, &data, &serializedSize, sizeof(startAddr), + SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&updateDataLen, &data, &serializedSize, sizeof(updateDataLen), + SerializeIF::Endianness::BIG); + if (updateDataLen % 2 != 0) { + spParams.setPayloadLen(META_DATA_LENGTH + updateDataLen + 1); // The data field must be two bytes aligned. Thus, in case the number of bytes to write is odd // a value of zero is added here - *(dataFieldPtr + length + 1) = 0; + *(data + updateDataLen + 1) = 0; + } else { + spParams.setPayloadLen(META_DATA_LENGTH + updateDataLen); } + // To avoid crashes in this unexpected case + ReturnValue_t result = checkPayloadLen(); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + std::memcpy(data, updateData, updateDataLen); + return HasReturnvaluesIF::RETURN_OK; } }; /** * @brief This class can be used to package the update available or update verify command. */ -class EraseMemory : public SupvTcSpacePacket { +class EraseMemory : public ploc::SpTcBase { public: - EraseMemory(uint8_t memoryId, uint32_t startAddress, uint32_t length) - : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_ERASE_MEMORY), - memoryId(memoryId), - startAddress(startAddress), - length(length) { - initPacket(); - makeCrc(); + EraseMemory(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setPayloadLen(PAYLOAD_LENGTH); + spParams.creator.setApid(APID_ERASE_MEMORY); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(uint8_t memoryId, uint32_t startAddress, uint32_t length) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + initPacket(memoryId, startAddress, length); + return calcCrc(); } private: @@ -1206,31 +1159,40 @@ class EraseMemory : public SupvTcSpacePacket { uint32_t startAddress = 0; uint32_t length = 0; - void initPacket() { + void initPacket(uint8_t memoryId, uint32_t startAddress, uint32_t length) { size_t serializedSize = 0; - uint8_t* dataFieldPtr = this->localData.fields.buffer; - SerializeAdapter::serialize(&memoryId, &dataFieldPtr, &serializedSize, - sizeof(memoryId), SerializeIF::Endianness::BIG); + uint8_t* data = payloadStart; + SerializeAdapter::serialize(&memoryId, &data, &serializedSize, sizeof(memoryId), + SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&n, &data, &serializedSize, sizeof(n), + SerializeIF::Endianness::BIG); serializedSize = 0; - SerializeAdapter::serialize(&n, &dataFieldPtr, &serializedSize, sizeof(n), - SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&startAddress, &data, &serializedSize, sizeof(startAddress), + SerializeIF::Endianness::BIG); serializedSize = 0; - SerializeAdapter::serialize(&startAddress, &dataFieldPtr, &serializedSize, - sizeof(startAddress), SerializeIF::Endianness::BIG); - serializedSize = 0; - SerializeAdapter::serialize(&length, &dataFieldPtr, &serializedSize, sizeof(length), - SerializeIF::Endianness::BIG); + SerializeAdapter::serialize(&length, &data, &serializedSize, sizeof(length), + SerializeIF::Endianness::BIG); } }; /** * @brief This class creates the space packet to enable the auto TM generation */ -class EnableAutoTm : public SupvTcSpacePacket { +class EnableAutoTm : public ploc::SpTcBase { public: - EnableAutoTm() : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_AUTO_TM) { - *(this->localData.fields.buffer) = ENABLE; - makeCrc(); + EnableAutoTm(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setPayloadLen(PAYLOAD_LENGTH); + spParams.creator.setApid(APID_AUTO_TM); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket() { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + payloadStart[0] = ENABLE; + return calcCrc(); } private: @@ -1241,11 +1203,21 @@ class EnableAutoTm : public SupvTcSpacePacket { /** * @brief This class creates the space packet to disable the auto TM generation */ -class DisableAutoTm : public SupvTcSpacePacket { +class DisableAutoTm : public ploc::SpTcBase { public: - DisableAutoTm() : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_AUTO_TM) { - *(this->localData.fields.buffer) = DISABLE; - makeCrc(); + DisableAutoTm(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setPayloadLen(PAYLOAD_LENGTH); + spParams.creator.setApid(APID_AUTO_TM); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket() { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + payloadStart[0] = DISABLE; + return calcCrc(); } private: @@ -1256,7 +1228,7 @@ class DisableAutoTm : public SupvTcSpacePacket { /** * @brief This class creates the space packet to request the logging data from the supervisor */ -class RequestLoggingData : public SupvTcSpacePacket { +class RequestLoggingData : public ploc::SpTcBase { public: enum class Sa : uint8_t { REQUEST_COUNTERS = 1, @@ -1265,11 +1237,20 @@ class RequestLoggingData : public SupvTcSpacePacket { SET_LOGGING_TOPIC = 4 }; - RequestLoggingData(Sa sa, uint8_t tpc = 0) - : SupvTcSpacePacket(PAYLOAD_LENGTH, APID_REQUEST_LOGGING_DATA) { - *(this->localData.fields.buffer) = static_cast(sa); - *(this->localData.fields.buffer + TPC_OFFSET) = tpc; - makeCrc(); + RequestLoggingData(ploc::SpTcParams params) : ploc::SpTcBase(params) { + spParams.setPayloadLen(PAYLOAD_LENGTH); + spParams.creator.setApid(APID_REQUEST_LOGGING_DATA); + spParams.creator.setSeqCount(DEFAULT_SEQUENCE_COUNT); + } + + ReturnValue_t buildPacket(Sa sa, uint8_t tpc = 0) { + auto res = checkSizeAndSerializeHeader(); + if (res != result::OK) { + return res; + } + payloadStart[0] = static_cast(sa); + payloadStart[1] = tpc; + return calcCrc(); } private: @@ -1277,36 +1258,9 @@ class RequestLoggingData : public SupvTcSpacePacket { static const uint8_t TPC_OFFSET = 1; }; -/** - * @brief Class for handling tm replies of the supervisor. - */ -class TmPacket : public SpacePacket { +class VerificationReport : public ploc::SpTmReader { public: - /** - * @brief Constructor creates idle packet and sets length field to maximum allowed size. - */ - TmPacket() : SpacePacket(PACKET_MAX_SIZE) {} - - /** - * @brief Returns the payload data length (data field length without CRC) - */ - uint16_t getPayloadDataLength() { return this->getPacketDataLength() - 1; } - - ReturnValue_t checkCrc() { - uint8_t* crcPtr = this->getPacketData() + this->getPayloadDataLength(); - uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1); - uint16_t recalculatedCrc = - CRC::crc16ccitt(this->localData.byteStream, this->getFullSize() - CRC_SIZE); - if (recalculatedCrc != receivedCrc) { - return SupvReturnValuesIF::CRC_FAILURE; - } - return HasReturnvaluesIF::RETURN_OK; - } -}; - -class VerificationReport : public TmPacket { - public: - VerificationReport() : TmPacket() {} + VerificationReport(const uint8_t* buf, size_t maxSize) : ploc::SpTmReader(buf, maxSize) {} /** * @brief Gets the APID of command which caused the transmission of this verification report. @@ -1314,7 +1268,7 @@ class VerificationReport : public TmPacket { uint16_t getRefApid() { uint16_t refApid = 0; size_t size = 0; - uint8_t* refApidPtr = this->getPacketData(); + const uint8_t* refApidPtr = this->getPacketData(); ReturnValue_t result = SerializeAdapter::deSerialize(&refApid, refApidPtr, &size, SerializeIF::Endianness::BIG); if (result != HasReturnvaluesIF::RETURN_OK) { @@ -1327,7 +1281,7 @@ class VerificationReport : public TmPacket { uint16_t getStatusCode() { uint16_t statusCode = 0; size_t size = 0; - uint8_t* statusCodePtr = this->getPacketData() + OFFSET_STATUS_CODE; + const uint8_t* statusCodePtr = this->getPacketData() + OFFSET_STATUS_CODE; ReturnValue_t result = SerializeAdapter::deSerialize(&statusCode, statusCodePtr, &size, SerializeIF::Endianness::BIG); if (result != HasReturnvaluesIF::RETURN_OK) { @@ -1345,10 +1299,10 @@ class VerificationReport : public TmPacket { class AcknowledgmentReport : public VerificationReport { public: - AcknowledgmentReport() : VerificationReport() {} + AcknowledgmentReport(const uint8_t* buf, size_t maxSize) : VerificationReport(buf, maxSize) {} ReturnValue_t checkApid() { - uint16_t apid = this->getAPID(); + uint16_t apid = this->getApid(); if (apid == APID_ACK_SUCCESS) { return HasReturnvaluesIF::RETURN_OK; } else if (apid == APID_ACK_FAILURE) { @@ -1419,10 +1373,10 @@ class AcknowledgmentReport : public VerificationReport { class ExecutionReport : public VerificationReport { public: - ExecutionReport() : VerificationReport() {} + ExecutionReport(const uint8_t* buf, size_t maxSize) : VerificationReport(buf, maxSize) {} ReturnValue_t checkApid() { - uint16_t apid = this->getAPID(); + uint16_t apid = this->getApid(); if (apid == APID_EXE_SUCCESS) { return HasReturnvaluesIF::RETURN_OK; } else if (apid == APID_EXE_FAILURE) { @@ -1848,16 +1802,17 @@ class LoggingReport : public StaticLocalDataSet { } }; -class UpdateStatusReport : public TmPacket { +class UpdateStatusReport : public ploc::SpTmReader { public: - UpdateStatusReport() : TmPacket() {} + UpdateStatusReport() = default; + UpdateStatusReport(const uint8_t* buf, size_t maxSize) : ploc::SpTmReader(buf, maxSize) {} ReturnValue_t parseDataField() { ReturnValue_t result = lengthCheck(); if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - uint8_t* dataFieldPtr = this->localData.fields.buffer; + const uint8_t* dataFieldPtr = getFullData() + ccsds::HEADER_LEN; size_t size = sizeof(memoryId); SerializeAdapter::deSerialize(&memoryId, dataFieldPtr, &size, SerializeIF::Endianness::BIG); dataFieldPtr += size; @@ -1897,7 +1852,7 @@ class UpdateStatusReport : public TmPacket { uint16_t crc = 0; ReturnValue_t lengthCheck() { - if (this->getFullSize() != FULL_SIZE) { + if (getFullPacketLen() != FULL_SIZE) { return SupvReturnValuesIF::UPDATE_STATUS_REPORT_INVALID_LENGTH; } return HasReturnvaluesIF::RETURN_OK; diff --git a/linux/devices/ploc/PlocMPSoCHandler.cpp b/linux/devices/ploc/PlocMPSoCHandler.cpp index 37372b3b..b3eea536 100644 --- a/linux/devices/ploc/PlocMPSoCHandler.cpp +++ b/linux/devices/ploc/PlocMPSoCHandler.cpp @@ -19,6 +19,8 @@ PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5); commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5); + spParams.maxSize = sizeof(commandBuffer); + spParams.buf = commandBuffer; } PlocMPSoCHandler::~PlocMPSoCHandler() {} @@ -206,6 +208,7 @@ ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData, size_t commandDataLen) { + spParams.buf = commandBuffer; ReturnValue_t result = RETURN_OK; switch (deviceCommand) { case (mpsoc::TC_MEM_WRITE): { @@ -286,16 +289,23 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() { this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT); this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT); this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT); - this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, SpacePacket::PACKET_MAX_SIZE); + this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, mpsoc::SP_MAX_SIZE); } ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId, size_t* foundLen) { ReturnValue_t result = RETURN_OK; - SpacePacket spacePacket; - std::memcpy(spacePacket.getWholeData(), start, remainingSize); - uint16_t apid = spacePacket.getAPID(); + SpacePacketReader spacePacket; + spacePacket.setReadOnlyData(start, remainingSize); + if (spacePacket.isNull()) { + return RETURN_FAILED; + } + auto res = spacePacket.checkSize(); + if (res != RETURN_OK) { + return res; + } + uint16_t apid = spacePacket.getApid(); switch (apid) { case (mpsoc::apid::ACK_SUCCESS): @@ -311,7 +321,7 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain *foundId = mpsoc::TM_MEMORY_READ_REPORT; break; case (mpsoc::apid::TM_CAM_CMD_RPT): - *foundLen = spacePacket.getFullSize(); + *foundLen = spacePacket.getFullPacketLen(); tmCamCmdRpt.rememberSpacePacketSize = *foundLen; *foundId = mpsoc::TM_CAM_CMD_RPT; break; @@ -394,13 +404,13 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemWrite(const uint8_t* commandData, size_t commandDataLen) { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcMemWrite tcMemWrite(sequenceCount); - result = tcMemWrite.createPacket(commandData, commandDataLen); + mpsoc::TcMemWrite tcMemWrite(spParams, sequenceCount); + result = tcMemWrite.buildPacket(commandData, commandDataLen); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcMemWrite); + finishTcPrep(); return RETURN_OK; } @@ -408,13 +418,13 @@ ReturnValue_t PlocMPSoCHandler::prepareTcMemRead(const uint8_t* commandData, size_t commandDataLen) { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcMemRead tcMemRead(sequenceCount); - result = tcMemRead.createPacket(commandData, commandDataLen); + mpsoc::TcMemRead tcMemRead(spParams, sequenceCount); + result = tcMemRead.buildPacket(commandData, commandDataLen); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcMemRead); + finishTcPrep(); tmMemReadReport.rememberRequestedSize = tcMemRead.getMemLen() * 4 + TmMemReadReport::FIX_SIZE; return RETURN_OK; } @@ -426,14 +436,14 @@ ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData, } ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcFlashDelete tcFlashDelete(sequenceCount); - result = tcFlashDelete.createPacket( + mpsoc::TcFlashDelete tcFlashDelete(spParams, sequenceCount); + result = tcFlashDelete.buildPacket( std::string(reinterpret_cast(commandData), commandDataLen)); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcFlashDelete); + finishTcPrep(); return RETURN_OK; } @@ -441,26 +451,26 @@ ReturnValue_t PlocMPSoCHandler::prepareTcReplayStart(const uint8_t* commandData, size_t commandDataLen) { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcReplayStart tcReplayStart(sequenceCount); - result = tcReplayStart.createPacket(commandData, commandDataLen); + mpsoc::TcReplayStart tcReplayStart(spParams, sequenceCount); + result = tcReplayStart.buildPacket(commandData, commandDataLen); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcReplayStart); + finishTcPrep(); return RETURN_OK; } ReturnValue_t PlocMPSoCHandler::prepareTcReplayStop() { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcReplayStop tcReplayStop(sequenceCount); - result = tcReplayStop.createPacket(); + mpsoc::TcReplayStop tcReplayStop(spParams, sequenceCount); + result = tcReplayStop.buildPacket(); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcReplayStop); + finishTcPrep(); return RETURN_OK; } @@ -468,26 +478,26 @@ ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOn(const uint8_t* commandDat size_t commandDataLen) { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(sequenceCount); - result = tcDownlinkPwrOn.createPacket(commandData, commandDataLen); + mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(spParams, sequenceCount); + result = tcDownlinkPwrOn.buildPacket(commandData, commandDataLen); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcDownlinkPwrOn); + finishTcPrep(); return RETURN_OK; } ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOff() { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(sequenceCount); - result = tcDownlinkPwrOff.createPacket(); + mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(spParams, sequenceCount); + result = tcDownlinkPwrOff.buildPacket(); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcDownlinkPwrOff); + finishTcPrep(); return RETURN_OK; } @@ -495,45 +505,39 @@ ReturnValue_t PlocMPSoCHandler::prepareTcReplayWriteSequence(const uint8_t* comm size_t commandDataLen) { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcReplayWriteSeq tcReplayWriteSeq(sequenceCount); - result = tcReplayWriteSeq.createPacket(commandData, commandDataLen); + mpsoc::TcReplayWriteSeq tcReplayWriteSeq(spParams, sequenceCount); + result = tcReplayWriteSeq.buildPacket(commandData, commandDataLen); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcReplayWriteSeq); + finishTcPrep(); return RETURN_OK; } ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcModeReplay tcModeReplay(sequenceCount); - result = tcModeReplay.createPacket(); + mpsoc::TcModeReplay tcModeReplay(spParams, sequenceCount); + result = tcModeReplay.buildPacket(); if (result != RETURN_OK) { sequenceCount--; return result; } - memcpy(commandBuffer, tcModeReplay.getWholeData(), tcModeReplay.getFullSize()); - rawPacket = commandBuffer; - rawPacketLen = tcModeReplay.getFullSize(); - nextReplyId = mpsoc::ACK_REPORT; + finishTcPrep(); return RETURN_OK; } ReturnValue_t PlocMPSoCHandler::prepareTcModeIdle() { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcModeIdle tcModeIdle(sequenceCount); - result = tcModeIdle.createPacket(); + mpsoc::TcModeIdle tcModeIdle(spParams, sequenceCount); + result = tcModeIdle.buildPacket(); if (result != RETURN_OK) { sequenceCount--; return result; } - memcpy(commandBuffer, tcModeIdle.getWholeData(), tcModeIdle.getFullSize()); - rawPacket = commandBuffer; - rawPacketLen = tcModeIdle.getFullSize(); - nextReplyId = mpsoc::ACK_REPORT; + finishTcPrep(); return RETURN_OK; } @@ -541,26 +545,18 @@ ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen) { ReturnValue_t result = RETURN_OK; sequenceCount++; - mpsoc::TcCamcmdSend tcCamCmdSend(sequenceCount); - result = tcCamCmdSend.createPacket(commandData, commandDataLen); + mpsoc::TcCamcmdSend tcCamCmdSend(spParams, sequenceCount); + result = tcCamCmdSend.buildPacket(commandData, commandDataLen); if (result != RETURN_OK) { sequenceCount--; return result; } - copyToCommandBuffer(&tcCamCmdSend); + finishTcPrep(); nextReplyId = mpsoc::TM_CAM_CMD_RPT; return RETURN_OK; } -void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) { - if (tc == nullptr) { - sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl; - } - memcpy(commandBuffer, tc->getWholeData(), tc->getFullSize()); - rawPacket = commandBuffer; - rawPacketLen = tc->getFullSize(); - nextReplyId = mpsoc::ACK_REPORT; -} +void PlocMPSoCHandler::finishTcPrep() { nextReplyId = mpsoc::ACK_REPORT; } ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) { uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1); @@ -677,12 +673,11 @@ ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) { ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) { ReturnValue_t result = RETURN_OK; - SpacePacket packet; - std::memcpy(packet.getWholeData(), data, tmCamCmdRpt.rememberSpacePacketSize); result = verifyPacket(data, tmCamCmdRpt.rememberSpacePacketSize); if (result == MPSoCReturnValuesIF::CRC_FAILURE) { sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl; } + SpacePacketReader packetReader(data, tmCamCmdRpt.rememberSpacePacketSize); const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE + sizeof(uint16_t); std::string camCmdRptMsg( reinterpret_cast(dataFieldPtr), @@ -693,8 +688,8 @@ ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) { sif::info << "PlocMPSoCHandler: CamCmdRpt Ack value: 0x" << std::hex << static_cast(ackValue) << std::endl; #endif /* OBSW_DEBUG_PLOC_MPSOC == 1 */ - handleDeviceTM(packet.getPacketData() + sizeof(uint16_t), packet.getPacketDataLength() - 1, - mpsoc::TM_CAM_CMD_RPT); + handleDeviceTM(packetReader.getPacketData() + sizeof(uint16_t), + packetReader.getPacketDataLen() - 1, mpsoc::TM_CAM_CMD_RPT); return result; } @@ -818,7 +813,7 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) { case mpsoc::TM_CAM_CMD_RPT: // Read acknowledgment, camera and execution report in one go because length of camera // report is not fixed - replyLen = SpacePacket::PACKET_MAX_SIZE; + replyLen = mpsoc::SP_MAX_SIZE; break; default: { replyLen = iter->second.replyLen; diff --git a/linux/devices/ploc/PlocMPSoCHandler.h b/linux/devices/ploc/PlocMPSoCHandler.h index 0d3445d1..4325f8ee 100644 --- a/linux/devices/ploc/PlocMPSoCHandler.h +++ b/linux/devices/ploc/PlocMPSoCHandler.h @@ -8,7 +8,6 @@ #include "fsfw/action/CommandsActionsIF.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/ipc/QueueFactory.h" -#include "fsfw/tmtcpacket/SpacePacket.h" #include "fsfw/tmtcservices/SourceSequenceCounter.h" #include "fsfw_hal/linux/gpio/Gpio.h" #include "fsfw_hal/linux/uart/UartComIF.h" @@ -111,10 +110,11 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { // Initiate the sequence count with the maximum value. It is incremented before // a packet is sent, so the first value will be 0 accordingly using // the wrap around of the counter. - SourceSequenceCounter sequenceCount = - SourceSequenceCounter(SpacePacketBase::LIMIT_SEQUENCE_COUNT - 1); + SourceSequenceCounter sequenceCount = SourceSequenceCounter(ccsds::LIMIT_SEQUENCE_COUNT - 1); uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE]; + SpacePacketCreator creator; + ploc::SpTcParams spParams = ploc::SpTcParams(creator); /** * This variable is used to store the id of the next reply to receive. This is necessary @@ -148,7 +148,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { struct TelemetryBuffer { uint16_t length = 0; - uint8_t buffer[SpacePacket::PACKET_MAX_SIZE]; + uint8_t buffer[mpsoc::SP_MAX_SIZE]; }; TelemetryBuffer tmBuffer; @@ -172,10 +172,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareTcModeIdle(); - /** - * @brief Copies space packet into command buffer - */ - void copyToCommandBuffer(mpsoc::TcBase* tc); + void finishTcPrep(); /** * @brief This function checks the crc of the received PLOC reply. diff --git a/linux/devices/ploc/PlocMPSoCHelper.cpp b/linux/devices/ploc/PlocMPSoCHelper.cpp index 5e6da78b..e9a65d64 100644 --- a/linux/devices/ploc/PlocMPSoCHelper.cpp +++ b/linux/devices/ploc/PlocMPSoCHelper.cpp @@ -10,7 +10,12 @@ #include "mission/utility/Timestamp.h" -PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {} +using namespace ploc; + +PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) { + spParams.buf = commandBuffer; + spParams.maxSize = sizeof(commandBuffer); +} PlocMPSoCHelper::~PlocMPSoCHelper() {} @@ -99,6 +104,7 @@ ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string ReturnValue_t PlocMPSoCHelper::resetHelper() { ReturnValue_t result = RETURN_OK; semaphore.release(); + spParams.buf = commandBuffer; terminate = false; result = uartComIF->flushUartRxBuffer(comCookie); return result; @@ -138,8 +144,11 @@ ReturnValue_t PlocMPSoCHelper::performFlashWrite() { return FILE_CLOSED_ACCIDENTALLY; } (*sequenceCount)++; - mpsoc::TcFlashWrite tc(*sequenceCount); - tc.createPacket(tempData, dataLength); + mpsoc::TcFlashWrite tc(spParams, *sequenceCount); + result = tc.buildPacket(tempData, dataLength); + if (result != RETURN_OK) { + return result; + } result = handlePacketTransmission(tc); if (result != RETURN_OK) { return result; @@ -154,8 +163,9 @@ ReturnValue_t PlocMPSoCHelper::performFlashWrite() { ReturnValue_t PlocMPSoCHelper::flashfopen() { ReturnValue_t result = RETURN_OK; + spParams.buf = commandBuffer; (*sequenceCount)++; - mpsoc::FlashFopen flashFopen(*sequenceCount); + mpsoc::FlashFopen flashFopen(spParams, *sequenceCount); result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND); if (result != RETURN_OK) { return result; @@ -169,8 +179,9 @@ ReturnValue_t PlocMPSoCHelper::flashfopen() { ReturnValue_t PlocMPSoCHelper::flashfclose() { ReturnValue_t result = RETURN_OK; + spParams.buf = commandBuffer; (*sequenceCount)++; - mpsoc::FlashFclose flashFclose(*sequenceCount); + mpsoc::FlashFclose flashFclose(spParams, *sequenceCount); result = flashFclose.createPacket(flashWrite.mpsocFile); if (result != RETURN_OK) { return result; @@ -182,7 +193,7 @@ ReturnValue_t PlocMPSoCHelper::flashfclose() { return RETURN_OK; } -ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(mpsoc::TcBase& tc) { +ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) { ReturnValue_t result = RETURN_OK; result = sendCommand(tc); if (result != RETURN_OK) { @@ -199,9 +210,9 @@ ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(mpsoc::TcBase& tc) { return RETURN_OK; } -ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase& tc) { +ReturnValue_t PlocMPSoCHelper::sendCommand(ploc::SpTcBase& tc) { ReturnValue_t result = RETURN_OK; - result = uartComIF->sendMessage(comCookie, tc.getWholeData(), tc.getFullSize()); + result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen()); if (result != RETURN_OK) { sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl; triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast(internalState)); @@ -212,12 +223,16 @@ ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase& tc) { ReturnValue_t PlocMPSoCHelper::handleAck() { ReturnValue_t result = RETURN_OK; - mpsoc::TmPacket tmPacket; - result = handleTmReception(&tmPacket, mpsoc::SIZE_ACK_REPORT); + result = handleTmReception(mpsoc::SIZE_ACK_REPORT); if (result != RETURN_OK) { return result; } - uint16_t apid = tmPacket.getAPID(); + SpTmReader tmPacket(tmBuf.data(), tmBuf.size()); + result = checkReceivedTm(tmPacket); + if (result != RETURN_OK) { + return result; + } + uint16_t apid = tmPacket.getApid(); if (apid != mpsoc::apid::ACK_SUCCESS) { handleAckApidFailure(apid); return RETURN_FAILED; @@ -239,12 +254,17 @@ void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) { ReturnValue_t PlocMPSoCHelper::handleExe() { ReturnValue_t result = RETURN_OK; - mpsoc::TmPacket tmPacket; - result = handleTmReception(&tmPacket, mpsoc::SIZE_EXE_REPORT); + + result = handleTmReception(mpsoc::SIZE_EXE_REPORT); if (result != RETURN_OK) { return result; } - uint16_t apid = tmPacket.getAPID(); + ploc::SpTmReader tmPacket(tmBuf.data(), tmBuf.size()); + result = checkReceivedTm(tmPacket); + if (result != RETURN_OK) { + return result; + } + uint16_t apid = tmPacket.getApid(); if (apid != mpsoc::apid::EXE_SUCCESS) { handleExeApidFailure(apid); return RETURN_FAILED; @@ -264,12 +284,12 @@ void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) { } } -ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes) { +ReturnValue_t PlocMPSoCHelper::handleTmReception(size_t remainingBytes) { ReturnValue_t result = RETURN_OK; size_t readBytes = 0; size_t currentBytes = 0; for (int retries = 0; retries < RETRIES; retries++) { - result = receive(tmPacket->getWholeData() + readBytes, ¤tBytes, remainingBytes); + result = receive(tmBuf.data() + readBytes, ¤tBytes, remainingBytes); if (result != RETURN_OK) { return result; } @@ -284,18 +304,30 @@ ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast(internalState)); return RETURN_FAILED; } - result = tmPacket->checkCrc(); + return result; +} + +ReturnValue_t PlocMPSoCHelper::checkReceivedTm(SpTmReader& reader) { + ReturnValue_t result = reader.checkSize(); + if (result != RETURN_OK) { + sif::error << "PlocMPSoCHelper::handleTmReception: Size check on received TM failed" + << std::endl; + triggerEvent(MPSOC_TM_SIZE_ERROR); + return result; + } + reader.checkCrc(); if (result != RETURN_OK) { sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl; + triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount); return result; } (*sequenceCount)++; - uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount(); + uint16_t recvSeqCnt = reader.getSequenceCount(); if (recvSeqCnt != *sequenceCount) { triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt); *sequenceCount = recvSeqCnt; } - return result; + return RETURN_OK; } ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) { diff --git a/linux/devices/ploc/PlocMPSoCHelper.h b/linux/devices/ploc/PlocMPSoCHelper.h index 3c011b6a..eb5b4346 100644 --- a/linux/devices/ploc/PlocMPSoCHelper.h +++ b/linux/devices/ploc/PlocMPSoCHelper.h @@ -67,6 +67,8 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public H //! P1: Expected sequence count //! P2: Received sequence count static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW); + static const Event MPSOC_TM_SIZE_ERROR = MAKE_EVENT(12, severity::LOW); + static const Event MPSOC_TM_CRC_MISSMATCH = MAKE_EVENT(13, severity::LOW); PlocMPSoCHelper(object_id_t objectId); virtual ~PlocMPSoCHelper(); @@ -123,6 +125,10 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public H SdCardManager* sdcMan = nullptr; #endif uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE]; + SpacePacketCreator creator; + ploc::SpTcParams spParams = ploc::SpTcParams(creator); + + std::array tmBuf; bool terminate = false; @@ -134,20 +140,21 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF, public H // Communication cookie. Must be set by the MPSoC Handler CookieIF* comCookie = nullptr; // Sequence count, must be set by Ploc MPSoC Handler - SourceSequenceCounter* sequenceCount; + SourceSequenceCounter* sequenceCount = nullptr; ReturnValue_t resetHelper(); ReturnValue_t performFlashWrite(); ReturnValue_t flashfopen(); ReturnValue_t flashfclose(); - ReturnValue_t handlePacketTransmission(mpsoc::TcBase& tc); - ReturnValue_t sendCommand(mpsoc::TcBase& tc); + ReturnValue_t handlePacketTransmission(ploc::SpTcBase& tc); + ReturnValue_t sendCommand(ploc::SpTcBase& tc); ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes); ReturnValue_t handleAck(); ReturnValue_t handleExe(); void handleAckApidFailure(uint16_t apid); void handleExeApidFailure(uint16_t apid); - ReturnValue_t handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes); + ReturnValue_t handleTmReception(size_t remainingBytes); + ReturnValue_t checkReceivedTm(ploc::SpTmReader& reader); }; #endif /* BSP_Q7S_DEVICES_PLOCMPSOCHELPER_H_ */ diff --git a/linux/devices/ploc/PlocMemoryDumper.h b/linux/devices/ploc/PlocMemoryDumper.h index 559e7ec8..a1b4f8de 100644 --- a/linux/devices/ploc/PlocMemoryDumper.h +++ b/linux/devices/ploc/PlocMemoryDumper.h @@ -13,7 +13,6 @@ #include "fsfw/objectmanager/SystemObject.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/tasks/ExecutableObjectIF.h" -#include "fsfw/tmtcpacket/SpacePacket.h" #include "linux/fsfwconfig/objects/systemObjectList.h" /** diff --git a/linux/devices/ploc/PlocSupervisorHandler.cpp b/linux/devices/ploc/PlocSupervisorHandler.cpp index 7d38d0c2..b0718e81 100644 --- a/linux/devices/ploc/PlocSupervisorHandler.cpp +++ b/linux/devices/ploc/PlocSupervisorHandler.cpp @@ -28,6 +28,11 @@ PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t u if (comCookie == NULL) { sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl; } + if (supvHelper == nullptr) { + sif::error << "PlocSupervisorHandler: Invalid PlocSupvHelper object" << std::endl; + } + spParams.buf = commandBuffer; + spParams.maxSize = sizeof(commandBuffer); eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5); } @@ -154,6 +159,7 @@ void PlocSupervisorHandler::doStartUp() { uartIsolatorSwitch.pullHigh(); startupState = StartupState::SET_TIME; } + break; } case StartupState::SET_TIME_EXECUTING: break; @@ -194,6 +200,7 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d size_t commandDataLen) { using namespace supv; ReturnValue_t result = RETURN_FAILED; + spParams.buf = commandBuffer; switch (deviceCommand) { case GET_HK_REPORT: { prepareEmptyCmd(APID_GET_HK_REPORT); @@ -314,21 +321,30 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d break; } case FACTORY_RESET_CLEAR_ALL: { - FactoryReset packet(FactoryReset::Op::CLEAR_ALL); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + FactoryReset packet(spParams); + result = packet.buildPacket(FactoryReset::Op::CLEAR_ALL); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case FACTORY_RESET_CLEAR_MIRROR: { - FactoryReset packet(FactoryReset::Op::MIRROR_ENTRIES); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + FactoryReset packet(spParams); + result = packet.buildPacket(FactoryReset::Op::MIRROR_ENTRIES); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case FACTORY_RESET_CLEAR_CIRCULAR: { - FactoryReset packet(FactoryReset::Op::CIRCULAR_ENTRIES); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + FactoryReset packet(spParams); + result = packet.buildPacket(FactoryReset::Op::CIRCULAR_ENTRIES); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case START_MPSOC_QUIET: { @@ -347,34 +363,49 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t d break; } case ENABLE_AUTO_TM: { - EnableAutoTm packet; - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + EnableAutoTm packet(spParams); + result = packet.buildPacket(); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case DISABLE_AUTO_TM: { - DisableAutoTm packet; - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + DisableAutoTm packet(spParams); + result = packet.buildPacket(); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case LOGGING_REQUEST_COUNTERS: { - RequestLoggingData packet(RequestLoggingData::Sa::REQUEST_COUNTERS); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + RequestLoggingData packet(spParams); + result = packet.buildPacket(RequestLoggingData::Sa::REQUEST_COUNTERS); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case LOGGING_CLEAR_COUNTERS: { - RequestLoggingData packet(RequestLoggingData::Sa::CLEAR_COUNTERS); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + RequestLoggingData packet(spParams); + result = packet.buildPacket(RequestLoggingData::Sa::CLEAR_COUNTERS); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case LOGGING_SET_TOPIC: { uint8_t tpc = *(commandData); - RequestLoggingData packet(RequestLoggingData::Sa::SET_LOGGING_TOPIC, tpc); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); - result = RETURN_OK; + RequestLoggingData packet(spParams); + result = packet.buildPacket(RequestLoggingData::Sa::SET_LOGGING_TOPIC, tpc); + if (result != RETURN_OK) { + break; + } + finishTcPrep(); break; } case RESET_PL: { @@ -874,8 +905,11 @@ ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) { using namespace supv; ReturnValue_t result = RETURN_OK; - AcknowledgmentReport ack; - ack.addWholeData(data, SIZE_ACK_REPORT); + AcknowledgmentReport ack(data, SIZE_ACK_REPORT); + result = ack.checkSize(); + if(result != RETURN_OK) { + return result; + } result = ack.checkCrc(); if (result != RETURN_OK) { @@ -928,8 +962,11 @@ ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) using namespace supv; ReturnValue_t result = RETURN_OK; - ExecutionReport exe; - exe.addWholeData(data, SIZE_EXE_REPORT); + ExecutionReport exe(data, SIZE_EXE_REPORT); + result = exe.checkSize(); + if (result != RETURN_OK) { + return result; + } result = exe.checkCrc(); if (result != RETURN_OK) { @@ -1354,15 +1391,25 @@ void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, } } -void PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid) { - supv::ApidOnlyPacket packet(apid); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); +ReturnValue_t PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid) { + supv::ApidOnlyPacket packet(spParams, apid); + ReturnValue_t result = packet.buildPacket(); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } -void PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t* commandData) { - supv::MPSoCBootSelect packet(*commandData, *(commandData + 1), *(commandData + 2), - *(commandData + 3)); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); +ReturnValue_t PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t* commandData) { + supv::MPSoCBootSelect packet(spParams); + ReturnValue_t result = + packet.buildPacket(*commandData, *(commandData + 1), *(commandData + 2), *(commandData + 3)); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() { @@ -1373,27 +1420,46 @@ ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() { << std::endl; return SupvReturnValuesIF::GET_TIME_FAILURE; } - supv::SetTimeRef packet(&time); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetTimeRef packet(spParams); + result = packet.buildPacket(&time); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); return RETURN_OK; } -void PlocSupervisorHandler::prepareDisableHk() { - supv::DisablePeriodicHkTransmission packet; - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); +ReturnValue_t PlocSupervisorHandler::prepareDisableHk() { + supv::DisablePeriodicHkTransmission packet(spParams); + ReturnValue_t result = packet.buildPacket(); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } -void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) { + supv::SetBootTimeout packet(spParams); uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 | *(commandData + 3); - supv::SetBootTimeout packet(timeout); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + ReturnValue_t result = packet.buildPacket(timeout); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } -void PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t* commandData) { uint8_t restartTries = *(commandData); - supv::SetRestartTries packet(restartTries); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetRestartTries packet(spParams); + ReturnValue_t result = packet.buildPacket(restartTries); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* commandData, @@ -1405,13 +1471,21 @@ ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* comm } switch (deviceCommand) { case (supv::ENABLE_LATCHUP_ALERT): { - supv::LatchupAlert packet(true, latchupId); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::LatchupAlert packet(spParams); + result = packet.buildPacket(true, latchupId); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); break; } case (supv::DISABLE_LATCHUP_ALERT): { - supv::LatchupAlert packet(false, latchupId); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::LatchupAlert packet(spParams); + result = packet.buildPacket(false, latchupId); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); break; } default: { @@ -1433,31 +1507,50 @@ ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* comm if (latchupId > 6) { return SupvReturnValuesIF::INVALID_LATCHUP_ID; } - supv::SetAlertlimit packet(latchupId, dutycycle); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetAlertlimit packet(spParams); + ReturnValue_t result = packet.buildPacket(latchupId, dutycycle); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); return RETURN_OK; } -void PlocSupervisorHandler::prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData) { uint16_t ch = *(commandData) << 8 | *(commandData + 1); - supv::SetAdcEnabledChannels packet(ch); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetAdcEnabledChannels packet(spParams); + ReturnValue_t result = packet.buildPacket(ch); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } -void PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData) { uint8_t offset = 0; uint16_t windowSize = *(commandData + offset) << 8 | *(commandData + offset + 1); offset += 2; uint16_t stridingStepSize = *(commandData + offset) << 8 | *(commandData + offset + 1); - supv::SetAdcWindowAndStride packet(windowSize, stridingStepSize); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetAdcWindowAndStride packet(spParams); + ReturnValue_t result = packet.buildPacket(windowSize, stridingStepSize); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } -void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) { uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 | *(commandData + 3); - supv::SetAdcThreshold packet(threshold); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetAdcThreshold packet(spParams); + ReturnValue_t result = packet.buildPacket(threshold); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } ReturnValue_t PlocSupervisorHandler::prepareRunAutoEmTest(const uint8_t* commandData) { @@ -1465,8 +1558,12 @@ ReturnValue_t PlocSupervisorHandler::prepareRunAutoEmTest(const uint8_t* command if (test != 1 && test != 2) { return SupvReturnValuesIF::INVALID_TEST_PARAM; } - supv::RunAutoEmTests packet(test); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::RunAutoEmTests packet(spParams); + ReturnValue_t result = packet.buildPacket(test); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); return RETURN_OK; } @@ -1479,8 +1576,12 @@ ReturnValue_t PlocSupervisorHandler::prepareWipeMramCmd(const uint8_t* commandDa if ((stop - start) <= 0) { return SupvReturnValuesIF::INVALID_MRAM_ADDRESSES; } - supv::MramCmd packet(start, stop, supv::MramCmd::MramAction::WIPE); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::MramCmd packet(spParams); + ReturnValue_t result = packet.buildPacket(start, stop, supv::MramCmd::MramAction::WIPE); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); return RETURN_OK; } @@ -1490,42 +1591,52 @@ ReturnValue_t PlocSupervisorHandler::prepareDumpMramCmd(const uint8_t* commandDa size_t size = sizeof(start) + sizeof(stop); SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG); SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG); - supv::MramCmd packet(start, stop, supv::MramCmd::MramAction::DUMP); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); if ((stop - start) <= 0) { return SupvReturnValuesIF::INVALID_MRAM_ADDRESSES; } + supv::MramCmd packet(spParams); + ReturnValue_t result = packet.buildPacket(start, stop, supv::MramCmd::MramAction::DUMP); + if (result != RETURN_OK) { + return result; + } expectedMramDumpPackets = (stop - start) / supv::MAX_DATA_CAPACITY; if ((stop - start) % supv::MAX_DATA_CAPACITY) { expectedMramDumpPackets++; } receivedMramDumpPackets = 0; + + finishTcPrep(); return RETURN_OK; } -void PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData) { uint8_t port = *commandData; uint8_t pin = *(commandData + 1); uint8_t val = *(commandData + 2); - supv::SetGpio packet(port, pin, val); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetGpio packet(spParams); + ReturnValue_t result = packet.buildPacket(port, pin, val); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } -void PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandData) { uint8_t port = *commandData; uint8_t pin = *(commandData + 1); - supv::ReadGpio packet(port, pin); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::ReadGpio packet(spParams); + ReturnValue_t result = packet.buildPacket(port, pin); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } -void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSize) { - memcpy(commandBuffer, packetData, fullSize); - rawPacket = commandBuffer; - rawPacketLen = fullSize; - nextReplyId = supv::ACK_REPORT; -} +void PlocSupervisorHandler::finishTcPrep() { nextReplyId = supv::ACK_REPORT; } -void PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData) { +ReturnValue_t PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData) { uint32_t timeout = 0; ReturnValue_t result = RETURN_OK; size_t size = sizeof(timeout); @@ -1536,8 +1647,13 @@ void PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandD << "PlocSupervisorHandler::prepareSetShutdownTimeoutCmd: Failed to deserialize timeout" << std::endl; } - supv::SetShutdownTimeout packet(timeout); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + supv::SetShutdownTimeout packet(spParams); + result = packet.buildPacket(timeout); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); + return RETURN_OK; } ReturnValue_t PlocSupervisorHandler::prepareLoggingRequest(const uint8_t* commandData, @@ -1545,8 +1661,12 @@ ReturnValue_t PlocSupervisorHandler::prepareLoggingRequest(const uint8_t* comman using namespace supv; RequestLoggingData::Sa sa = static_cast(*commandData); uint8_t tpc = *(commandData + 1); - RequestLoggingData packet(sa, tpc); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + RequestLoggingData packet(spParams); + ReturnValue_t result = packet.buildPacket(sa, tpc); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); return RETURN_OK; } @@ -1554,8 +1674,12 @@ ReturnValue_t PlocSupervisorHandler::prepareEnableNvmsCommand(const uint8_t* com using namespace supv; uint8_t nvm01 = *(commandData); uint8_t nvm3 = *(commandData + 1); - EnableNvms packet(nvm01, nvm3); - packetToOutBuffer(packet.getWholeData(), packet.getFullSize()); + EnableNvms packet(spParams); + ReturnValue_t result = packet.buildPacket(nvm01, nvm3); + if (result != RETURN_OK) { + return result; + } + finishTcPrep(); return RETURN_OK; } @@ -1743,8 +1867,8 @@ void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) { return; } uint8_t sequenceFlags = spacePacketBuffer[2] >> 6; - if (sequenceFlags != static_cast(supv::SequenceFlags::LAST_PKT) && - (sequenceFlags != static_cast(supv::SequenceFlags::STANDALONE_PKT))) { + if (sequenceFlags != static_cast(ccsds::SequenceFlags::LAST_SEGMENT) && + (sequenceFlags != static_cast(ccsds::SequenceFlags::UNSEGMENTED))) { // Command expects at least one MRAM packet more and the execution report info->expectedReplies = 2; mramReplyInfo->countdown->resetTimer(); @@ -1770,8 +1894,8 @@ ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) { uint16_t packetLen = readSpacePacketLength(spacePacketBuffer); uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer); if (id == supv::FIRST_MRAM_DUMP) { - if (sequenceFlags == static_cast(supv::SequenceFlags::FIRST_PKT) || - (sequenceFlags == static_cast(supv::SequenceFlags::STANDALONE_PKT))) { + if (sequenceFlags == static_cast(ccsds::SequenceFlags::FIRST_SEGMENT) || + (sequenceFlags == static_cast(ccsds::SequenceFlags::UNSEGMENTED))) { result = createMramDumpFile(); if (result != RETURN_OK) { return result; @@ -1899,24 +2023,30 @@ ReturnValue_t PlocSupervisorHandler::eventSubscription() { return result; } -void PlocSupervisorHandler::handleExecutionSuccessReport(const uint8_t* data) { +ReturnValue_t PlocSupervisorHandler::handleExecutionSuccessReport(const uint8_t* data) { DeviceCommandId_t commandId = getPendingCommand(); switch (commandId) { case supv::READ_GPIO: { - supv::ExecutionReport exe; - exe.addWholeData(data, supv::SIZE_EXE_REPORT); + supv::ExecutionReport exe(data, supv::SIZE_EXE_REPORT); + if (exe.isNull()) { + return RETURN_FAILED; + } + ReturnValue_t result = exe.checkSize(); + if (result != RETURN_OK) { + return result; + } uint16_t gpioState = exe.getStatusCode(); #if OBSW_DEBUG_PLOC_SUPERVISOR == 1 sif::info << "PlocSupervisorHandler: Read GPIO TM, State: " << gpioState << std::endl; #endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */ DeviceCommandMap::iterator iter = deviceCommandMap.find(commandId); if (iter->second.sendReplyTo == NO_COMMAND_ID) { - return; + return RETURN_OK; } uint8_t data[sizeof(gpioState)]; size_t size = 0; - ReturnValue_t result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState), - SerializeIF::Endianness::BIG); + result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState), + SerializeIF::Endianness::BIG); if (result != RETURN_OK) { sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl; } @@ -1935,6 +2065,7 @@ void PlocSupervisorHandler::handleExecutionSuccessReport(const uint8_t* data) { default: break; } + return RETURN_OK; } void PlocSupervisorHandler::handleExecutionFailureReport(uint16_t statusCode) { diff --git a/linux/devices/ploc/PlocSupervisorHandler.h b/linux/devices/ploc/PlocSupervisorHandler.h index 9946a1d5..c6476679 100644 --- a/linux/devices/ploc/PlocSupervisorHandler.h +++ b/linux/devices/ploc/PlocSupervisorHandler.h @@ -100,6 +100,8 @@ class PlocSupervisorHandler : public DeviceHandlerBase { StartupState startupState = StartupState::OFF; uint8_t commandBuffer[supv::MAX_COMMAND_SIZE]; + SpacePacketCreator creator; + ploc::SpTcParams spParams = ploc::SpTcParams(creator); /** * This variable is used to store the id of the next reply to receive. This is necessary @@ -233,14 +235,14 @@ class PlocSupervisorHandler : public DeviceHandlerBase { * @brief This function prepares a space packet which does not transport any data in the * packet data field apart from the crc. */ - void prepareEmptyCmd(uint16_t apid); + ReturnValue_t prepareEmptyCmd(uint16_t apid); /** * @brief This function initializes the space packet to select the boot image of the MPSoC. */ - void prepareSelBootImageCmd(const uint8_t* commandData); + ReturnValue_t prepareSelBootImageCmd(const uint8_t* commandData); - void prepareDisableHk(); + ReturnValue_t prepareDisableHk(); /** * @brief This function fills the commandBuffer with the data to update the time of the @@ -252,9 +254,9 @@ class PlocSupervisorHandler : public DeviceHandlerBase { * @brief This function fills the commandBuffer with the data to change the boot timeout * value in the PLOC supervisor. */ - void prepareSetBootTimeoutCmd(const uint8_t* commandData); + ReturnValue_t prepareSetBootTimeoutCmd(const uint8_t* commandData); - void prepareRestartTriesCmd(const uint8_t* commandData); + ReturnValue_t prepareRestartTriesCmd(const uint8_t* commandData); /** * @brief This function fills the command buffer with the packet to enable or disable the @@ -271,21 +273,21 @@ class PlocSupervisorHandler : public DeviceHandlerBase { ReturnValue_t prepareLatchupConfigCmd(const uint8_t* commandData, DeviceCommandId_t deviceCommand); ReturnValue_t prepareSetAlertLimitCmd(const uint8_t* commandData); - void prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData); - void prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData); - void prepareSetAdcThresholdCmd(const uint8_t* commandData); + ReturnValue_t prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData); + ReturnValue_t prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData); + ReturnValue_t prepareSetAdcThresholdCmd(const uint8_t* commandData); ReturnValue_t prepareRunAutoEmTest(const uint8_t* commandData); ReturnValue_t prepareWipeMramCmd(const uint8_t* commandData); ReturnValue_t prepareDumpMramCmd(const uint8_t* commandData); - void prepareSetGpioCmd(const uint8_t* commandData); - void prepareReadGpioCmd(const uint8_t* commandData); + ReturnValue_t prepareSetGpioCmd(const uint8_t* commandData); + ReturnValue_t prepareReadGpioCmd(const uint8_t* commandData); ReturnValue_t prepareLoggingRequest(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareEnableNvmsCommand(const uint8_t* commandData); /** * @brief Copies the content of a space packet to the command buffer. */ - void packetToOutBuffer(uint8_t* packetData, size_t fullSize); + void finishTcPrep(); /** * @brief In case an acknowledgment failure reply has been received this function disables @@ -363,13 +365,13 @@ class PlocSupervisorHandler : public DeviceHandlerBase { ReturnValue_t createMramDumpFile(); ReturnValue_t getTimeStampString(std::string& timeStamp); - void prepareSetShutdownTimeoutCmd(const uint8_t* commandData); + ReturnValue_t prepareSetShutdownTimeoutCmd(const uint8_t* commandData); ReturnValue_t extractUpdateCommand(const uint8_t* commandData, size_t size, std::string* file, uint8_t* memoryId, uint32_t* startAddress); ReturnValue_t eventSubscription(); - void handleExecutionSuccessReport(const uint8_t* data); + ReturnValue_t handleExecutionSuccessReport(const uint8_t* data); void handleExecutionFailureReport(uint16_t statusCode); void printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId); diff --git a/linux/devices/ploc/PlocSupvHelper.cpp b/linux/devices/ploc/PlocSupvHelper.cpp index 544a98eb..25566b11 100644 --- a/linux/devices/ploc/PlocSupvHelper.cpp +++ b/linux/devices/ploc/PlocSupvHelper.cpp @@ -16,7 +16,10 @@ #include "mission/utility/ProgressPrinter.h" #include "mission/utility/Timestamp.h" -PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) {} +PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) { + spParams.maxSize = sizeof(commandBuffer); + resetSpParams(); +} PlocSupvHelper::~PlocSupvHelper() {} @@ -210,7 +213,7 @@ ReturnValue_t PlocSupvHelper::writeUpdatePackets() { uint8_t tempData[supv::WriteMemory::CHUNK_MAX]; std::ifstream file(update.file, std::ifstream::binary); uint16_t dataLength = 0; - supv::SequenceFlags seqFlags; + ccsds::SequenceFlags seqFlags; while (update.remainingSize > 0) { if (terminate) { terminate = false; @@ -235,14 +238,21 @@ ReturnValue_t PlocSupvHelper::writeUpdatePackets() { return FILE_CLOSED_ACCIDENTALLY; } if (update.bytesWritten == 0) { - seqFlags = supv::SequenceFlags::FIRST_PKT; + seqFlags = ccsds::SequenceFlags::FIRST_SEGMENT; } else if (update.remainingSize == 0) { - seqFlags = supv::SequenceFlags::LAST_PKT; + seqFlags = ccsds::SequenceFlags::LAST_SEGMENT; } else { - seqFlags = supv::SequenceFlags::CONTINUED_PKT; + seqFlags = ccsds::SequenceFlags::CONTINUATION; + } + resetSpParams(); + supv::WriteMemory packet(spParams); + result = packet.buildPacket(seqFlags, update.sequenceCount++, update.memoryId, + update.startAddress + update.bytesWritten, dataLength, tempData); + if (result != RETURN_OK) { + update.sequenceCount--; + triggerEvent(WRITE_MEMORY_FAILED, update.packetNum); + return result; } - supv::WriteMemory packet(seqFlags, update.sequenceCount++, update.memoryId, - update.startAddress + update.bytesWritten, dataLength, tempData); result = handlePacketTransmission(packet); if (result != RETURN_OK) { update.sequenceCount--; @@ -262,7 +272,12 @@ ReturnValue_t PlocSupvHelper::writeUpdatePackets() { ReturnValue_t PlocSupvHelper::performEventBufferRequest() { using namespace supv; ReturnValue_t result = RETURN_OK; - RequestLoggingData packet(RequestLoggingData::Sa::REQUEST_EVENT_BUFFERS); + resetSpParams(); + RequestLoggingData packet(spParams); + result = packet.buildPacket(RequestLoggingData::Sa::REQUEST_EVENT_BUFFERS); + if (result != RETURN_OK) { + return result; + } result = sendCommand(packet); if (result != RETURN_OK) { return result; @@ -284,7 +299,12 @@ ReturnValue_t PlocSupvHelper::performEventBufferRequest() { ReturnValue_t PlocSupvHelper::selectMemory() { ReturnValue_t result = RETURN_OK; - supv::MPSoCBootSelect packet(update.memoryId); + resetSpParams(); + supv::MPSoCBootSelect packet(spParams); + result = packet.buildPacket(update.memoryId); + if (result != RETURN_OK) { + return result; + } result = handlePacketTransmission(packet); if (result != RETURN_OK) { return result; @@ -294,7 +314,9 @@ ReturnValue_t PlocSupvHelper::selectMemory() { ReturnValue_t PlocSupvHelper::prepareUpdate() { ReturnValue_t result = RETURN_OK; - supv::ApidOnlyPacket packet(supv::APID_PREPARE_UPDATE); + resetSpParams(); + supv::ApidOnlyPacket packet(spParams, supv::APID_PREPARE_UPDATE); + result = packet.buildPacket(); result = handlePacketTransmission(packet, PREPARE_UPDATE_EXECUTION_REPORT); if (result != RETURN_OK) { return result; @@ -304,7 +326,12 @@ ReturnValue_t PlocSupvHelper::prepareUpdate() { ReturnValue_t PlocSupvHelper::eraseMemory() { ReturnValue_t result = RETURN_OK; - supv::EraseMemory eraseMemory(update.memoryId, update.startAddress, update.length); + resetSpParams(); + supv::EraseMemory eraseMemory(spParams); + result = eraseMemory.buildPacket(update.memoryId, update.startAddress, update.length); + if (result != RETURN_OK) { + return result; + } result = handlePacketTransmission(eraseMemory, supv::recv_timeout::ERASE_MEMORY); if (result != RETURN_OK) { return result; @@ -312,7 +339,7 @@ ReturnValue_t PlocSupvHelper::eraseMemory() { return RETURN_OK; } -ReturnValue_t PlocSupvHelper::handlePacketTransmission(SpacePacket& packet, +ReturnValue_t PlocSupvHelper::handlePacketTransmission(ploc::SpTcBase& packet, uint32_t timeoutExecutionReport) { ReturnValue_t result = RETURN_OK; result = sendCommand(packet); @@ -330,10 +357,10 @@ ReturnValue_t PlocSupvHelper::handlePacketTransmission(SpacePacket& packet, return RETURN_OK; } -ReturnValue_t PlocSupvHelper::sendCommand(SpacePacket& packet) { +ReturnValue_t PlocSupvHelper::sendCommand(ploc::SpTcBase& packet) { ReturnValue_t result = RETURN_OK; - rememberApid = packet.getAPID(); - result = uartComIF->sendMessage(comCookie, packet.getWholeData(), packet.getFullSize()); + rememberApid = packet.getApid(); + result = uartComIF->sendMessage(comCookie, packet.getFullPacket(), packet.getFullPacketLen()); if (result != RETURN_OK) { sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl; triggerEvent(SUPV_SENDING_COMMAND_FAILED, result, static_cast(internalState)); @@ -344,14 +371,19 @@ ReturnValue_t PlocSupvHelper::sendCommand(SpacePacket& packet) { ReturnValue_t PlocSupvHelper::handleAck() { ReturnValue_t result = RETURN_OK; - supv::AcknowledgmentReport ackReport; - result = handleTmReception(&ackReport, supv::SIZE_ACK_REPORT); + + result = handleTmReception(supv::SIZE_ACK_REPORT); if (result != RETURN_OK) { triggerEvent(ACK_RECEPTION_FAILURE, result, static_cast(rememberApid)); sif::warning << "PlocSupvHelper::handleAck: Error in reception of acknowledgment report" << std::endl; return result; } + supv::AcknowledgmentReport ackReport(tmBuf.data(), tmBuf.size()); + result = checkReceivedTm(ackReport); + if (result != RETURN_OK) { + return result; + } result = ackReport.checkApid(); if (result != RETURN_OK) { if (result == SupvReturnValuesIF::RECEIVED_ACK_FAILURE) { @@ -366,14 +398,19 @@ ReturnValue_t PlocSupvHelper::handleAck() { ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) { ReturnValue_t result = RETURN_OK; - supv::ExecutionReport exeReport; - result = handleTmReception(&exeReport, supv::SIZE_EXE_REPORT, timeout); + + result = handleTmReception(supv::SIZE_EXE_REPORT, timeout); if (result != RETURN_OK) { triggerEvent(EXE_RECEPTION_FAILURE, result, static_cast(rememberApid)); sif::warning << "PlocSupvHelper::handleExe: Error in reception of execution report" << std::endl; return result; } + supv::ExecutionReport exeReport(tmBuf.data(), tmBuf.size()); + result = checkReceivedTm(exeReport); + if (result != RETURN_OK) { + return result; + } result = exeReport.checkApid(); if (result != RETURN_OK) { if (result == SupvReturnValuesIF::RECEIVED_EXE_FAILURE) { @@ -386,14 +423,13 @@ ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) { return RETURN_OK; } -ReturnValue_t PlocSupvHelper::handleTmReception(supv::TmPacket* tmPacket, size_t remainingBytes, - uint32_t timeout) { +ReturnValue_t PlocSupvHelper::handleTmReception(size_t remainingBytes, uint32_t timeout) { ReturnValue_t result = RETURN_OK; size_t readBytes = 0; size_t currentBytes = 0; Countdown countdown(timeout); while (!countdown.hasTimedOut()) { - result = receive(tmPacket->getWholeData() + readBytes, ¤tBytes, remainingBytes); + result = receive(tmBuf.data() + readBytes, ¤tBytes, remainingBytes); if (result != RETURN_OK) { return result; } @@ -408,9 +444,18 @@ ReturnValue_t PlocSupvHelper::handleTmReception(supv::TmPacket* tmPacket, size_t << remainingBytes << " bytes" << std::endl; return RETURN_FAILED; } - result = tmPacket->checkCrc(); + return result; +} + +ReturnValue_t PlocSupvHelper::checkReceivedTm(ploc::SpTmReader& reader) { + ReturnValue_t result = reader.checkSize(); if (result != RETURN_OK) { - sif::warning << "PlocSupvHelper::handleTmReception: CRC check failed" << std::endl; + triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid); + return result; + } + result = reader.checkCrc(); + if (result != RETURN_OK) { + triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid); return result; } return result; @@ -476,8 +521,13 @@ ReturnValue_t PlocSupvHelper::calcImageCrc() { ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() { ReturnValue_t result = RETURN_OK; + resetSpParams(); // Verification of update write procedure - supv::CheckMemory packet(update.memoryId, update.startAddress, update.length); + supv::CheckMemory packet(spParams); + result = packet.buildPacket(update.memoryId, update.startAddress, update.length); + if (result != RETURN_OK) { + return result; + } result = sendCommand(packet); if (result != RETURN_OK) { return result; @@ -486,10 +536,14 @@ ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() { if (result != RETURN_OK) { return result; } - supv::UpdateStatusReport updateStatusReport; - result = handleTmReception(&updateStatusReport, - static_cast(updateStatusReport.getNominalSize()), + supv::UpdateStatusReport updateStatusReport(tmBuf.data(), tmBuf.size()); + result = handleTmReception(static_cast(updateStatusReport.getNominalSize()), supv::recv_timeout::UPDATE_STATUS_REPORT); + result = updateStatusReport.checkCrc(); + if (result != RETURN_OK) { + sif::warning << "PlocSupvHelper::handleTmReception: CRC check failed" << std::endl; + return result; + } if (result != RETURN_OK) { sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: Failed to receive update status report" @@ -529,7 +583,7 @@ ReturnValue_t PlocSupvHelper::handleEventBufferReception() { std::ofstream file(filename, std::ios_base::app | std::ios_base::out); uint32_t packetsRead = 0; size_t requestLen = 0; - supv::TmPacket tmPacket; + ploc::SpTmReader tmReader(tmBuf.data(), tmBuf.size()); for (packetsRead = 0; packetsRead < NUM_EVENT_BUFFER_PACKETS; packetsRead++) { if (terminate) { triggerEvent(SUPV_EVENT_BUFFER_REQUEST_TERMINATED, packetsRead - 1); @@ -541,22 +595,29 @@ ReturnValue_t PlocSupvHelper::handleEventBufferReception() { } else { requestLen = SIZE_EVENT_BUFFER_FULL_PACKET; } - result = handleTmReception(&tmPacket, requestLen); + result = handleTmReception(requestLen); if (result != RETURN_OK) { sif::debug << "PlocSupvHelper::handleEventBufferReception: Failed while trying to read packet" << " " << packetsRead + 1 << std::endl; file.close(); return result; } - uint16_t apid = tmPacket.getAPID(); + ReturnValue_t result = tmReader.checkCrc(); + if (result != RETURN_OK) { + triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid); + return result; + } + uint16_t apid = tmReader.getApid(); if (apid != supv::APID_MRAM_DUMP_TM) { sif::warning << "PlocSupvHelper::handleEventBufferReception: Did not expect space packet " << "with APID 0x" << std::hex << apid << std::endl; file.close(); return EVENT_BUFFER_REPLY_INVALID_APID; } - file.write(reinterpret_cast(tmPacket.getPacketData()), - tmPacket.getPayloadDataLength()); + file.write(reinterpret_cast(tmReader.getPacketData()), + tmReader.getPayloadDataLength()); } return result; } + +void PlocSupvHelper::resetSpParams() { spParams.buf = commandBuffer; } diff --git a/linux/devices/ploc/PlocSupvHelper.h b/linux/devices/ploc/PlocSupvHelper.h index 69d26264..c17521d9 100644 --- a/linux/devices/ploc/PlocSupvHelper.h +++ b/linux/devices/ploc/PlocSupvHelper.h @@ -11,6 +11,7 @@ #include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw_hal/linux/uart/UartComIF.h" #include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h" + #ifdef XIPHOS_Q7S #include "bsp_q7s/memory/SdCardManager.h" #endif @@ -85,6 +86,8 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public Ha //! [EXPORT] : [COMMENT] Update procedure failed when sending packet with number P1 //! P1: Packet number for which the memory write command fails static const Event WRITE_MEMORY_FAILED = MAKE_EVENT(19, severity::LOW); + static const Event SUPV_REPLY_SIZE_MISSMATCH = MAKE_EVENT(20, severity::LOW); + static const Event SUPV_REPLY_CRC_MISSMATCH = MAKE_EVENT(21, severity::LOW); PlocSupvHelper(object_id_t objectId); virtual ~PlocSupvHelper(); @@ -176,6 +179,10 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public Ha SdCardManager* sdcMan = nullptr; #endif uint8_t commandBuffer[supv::MAX_COMMAND_SIZE]; + SpacePacketCreator creator; + ploc::SpTcParams spParams = ploc::SpTcParams(creator); + + std::array tmBuf; bool terminate = false; @@ -195,9 +202,9 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public Ha ReturnValue_t continueUpdate(); ReturnValue_t writeUpdatePackets(); ReturnValue_t performEventBufferRequest(); - ReturnValue_t handlePacketTransmission(SpacePacket& packet, + ReturnValue_t handlePacketTransmission(ploc::SpTcBase& packet, uint32_t timeoutExecutionReport = 60000); - ReturnValue_t sendCommand(SpacePacket& packet); + ReturnValue_t sendCommand(ploc::SpTcBase& packet); /** * @brief Function which reads form the communication interface * @@ -218,8 +225,9 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public Ha * @note It can take up to 70 seconds until the supervisor replies with an acknowledgment * failure report. */ - ReturnValue_t handleTmReception(supv::TmPacket* tmPacket, size_t remainingBytes, - uint32_t timeout = 70000); + ReturnValue_t handleTmReception(size_t remainingBytes, uint32_t timeout = 70000); + ReturnValue_t checkReceivedTm(ploc::SpTmReader& reader); + ReturnValue_t selectMemory(); ReturnValue_t prepareUpdate(); ReturnValue_t eraseMemory(); @@ -236,6 +244,8 @@ class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public Ha */ uint32_t getFileSize(std::string filename); ReturnValue_t handleEventBufferReception(); + + void resetSpParams(); }; #endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */ diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 4aea53a0..c9e237bb 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -1,9 +1,9 @@ -#include #include "AcsController.h" +#include + AcsController::AcsController(object_id_t objectId) - : ExtendedControllerBase(objectId, objects::NO_OBJECT), - mgmData(this) {} + : ExtendedControllerBase(objectId, objects::NO_OBJECT), mgmData(this) {} ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) { return HasReturnvaluesIF::RETURN_OK; @@ -45,7 +45,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec); localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus); - poolManager.subscribeForPeriodicPacket(mgmData.getSid(), false, 5.0, false); + poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), 5.0}); return HasReturnvaluesIF::RETURN_OK; } @@ -64,31 +64,31 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode, void AcsController::copyMgmData() { { PoolReadGuard pg(&mgm0Lis3Set); - if(pg.getReadResult() == RETURN_OK) { + if (pg.getReadResult() == RETURN_OK) { std::memcpy(mgmData.mgm0Lis3.value, mgm0Lis3Set.fieldStrengths.value, 3 * sizeof(float)); } } { PoolReadGuard pg(&mgm1Rm3100Set); - if(pg.getReadResult() == RETURN_OK) { + if (pg.getReadResult() == RETURN_OK) { std::memcpy(mgmData.mgm1Rm3100.value, mgm1Rm3100Set.fieldStrengths.value, 3 * sizeof(float)); } } { PoolReadGuard pg(&mgm2Lis3Set); - if(pg.getReadResult() == RETURN_OK) { + if (pg.getReadResult() == RETURN_OK) { std::memcpy(mgmData.mgm2Lis3.value, mgm2Lis3Set.fieldStrengths.value, 3 * sizeof(float)); } } { PoolReadGuard pg(&mgm3Rm3100Set); - if(pg.getReadResult() == RETURN_OK) { + if (pg.getReadResult() == RETURN_OK) { std::memcpy(mgmData.mgm3Rm3100.value, mgm3Rm3100Set.fieldStrengths.value, 3 * sizeof(float)); } } { PoolReadGuard pg(&imtqMgmSet); - if(pg.getReadResult() == RETURN_OK) { + if (pg.getReadResult() == RETURN_OK) { std::memcpy(mgmData.imtqCal.value, imtqMgmSet.mgmXyz.value, 3 * sizeof(int32_t)); mgmData.actuationCalStatus.value = imtqMgmSet.coilActuationStatus.value; } diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h index 8dbe38aa..246506b9 100644 --- a/mission/controller/AcsController.h +++ b/mission/controller/AcsController.h @@ -2,8 +2,9 @@ #define MISSION_CONTROLLER_ACSCONTROLLER_H_ #include -#include "controllerdefinitions/AcsCtrlDefinitions.h" #include + +#include "controllerdefinitions/AcsCtrlDefinitions.h" #include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h" #include "fsfw_hal/devicehandlers/MgmRM3100Handler.h" #include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h" @@ -33,11 +34,16 @@ class AcsController : public ExtendedControllerBase { // MGMs acsctrl::MgmData mgmData; - MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER); - RM3100::Rm3100PrimaryDataset mgm1Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER); - MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set = MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER); - RM3100::Rm3100PrimaryDataset mgm3Rm3100Set = RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER); - IMTQ::CalibratedMtmMeasurementSet imtqMgmSet = IMTQ::CalibratedMtmMeasurementSet(objects::IMTQ_HANDLER); + MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set = + MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER); + RM3100::Rm3100PrimaryDataset mgm1Rm3100Set = + RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER); + MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set = + MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER); + RM3100::Rm3100PrimaryDataset mgm3Rm3100Set = + RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER); + IMTQ::CalibratedMtmMeasurementSet imtqMgmSet = + IMTQ::CalibratedMtmMeasurementSet(objects::IMTQ_HANDLER); PoolEntry mgm0PoolVec = PoolEntry(3); PoolEntry mgm1PoolVec = PoolEntry(3); @@ -45,6 +51,7 @@ class AcsController : public ExtendedControllerBase { PoolEntry mgm3PoolVec = PoolEntry(3); PoolEntry imtqMgmPoolVec = PoolEntry(3); PoolEntry imtqCalActStatus = PoolEntry(); + void copyMgmData(); // Initial delay to make sure all pool variables have been initialized their owners diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp index 9e0fbd5a..abb46f48 100644 --- a/mission/controller/ThermalController.cpp +++ b/mission/controller/ThermalController.cpp @@ -200,10 +200,12 @@ ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& lo localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ADC_PAYLOAD_PCDU, new PoolEntry({0.0})); - poolManager.subscribeForPeriodicPacket(sensorTemperatures.getSid(), false, 1.0, false); - poolManager.subscribeForPeriodicPacket(susTemperatures.getSid(), false, 1.0, false); - poolManager.subscribeForPeriodicPacket(deviceTemperatures.getSid(), false, 1.0, false); - + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), false, 10.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(susTemperatures.getSid(), false, 10.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), false, 10.0)); return RETURN_OK; } diff --git a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h index f2913943..cec18a63 100644 --- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h +++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h @@ -1,15 +1,14 @@ #ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ #define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ -#include #include +#include + #include namespace acsctrl { -enum SetIds : uint32_t { - MGM_SENSOR_DATA -}; +enum SetIds : uint32_t { MGM_SENSOR_DATA }; enum PoolIds : lp_id_t { MGM_0_LIS3_UT, @@ -20,14 +19,13 @@ enum PoolIds : lp_id_t { MGM_IMTQ_CAL_ACT_STATUS }; - static constexpr uint8_t MGM_SET_ENTRIES = 10; /** * @brief This dataset can be used to store the collected temperatures of all temperature sensors */ class MgmData : public StaticLocalDataSet { -public: + public: MgmData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_SENSOR_DATA) {} // The ACS board measurement are in floating point uT @@ -37,12 +35,12 @@ public: lp_vec_t mgm3Rm3100 = lp_vec_t(sid.objectId, MGM_3_RM3100_UT, this); // The IMTQ measurements are in integer nT lp_vec_t imtqCal = lp_vec_t(sid.objectId, MGM_IMTQ_CAL_NT, this); - lp_var_t actuationCalStatus = lp_var_t(sid.objectId, - MGM_IMTQ_CAL_ACT_STATUS, this); -private: + lp_var_t actuationCalStatus = + lp_var_t(sid.objectId, MGM_IMTQ_CAL_ACT_STATUS, this); + private: }; -} +} // namespace acsctrl #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */ diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp index 1be91594..0a9be3f9 100644 --- a/mission/core/GenericFactory.cpp +++ b/mission/core/GenericFactory.cpp @@ -15,8 +15,8 @@ #include #include #include -#include -#include +#include +#include #include #include "OBSWConfig.h" @@ -54,7 +54,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) { *healthTable_ = healthTable; } new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER); - new TimeStamper(objects::TIME_STAMPER); + new VerificationReporter(); + auto* timeStamper = new CdsShortTimeStamper(objects::TIME_STAMPER); { PoolManager::LocalPoolConfig poolCfg = {{300, 16}, {300, 32}, {200, 64}, @@ -75,15 +76,14 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) { } auto* ccsdsDistrib = new CCSDSDistributor(apid::EIVE_OBSW, objects::CCSDS_PACKET_DISTRIBUTOR); - new PUSDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR, - objects::CCSDS_PACKET_DISTRIBUTOR); + new PusDistributor(apid::EIVE_OBSW, objects::PUS_PACKET_DISTRIBUTOR, ccsdsDistrib); uint8_t vc = 0; #if OBSW_TM_TO_PTME == 1 vc = config::LIVE_TM; #endif // Every TM packet goes through this funnel - new TmFunnel(objects::TM_FUNNEL, 50, vc); + new TmFunnel(objects::TM_FUNNEL, *timeStamper, 50, vc); // PUS service stack new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, apid::EIVE_OBSW, @@ -92,15 +92,18 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_) { pus::PUS_SERVICE_2, 3, 10); new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::EIVE_OBSW, pus::PUS_SERVICE_3); - new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::EIVE_OBSW, - pus::PUS_SERVICE_5, 15, 45); + new Service5EventReporting( + PsbParams(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::EIVE_OBSW, pus::PUS_SERVICE_5), 15, + 45); new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_8, 3, 60); - new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_9); + new Service9TimeManagement( + PsbParams(objects::PUS_SERVICE_9_TIME_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_9)); new Service11TelecommandScheduling( - objects::PUS_SERVICE_11_TC_SCHEDULER, apid::EIVE_OBSW, pus::PUS_SERVICE_11, ccsdsDistrib); - new Service17Test(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW, pus::PUS_SERVICE_17); + PsbParams(objects::PUS_SERVICE_11_TC_SCHEDULER, apid::EIVE_OBSW, pus::PUS_SERVICE_11), + ccsdsDistrib); + new Service17Test(PsbParams(objects::PUS_SERVICE_17_TEST, apid::EIVE_OBSW, pus::PUS_SERVICE_17)); new Service20ParameterManagement(objects::PUS_SERVICE_20_PARAMETERS, apid::EIVE_OBSW, pus::PUS_SERVICE_20); new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, apid::EIVE_OBSW, diff --git a/mission/devices/ACUHandler.cpp b/mission/devices/ACUHandler.cpp index c62b7b0d..35f8e2dd 100644 --- a/mission/devices/ACUHandler.cpp +++ b/mission/devices/ACUHandler.cpp @@ -170,8 +170,10 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localData localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry({0})); localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, true); - poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/BpxBatteryHandler.cpp b/mission/devices/BpxBatteryHandler.cpp index 4ae7b962..d121fc8c 100644 --- a/mission/devices/BpxBatteryHandler.cpp +++ b/mission/devices/BpxBatteryHandler.cpp @@ -270,7 +270,8 @@ ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& lo localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode); localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow); localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh); - poolManager.subscribeForPeriodicPacket(hkSet.getSid(), false, 30.0, false); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(hkSet.getSid(), false, 30.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/GyroADIS1650XHandler.cpp b/mission/devices/GyroADIS1650XHandler.cpp index 77862bfb..3e798f04 100644 --- a/mission/devices/GyroADIS1650XHandler.cpp +++ b/mission/devices/GyroADIS1650XHandler.cpp @@ -363,7 +363,8 @@ ReturnValue_t GyroADIS1650XHandler::initializeLocalDataPool(localpool::DataPool localDataPoolMap.emplace(ADIS1650X::FILTER_SETTINGS, new PoolEntry()); localDataPoolMap.emplace(ADIS1650X::MSC_CTRL_REGISTER, new PoolEntry()); localDataPoolMap.emplace(ADIS1650X::DEC_RATE_REGISTER, new PoolEntry()); - poolManager.subscribeForPeriodicPacket(primaryDataset.getSid(), false, 5.0, true); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/IMTQHandler.cpp index ea7a3177..91e378ca 100644 --- a/mission/devices/IMTQHandler.cpp +++ b/mission/devices/IMTQHandler.cpp @@ -604,9 +604,12 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Y_TEMPERATURE, new PoolEntry({0})); localDataPoolMap.emplace(IMTQ::FINA_NEG_Z_COIL_Z_TEMPERATURE, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(engHkDataset.getSid(), false, 10.0, true); - poolManager.subscribeForPeriodicPacket(calMtmMeasurementSet.getSid(), false, 10.0, true); - poolManager.subscribeForPeriodicPacket(rawMtmMeasurementSet.getSid(), false, 10.0, true); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(engHkDataset.getSid(), false, 10.0)); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(calMtmMeasurementSet.getSid(), false, 10.0)); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(rawMtmMeasurementSet.getSid(), false, 10.0)); return HasReturnvaluesIF::RETURN_OK; } @@ -750,13 +753,13 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) { calMtmMeasurementSet.setValidity(true, true); int8_t offset = 2; calMtmMeasurementSet.mgmXyz[0] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | - *(packet + offset + 1) << 8 | *(packet + offset); + *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; calMtmMeasurementSet.mgmXyz[1] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | - *(packet + offset + 1) << 8 | *(packet + offset); + *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; calMtmMeasurementSet.mgmXyz[2] = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | - *(packet + offset + 1) << 8 | *(packet + offset); + *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24) | (*(packet + offset + 2) << 16) | diff --git a/mission/devices/Max31865EiveHandler.cpp b/mission/devices/Max31865EiveHandler.cpp index 6f6760ad..7ad15670 100644 --- a/mission/devices/Max31865EiveHandler.cpp +++ b/mission/devices/Max31865EiveHandler.cpp @@ -184,7 +184,8 @@ ReturnValue_t Max31865EiveHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap.emplace(static_cast(PoolIds::LAST_FAULT_BYTE), new PoolEntry({0})); localDataPoolMap.emplace(static_cast(PoolIds::FAULT_BYTE), new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(sensorDataset.getSid(), false, 30.0)); return RETURN_OK; } diff --git a/mission/devices/Max31865PT1000Handler.cpp b/mission/devices/Max31865PT1000Handler.cpp index 354fe1c5..a5f6aa4f 100644 --- a/mission/devices/Max31865PT1000Handler.cpp +++ b/mission/devices/Max31865PT1000Handler.cpp @@ -514,7 +514,8 @@ ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool localDataPoolMap.emplace(static_cast(PoolIds::LAST_FAULT_BYTE), new PoolEntry({0})); localDataPoolMap.emplace(static_cast(PoolIds::FAULT_BYTE), new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(sensorDataset.getSid(), false, 30.0, false); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(sensorDataset.getSid(), false, 30.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/P60DockHandler.cpp b/mission/devices/P60DockHandler.cpp index 975e069d..f059a1d7 100644 --- a/mission/devices/P60DockHandler.cpp +++ b/mission/devices/P60DockHandler.cpp @@ -225,8 +225,10 @@ ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &local localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry({0})); localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, false); - poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp index 8e9f1918..70952cea 100644 --- a/mission/devices/PCDUHandler.cpp +++ b/mission/devices/PCDUHandler.cpp @@ -394,7 +394,8 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat using namespace pcdu; localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches); localDataPoolMap.emplace(PoolIds::PDU2_SWITCHES, &pdu2Switches); - poolManager.subscribeForPeriodicPacket(switcherSet.getSid(), false, 5.0, true); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(switcherSet.getSid(), false, 5.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/PCDUHandler.h b/mission/devices/PCDUHandler.h index 8f589751..21bb869d 100644 --- a/mission/devices/PCDUHandler.h +++ b/mission/devices/PCDUHandler.h @@ -30,8 +30,7 @@ class PCDUHandler : public PowerSwitchIF, virtual ReturnValue_t initialize() override; virtual ReturnValue_t performOperation(uint8_t counter) override; - virtual void handleChangedDataset(sid_t sid, - store_address_t storeId = storeId::INVALID_STORE_ADDRESS, + virtual void handleChangedDataset(sid_t sid, store_address_t storeId = store_address_t::invalid(), bool* clearMessage = nullptr) override; virtual ReturnValue_t sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) override; diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp index fca0fbeb..9c2f845c 100644 --- a/mission/devices/PDU1Handler.cpp +++ b/mission/devices/PDU1Handler.cpp @@ -86,8 +86,10 @@ void PDU1Handler::parseHkTableReply(const uint8_t *packet) { ReturnValue_t PDU1Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU1); - poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, true); - poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp index d0cef3f5..073ccb23 100644 --- a/mission/devices/PDU2Handler.cpp +++ b/mission/devices/PDU2Handler.cpp @@ -49,8 +49,10 @@ void PDU2Handler::parseHkTableReply(const uint8_t *packet) { ReturnValue_t PDU2Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { initializePduPool(localDataPoolMap, poolManager, pcdu::INIT_SWITCHES_PDU2); - poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, true); - poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), false, 10.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(auxHk.getSid(), false, 30.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/PayloadPcduHandler.cpp b/mission/devices/PayloadPcduHandler.cpp index 3e18a94e..d45b2c95 100644 --- a/mission/devices/PayloadPcduHandler.cpp +++ b/mission/devices/PayloadPcduHandler.cpp @@ -295,7 +295,8 @@ ReturnValue_t PayloadPcduHandler::initializeLocalDataPool(localpool::DataPool& l localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::CHANNEL_VEC, &channelValues); localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::PROCESSED_VEC, &processedValues); localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, &tempC); - poolManager.subscribeForPeriodicPacket(adcSet.getSid(), false, 5.0, true); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(adcSet.getSid(), false, 5.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/RadiationSensorHandler.cpp b/mission/devices/RadiationSensorHandler.cpp index d94e9197..716b54a5 100644 --- a/mission/devices/RadiationSensorHandler.cpp +++ b/mission/devices/RadiationSensorHandler.cpp @@ -204,7 +204,8 @@ ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPoo localDataPoolMap.emplace(RAD_SENSOR::AIN5, new PoolEntry({0})); localDataPoolMap.emplace(RAD_SENSOR::AIN6, new PoolEntry({0})); localDataPoolMap.emplace(RAD_SENSOR::AIN7, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 20.0, false); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(dataset.getSid(), false, 20.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index e8e04932..44dbac0d 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -277,9 +277,12 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry({0})); localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry({0})); localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true); - poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false); - poolManager.subscribeForPeriodicPacket(lastResetStatusSet.getSid(), false, 30.0, false); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 5.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0)); return RETURN_OK; } diff --git a/mission/devices/SusHandler.cpp b/mission/devices/SusHandler.cpp index 3cc10339..102613c7 100644 --- a/mission/devices/SusHandler.cpp +++ b/mission/devices/SusHandler.cpp @@ -202,7 +202,8 @@ ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localData LocalDataPoolManager &poolManager) { localDataPoolMap.emplace(SUS::TEMPERATURE_C, &tempC); localDataPoolMap.emplace(SUS::CHANNEL_VEC, &channelVec); - poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 5.0, true); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(dataset.getSid(), false, 5.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/SyrlinksHkHandler.cpp b/mission/devices/SyrlinksHkHandler.cpp index 20d72995..67a015ec 100644 --- a/mission/devices/SyrlinksHkHandler.cpp +++ b/mission/devices/SyrlinksHkHandler.cpp @@ -621,9 +621,12 @@ ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& lo localDataPoolMap.emplace(syrlinks::TEMP_BASEBAND_BOARD, new PoolEntry({0})); localDataPoolMap.emplace(syrlinks::TEMP_POWER_AMPLIFIER, new PoolEntry({0})); - poolManager.subscribeForPeriodicPacket(txDataset.getSid(), false, 5.0, true); - poolManager.subscribeForPeriodicPacket(rxDataset.getSid(), false, 5.0, true); - poolManager.subscribeForPeriodicPacket(temperatureSet.getSid(), false, 10.0, false); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(txDataset.getSid(), false, 5.0)); + poolManager.subscribeForDiagPeriodicPacket( + subdp::DiagnosticsHkPeriodicParams(rxDataset.getSid(), false, 5.0)); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(temperatureSet.getSid(), false, 10.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/Tmp1075Handler.cpp b/mission/devices/Tmp1075Handler.cpp index 8cc99ee6..995b4f81 100644 --- a/mission/devices/Tmp1075Handler.cpp +++ b/mission/devices/Tmp1075Handler.cpp @@ -123,6 +123,7 @@ uint32_t Tmp1075Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { ReturnValue_t Tmp1075Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { localDataPoolMap.emplace(TMP1075::TEMPERATURE_C_TMP1075, new PoolEntry({0.0})); - poolManager.subscribeForPeriodicPacket(dataset.getSid(), false, 30.0, false); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(dataset.getSid(), false, 30.0)); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/devicedefinitions/SpBase.h b/mission/devices/devicedefinitions/SpBase.h new file mode 100644 index 00000000..c3a683cb --- /dev/null +++ b/mission/devices/devicedefinitions/SpBase.h @@ -0,0 +1,122 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_SPBASE_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_SPBASE_H_ + +#include +#include + +#include + +namespace ploc { + +struct SpTcParams { + SpTcParams(SpacePacketCreator& creator) : creator(creator) {} + + SpTcParams(SpacePacketCreator& creator, uint8_t* buf, size_t maxSize) + : creator(creator), buf(buf), maxSize(maxSize) {} + + void setPayloadLen(size_t payloadLen_) { dataFieldLen = payloadLen_ + 2; } + + void setDataFieldLen(size_t dataFieldLen_) { dataFieldLen = dataFieldLen_; } + + SpacePacketCreator& creator; + uint8_t* buf = nullptr; + size_t maxSize = 0; + size_t dataFieldLen = 0; +}; + +class SpTcBase { + public: + SpTcBase(SpTcParams params) : spParams(params) { + payloadStart = spParams.buf + ccsds::HEADER_LEN; + updateSpFields(); + } + + SpTcBase(SpTcParams params, uint16_t apid, uint16_t seqCount) : spParams(params) { + spParams.creator.setApid(apid); + spParams.creator.setSeqCount(seqCount); + payloadStart = spParams.buf + ccsds::HEADER_LEN; + updateSpFields(); + } + + void updateSpFields() { + spParams.creator.setDataLen(spParams.dataFieldLen - 1); + spParams.creator.setPacketType(ccsds::PacketType::TC); + } + + const uint8_t* getFullPacket() const { return spParams.buf; } + + size_t getFullPacketLen() const { return spParams.creator.getFullPacketLen(); } + + uint16_t getApid() const { return spParams.creator.getApid(); } + + ReturnValue_t checkPayloadLen() { + if (ccsds::HEADER_LEN + spParams.dataFieldLen > spParams.maxSize) { + return SerializeIF::BUFFER_TOO_SHORT; + } + + return result::OK; + } + + ReturnValue_t serializeHeader() { + updateSpFields(); + size_t serLen = 0; + return spParams.creator.serializeBe(spParams.buf, serLen, spParams.maxSize); + } + + ReturnValue_t checkSizeAndSerializeHeader() { + ReturnValue_t result = checkPayloadLen(); + if (result != result::OK) { + return result; + } + return serializeHeader(); + } + + ReturnValue_t calcCrc() { + /* Calculate crc */ + uint16_t crc = CRC::crc16ccitt(spParams.buf, ccsds::HEADER_LEN + spParams.dataFieldLen - 2); + + /* Add crc to packet data field of space packet */ + size_t serializedSize = 0; + return SerializeAdapter::serialize(&crc, &payloadStart, &serializedSize, sizeof(crc), + SerializeIF::Endianness::BIG); + } + + protected: + ploc::SpTcParams spParams; + uint8_t* payloadStart; +}; + +/** + * @brief Class for handling tm replies of the supervisor. + */ +class SpTmReader : public SpacePacketReader { + public: + SpTmReader() = default; + /** + * @brief Constructor creates idle packet and sets length field to maximum allowed size. + */ + SpTmReader(const uint8_t* buf, size_t maxSize) : SpacePacketReader(buf, maxSize) {} + + ReturnValue_t setData(const uint8_t* buf, size_t maxSize) { + return setReadOnlyData(buf, maxSize); + } + + /** + * @brief Returns the payload data length (data field length without CRC) + */ + uint16_t getPayloadDataLength() { return getPacketDataLen() - 2; } + + ReturnValue_t checkCrc() { + const uint8_t* crcPtr = getFullData() + getFullPacketLen() - CRC_SIZE; + uint16_t receivedCrc = *(crcPtr) << 8 | *(crcPtr + 1); + uint16_t recalculatedCrc = CRC::crc16ccitt(getFullData(), getFullPacketLen() - CRC_SIZE); + if (recalculatedCrc != receivedCrc) { + return HasReturnvaluesIF::RETURN_FAILED; + } + return HasReturnvaluesIF::RETURN_OK; + } +}; + +} // namespace ploc + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SPBASE_H_ */ diff --git a/mission/tmtc/TmFunnel.cpp b/mission/tmtc/TmFunnel.cpp index 2eada527..c23da16d 100644 --- a/mission/tmtc/TmFunnel.cpp +++ b/mission/tmtc/TmFunnel.cpp @@ -1,6 +1,7 @@ #include #include #include +#include #include #include @@ -9,8 +10,12 @@ object_id_t TmFunnel::downlinkDestination = objects::NO_OBJECT; object_id_t TmFunnel::storageDestination = objects::NO_OBJECT; -TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth, uint8_t reportReceptionVc) - : SystemObject(objectId), messageDepth(messageDepth), reportReceptionVc(reportReceptionVc) { +TmFunnel::TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth, + uint8_t reportReceptionVc) + : SystemObject(objectId), + timeReader(timeReader), + messageDepth(messageDepth), + reportReceptionVc(reportReceptionVc) { auto mqArgs = MqArgs(objectId, static_cast(this)); tmQueue = QueueFactory::instance()->createMessageQueue( messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); @@ -49,11 +54,15 @@ ReturnValue_t TmFunnel::handlePacket(TmTcMessage* message) { if (result != HasReturnvaluesIF::RETURN_OK) { return result; } - TmPacketPusC packet(packetData); - packet.setPacketSequenceCount(this->sourceSequenceCount); - sourceSequenceCount++; - sourceSequenceCount = sourceSequenceCount % SpacePacketBase::LIMIT_SEQUENCE_COUNT; - packet.setErrorControl(); + + PusTmZeroCopyWriter packet(timeReader, packetData, size); + result = packet.parseDataWithoutCrcCheck(); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + packet.setSequenceCount(sourceSequenceCount++); + sourceSequenceCount = sourceSequenceCount % ccsds::LIMIT_SEQUENCE_COUNT; + packet.updateErrorControl(); result = tmQueue->sendToDefault(message); if (result != HasReturnvaluesIF::RETURN_OK) { @@ -107,7 +116,7 @@ ReturnValue_t TmFunnel::initialize() { AcceptsTelemetryIF* storageTarget = ObjectManager::instance()->get(storageDestination); if (storageTarget != nullptr) { - storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue()); + storageQueue->setDefaultDestination(storageTarget->getReportReceptionQueue(0)); } return SystemObject::initialize(); diff --git a/mission/tmtc/TmFunnel.h b/mission/tmtc/TmFunnel.h index f11dce63..f4c9d14e 100644 --- a/mission/tmtc/TmFunnel.h +++ b/mission/tmtc/TmFunnel.h @@ -4,6 +4,7 @@ #include #include #include +#include #include #include @@ -23,7 +24,8 @@ class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public Sy friend void(Factory::setStaticFrameworkObjectIds)(); public: - TmFunnel(object_id_t objectId, uint32_t messageDepth = 20, uint8_t reportReceptionVc = 0); + TmFunnel(object_id_t objectId, CdsShortTimeStamper& timeReader, uint32_t messageDepth = 20, + uint8_t reportReceptionVc = 0); virtual ~TmFunnel(); virtual MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override; @@ -35,6 +37,7 @@ class TmFunnel : public AcceptsTelemetryIF, public ExecutableObjectIF, public Sy static object_id_t storageDestination; private: + CdsShortTimeStamper& timeReader; uint32_t messageDepth = 0; uint8_t reportReceptionVc = 0; uint16_t sourceSequenceCount = 0; diff --git a/unittest/testEnvironment.cpp b/unittest/testEnvironment.cpp index e4d5bed2..72726f39 100644 --- a/unittest/testEnvironment.cpp +++ b/unittest/testEnvironment.cpp @@ -7,7 +7,7 @@ #include #include #include -#include +#include #ifdef LINUX ServiceInterfaceStream sif::debug("DEBUG "); @@ -28,7 +28,7 @@ void factory(void* args) { eventManager = new EventManagerMock(); new HealthTable(objects::HEALTH_TABLE); new InternalErrorReporter(objects::INTERNAL_ERROR_REPORTER); - new TimeStamper(objects::TIME_STAMPER); + new CdsShortTimeStamper(objects::TIME_STAMPER); { PoolManager::LocalPoolConfig poolCfg = {{300, 16}, {200, 32}, {150, 64}, {150, 128},