supervisor udpate wip
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This commit is contained in:
Jakob Meier 2022-04-06 08:36:34 +02:00
parent 9837a1b62c
commit f058cf5e31
3 changed files with 563 additions and 34 deletions

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@ -1486,44 +1486,47 @@ class UpdateInfo : public SupvTcSpacePacket {
*/
class UpdatePacket : public SupvTcSpacePacket {
public:
/**
* @brief Constructor
*
* @param payloadLength Update data length (data field length without CRC)
*/
UpdatePacket(uint16_t payloadLength) : SupvTcSpacePacket(payloadLength, APID_UPDATE_IMAGE_DATA) {}
/**
* @brief Returns the pointer to the beginning of the data field.
*/
uint8_t* getDataFieldPointer() { return this->localData.fields.buffer; }
};
/**
* @brief Constrcutor
*
* @param updateData Pointer to buffer containing update data
*/
UpdatePacket(uint8_t memoryId, uint32_t startAddress, uint16_t length, uint8_t* updateData)
: SupvTcSpacePacket(META_DATA_LENGTH + length, apid),
memoryId(memoryId),
startAddress(startAddress),
length(length) {
initPacket(updateData);
makeCrc();
}
/**
* @brief This dataset stores the boot status report of the supervisor.
*/
class BootStatusReport : public StaticLocalDataSet<BOOT_REPORT_SET_ENTRIES> {
public:
BootStatusReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BOOT_REPORT_SET_ID) {}
static const uint16_t MAX_UPDATE_DATA = 1010;
BootStatusReport(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, BOOT_REPORT_SET_ID)) {}
private:
static const uint16_t META_DATA_LENGTH = 8;
/** Information about boot status of MPSoC */
lp_var_t<uint8_t> bootSignal = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_SIGNAL, this);
lp_var_t<uint8_t> resetCounter = lp_var_t<uint8_t>(sid.objectId, PoolIds::RESET_COUNTER, this);
/** Time the MPSoC needs for last boot */
lp_var_t<uint32_t> bootAfterMs = lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_AFTER_MS, this);
/** The currently set boot timeout */
lp_var_t<uint32_t> bootTimeoutMs =
lp_var_t<uint32_t>(sid.objectId, PoolIds::BOOT_TIMEOUT_MS, this);
lp_var_t<uint8_t> activeNvm = lp_var_t<uint8_t>(sid.objectId, PoolIds::ACTIVE_NVM, this);
/** States of the boot partition pins */
lp_var_t<uint8_t> bp0State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP0_STATE, this);
lp_var_t<uint8_t> bp1State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP1_STATE, this);
lp_var_t<uint8_t> bp2State = lp_var_t<uint8_t>(sid.objectId, PoolIds::BP2_STATE, this);
lp_var_t<uint8_t> bootState = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_STATE, this);
lp_var_t<uint8_t> bootCycles = lp_var_t<uint8_t>(sid.objectId, PoolIds::BOOT_CYCLES, this);
uint8_t memoryId =0;
uint8_t n = 1;
uint32_t startAddress = 0;
uint16_t length = 0;
void initPacket(uint8_t* updateData) {
size_t serializedSize = 0;
uint8_t* data_field_ptr = this->localData.fields.buffer;
SerializeAdapter::serialize<uint8_t>(&memoryId, &data_field_ptr, &serializedSize,
sizeof(memoryId), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint8_t>(&n, &data_field_ptr, &serializedSize,
sizeof(n), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&startAddress, &data_field_ptr, &serializedSize,
sizeof(startAddress), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint16_t>(&length, &data_field_ptr, &serializedSize,
sizeof(length), SerializeIF::Endianness::BIG);
std::memcpy(data_field_ptr, updateData, length);
}
};
/**
@ -1579,6 +1582,68 @@ class LatchupStatusReport : public StaticLocalDataSet<LATCHUP_RPT_SET_ENTRIES> {
lp_var_t<uint8_t> timeYear =
lp_var_t<uint8_t>(sid.objectId, PoolIds::LATCHUP_RPT_TIME_YEAR, this);
};
/**
* @brief Class for handling tm replies of the supervisor.
*/
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;
}
};
/**
* @brief This class can be used to package the update available or update verify command.
*/
class EraseMemory : public SupvTcSpacePacket {
public:
EraseMemory(uint8_t memoryId, uint32_t startAddress, uint32_t length)
: SupvTcSpacePacket(PAYLOAD_LENGTH, apid),
memoryId(memoryId),
startAddress(startAddress),
length(length) {
initPacket();
makeCrc();
}
private:
static const uint16_t PAYLOAD_LENGTH = 10; // length without CRC field
uint8_t memoryId =0;
uint8_t n = 1;
uint32_t startAddress = 0;
uint32_t length = 0;
void initPacket() {
size_t serializedSize = 0;
uint8_t* data_field_ptr = this->localData.fields.buffer;
SerializeAdapter::serialize<uint8_t>(&memoryId, &data_field_ptr, &serializedSize,
sizeof(memoryId), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint8_t>(&n, &data_field_ptr, &serializedSize,
sizeof(n), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&startAddress, &data_field_ptr, &serializedSize,
sizeof(startAddress), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint32_t>(&length, &data_field_ptr, &serializedSize,
sizeof(length), SerializeIF::Endianness::BIG);
}
};
} // namespace supv
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCSVPDEFINITIONS_H_ */

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@ -0,0 +1,311 @@
#include "PlocSupvHelper.h"
#include <filesystem>
#include <fstream>
#include "OBSWConfig.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/memory/FilesystemHelper.h"
#endif
#include "mission/utility/Timestamp.h"
PlocSupvHelper::PlocSupvHelper(object_id_t objectId) : SystemObject(objectId) {}
PlocSupvHelper::~PlocSupvHelper() {}
ReturnValue_t PlocSupvHelper::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocSupvHelper::initialize: Invalid SD Card Manager" << std::endl;
return RETURN_FAILED;
}
#endif
return RETURN_OK;
}
ReturnValue_t PlocSupvHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
semaphore.acquire();
while (true) {
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performUpdate();
if (result == RETURN_OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocSupvHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t PlocSupvHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocSupvHelper::initialize: Invalid uart com if" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
void PlocSupvHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
sequenceCount = sequenceCount_;
}
ReturnValue_t PlocSupvHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
ReturnValue_t result = RETURN_OK;
#ifdef XIPHOS_Q7S
result = FilesystemHelper::checkPath(obcFile);
if (result != RETURN_OK) {
return result;
}
result = FilesystemHelper::fileExists(mpsocFile);
if (result != RETURN_OK) {
return result;
}
#endif
#ifdef TE0720_1CFA
if (not std::filesystem::exists(obcFile)) {
sif::warning << "PlocSupvHelper::startFlashWrite: File " << obcFile << "does not exist"
<< std::endl;
return RETURN_FAILED;
}
#endif
flashWrite.obcFile = obcFile;
flashWrite.mpsocFile = mpsocFile;
internalState = InternalState::FLASH_WRITE;
result = resetHelper();
if (result != RETURN_OK) {
return result;
}
return result;
}
ReturnValue_t PlocSupvHelper::resetHelper() {
ReturnValue_t result = RETURN_OK;
semaphore.release();
terminate = false;
result = uartComIF->flushUartRxBuffer(comCookie);
return result;
}
void PlocSupvHelper::stopProcess() { terminate = true; }
ReturnValue_t PlocSupvHelper::performUpdate() {
ReturnValue_t result = RETURN_OK;
result = eraseMemory();
if (result != RETURN_OK) {
return result;
}
uint8_t tempData[supv::UpdatePacket::MAX_UPDATE_DATA];
std::ifstream file(update.file, std::ifstream::binary);
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
size_t remainingSize = file.tellg();
size_t dataLength = 0;
size_t bytesRead = 0;
while (remainingSize > 0) {
update.startAddress = bytesRead;
if (terminate) {
return RETURN_OK;
}
if (remainingSize > supv::UpdatePacket::MAX_UPDATE_DATA) {
dataLength = supv::UpdatePacket::MAX_UPDATE_DATA;
} else {
dataLength = remainingSize;
}
if (file.is_open()) {
file.seekg(bytesRead, file.beg);
file.read(reinterpret_cast<char*>(tempData), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
} else {
return FILE_CLOSED_ACCIDENTALLY;
}
supv::UpdatePacket tc(update.memoryId, update.startAddress, tempData);
result = handlePacketTransmission(tc);
if (result != RETURN_OK) {
return result;
}
}
return result;
}
ReturnValue_t PlocSupvHelper::eraseMemory() {
ReturnValue_t result = RETURN_OK;
supv::EraseMemory eraseMemory(memoryId, startAddress, length);
result = handlePacketTransmission(eraseMemory);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t PlocSupvHelper::flashfclose() {
ReturnValue_t result = RETURN_OK;
(*sequenceCount)++;
supv::FlashFclose flashFclose(*sequenceCount);
result = flashFclose.createPacket(flashWrite.mpsocFile);
if (result != RETURN_OK) {
return result;
}
result = handlePacketTransmission(flashFclose);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t PlocSupvHelper::handlePacketTransmission(SpacePacket& tc) {
ReturnValue_t result = RETURN_OK;
result = sendCommand(tc);
if (result != RETURN_OK) {
return result;
}
result = handleAck();
if (result != RETURN_OK) {
return result;
}
result = handleExe();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t PlocSupvHelper::sendCommand(supv::TcBase& tc) {
ReturnValue_t result = RETURN_OK;
result = uartComIF->sendMessage(comCookie, tc.getWholeData(), tc.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
return result;
}
return result;
}
ReturnValue_t PlocSupvHelper::handleAck() {
ReturnValue_t result = RETURN_OK;
supv::TmPacket tmPacket;
result = handleTmReception(&tmPacket, supv::SIZE_ACK_REPORT);
if (result != RETURN_OK) {
return result;
}
uint16_t apid = tmPacket.getAPID();
if (apid != supv::APID_ACK_SUCCESS) {
handleAckApidFailure(apid);
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocSupvHelper::handleAckApidFailure(uint16_t apid) {
if (apid == supv::APID_ACK_FAILURE) {
triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocSupvHelper::handleAckApidFailure: Received acknowledgement failure "
<< "report" << std::endl;
} else {
triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocSupvHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocSupvHelper::handleExe() {
ReturnValue_t result = RETURN_OK;
supv::TmPacket tmPacket;
result = handleTmReception(&tmPacket, supv::SIZE_EXE_REPORT);
if (result != RETURN_OK) {
return result;
}
uint16_t apid = tmPacket.getAPID();
if (apid != supv::apid::EXE_SUCCESS) {
handleExeApidFailure(apid);
return RETURN_FAILED;
}
return RETURN_OK;
}
void PlocSupvHelper::handleExeApidFailure(uint16_t apid) {
if (apid == supv::apid::EXE_FAILURE) {
triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocSupvHelper::handleExeApidFailure: Received execution failure "
<< "report" << std::endl;
} else {
triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocSupvHelper::handleExeApidFailure: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocSupvHelper::handleTmReception(supv::TmPacket* tmPacket, 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, &currentBytes, remainingBytes);
if (result != RETURN_OK) {
return result;
}
readBytes += currentBytes;
remainingBytes = remainingBytes - currentBytes;
if (remainingBytes == 0) {
break;
}
}
if (remainingBytes != 0) {
sif::warning << "PlocSupvHelper::handleTmReception: Failed to receive reply" << std::endl;
triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
return RETURN_FAILED;
}
result = tmPacket->checkCrc();
if (result != RETURN_OK) {
sif::warning << "PlocSupvHelper::handleTmReception: CRC check failed" << std::endl;
return result;
}
(*sequenceCount)++;
uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
}
return result;
}
ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
ReturnValue_t result = RETURN_OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != RETURN_OK) {
sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return RETURN_FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != RETURN_OK) {
sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
return RETURN_FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
}
return result;
}

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@ -0,0 +1,153 @@
#ifndef BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
#define BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_
#include <string>
#include "fsfw/devicehandlers/CookieIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#ifdef XIPHOS_Q7S
#include "bsp_q7s/memory/SdCardManager.h"
#endif
/**
* @brief Helper class for supervisor of PLOC intended to accelerate large data transfers between
* the supervisor and the OBC.
* @author J. Meier
*/
class PlocSupvHelper : public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] update failed
static const Event SUPV_UPDATE_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] update successful
static const Event SUPV_UPDATE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command
//! ot the PLOC
//! P1: Return value returned by the communication interface sendMessage function
//! P2: Internal state of MPSoC helper
static const Event SENDING_COMMAND_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Request receive message of communication interface failed
//! P1: Return value returned by the communication interface requestReceiveMessage function
//! P2: Internal state of MPSoC helper
static const Event MPSOC_HELPER_REQUESTING_REPLY_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Reading receive message of communication interface failed
//! P1: Return value returned by the communication interface readingReceivedMessage function
//! P2: Internal state of MPSoC helper
static const Event MPSOC_HELPER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Did not receive acknowledgement report
//! P1: Number of bytes missing
//! P2: Internal state of MPSoC helper
static const Event MISSING_ACK = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Did not receive execution report
//! P1: Number of bytes missing
//! P2: Internal state of MPSoC helper
static const Event MISSING_EXE = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Received acknowledgement failure report
//! P1: Internal state of MPSoC
static const Event ACK_FAILURE_REPORT = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Received execution failure report
//! P1: Internal state of MPSoC
static const Event EXE_FAILURE_REPORT = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Expected acknowledgement report but received space packet with other apid
//! P1: Apid of received space packet
//! P2: Internal state of MPSoC
static const Event ACK_INVALID_APID = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Expected execution report but received space packet with other apid
//! P1: Apid of received space packet
//! P2: Internal state of MPSoC
static const Event EXE_INVALID_APID = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Received sequence count does not match expected sequence count
//! P1: Expected sequence count
//! P2: Received sequence count
static const Event MPSOC_HELPER_SEQ_CNT_MISMATCH = MAKE_EVENT(11, severity::LOW);
PlocSupvHelper(object_id_t objectId);
virtual ~PlocSupvHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
/**
* @brief Starts flash write sequence
*
* @param obcFile File where to read from the data
* @param mpsocFile The file of the MPSoC where should be written to
*
* @return RETURN_OK if successful, otherwise error return value
*/
ReturnValue_t startUpdate(std::string file, std::string mpsocFile);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
/**
* @brief Sets the sequence count object responsible for the sequence count handling
*/
void setSequenceCount(SourceSequenceCounter* sequenceCount_);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HELPER;
//! [EXPORT] : [COMMENT] File accidentally close
static const ReturnValue_t FILE_CLOSED_ACCIDENTALLY = MAKE_RETURN_CODE(0xA0);
// Maximum number of times the communication interface retries polling data from the reply
// buffer
static const int RETRIES = 10000;
struct Update {
uint8_t memoryId;
uint32_t startAddress;
uint32_t length;
// Absolute name of file containing update data
std::string file;
};
struct Update update;
enum class InternalState { IDLE, UPDATE };
InternalState internalState = InternalState::IDLE;
BinarySemaphore semaphore;
#ifdef XIPHOS_Q7S
SdCardManager* sdcMan = nullptr;
#endif
uint8_t commandBuffer[supv::MAX_COMMAND_SIZE];
bool terminate = false;
/**
* Communication interface of MPSoC responsible for low level access. Must be set by the
* MPSoC Handler.
*/
UartComIF* uartComIF = nullptr;
// Communication cookie. Must be set by the MPSoC Handler
CookieIF* comCookie = nullptr;
// Sequence count, must be set by Ploc MPSoC Handler
SourceSequenceCounter* sequenceCount;
ReturnValue_t performUpdate();
ReturnValue_t handlePacketTransmission(SpacePacket& tc);
ReturnValue_t sendCommand(SpacePacket& 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(SpacePacket* tmPacket, size_t remainingBytes);
};
#endif /* BSP_Q7S_DEVICES_PLOCSUPVHELPER_H_ */