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ploc udpater wip

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This commit is contained in:
Jakob.Meier 2021-08-05 16:37:39 +02:00
parent 0315a2a3d5
commit f64356d75e
6 changed files with 484 additions and 14 deletions
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1
common/config/commonSubsystemIds.h
View File

@ -17,6 +17,7 @@ enum: uint8_t {
STR_HANDLER = 114,
PLOC_SUPERVISOR_HANDLER = 115,
FILE_SYSTEM = 116,
PLOC_UPDATER = 117,
COMMON_SUBSYSTEM_ID_END
};
}

6
mission/devices/PlocSupervisorHandler.cpp
View File

@ -241,6 +241,12 @@ ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
result = RETURN_OK;
break;
}
case(PLOC_SPV::UPDATE_AVAILABLE):
case(PLOC_SPV::UPDATE_AVAILABLE):
case(PLOC_SPV::UPDATE_AVAILABLE):
// Simply forward data from PLOC Updater to supervisor
std::memcpy(rawPacket, commandData, commandDataLen);
break;
default:
sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;

2
mission/devices/PlocSupervisorHandler.h
View File

@ -82,7 +82,7 @@ private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_SUPERVISOR_HANDLER;
//! [EXPORT] : [COMMENT] PLOC supervrisor crc failure in telemetry packet
//! [EXPORT] : [COMMENT] PLOC supervisor crc failure in telemetry packet
static const Event SUPV_MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC supervisor received acknowledgment failure report
static const Event SUPV_ACK_FAILURE = MAKE_EVENT(2, severity::LOW);

283
mission/devices/PlocUpdater.cpp
View File

@ -1,4 +1,5 @@
#include <mission/devices/PlocUpdater.h>
#include <mission/devices/devicedefinitions/PlocSupervisorDefinitions.h>
PlocUpdater::PlocUpdater() : commandActionHelper(this) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
@ -7,11 +8,16 @@ PlocUpdater::PlocUpdater() : commandActionHelper(this) {
PlocUpdater::~PlocUpdater() {
}
ReturnValue_t SystemObject::initialize() {
sdcMan = SdCardManager::instance();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_FAILED;
if (state == BUSY) {
if (state != IDLE) {
return IS_BUSY;
}
@ -21,20 +27,27 @@ ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId,
switch (actionId) {
case UPDATE_NVM0_A:
result = prepareNvm0AUpdate(std::string(data, size));
updateImage = Image::A;
updateMemory = Memory::NVM0;
break;
case UPDATE_NVM0_B:
result = prepareNvm0BUpdate();
updateImage = Image::B;
updateMemory = Memory::NVM0;
break;
case UPDATE_NVM1_A:
result = prepareNvm1AUpdate();
updateImage = Image::A;
updateMemory = Memory::NVM1;
break;
case UPDATE_NVM1_B:
result = prepareNvm1BUpdate();
updateImage = Image::B;
updateMemory = Memory::NVM1;
break;
default:
return INVALID_ACTION_ID;
}
result = getImageLocation(data, size);
return result;
}
@ -42,13 +55,265 @@ MessageQueueId_t PlocUpdater::getCommandQueue() const {
return commandQueue.getId();
}
ReturnValue_t PlocUpdater::checkPath(size_t size) {
void PlocUpdater::readCommandQueue() {
CommandMessage message;
ReturnValue_t result = commandQueue->receiveMessage(&message);
if (result != RETURN_OK) {
return;
}
result = actionHelper.handleActionMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = commandActionHelper.handleReply(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
result = parameterHelper.handleParameterMessage(&message);
if (result == HasReturnvaluesIF::RETURN_OK) {
continue;
}
message.setToUnknownCommand();
commandQueue.reply(&message);
}
void PlocUpdater::doStateMachine() {
switch (state) {
case State::IDLE:
break;
case State::UPDATE_AVAILABLE:
commandUpdateAvailable();
break;
case State::UPDATE_TRANSFER:
commandUpdatePacket();
break;
case State::UPDATE_VERIFY:
break;
default:
sif::debug << "PlocUpdater::doStateMachine: Invalid state" << std::endl;
break;
}
}
ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
if (size > MAX_PLOC_UPDATE_PATH) {
return PATH_TOO_LONG;
return NAME_TOO_LONG;
}
return RETURN_OK;
}
PlocUpdater::prepare
getCurrentMountPrefix
ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
ReturnValue_t result = checkNameLength(size);
if (result != RETURN_OK) {
return result;
}
// Check if file is stored on SD card and if associated SD card is mounted
if (std::string(data, SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
else if (std::string(data, SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!isSdCardMounted(sd::SLOT_0)) {
sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
else {
//update image not stored on SD card
}
updateFile = std::string(reinterpret_cast<char*>(data), size);
// Check if file exists
if(not std::filesystem::exists(updateFile)) {
return FILE_NOT_EXISTS;
}
return RETURN_OK;
}
bool PlocUpdater::isSdCardMounted(sd::SdCard sdCard) {
SdStatusPair active;
ReturnValue_t result = sdcMan->getSdCardActiveStatus(&active);
if (result != RETURN_OK) {
sif::debug << "PlocUpdater::isSdCardMounted: Failed to get SD card active state";
return false;
}
if (sdCard == sd::SLOT_0) {
if (active.first == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else if (sdCard == sd::SLOT_1) {
if (active.second == sd::MOUNTED) {
return true;
}
else {
return false;
}
}
else {
sif::debug << "PlocUpdater::isSdCardMounted: Unknown SD card specified" << std::endl;
}
return false;
}
void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId,
uint8_t step) {
}
void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
}
void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
switch (actionId) {
case UPDATE_AVAILABLE:
state = State::UPDATE_TRANSFER;
break;
case UPDATE_IMAGE_DATA:
if (remainingPackets == 0) {
packetsSent = 0; // Reset packets sent variable for next update sequence
state = State::UPDATE_VERIFY;
}
break;
case UPDATE_VERIFY:
triggerEvent(UPDATE_FINISHED);
break;
default:
sif::debug << "PlocUpdater::completionSuccessfulReceived: Action message with has unknown "
<< "action id" << std::endl;
break;
}
}
void PlocUpdater::completionFailedReceived(ActionId_t actionId,
ReturnValue_t returnCode) {
state = State::IDLE;
switch(state) {
case(State::UPDATE_AVAILABLE): {
triggerEvent(UPDATE_AVAILABLE_FAILED);
break;
}
case(State::UPDATE_TRANSFER): {
triggerEvent(UPDATE_TRANSFER_FAILED);
break;
}
case(State::UPDATE_VERIFY): {
triggerEvent(UPDATE_VERIFY_FAILED);
break;
}
default:
sif::debug << "PlocUpdater::completionFailedReceived: Action message with has unknown "
<< "action id" << std::endl;
break;
}
}
void PlocUpdater::commandUpdateAvailable() {
ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, state);
state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(0, file.end);
imageSize = static_cast<size_t>(file.tellg());
file.close();
numOfUpdatePackets = imageSize / MAX_SP_DATA ;
if (! imageSize % MAX_SP_DATA) {
numOfUpdatePackets++;
}
remainingPackets = numOfUpdatePackets;
packetsSent = 0;
uint32_t imageCrc = makeCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(updateMemory),
static_cast<uint8_t>(updatePartition), imageSize, imageCrc, numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, UPDATE_AVAILABLE,
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, UPDATE_AVAILABLE);
return;
}
return;
}
void PlocUpdater::commandUpdatePacket() {
uint16_t payloadLength = 0;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, state, packetsSent);
state = State::IDLE;
return;
}
std::ifstream file(updateFile, std::ifstream::binary);
file.seekg(packetsSent * MAX_SP_DATA, file.beg);
if (remainingPackets == 1) {
payloadLength = static_cast<uint16_t>(file.tellg());
}
else {
payloadLength = MAX_SP_DATA;
}
PLOC_SPV::UpdatePacket packet(payloadLength);
file.read(static_cast<char*>(packet.getDataFieldPointer()), payloadLength);
file.close();
packet.updateCrc();
commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, UPDATE_IMAGE_DATA,
packet.getDataFieldPointer(), packet.getFullSize());
remainingPackets--;
}
void PlocUpdater::commandUpdateVerify() {
ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(updateFile)) {
triggerEvent(UPDATE_FILE_NOT_EXISTS, state);
state = State::IDLE;
return;
}
remainingPackets = imageSize / MAX_SP_DATA ;
if (! imageSize % MAX_SP_DATA) {
remainingPackets++;
}
uint32_t imageCrc = makeCrc();
PLOC_SPV::UpdateInfo packet(PLOC_SPV::APID_UPDATE_VERIFY, static_cast<uint8_t>(updateMemory),
static_cast<uint8_t>(updatePartition), imageSize, imageCrc, numOfUpdatePackets);
result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, UPDATE_AVAILABLE,
packet.getFullSize());
if (result != RETURN_OK) {
sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
<< " packet to supervisor handler" << std::endl;
triggerEvent(ACTION_COMMANDING_FAILED, result, UPDATE_AVAILABLE);
return;
}
return;
}
ReturnValue_t PlocUpdater::makeCrc() {
//TODO: Waiting on input from TAS about the CRC to use
return 0;
}

92
mission/devices/PlocUpdater.h
View File

@ -3,13 +3,16 @@
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/returnvalues/HasReturnValuesIF.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "linux/fsfwconfig/objects/systemObjectList.h"
#include "fsfw/tmtcpacket/SpacePacket.h"
/**
* @brief An object of this class can be used to perform the software updates of the PLOC. The
* software update will be fetched via file system messages from the SD card handler,
* split into multiple space packets and sent to the PlocSupervisorHandler.
*
* @details The MPSoC has to boot memories (NVM0 and NVM1) where each stores two images (Partition A
* @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition A
* and Partition B)
*
* @author J. Meier
@ -17,7 +20,8 @@
class PlocUpdater : public SystemObject,
public HasActionsIF,
public ExecutableObjectIF,
public HasReturnvaluesIF {
public HasReturnvaluesIF,
public CommandsActionsIF {
public:
static const ActionId_t UPDATE_NVM0_A = 0;
@ -31,6 +35,12 @@ public:
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
MessageQueueId_t getCommandQueue() const;
ReturnValue_t initialize() override;
void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
void completionSuccessfulReceived(ActionId_t actionId) override;
void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
private:
@ -39,14 +49,88 @@ private:
//! [EXPORT] : [COMMENT] Updater is already performing an update
static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Received update command with invalid path string (too long).
static const ReturnValue_t PATH_TOO_LONG = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not mounted.
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Update file received with update command does not exist.
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER;
//! [EXPORT] : [COMMENT] Try to read update file but the file does not exist.
//! P1: Indicates in which state the file read fails
//! P2: During the update transfer the second parameter gives information about the number of already sent packets
static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to send command to supervisor handler
//! P1: Return value of CommandActionHelper::commandAction
//! P2: Action ID of command to send
static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution failure of the update available command
static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet.
//! P1: Parameter holds the number of update packets already sent.
static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command.
static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] MPSoC update successful completed
static const Event UPDATE_FINISHED = MAKE_EVENT(5, SEVERITY::INFO);
static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE;
static const size_t MAX_PLOC_UPDATE_PATH = 20;
static const size_t SD_PREFIX_LENGTH = 8;
// Maximum size of update payload data per space packet (max size of space packet is 1024 bytes)
static const size_t MAX_SP_DATA = 1016;
static const ActionId_t UPDATE_AVAILABLE = 12;
static const ActionId_t UPDATE_IMAGE_DATA = 39;
static const ActionId_t UPDATE_VERIFY = 42;
SdCardManager* sdcMan = nullptr;
CommandActionHelper commandActionHelper;
ReturnValue_t checkPath(size_t size);
enum class State: uint8_t {
IDLE,
UPDATE_AVAILABLE,
UPDATE_TRANSFER,
UPDATE_VERIFY
};
State state = State::IDLE;
enum class Memory: uint8_t {
NVM0,
NVM1
};
Memory updateMemory = Memory::NVM0;
enum class Partition: uint8_t {
A,
B
};
Partition updatePartition = Partition::A;
State state = State::IDLE;
uint32_t packetsSent = 0;
uint32_t remainingPackets = 0;
// Number of packets required to transfer the update image
uint32_t numOfUpdatePackets = 0;
std::string updateFile;
uint32_t imageSize = 0;
uint32_t imageCrc = 0;
ReturnValue_t checkNameLength(size_t size);
/**
* @brief Checks whether the SD card to read from is mounted or not.
*/
bool isSdCardMounted(sd::SdCard sdCard);
ReturnValue_t makeCrc();
};
#endif /* MISSION_DEVICES_PLOCUPDATER_H_ */

114
mission/devices/devicedefinitions/PlocSupervisorDefinitions.h
View File

@ -52,6 +52,7 @@ static const DeviceCommandId_t REQUEST_LOGGING_DATA = 38;
static const DeviceCommandId_t UPDATE_IMAGE_DATA = 39;
static const DeviceCommandId_t FACTORY_RESET_CLEAR_MIRROR = 40;
static const DeviceCommandId_t FACTORY_RESET_CLEAR_CIRCULAR = 41;
static const DeviceCommandId_t UPDATE_VERIFY = 42;
/** Reply IDs */
static const DeviceCommandId_t ACK_REPORT = 50;
@ -1406,6 +1407,119 @@ private:
}
};
class SupvTcSpacePacket : public SpacePacket {
public:
SupvTcSpacePacket(size_t payloadDataLen, uint16_t apid) :
SpacePacket(payloadLen + 1, true, apid,
DEFAULT_SEQUENCE_COUNT), payloadDataLen(payloadDataLen) {
initPacket();
makeCrc();
}
protected:
void makeCrc() {
serializedSize = 0;
uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
sizeof(CCSDSPrimaryHeader) + payloadDataLen);
uint8_t* crcPos = this->localData.fields.buffer + payloadDataLen;
SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize, sizeof(crc),
SerializeIF::Endianness::BIG);
}
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;
void virtual initPacket() {
// Perform stuff to fill packet data field
}
};
/**
* @brief This class packages the update available space packet. This is the first packet sent
* to the supervisor in an update procedure.
*/
class UpdateInfo: public SupvTcSpacePacket {
public:
/**
* @brief Constructor
*
* @param apid Packet can be used to generate the update available and the update verify
* packet. Thus the APID must be specified here.
* @param memory The memory to apply the update (NVM0 - 0, NVM1 - 1)
* @param partition The partition to update (A - 0, B - 1)
* @param imageSize The size of the update image
* param numPackets The number of space packets required to transfer all data.
*/
UpdateInfo(uint16_t apid, uint8_t memory, uint8_t partition, uint32_t imageSize,
uint32_t imageCrc, uint32_t numPackets) :
SupvTcSpacePacket(PAYLOAD_LENGTH, apid), memory(memory), partition(partition), imageSize(
imageSize), numPackets(numPackets) {
initPacket();
}
private:
static const uint16_t PAYLOAD_LENGTH = 14; // length without CRC field
uint8_t memory = 0;
uint8_t partition = 0;
uint32_t imageSize = 0;
uint32_t imageCrc = 0;
uint32_t numPackets = 0;
void initPacket() {
size_t serializedSize = 0;
uint8_t* data_field_ptr = this->localData.fields.buffer;
SerializeAdapter::serialize<uint8_t>(memory, &data_field_ptr, &serializedSize,
sizeof(memory), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint8_t>(&partition, &data_field_ptr, &serializedSize,
sizeof(partition), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint8_t>(&imageSize, &data_field_ptr, &serializedSize,
sizeof(imageSize), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint8_t>(&imageCrc, &data_field_ptr, &serializedSize,
sizeof(imageCrc), SerializeIF::Endianness::BIG);
serializedSize = 0;
SerializeAdapter::serialize<uint8_t>(&numPackets, &data_field_ptr, &serializedSize,
sizeof(numPackets), SerializeIF::Endianness::BIG);
}
};
/**
* @brief This class packages the space packet transporting a part of an MPSoC update.
*/
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) {
initPacket();
}
/**
* @brief Returns the pointer to the beginning of the data field.
*/
uint8_t* getDataFieldPointer() {
return this->localData.fields.buffer;
}
void updateCrc() {
this->makeCrc();
}
};
/**
* @brief This dataset stores the boot status report of the supervisor.
*/