v1.10.0 #220
@ -78,7 +78,7 @@ public:
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* @brief Constructor
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*
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* @param sequenceCount Sequence count of space packet which will be incremented with each
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* sent and received packet.s
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* sent and received packets.
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*/
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TcBase(uint16_t apid, uint16_t sequenceCount) :
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SpacePacket(INIT_LENGTH, true, apid, sequenceCount) {
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@ -1,242 +1,247 @@
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#include "PlocMPSoCHelper.h"
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#include "mission/utility/Timestamp.h"
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#include "bsp_q7s/memory/FileSystemHelper.h"
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#include <fstream>
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#include <filesystem>
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#include <fstream>
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PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId){
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#include "bsp_q7s/memory/FileSystemHelper.h"
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#include "mission/utility/Timestamp.h"
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}
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PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {}
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PlocMPSoCHelper::~PlocMPSoCHelper() {
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}
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PlocMPSoCHelper::~PlocMPSoCHelper() {}
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ReturnValue_t PlocMPSoCHelper::initialize() {
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sdcMan = SdCardManager::instance();
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if (sdcMan == nullptr) {
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sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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sdcMan = SdCardManager::instance();
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if (sdcMan == nullptr) {
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sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
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ReturnValue_t result = RETURN_OK;
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semaphore.acquire();
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while(true) {
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switch(internalState) {
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case InternalState::IDLE: {
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semaphore.acquire();
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break;
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}
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case InternalState::FLASH_WRITE: {
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result = performFlashWrite();
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if (result == RETURN_OK){
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triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
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}
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else {
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triggerEvent(MPSOC_FLASH_WRITE_FAILED);
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}
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internalState = InternalState::IDLE;
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break;
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}
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default:
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sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
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break;
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ReturnValue_t result = RETURN_OK;
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semaphore.acquire();
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while (true) {
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switch (internalState) {
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case InternalState::IDLE: {
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semaphore.acquire();
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break;
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}
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case InternalState::FLASH_WRITE: {
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result = performFlashWrite();
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if (result == RETURN_OK) {
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triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
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} else {
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triggerEvent(MPSOC_FLASH_WRITE_FAILED);
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}
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internalState = InternalState::IDLE;
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break;
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}
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default:
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sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
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break;
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}
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}
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}
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ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
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uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
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if (uartComIF == nullptr) {
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sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
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if (uartComIF == nullptr) {
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sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) {
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comCookie = comCookie_;
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}
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void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
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void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
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sequenceCount = sequenceCount_;
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sequenceCount = sequenceCount_;
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}
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ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string file) {
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ReturnValue_t result = FilesystemHelper::checkPath(file);
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if (result != RETURN_OK) {
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return result;
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}
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result = FilesystemHelper::fileExists(file);
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if (result != RETURN_OK) {
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return result;
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}
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flashWrite.file = file;
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internalState = InternalState::FLASH_WRITE;
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semaphore.release();
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terminate = false;
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return RETURN_OK;
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ReturnValue_t result = FilesystemHelper::checkPath(file);
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if (result != RETURN_OK) {
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return result;
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}
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result = FilesystemHelper::fileExists(file);
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if (result != RETURN_OK) {
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return result;
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}
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flashWrite.file = file;
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internalState = InternalState::FLASH_WRITE;
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semaphore.release();
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terminate = false;
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return RETURN_OK;
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}
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void PlocMPSoCHelper::stopProcess() {
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terminate = true;
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}
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void PlocMPSoCHelper::stopProcess() { terminate = true; }
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ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
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ReturnValue_t result = RETURN_OK;
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uint8_t tempData[mpsoc::MAX_DATA_SIZE];
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std::ifstream file(flashWrite.file, std::ifstream::binary);
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// Set position of next character to end of file input stream
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file.seekg(0, file.end);
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// tellg returns position of character in input stream
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size_t remainingSize = file.tellg();
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size_t dataLength = 0;
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while (remainingSize > 0) {
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if (terminate) {
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return RETURN_OK;
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}
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if (remainingSize > mpsoc::MAX_DATA_SIZE) {
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dataLength = mpsoc::MAX_DATA_SIZE;
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}
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else {
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dataLength = remainingSize;
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}
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file.read(reinterpret_cast<char*>(tempData), dataLength);
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sequenceCount++;
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mpsoc::FlashWrite tc(*sequenceCount);
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tc.createPacket(tempData, dataLength);
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result = sendCommand(&tc);
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if (result != RETURN_OK) {
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return result;
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}
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result = handleAck();
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if (result != RETURN_OK) {
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return result;
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}
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result = handleExe();
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if (result != RETURN_OK) {
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return result;
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}
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ReturnValue_t result = RETURN_OK;
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uint8_t tempData[mpsoc::MAX_DATA_SIZE];
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std::ifstream file(flashWrite.file, std::ifstream::binary);
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// Set position of next character to end of file input stream
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file.seekg(0, file.end);
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// tellg returns position of character in input stream
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size_t remainingSize = file.tellg();
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size_t dataLength = 0;
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while (remainingSize > 0) {
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if (terminate) {
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return RETURN_OK;
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}
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return result;
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if (remainingSize > mpsoc::MAX_DATA_SIZE) {
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dataLength = mpsoc::MAX_DATA_SIZE;
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} else {
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dataLength = remainingSize;
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}
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file.read(reinterpret_cast<char*>(tempData), dataLength);
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(*sequenceCount)++;
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mpsoc::FlashWrite tc(*sequenceCount);
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tc.createPacket(tempData, dataLength);
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result = sendCommand(&tc);
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if (result != RETURN_OK) {
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return result;
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}
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result = handleAck();
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if (result != RETURN_OK) {
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return result;
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}
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result = handleExe();
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if (result != RETURN_OK) {
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return result;
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}
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase* tc) {
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ReturnValue_t result = RETURN_OK;
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result = uartComIF->sendMessage(comCookie, tc->getWholeData(), tc->getFullSize());
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if (result != RETURN_OK) {
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sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
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triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
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return result;
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}
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ReturnValue_t PlocMPSoCHelper::flashfopen() {
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ReturnValue_t result = RETURN_OK;
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(*sequenceCount)++;
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mpsoc::FlashFopen flashFopen(*sequenceCount);
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sendCommand(&flashFopen);
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result = flashFopen.createPacket(commandData, commandDataLen);
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if (result != RETURN_OK) {
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return result;
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}
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copyToCommandBuffer(&flashFopen);
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHelper::flashfclose() {}
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ReturnValue_t PlocMPSoCHelper::sendCommand(mpsoc::TcBase* tc) {
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ReturnValue_t result = RETURN_OK;
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result = uartComIF->sendMessage(comCookie, tc->getWholeData(), tc->getFullSize());
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if (result != RETURN_OK) {
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sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
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triggerEvent(SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
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return result;
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHelper::handleAck() {
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ReturnValue_t result = RETURN_OK;
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mpsoc::TmPacket tmPacket;
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result = handleTmReception(&tmPacket, mpsoc::SIZE_ACK_REPORT);
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if (result != RETURN_OK) {
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return result;
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}
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uint16_t apid = tmPacket.getAPID();
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if (apid != mpsoc::apid::ACK_SUCCESS) {
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handleAckApidFailure(apid);
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return RETURN_FAILED;
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}
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return RETURN_OK;
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ReturnValue_t result = RETURN_OK;
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mpsoc::TmPacket tmPacket;
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result = handleTmReception(&tmPacket, mpsoc::SIZE_ACK_REPORT);
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if (result != RETURN_OK) {
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return result;
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}
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uint16_t apid = tmPacket.getAPID();
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if (apid != mpsoc::apid::ACK_SUCCESS) {
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handleAckApidFailure(apid);
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
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if (apid == mpsoc::apid::ACK_FAILURE) {
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triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
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<< "report" << std::endl;
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}
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else {
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triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
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<< "but received space packet with apid " << std::hex << apid << std::endl;
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}
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if (apid == mpsoc::apid::ACK_FAILURE) {
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triggerEvent(ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
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<< "report" << std::endl;
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} else {
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triggerEvent(ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
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||||
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
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<< "but received space packet with apid " << std::hex << apid << std::endl;
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||||
}
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||||
}
|
||||
|
||||
ReturnValue_t PlocMPSoCHelper::handleExe() {
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||||
ReturnValue_t result = RETURN_OK;
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mpsoc::TmPacket tmPacket;
|
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result = handleTmReception(&tmPacket, mpsoc::SIZE_EXE_REPORT);
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if (result != RETURN_OK) {
|
||||
return result;
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}
|
||||
uint16_t apid = tmPacket.getAPID();
|
||||
if (apid != mpsoc::apid::EXE_SUCCESS) {
|
||||
handleExeApidFailure(apid);
|
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return RETURN_FAILED;
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}
|
||||
return RETURN_OK;
|
||||
ReturnValue_t result = RETURN_OK;
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||||
mpsoc::TmPacket tmPacket;
|
||||
result = handleTmReception(&tmPacket, mpsoc::SIZE_EXE_REPORT);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
uint16_t apid = tmPacket.getAPID();
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||||
if (apid != mpsoc::apid::EXE_SUCCESS) {
|
||||
handleExeApidFailure(apid);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
|
||||
if (apid == mpsoc::apid::EXE_FAILURE) {
|
||||
triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
|
||||
<< "report" << std::endl;
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||||
}
|
||||
else {
|
||||
triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected execution report "
|
||||
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
||||
}
|
||||
if (apid == mpsoc::apid::EXE_FAILURE) {
|
||||
triggerEvent(EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
|
||||
<< "report" << std::endl;
|
||||
} else {
|
||||
triggerEvent(EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
||||
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected execution report "
|
||||
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMPSoCHelper::handleTmReception(mpsoc::TmPacket* tmPacket, size_t remainingBytes) {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
size_t readBytes = 0;
|
||||
for(int retries = 0; retries < RETRIES; retries++) {
|
||||
result = receive(tmPacket->getWholeData(), &readBytes, remainingBytes);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
remainingBytes = remainingBytes - readBytes;
|
||||
if (remainingBytes == 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (remainingBytes != 0) {
|
||||
sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
|
||||
triggerEvent(MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
result = tmPacket->checkCrc();
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
size_t readBytes = 0;
|
||||
for (int retries = 0; retries < RETRIES; retries++) {
|
||||
result = receive(tmPacket->getWholeData(), &readBytes, remainingBytes);
|
||||
if (result != RETURN_OK) {
|
||||
sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
|
||||
return result;
|
||||
return result;
|
||||
}
|
||||
uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
|
||||
if (recvSeqCnt != *sequenceCount) {
|
||||
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
|
||||
*sequenceCount = recvSeqCnt;
|
||||
return result;
|
||||
remainingBytes = remainingBytes - readBytes;
|
||||
if (remainingBytes == 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (remainingBytes != 0) {
|
||||
sif::warning << "PlocMPSoCHelper::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 << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
|
||||
return result;
|
||||
}
|
||||
uint16_t recvSeqCnt = tmPacket->getPacketSequenceCount();
|
||||
if (recvSeqCnt != *sequenceCount) {
|
||||
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
|
||||
*sequenceCount = recvSeqCnt;
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
|
||||
if (result != RETURN_OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
|
||||
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
result = uartComIF->readReceivedMessage(comCookie, &data, readBytes);
|
||||
if (result != RETURN_OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result,
|
||||
static_cast<uint32_t>(internalState));
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return result;
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
|
||||
if (result != RETURN_OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
|
||||
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
result = uartComIF->readReceivedMessage(comCookie, &data, readBytes);
|
||||
if (result != RETURN_OK) {
|
||||
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
|
||||
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
@ -135,6 +135,8 @@ private:
|
||||
SourceSequenceCounter* sequenceCount;
|
||||
|
||||
ReturnValue_t performFlashWrite();
|
||||
ReturnValue_t flashfopen();
|
||||
ReturnValue_t flashfclose();
|
||||
ReturnValue_t sendCommand(mpsoc::TcBase* tc);
|
||||
ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes);
|
||||
ReturnValue_t handleAck();
|
||||
|
||||
Loading…
Reference in New Issue
Block a user