diff --git a/CHANGELOG.md b/CHANGELOG.md index 2731eb8e..623c813a 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,12 +16,49 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +# [v2.2.0] to be released + +# [v2.1.0] to be released + +## Changed + +- Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU + (which broke), a dummy will still be used. +- Event Manager queue depth is configurable now. +- Do not construct and schedule broken TMP1075 device anymore. +- Do not track payload modes in system mode tables. +- ACS modes derived from system modes. +- Larger allowed path and file sizes for STR and PLOC MPSoC modules. +- More robust MPSoC flash read and write command data handling. + +## Added + +- Add the remaining system modes. +- Add support for MPSoC HK packet. +- Add support for MPSoC Flash Directory Content Report. +- Dynamically enable and disable HK packets for MPSoC on `ON` and `OFF` commands. +- PLOC MPSoC device handler: Read file support. + +## Fixed + +- Host build is working again. Added reduced live TM helper which schedules the PUS and CFDP + funnel. + +# [v2.0.5] to be released + +- The dual lane assembly transition failed handler started new transitions towards the current mode + instead of the target mode. This means that if the dual lane assembly never reached the initial + submode (e.g. mode normal and submode dual side), it will transition back to the current mode, + which miht be `MODE_OFF`. Furthermore, this can lead to invalid internal states, so the subsequent + recovery handling becomes stuck in the custom recovery sequence when swichting power back on. +- The dual lane custom recovery handling was adapted to always perform proper power switch handling + irrespective of current or target modes. + # [v2.0.4] 2023-04-19 ## Fixed -- The dual lane assembly device handlers did not properly set their datasets - to invalid on off transitions +- The dual lane assembly datasets were not marked invalid properly on OFF transitions. # [v2.0.3] 2023-04-17 diff --git a/CMakeLists.txt b/CMakeLists.txt index 358dd8ab..919516c9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -146,8 +146,11 @@ set(OBSW_ADD_TMP_DEVICES ${INIT_VAL} CACHE STRING "Add TMP devices") set(OBSW_ADD_GOMSPACE_PCDU - ${INIT_VAL} + 1 CACHE STRING "Add GomSpace PCDU modules") +set(OBSW_ADD_GOMSPACE_ACU + ${INIT_VAL} + CACHE STRING "Add GomSpace ACU submodule") set(OBSW_ADD_RW ${INIT_VAL} CACHE STRING "Add RW modules") diff --git a/bsp_hosted/ObjectFactory.cpp b/bsp_hosted/ObjectFactory.cpp index 3d618cdb..d792b57b 100644 --- a/bsp_hosted/ObjectFactory.cpp +++ b/bsp_hosted/ObjectFactory.cpp @@ -64,8 +64,9 @@ void ObjectFactory::produce(void* args) { PersistentTmStores persistentStores; auto sdcMan = new DummySdCardManager("/tmp"); ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore, - &tmStore, persistentStores); + &tmStore, persistentStores, 120); + new TmFunnelHandler(objects::LIVE_TM_TASK, *pusFunnel, *cfdpFunnel); auto* dummyGpioIF = new DummyGpioIF(); auto* dummySwitcher = new DummyPowerSwitcher(objects::PCDU_HANDLER, 18, 0); std::vector switcherList; diff --git a/bsp_hosted/scheduling.cpp b/bsp_hosted/scheduling.cpp index 0a5f1c35..5fd53906 100644 --- a/bsp_hosted/scheduling.cpp +++ b/bsp_hosted/scheduling.cpp @@ -59,19 +59,15 @@ void scheduling::initTasks() { "DIST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR); if (result != returnvalue::OK) { - sif::error << "adding CCSDS distributor failed" << std::endl; + sif::error << "Adding CCSDS distributor failed" << std::endl; } result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR); if (result != returnvalue::OK) { - sif::error << "adding PUS distributor failed" << std::endl; - } - result = tmtcDistributor->addComponent(objects::TM_FUNNEL); - if (result != returnvalue::OK) { - sif::error << "adding TM funnel failed" << std::endl; + sif::error << "Adding PUS distributor failed" << std::endl; } result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR); if (result != returnvalue::OK) { - sif::error << "adding CFDP distributor failed" << std::endl; + sif::error << "Adding CFDP distributor failed" << std::endl; } result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER); if (result != returnvalue::OK) { @@ -95,6 +91,13 @@ void scheduling::initTasks() { sif::error << "Add component UDP Polling failed" << std::endl; } + PeriodicTaskIF* liveTmTask = factory->createPeriodicTask( + "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, nullptr, &RR_SCHEDULING); + result = liveTmTask->addComponent(objects::LIVE_TM_TASK); + if (result != returnvalue::OK) { + scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK); + } + PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION); @@ -149,7 +152,7 @@ void scheduling::initTasks() { "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); result = thermalTask->addComponent(objects::CORE_CONTROLLER); if (result != returnvalue::OK) { - scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER); + scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER); } result = thermalTask->addComponent(objects::THERMAL_CONTROLLER); if (result != returnvalue::OK) { @@ -217,6 +220,7 @@ void scheduling::initTasks() { tmtcDistributor->startTask(); udpPollingTask->startTask(); tcpPollingTask->startTask(); + liveTmTask->startTask(); pusHighPrio->startTask(); pusMedPrio->startTask(); diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in index 3502a7bb..51ed8828 100644 --- a/bsp_q7s/OBSWConfig.h.in +++ b/bsp_q7s/OBSWConfig.h.in @@ -22,6 +22,9 @@ #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1 #define OBSW_ADD_GOMSPACE_PCDU @OBSW_ADD_GOMSPACE_PCDU@ +// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60 +// module because it broke. +#define OBSW_ADD_GOMSPACE_ACU @OBSW_ADD_GOMSPACE_ACU@ #define OBSW_ADD_MGT @OBSW_ADD_MGT@ #define OBSW_ADD_BPX_BATTERY_HANDLER @OBSW_ADD_BPX_BATTERY_HANDLER@ #define OBSW_ADD_STAR_TRACKER @OBSW_ADD_STAR_TRACKER@ diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 964d728b..dd363e3d 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -189,7 +189,6 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, *i2cComIF = new I2cComIF(objects::I2C_COM_IF); *uartComIF = new SerialComIF(objects::UART_COM_IF); *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF); - //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF); } void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher, @@ -197,7 +196,6 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500); CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500); CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500); - CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500); auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER); P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, @@ -211,9 +209,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie, pdu2Fdir, enableHkSets); +#if OBSW_ADD_GOMSPACE_ACU == 1 + CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500); auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER); ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir, enableHkSets); +#endif auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50); /** @@ -223,7 +224,9 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI p60dockhandler->setModeNormal(); pdu1handler->setModeNormal(); pdu2handler->setModeNormal(); +#if OBSW_ADD_GOMSPACE_ACU == 1 acuhandler->setModeNormal(); +#endif if (pwrSwitcher != nullptr) { *pwrSwitcher = pcduHandler; } diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp index 05a3fee0..67dec96d 100644 --- a/bsp_q7s/em/emObjectFactory.cpp +++ b/bsp_q7s/em/emObjectFactory.cpp @@ -36,7 +36,8 @@ void ObjectFactory::produce(void* args) { PersistentTmStores stores; ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel, - *SdCardManager::instance(), &ipcStore, &tmStore, stores); + *SdCardManager::instance(), &ipcStore, &tmStore, stores, + 200); LinuxLibgpioIF* gpioComIF = nullptr; SerialComIF* uartComIF = nullptr; @@ -56,6 +57,11 @@ void ObjectFactory::produce(void* args) { #endif #if OBSW_ADD_GOMSPACE_PCDU == 1 dummyCfg.addPowerDummies = false; + // The ACU broke. + dummyCfg.addOnlyAcuDummy = true; +#endif +#if OBSW_ADD_BPX_BATTERY_HANDLER == 1 + dummyCfg.addBpxBattDummy = false; #endif #if OBSW_ADD_ACS_BOARD == 1 dummyCfg.addAcsBoardDummies = false; @@ -89,7 +95,7 @@ void ObjectFactory::produce(void* args) { // createRadSensorComponent(gpioComIF); #if OBSW_ADD_ACS_BOARD == 1 - createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher); + createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true); #else // Still add all GPIOs for EM. GpioCookie* acsBoardGpios = new GpioCookie(); diff --git a/bsp_q7s/fmObjectFactory.cpp b/bsp_q7s/fmObjectFactory.cpp index 5cb7c751..927c807e 100644 --- a/bsp_q7s/fmObjectFactory.cpp +++ b/bsp_q7s/fmObjectFactory.cpp @@ -32,7 +32,8 @@ void ObjectFactory::produce(void* args) { PersistentTmStores stores; ObjectFactory::produceGenericObjects(&healthTable, &pusFunnel, &cfdpFunnel, - *SdCardManager::instance(), &ipcStore, &tmStore, stores); + *SdCardManager::instance(), &ipcStore, &tmStore, stores, + 200); LinuxLibgpioIF* gpioComIF = nullptr; SerialComIF* uartComIF = nullptr; diff --git a/common/config/eive/definitions.h b/common/config/eive/definitions.h index 8c460f53..78ba52e4 100644 --- a/common/config/eive/definitions.h +++ b/common/config/eive/definitions.h @@ -34,8 +34,8 @@ static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50; static constexpr uint8_t LIVE_TM = 0; /* Limits for filename and path checks */ -static constexpr uint32_t MAX_PATH_SIZE = 100; -static constexpr uint32_t MAX_FILENAME_SIZE = 50; +static constexpr uint32_t MAX_PATH_SIZE = 200; +static constexpr uint32_t MAX_FILENAME_SIZE = 100; static constexpr uint32_t SA_DEPL_INIT_BUFFER_SECS = 120; // Burn time for autonomous deployment diff --git a/dummies/helperFactory.cpp b/dummies/helperFactory.cpp index 98d2ecfa..73be6940 100644 --- a/dummies/helperFactory.cpp +++ b/dummies/helperFactory.cpp @@ -45,7 +45,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) { new ComIFDummy(objects::DUMMY_COM_IF); auto* comCookieDummy = new ComCookieDummy(); - new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); + if (cfg.addBpxBattDummy) { + new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); + } if (cfg.addCoreCtrlCfg) { new CoreControllerDummy(objects::CORE_CONTROLLER); } @@ -75,8 +77,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); imtqDummy->enableThermalModule(ThermalStateCfg()); imtqDummy->connectModeTreeParent(*imtqAssy); - if (cfg.addPowerDummies) { + if (cfg.addOnlyAcuDummy) { new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); + } else if (cfg.addPowerDummies) { new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); @@ -195,10 +198,10 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio objects::TMP1075_HANDLER_PLPCDU_0, new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy)); // damaged. - // tmpSensorDummies.emplace( - // objects::TMP1075_HANDLER_PLPCDU_1, - // new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, - // comCookieDummy)); + // tmpSensorDummies.emplace( + // objects::TMP1075_HANDLER_PLPCDU_1, + // new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF, + // comCookieDummy)); tmpSensorDummies.emplace( objects::TMP1075_HANDLER_IF_BOARD, new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy)); diff --git a/dummies/helperFactory.h b/dummies/helperFactory.h index 2181c79c..83456e96 100644 --- a/dummies/helperFactory.h +++ b/dummies/helperFactory.h @@ -6,9 +6,13 @@ class GpioIF; namespace dummy { +// Default values targeted towards EM. struct DummyCfg { bool addCoreCtrlCfg = true; + // Special variant because the ACU broke. Overrides addPowerDummies, only ACU dummy will be added. + bool addOnlyAcuDummy = false; bool addPowerDummies = true; + bool addBpxBattDummy = true; bool addSyrlinksDummies = true; bool addAcsBoardDummies = true; bool addSusDummies = true; diff --git a/linux/payload/PlocMpsocHandler.cpp b/linux/payload/PlocMpsocHandler.cpp index 72f2355f..3462859b 100644 --- a/linux/payload/PlocMpsocHandler.cpp +++ b/linux/payload/PlocMpsocHandler.cpp @@ -11,6 +11,7 @@ PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch, object_id_t supervisorHandler) : DeviceHandlerBase(objectId, uartComIFid, comCookie), + hkReport(this), plocMPSoCHelper(plocMPSoCHelper), uartIsolatorSwitch(uartIsolatorSwitch), supervisorHandler(supervisorHandler), @@ -123,11 +124,8 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI } switch (actionId) { - case mpsoc::TC_FLASHWRITE: { - if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) { - return MPSoCReturnValuesIF::FILENAME_TOO_LONG; - } - mpsoc::FlashWritePusCmd flashWritePusCmd; + case mpsoc::TC_FLASH_WRITE_FULL_FILE: { + mpsoc::FlashBasePusCmd flashWritePusCmd; result = flashWritePusCmd.extractFields(data, size); if (result != returnvalue::OK) { return result; @@ -140,6 +138,22 @@ ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueI plocMPSoCHelperExecuting = true; return EXECUTION_FINISHED; } + case mpsoc::TC_FLASH_READ_FULL_FILE: { + mpsoc::FlashReadPusCmd flashReadPusCmd; + result = flashReadPusCmd.extractFields(data, size); + if (result != returnvalue::OK) { + return result; + } + result = plocMPSoCHelper->startFlashRead(flashReadPusCmd.getObcFile(), + flashReadPusCmd.getMPSoCFile(), + flashReadPusCmd.getReadSize()); + if (result != returnvalue::OK) { + return result; + } + plocMPSoCHelperExecuting = true; + return EXECUTION_FINISHED; + break; + } case (mpsoc::OBSW_RESET_SEQ_COUNT): { sequenceCount = 0; return EXECUTION_FINISHED; @@ -159,6 +173,7 @@ void PlocMPSoCHandler::doStartUp() { powerState = PowerState::BOOTING; break; case PowerState::ON: + hkReport.setReportingEnabled(true); setMode(_MODE_TO_ON); uartIsolatorSwitch.pullHigh(); break; @@ -167,11 +182,13 @@ void PlocMPSoCHandler::doStartUp() { } #else powerState = PowerState::ON; + hkReport.setReportingEnabled(true); setMode(_MODE_TO_ON); uartIsolatorSwitch.pullHigh(); #endif /* not MSPOC_JTAG_BOOT == 1 */ #else powerState = PowerState::ON; + hkReport.setReportingEnabled(true); setMode(_MODE_TO_ON); #endif /* XIPHOS_Q7S */ } @@ -187,6 +204,7 @@ void PlocMPSoCHandler::doShutDown() { break; case PowerState::OFF: sequenceCount = 0; + hkReport.setReportingEnabled(false); setMode(_MODE_POWER_DOWN); break; default: @@ -195,6 +213,7 @@ void PlocMPSoCHandler::doShutDown() { #else sequenceCount = 0; uartIsolatorSwitch.pullLow(); + hkReport.setReportingEnabled(false); setMode(_MODE_POWER_DOWN); powerState = PowerState::OFF; #endif @@ -202,7 +221,8 @@ void PlocMPSoCHandler::doShutDown() { } ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) { - return NOTHING_TO_SEND; + *id = mpsoc::TC_GET_HK_REPORT; + return buildCommandFromCommand(*id, nullptr, 0); } ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { @@ -247,6 +267,14 @@ ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t device result = prepareTcReplayWriteSequence(commandData, commandDataLen); break; } + case (mpsoc::TC_GET_HK_REPORT): { + result = prepareTcGetHkReport(); + break; + } + case (mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT): { + result = prepareTcGetDirContent(commandData, commandDataLen); + break; + } case (mpsoc::TC_MODE_REPLAY): { result = prepareTcModeReplay(); break; @@ -296,6 +324,8 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() { this->insertInCommandMap(mpsoc::TC_MEM_WRITE); this->insertInCommandMap(mpsoc::TC_MEM_READ); this->insertInCommandMap(mpsoc::TC_FLASHDELETE); + insertInCommandMap(mpsoc::TC_FLASH_WRITE_FULL_FILE); + insertInCommandMap(mpsoc::TC_FLASH_READ_FULL_FILE); this->insertInCommandMap(mpsoc::TC_REPLAY_START); this->insertInCommandMap(mpsoc::TC_REPLAY_STOP); this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_ON); @@ -304,16 +334,20 @@ void PlocMPSoCHandler::fillCommandAndReplyMap() { this->insertInCommandMap(mpsoc::TC_MODE_REPLAY); this->insertInCommandMap(mpsoc::TC_MODE_IDLE); this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND); + this->insertInCommandMap(mpsoc::TC_GET_HK_REPORT); this->insertInCommandMap(mpsoc::RELEASE_UART_TX); this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE); this->insertInCommandMap(mpsoc::TC_CAM_TAKE_PIC); + this->insertInCommandMap(mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT); this->insertInCommandMap(mpsoc::TC_SIMPLEX_SEND_FILE); this->insertInCommandMap(mpsoc::TC_DOWNLINK_DATA_MODULATE); this->insertInCommandMap(mpsoc::TC_MODE_SNAPSHOT); 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_GET_HK_REPORT, 2, nullptr, mpsoc::SIZE_TM_HK_REPORT); this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, mpsoc::SP_MAX_SIZE); + this->insertInReplyMap(mpsoc::TM_FLASH_DIRECTORY_CONTENT, 2, nullptr, 0); } ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize, @@ -331,6 +365,11 @@ ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remain } uint16_t apid = spacePacket.getApid(); + auto handleDedicatedReply = [&](DeviceCommandId_t replyId) { + *foundLen = spacePacket.getFullPacketLen(); + foundPacketLen = *foundLen; + *foundId = replyId; + }; switch (apid) { case (mpsoc::apid::ACK_SUCCESS): *foundLen = mpsoc::SIZE_ACK_REPORT; @@ -345,10 +384,16 @@ 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.getFullPacketLen(); - tmCamCmdRpt.rememberSpacePacketSize = *foundLen; - *foundId = mpsoc::TM_CAM_CMD_RPT; + handleDedicatedReply(mpsoc::TM_CAM_CMD_RPT); break; + case (mpsoc::apid::TM_HK_GET_REPORT): { + handleDedicatedReply(mpsoc::TM_GET_HK_REPORT); + break; + } + case (mpsoc::apid::TM_FLASH_DIRECTORY_CONTENT): { + handleDedicatedReply(mpsoc::TM_FLASH_DIRECTORY_CONTENT); + break; + } case (mpsoc::apid::EXE_SUCCESS): *foundLen = mpsoc::SIZE_EXE_REPORT; *foundId = mpsoc::EXE_REPORT; @@ -386,10 +431,26 @@ ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const result = handleMemoryReadReport(packet); break; } + case (mpsoc::TM_GET_HK_REPORT): { + result = handleGetHkReport(packet); + break; + } case (mpsoc::TM_CAM_CMD_RPT): { result = handleCamCmdRpt(packet); break; } + case (mpsoc::TM_FLASH_DIRECTORY_CONTENT): { + result = verifyPacket(packet, foundPacketLen); + if (result == MPSoCReturnValuesIF::CRC_FAILURE) { + sif::warning << "PLOC MPSoC: Flash directory content reply invalid CRC" << std::endl; + } + /** Send data to commanding queue */ + handleDeviceTm(packet + mpsoc::DATA_FIELD_OFFSET, + foundPacketLen - mpsoc::DATA_FIELD_OFFSET - mpsoc::CRC_SIZE, + mpsoc::TM_FLASH_DIRECTORY_CONTENT); + nextReplyId = mpsoc::EXE_REPORT; + return result; + } case (mpsoc::EXE_REPORT): { result = handleExecutionReport(packet); break; @@ -403,12 +464,49 @@ ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const return result; } -void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {} +void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() { + PoolReadGuard pg(&hkReport); + hkReport.setValidity(false, true); +} uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; } ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) { + localDataPoolMap.emplace(mpsoc::poolid::STATUS, &peStatus); + localDataPoolMap.emplace(mpsoc::poolid::MODE, &peMode); + localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_PWR_ON, &peDownlinkPwrOn); + localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, &peDownlinkJesdSyncStatus); + localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_DAC_STATUS, &peDownlinkDacStatus); + localDataPoolMap.emplace(mpsoc::poolid::CAM_STATUS, &peCameraStatus); + localDataPoolMap.emplace(mpsoc::poolid::CAM_SDI_STATUS, &peCameraSdiStatus); + localDataPoolMap.emplace(mpsoc::poolid::CAM_FPGA_TEMP, &peCameraFpgaTemp); + localDataPoolMap.emplace(mpsoc::poolid::CAM_SOC_TEMP, &peCameraSocTemp); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_TEMP, &peSysmonTemp); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCINT, &peSysmonVccInt); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCAUX, &peSysmonVccAux); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCBRAM, &peSysmonVccBram); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPAUX, &peSysmonVccPaux); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPINT, &peSysmonVccPint); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPDRO, &peSysmonVccPdro); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB12V, &peSysmonMb12V); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB3V3, &peSysmonMb3V3); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB1V8, &peSysmonMb1V8); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC12V, &peSysmonVcc12V); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3, &peSysmonVcc3V3); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3VA, &peSysmonVcc3V3VA); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC2V5DDR, &peSysmonVcc2V5DDR); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC1V2DDR, &peSysmonVcc1V2DDR); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V9, &peSysmonVcc0V9); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V6VTT, &peSysmonVcc0V6VTT); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_SAFE_COTS_CUR, &peSysmonSafeCotsCur); + localDataPoolMap.emplace(mpsoc::poolid::SYSMON_NVM4_XO_CUR, &peSysmonNvm4XoCur); + localDataPoolMap.emplace(mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, &peSemUncorrectableErrs); + localDataPoolMap.emplace(mpsoc::poolid::SEM_CORRECTABLE_ERRS, &peSemCorrectableErrs); + localDataPoolMap.emplace(mpsoc::poolid::SEM_STATUS, &peSemStatus); + localDataPoolMap.emplace(mpsoc::poolid::REBOOT_MPSOC_REQUIRED, &peRebootMpsocRequired); + poolManager.subscribeForRegularPeriodicPacket( + subdp::RegularHkPeriodicParams(hkReport.getSid(), false, 10.0)); return returnvalue::OK; } @@ -512,6 +610,17 @@ ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOff() { return returnvalue::OK; } +ReturnValue_t PlocMPSoCHandler::prepareTcGetHkReport() { + ReturnValue_t result = returnvalue::OK; + mpsoc::TcGetHkReport tcDownlinkPwrOff(spParams, sequenceCount); + result = tcDownlinkPwrOff.buildPacket(); + if (result != returnvalue::OK) { + return result; + } + finishTcPrep(tcDownlinkPwrOff.getFullPacketLen()); + return returnvalue::OK; +} + ReturnValue_t PlocMPSoCHandler::prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen) { ReturnValue_t result = returnvalue::OK; @@ -561,9 +670,8 @@ ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData, ReturnValue_t PlocMPSoCHandler::prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen) { - ReturnValue_t result = returnvalue::OK; mpsoc::TcCamTakePic tcCamTakePic(spParams, sequenceCount); - result = tcCamTakePic.buildPacket(commandData, commandDataLen); + ReturnValue_t result = tcCamTakePic.buildPacket(commandData, commandDataLen); if (result != returnvalue::OK) { return result; } @@ -573,9 +681,8 @@ ReturnValue_t PlocMPSoCHandler::prepareTcCamTakePic(const uint8_t* commandData, ReturnValue_t PlocMPSoCHandler::prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen) { - ReturnValue_t result = returnvalue::OK; mpsoc::TcSimplexSendFile tcSimplexSendFile(spParams, sequenceCount); - result = tcSimplexSendFile.buildPacket(commandData, commandDataLen); + ReturnValue_t result = tcSimplexSendFile.buildPacket(commandData, commandDataLen); if (result != returnvalue::OK) { return result; } @@ -583,11 +690,21 @@ ReturnValue_t PlocMPSoCHandler::prepareTcSimplexSendFile(const uint8_t* commandD return returnvalue::OK; } +ReturnValue_t PlocMPSoCHandler::prepareTcGetDirContent(const uint8_t* commandData, + size_t commandDataLen) { + mpsoc::TcGetDirContent tcGetDirContent(spParams, sequenceCount); + ReturnValue_t result = tcGetDirContent.buildPacket(commandData, commandDataLen); + if (result != returnvalue::OK) { + return result; + } + finishTcPrep(tcGetDirContent.getFullPacketLen()); + return returnvalue::OK; +} + ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen) { - ReturnValue_t result = returnvalue::OK; mpsoc::TcDownlinkDataModulate tcDownlinkDataModulate(spParams, sequenceCount); - result = tcDownlinkDataModulate.buildPacket(commandData, commandDataLen); + ReturnValue_t result = tcDownlinkDataModulate.buildPacket(commandData, commandDataLen); if (result != returnvalue::OK) { return result; } @@ -596,9 +713,8 @@ ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkDataModulate(const uint8_t* com } ReturnValue_t PlocMPSoCHandler::prepareTcModeSnapshot() { - ReturnValue_t result = returnvalue::OK; mpsoc::TcModeSnapshot tcModeSnapshot(spParams, sequenceCount); - result = tcModeSnapshot.buildPacket(); + ReturnValue_t result = tcModeSnapshot.buildPacket(); if (result != returnvalue::OK) { return result; } @@ -718,30 +834,206 @@ ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) { uint16_t memLen = *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET) << 8 | *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET + 1); /** Send data to commanding queue */ - handleDeviceTM(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_RPT_FIX + memLen * 4, + handleDeviceTm(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_RPT_FIX + memLen * 4, mpsoc::TM_MEMORY_READ_REPORT); nextReplyId = mpsoc::EXE_REPORT; return result; } +ReturnValue_t PlocMPSoCHandler::handleGetHkReport(const uint8_t* data) { + ReturnValue_t result = verifyPacket(data, foundPacketLen); + if (result != returnvalue::OK) { + return result; + } + SpacePacketReader packetReader(data, foundPacketLen); + const uint8_t* dataStart = data + 6; + PoolReadGuard pg(&hkReport); + size_t deserLen = mpsoc::SIZE_TM_HK_REPORT; + SerializeIF::Endianness endianness = SerializeIF::Endianness::NETWORK; + result = SerializeAdapter::deSerialize(&hkReport.status.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.mode.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.downlinkPwrOn.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.downlinkReplyActive.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.downlinkJesdSyncStatus.value, &dataStart, + &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.downlinkDacStatus.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.camStatus.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.camSdiStatus.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.camFpgaTemp.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.sysmonTemp.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVccInt.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVccAux.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVccBram.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPaux.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPint.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPdro.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.sysmonMb12V.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.sysmonMb3V3.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.sysmonMb1V8.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc12V.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.sysmonVcc5V.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc3V3.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc3V3VA.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc2V5DDR.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc1V2DDR.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc0V9.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc0V6VTT.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonSafeCotsCur.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.sysmonNvm4XoCur.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.semUncorrectableErrs.value, &dataStart, + &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + result = SerializeAdapter::deSerialize(&hkReport.semCorrectableErrs.value, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + result = + SerializeAdapter::deSerialize(&hkReport.semStatus.value, &dataStart, &deserLen, endianness); + if (result != returnvalue::OK) { + return result; + } + // Skip the weird filename + dataStart += 256; + result = SerializeAdapter::deSerialize(&hkReport.rebootMpsocRequired, &dataStart, &deserLen, + endianness); + if (result != returnvalue::OK) { + return result; + } + return returnvalue::OK; +} + ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) { - ReturnValue_t result = returnvalue::OK; - result = verifyPacket(data, tmCamCmdRpt.rememberSpacePacketSize); + ReturnValue_t result = verifyPacket(data, foundPacketLen); if (result == MPSoCReturnValuesIF::CRC_FAILURE) { sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl; } - SpacePacketReader packetReader(data, tmCamCmdRpt.rememberSpacePacketSize); + SpacePacketReader packetReader(data, foundPacketLen); const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE + sizeof(uint16_t); - std::string camCmdRptMsg( - reinterpret_cast(dataFieldPtr), - tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - sizeof(uint16_t) - 3); + std::string camCmdRptMsg(reinterpret_cast(dataFieldPtr), + foundPacketLen - mpsoc::SPACE_PACKET_HEADER_SIZE - sizeof(uint16_t) - 3); #if OBSW_DEBUG_PLOC_MPSOC == 1 uint8_t ackValue = *(packetReader.getFullData() + packetReader.getFullPacketLen() - 2); sif::info << "PlocMPSoCHandler: CamCmdRpt message: " << camCmdRptMsg << std::endl; sif::info << "PlocMPSoCHandler: CamCmdRpt Ack value: 0x" << std::hex << static_cast(ackValue) << std::endl; #endif /* OBSW_DEBUG_PLOC_MPSOC == 1 */ - handleDeviceTM(packetReader.getPacketData() + sizeof(uint16_t), + handleDeviceTm(packetReader.getPacketData() + sizeof(uint16_t), packetReader.getPacketDataLen() - 1, mpsoc::TM_CAM_CMD_RPT); return result; } @@ -753,6 +1045,16 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator uint8_t enabledReplies = 0; + auto enableThreeReplies = [&](DeviceCommandId_t replyId) { + enabledReplies = 3; + result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, replyId); + if (result != returnvalue::OK) { + sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " + << mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl; + return result; + } + return returnvalue::OK; + }; switch (command->first) { case mpsoc::TC_MEM_WRITE: case mpsoc::TC_FLASHDELETE: @@ -769,24 +1071,30 @@ ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator case mpsoc::TC_MODE_SNAPSHOT: enabledReplies = 2; break; - case mpsoc::TC_MEM_READ: { - enabledReplies = 3; - result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, - mpsoc::TM_MEMORY_READ_REPORT); + case mpsoc::TC_GET_HK_REPORT: { + result = enableThreeReplies(mpsoc::TM_GET_HK_REPORT); + if (result != returnvalue::OK) { + return result; + } + break; + } + case mpsoc::TC_MEM_READ: { + result = enableThreeReplies(mpsoc::TM_MEMORY_READ_REPORT); if (result != returnvalue::OK) { - sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " - << mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl; return result; } break; } case mpsoc::TC_CAM_CMD_SEND: { - enabledReplies = 3; - result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, - mpsoc::TM_CAM_CMD_RPT); + result = enableThreeReplies(mpsoc::TM_CAM_CMD_RPT); + if (result != returnvalue::OK) { + return result; + } + break; + } + case mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT: { + result = enableThreeReplies(mpsoc::TM_FLASH_DIRECTORY_CONTENT); if (result != returnvalue::OK) { - sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " - << mpsoc::TM_CAM_CMD_RPT << " not in replyMap" << std::endl; return result; } break; @@ -857,6 +1165,7 @@ void PlocMPSoCHandler::setNextReplyId() { break; } } + size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) { size_t replyLen = 0; @@ -881,6 +1190,10 @@ size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) { // report is not fixed replyLen = mpsoc::SP_MAX_SIZE; break; + case mpsoc::TM_FLASH_DIRECTORY_CONTENT: + // I think the reply size is not fixed either. + replyLen = mpsoc::SP_MAX_SIZE; + break; default: { replyLen = iter->second.replyLen; break; @@ -958,7 +1271,7 @@ void PlocMPSoCHandler::completionFailedReceived(ActionId_t actionId, ReturnValue handleActionCommandFailure(actionId); } -void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, +void PlocMPSoCHandler::handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) { ReturnValue_t result = returnvalue::OK; @@ -996,6 +1309,13 @@ void PlocMPSoCHandler::disableAllReplies() { DeviceCommandId_t commandId = getPendingCommand(); + auto disableCommandWithReply = [&](DeviceCommandId_t replyId) { + iter = deviceReplyMap.find(replyId); + info = &(iter->second); + info->delayCycles = 0; + info->active = false; + info->command = deviceCommandMap.end(); + }; /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */ switch (commandId) { case TC_MEM_WRITE: @@ -1013,19 +1333,19 @@ void PlocMPSoCHandler::disableAllReplies() { case TC_MODE_SNAPSHOT: break; case TC_MEM_READ: { - iter = deviceReplyMap.find(TM_MEMORY_READ_REPORT); - info = &(iter->second); - info->delayCycles = 0; - info->active = false; - info->command = deviceCommandMap.end(); + disableCommandWithReply(TM_MEMORY_READ_REPORT); + break; + } + case TC_GET_HK_REPORT: { + disableCommandWithReply(TM_GET_HK_REPORT); + break; + } + case TC_FLASH_GET_DIRECTORY_CONTENT: { + disableCommandWithReply(TM_FLASH_DIRECTORY_CONTENT); break; } case TC_CAM_CMD_SEND: { - iter = deviceReplyMap.find(TM_CAM_CMD_RPT); - info = &(iter->second); - info->delayCycles = 0; - info->active = false; - info->command = deviceCommandMap.end(); + disableCommandWithReply(TM_CAM_CMD_RPT); break; } default: { @@ -1108,6 +1428,13 @@ void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) { return; } +LocalPoolDataSetBase* PlocMPSoCHandler::getDataSetHandle(sid_t sid) { + if (sid == hkReport.getSid()) { + return &hkReport; + } + return nullptr; +} + std::string PlocMPSoCHandler::getStatusString(uint16_t status) { switch (status) { case (mpsoc::status_code::UNKNOWN_APID): { diff --git a/linux/payload/PlocMpsocHandler.h b/linux/payload/PlocMpsocHandler.h index 10e6bd5d..a6a866ef 100644 --- a/linux/payload/PlocMpsocHandler.h +++ b/linux/payload/PlocMpsocHandler.h @@ -77,7 +77,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { uint8_t expectedReplies = 1, bool useAlternateId = false, DeviceCommandId_t alternateReplyID = 0) override; size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override; - virtual ReturnValue_t doSendReadHook() override; + ReturnValue_t doSendReadHook() override; + LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override; private: static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER; @@ -105,6 +106,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF; static const uint8_t STATUS_OFFSET = 10; + mpsoc::HkReport hkReport; + MessageQueueIF* eventQueue = nullptr; MessageQueueIF* commandActionHelperQueue = nullptr; @@ -114,6 +117,41 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { SpacePacketCreator creator; ploc::SpTcParams spParams = ploc::SpTcParams(creator); + PoolEntry peStatus = PoolEntry(); + PoolEntry peMode = PoolEntry(); + PoolEntry peDownlinkPwrOn = PoolEntry(); + PoolEntry peDownlinkReplyActive = PoolEntry(); + PoolEntry peDownlinkJesdSyncStatus = PoolEntry(); + PoolEntry peDownlinkDacStatus = PoolEntry(); + PoolEntry peCameraStatus = PoolEntry(); + PoolEntry peCameraSdiStatus = PoolEntry(); + PoolEntry peCameraFpgaTemp = PoolEntry(); + PoolEntry peCameraSocTemp = PoolEntry(); + PoolEntry peSysmonTemp = PoolEntry(); + PoolEntry peSysmonVccInt = PoolEntry(); + PoolEntry peSysmonVccAux = PoolEntry(); + PoolEntry peSysmonVccBram = PoolEntry(); + PoolEntry peSysmonVccPaux = PoolEntry(); + PoolEntry peSysmonVccPint = PoolEntry(); + PoolEntry peSysmonVccPdro = PoolEntry(); + PoolEntry peSysmonMb12V = PoolEntry(); + PoolEntry peSysmonMb3V3 = PoolEntry(); + PoolEntry peSysmonMb1V8 = PoolEntry(); + PoolEntry peSysmonVcc12V = PoolEntry(); + PoolEntry peSysmonVcc5V = PoolEntry(); + PoolEntry peSysmonVcc3V3 = PoolEntry(); + PoolEntry peSysmonVcc3V3VA = PoolEntry(); + PoolEntry peSysmonVcc2V5DDR = PoolEntry(); + PoolEntry peSysmonVcc1V2DDR = PoolEntry(); + PoolEntry peSysmonVcc0V9 = PoolEntry(); + PoolEntry peSysmonVcc0V6VTT = PoolEntry(); + PoolEntry peSysmonSafeCotsCur = PoolEntry(); + PoolEntry peSysmonNvm4XoCur = PoolEntry(); + PoolEntry peSemUncorrectableErrs = PoolEntry(); + PoolEntry peSemCorrectableErrs = PoolEntry(); + PoolEntry peSemStatus = PoolEntry(); + PoolEntry peRebootMpsocRequired = PoolEntry(); + /** * This variable is used to store the id of the next reply to receive. This is necessary * because the PLOC sends as reply to each command at least one acknowledgment and execution @@ -138,17 +176,12 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { TmMemReadReport tmMemReadReport; - struct TmCamCmdRpt { - size_t rememberSpacePacketSize = 0; - }; - - TmCamCmdRpt tmCamCmdRpt; - struct TelemetryBuffer { uint16_t length = 0; uint8_t buffer[mpsoc::SP_MAX_SIZE]; }; + size_t foundPacketLen = 0; TelemetryBuffer tmBuffer; enum class PowerState { OFF, BOOTING, SHUTDOWN, ON }; @@ -167,6 +200,8 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { ReturnValue_t prepareTcReplayStop(); ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareTcDownlinkPwrOff(); + ReturnValue_t prepareTcGetHkReport(); + ReturnValue_t prepareTcGetDirContent(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen); ReturnValue_t prepareTcModeIdle(); @@ -213,6 +248,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { */ ReturnValue_t handleMemoryReadReport(const uint8_t* data); + ReturnValue_t handleGetHkReport(const uint8_t* data); ReturnValue_t handleCamCmdRpt(const uint8_t* data); /** @@ -231,7 +267,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF { * @param dataSize Size of telemetry in bytes. * @param replyId Id of the reply. This will be added to the ActionMessage. */ - void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId); + void handleDeviceTm(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId); /** * @brief In case an acknowledgment failure reply has been received this function disables diff --git a/linux/payload/PlocMpsocHelper.cpp b/linux/payload/PlocMpsocHelper.cpp index a22462e2..421ac83c 100644 --- a/linux/payload/PlocMpsocHelper.cpp +++ b/linux/payload/PlocMpsocHelper.cpp @@ -51,6 +51,16 @@ ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) { internalState = InternalState::IDLE; break; } + case InternalState::FLASH_READ: { + result = performFlashRead(); + if (result == returnvalue::OK) { + triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL); + } else { + triggerEvent(MPSOC_FLASH_READ_FAILED); + } + internalState = InternalState::IDLE; + break; + } default: sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl; break; @@ -74,32 +84,22 @@ void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) { } ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) { - ReturnValue_t result = returnvalue::OK; -#ifdef XIPHOS_Q7S - result = FilesystemHelper::checkPath(obcFile); + ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile)); if (result != returnvalue::OK) { return result; } - result = FilesystemHelper::fileExists(mpsocFile); - if (result != returnvalue::OK) { - return result; - } -#endif -#ifdef TE0720_1CFA - if (not std::filesystem::exists(obcFile)) { - sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist" - << std::endl; - return returnvalue::FAILED; - } -#endif - - flashWrite.obcFile = obcFile; - flashWrite.mpsocFile = mpsocFile; internalState = InternalState::FLASH_WRITE; - result = resetHelper(); + return result; +} + +ReturnValue_t PlocMPSoCHelper::startFlashRead(std::string obcFile, std::string mpsocFile, + size_t readFileSize) { + ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile)); if (result != returnvalue::OK) { return result; } + flashReadAndWrite.totalReadSize = readFileSize; + internalState = InternalState::FLASH_READ; return result; } @@ -116,12 +116,14 @@ void PlocMPSoCHelper::stopProcess() { terminate = true; } ReturnValue_t PlocMPSoCHelper::performFlashWrite() { ReturnValue_t result = returnvalue::OK; + std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary); + if (file.bad()) { + return returnvalue::FAILED; + } result = flashfopen(); if (result != returnvalue::OK) { return result; } - uint8_t tempData[mpsoc::MAX_DATA_SIZE]; - std::ifstream file(flashWrite.obcFile, 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 @@ -130,29 +132,32 @@ ReturnValue_t PlocMPSoCHelper::performFlashWrite() { size_t bytesRead = 0; while (remainingSize > 0) { if (terminate) { + flashfclose(); return returnvalue::OK; } - if (remainingSize > mpsoc::MAX_DATA_SIZE) { - dataLength = mpsoc::MAX_DATA_SIZE; + if (remainingSize > mpsoc::SP_MAX_DATA_SIZE) { + dataLength = mpsoc::SP_MAX_DATA_SIZE; } else { dataLength = remainingSize; } - if (file.is_open()) { - file.seekg(bytesRead, file.beg); - file.read(reinterpret_cast(tempData), dataLength); - bytesRead += dataLength; - remainingSize -= dataLength; - } else { - return FILE_CLOSED_ACCIDENTALLY; + if (file.bad() or not file.is_open()) { + flashfclose(); + return FILE_WRITE_ERROR; } + file.seekg(bytesRead, file.beg); + file.read(reinterpret_cast(fileBuf.data()), dataLength); + bytesRead += dataLength; + remainingSize -= dataLength; (*sequenceCount)++; mpsoc::TcFlashWrite tc(spParams, *sequenceCount); - result = tc.buildPacket(tempData, dataLength); + result = tc.buildPacket(fileBuf.data(), dataLength); if (result != returnvalue::OK) { + flashfclose(); return result; } - result = handlePacketTransmission(tc); + result = handlePacketTransmissionNoReply(tc); if (result != returnvalue::OK) { + flashfclose(); return result; } } @@ -163,16 +168,69 @@ ReturnValue_t PlocMPSoCHelper::performFlashWrite() { return result; } +ReturnValue_t PlocMPSoCHelper::performFlashRead() { + std::error_code e; + std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary); + if (ofile.bad()) { + return returnvalue::FAILED; + } + ReturnValue_t result = flashfopen(); + if (result != returnvalue::OK) { + std::filesystem::remove(flashReadAndWrite.obcFile, e); + return result; + } + size_t readSoFar = 0; + size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE; + while (readSoFar < flashReadAndWrite.totalReadSize) { + if (terminate) { + std::filesystem::remove(flashReadAndWrite.obcFile, e); + flashfclose(); + return returnvalue::OK; + } + nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE; + if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) { + nextReadSize = flashReadAndWrite.totalReadSize - readSoFar; + } + if (ofile.bad() or not ofile.is_open()) { + std::filesystem::remove(flashReadAndWrite.obcFile, e); + flashfclose(); + return FILE_READ_ERROR; + } + mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount); + result = flashReadRequest.buildPacket(nextReadSize); + if (result != returnvalue::OK) { + std::filesystem::remove(flashReadAndWrite.obcFile, e); + flashfclose(); + return result; + } + result = handlePacketTransmissionFlashRead(flashReadRequest); + if (result != returnvalue::OK) { + std::filesystem::remove(flashReadAndWrite.obcFile, e); + flashfclose(); + return result; + } + result = handleFlashReadReply(ofile, nextReadSize); + if (result != returnvalue::OK) { + std::filesystem::remove(flashReadAndWrite.obcFile, e); + flashfclose(); + return result; + } + (*sequenceCount)++; + readSoFar += nextReadSize; + } + return result; +} + ReturnValue_t PlocMPSoCHelper::flashfopen() { - ReturnValue_t result = returnvalue::OK; spParams.buf = commandBuffer; (*sequenceCount)++; mpsoc::FlashFopen flashFopen(spParams, *sequenceCount); - result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND); + ReturnValue_t result = + flashFopen.createPacket(flashReadAndWrite.mpsocFile, mpsoc::FlashFopen::APPEND); if (result != returnvalue::OK) { return result; } - result = handlePacketTransmission(flashFopen); + result = handlePacketTransmissionNoReply(flashFopen); if (result != returnvalue::OK) { return result; } @@ -180,24 +238,18 @@ ReturnValue_t PlocMPSoCHelper::flashfopen() { } ReturnValue_t PlocMPSoCHelper::flashfclose() { - ReturnValue_t result = returnvalue::OK; spParams.buf = commandBuffer; (*sequenceCount)++; mpsoc::FlashFclose flashFclose(spParams, *sequenceCount); - result = flashFclose.createPacket(flashWrite.mpsocFile); + ReturnValue_t result = flashFclose.createPacket(flashReadAndWrite.mpsocFile); if (result != returnvalue::OK) { return result; } - result = handlePacketTransmission(flashFclose); - if (result != returnvalue::OK) { - return result; - } - return returnvalue::OK; + return handlePacketTransmissionNoReply(flashFclose); } -ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) { - ReturnValue_t result = returnvalue::OK; - result = sendCommand(tc); +ReturnValue_t PlocMPSoCHelper::handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc) { + ReturnValue_t result = sendCommand(tc); if (result != returnvalue::OK) { return result; } @@ -205,11 +257,24 @@ ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) { if (result != returnvalue::OK) { return result; } - result = handleExe(); + result = handleTmReception(ccsds::HEADER_LEN + mpsoc::FLASH_READ_MIN_OVERHEAD + tc.readSize + + mpsoc::CRC_SIZE); if (result != returnvalue::OK) { return result; } - return returnvalue::OK; + return handleExe(); +} + +ReturnValue_t PlocMPSoCHelper::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) { + ReturnValue_t result = sendCommand(tc); + if (result != returnvalue::OK) { + return result; + } + result = handleAck(); + if (result != returnvalue::OK) { + return result; + } + return handleExe(); } ReturnValue_t PlocMPSoCHelper::sendCommand(ploc::SpTcBase& tc) { @@ -309,6 +374,74 @@ ReturnValue_t PlocMPSoCHelper::handleTmReception(size_t remainingBytes) { return result; } +ReturnValue_t PlocMPSoCHelper::handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen) { + SpTmReader tmPacket(tmBuf.data(), tmBuf.size()); + ReturnValue_t result = checkReceivedTm(tmPacket); + if (result != returnvalue::OK) { + return result; + } + uint16_t apid = tmPacket.getApid(); + if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) { + triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR); + sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl; + return result; + } + const uint8_t* packetData = tmPacket.getPacketData(); + size_t deserDummy = tmPacket.getPacketDataLen() - mpsoc::CRC_SIZE; + uint32_t receivedReadLen = 0; + std::string receivedShortName = std::string(reinterpret_cast(packetData), 12); + if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 12)) { + sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and " + "received file name" + << std::endl; + triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR); + return returnvalue::FAILED; + } + packetData += 12; + result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy, + SerializeIF::Endianness::NETWORK); + if (result != returnvalue::OK) { + return result; + } + if (receivedReadLen != expectedReadLen) { + sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and " + "received read length" + << std::endl; + triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR); + return returnvalue::FAILED; + } + ofile.write(reinterpret_cast(packetData), receivedReadLen); + return returnvalue::OK; +} + +ReturnValue_t PlocMPSoCHelper::fileCheck(std::string obcFile) { +#ifdef XIPHOS_Q7S + ReturnValue_t result = FilesystemHelper::checkPath(obcFile); + if (result != returnvalue::OK) { + return result; + } +#elif defined(TE0720_1CFA) + if (not std::filesystem::exists(obcFile)) { + sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist" + << std::endl; + return returnvalue::FAILED; + } +#endif + return returnvalue::OK; +} + +ReturnValue_t PlocMPSoCHelper::startFlashReadOrWriteBase(std::string obcFile, + std::string mpsocFile) { + ReturnValue_t result = fileCheck(obcFile); + if (result != returnvalue::OK) { + return result; + } + + flashReadAndWrite.obcFile = std::move(obcFile); + flashReadAndWrite.mpsocFile = std::move(mpsocFile); + return resetHelper(); +} + ReturnValue_t PlocMPSoCHelper::checkReceivedTm(SpTmReader& reader) { ReturnValue_t result = reader.checkSize(); if (result != returnvalue::OK) { diff --git a/linux/payload/PlocMpsocHelper.h b/linux/payload/PlocMpsocHelper.h index b74c0844..63a40d0c 100644 --- a/linux/payload/PlocMpsocHelper.h +++ b/linux/payload/PlocMpsocHelper.h @@ -6,6 +6,7 @@ #include +#include "OBSWConfig.h" #include "fsfw/devicehandlers/CookieIF.h" #include "fsfw/objectmanager/SystemObject.h" #include "fsfw/osal/linux/BinarySemaphore.h" @@ -29,7 +30,7 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF { //! [EXPORT] : [COMMENT] Flash write fails static const Event MPSOC_FLASH_WRITE_FAILED = MAKE_EVENT(0, severity::LOW); //! [EXPORT] : [COMMENT] Flash write successful - static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::LOW); + static const Event MPSOC_FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(1, severity::INFO); //! [EXPORT] : [COMMENT] Communication interface returned failure when trying to send the command //! to the MPSoC //! P1: Return value returned by the communication interface sendMessage function @@ -71,6 +72,15 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF { 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); + static const Event MPSOC_FLASH_READ_PACKET_ERROR = MAKE_EVENT(14, severity::LOW); + static const Event MPSOC_FLASH_READ_FAILED = MAKE_EVENT(15, severity::LOW); + static const Event MPSOC_FLASH_READ_SUCCESSFUL = MAKE_EVENT(16, severity::INFO); + + enum FlashReadErrorType : uint32_t { + FLASH_READ_APID_ERROR = 0, + FLASH_READ_FILENAME_ERROR = 1, + FLASH_READ_READLEN_ERROR = 2 + }; PlocMPSoCHelper(object_id_t objectId); virtual ~PlocMPSoCHelper(); @@ -90,6 +100,14 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF { * @return returnvalue::OK if successful, otherwise error return value */ ReturnValue_t startFlashWrite(std::string obcFile, std::string mpsocFile); + /** + * + * @param obcFile Full target file name on OBC + * @param mpsocFile The file on the MPSoC which should be copied ot the OBC + * @param readFileSize The size of the file on the MPSoC. + * @return + */ + ReturnValue_t startFlashRead(std::string obcFile, std::string mpsocFile, size_t readFileSize); /** * @brief Can be used to interrupt a running data transfer. @@ -104,20 +122,25 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF { 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); + //! [EXPORT] : [COMMENT] File error occured for file transfers from OBC to the MPSoC. + static const ReturnValue_t FILE_WRITE_ERROR = MAKE_RETURN_CODE(0xA0); + //! [EXPORT] : [COMMENT] File error occured for file transfers from MPSoC to OBC. + static const ReturnValue_t FILE_READ_ERROR = MAKE_RETURN_CODE(0xA1); // Maximum number of times the communication interface retries polling data from the reply // buffer static const int RETRIES = 10000; - struct FlashWrite { + struct FlashInfo { std::string obcFile; std::string mpsocFile; }; - struct FlashWrite flashWrite; + struct FlashRead : public FlashInfo { + size_t totalReadSize = 0; + }; + struct FlashRead flashReadAndWrite; #if OBSW_THREAD_TRACING == 1 uint32_t opCounter = 0; #endif @@ -134,7 +157,8 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF { SpacePacketCreator creator; ploc::SpTcParams spParams = ploc::SpTcParams(creator); - std::array tmBuf; + std::array fileBuf{}; + std::array tmBuf{}; bool terminate = false; @@ -150,13 +174,18 @@ class PlocMPSoCHelper : public SystemObject, public ExecutableObjectIF { ReturnValue_t resetHelper(); ReturnValue_t performFlashWrite(); + ReturnValue_t performFlashRead(); ReturnValue_t flashfopen(); ReturnValue_t flashfclose(); - ReturnValue_t handlePacketTransmission(ploc::SpTcBase& tc); + ReturnValue_t handlePacketTransmissionNoReply(ploc::SpTcBase& tc); + ReturnValue_t handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc); + ReturnValue_t handleFlashReadReply(std::ofstream& ofile, size_t expectedReadLen); ReturnValue_t sendCommand(ploc::SpTcBase& tc); ReturnValue_t receive(uint8_t* data, size_t* readBytes, size_t requestBytes); ReturnValue_t handleAck(); ReturnValue_t handleExe(); + ReturnValue_t startFlashReadOrWriteBase(std::string obcFile, std::string mpsocFile); + ReturnValue_t fileCheck(std::string obcFile); void handleAckApidFailure(uint16_t apid); void handleExeApidFailure(uint16_t apid); ReturnValue_t handleTmReception(size_t remainingBytes); diff --git a/linux/payload/plocMpscoDefs.h b/linux/payload/plocMpscoDefs.h index 975dad32..732a6747 100644 --- a/linux/payload/plocMpscoDefs.h +++ b/linux/payload/plocMpscoDefs.h @@ -1,6 +1,7 @@ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ +#include #include #include #include @@ -12,6 +13,47 @@ namespace mpsoc { +static constexpr uint32_t HK_SET_ID = 0; + +namespace poolid { +enum { + STATUS = 0, + MODE = 1, + DOWNLINK_PWR_ON = 2, + DOWNLINK_REPLY_ACTIIVE = 3, + DOWNLINK_JESD_SYNC_STATUS = 4, + DOWNLINK_DAC_STATUS = 5, + CAM_STATUS = 6, + CAM_SDI_STATUS = 7, + CAM_FPGA_TEMP = 8, + CAM_SOC_TEMP = 9, + SYSMON_TEMP = 10, + SYSMON_VCCINT = 11, + SYSMON_VCCAUX = 12, + SYSMON_VCCBRAM = 13, + SYSMON_VCCPAUX = 14, + SYSMON_VCCPINT = 15, + SYSMON_VCCPDRO = 16, + SYSMON_MB12V = 17, + SYSMON_MB3V3 = 18, + SYSMON_MB1V8 = 19, + SYSMON_VCC12V = 20, + SYSMON_VCC5V = 21, + SYSMON_VCC3V3 = 22, + SYSMON_VCC3V3VA = 23, + SYSMON_VCC2V5DDR = 24, + SYSMON_VCC1V2DDR = 25, + SYSMON_VCC0V9 = 26, + SYSMON_VCC0V6VTT = 27, + SYSMON_SAFE_COTS_CUR = 28, + SYSMON_NVM4_XO_CUR = 29, + SEM_UNCORRECTABLE_ERRS = 30, + SEM_CORRECTABLE_ERRS = 31, + SEM_STATUS = 32, + REBOOT_MPSOC_REQUIRED = 33, +}; +} + static const DeviceCommandId_t NONE = 0; static const DeviceCommandId_t TC_MEM_WRITE = 1; static const DeviceCommandId_t TC_MEM_READ = 2; @@ -20,7 +62,7 @@ static const DeviceCommandId_t EXE_REPORT = 5; static const DeviceCommandId_t TM_MEMORY_READ_REPORT = 6; static const DeviceCommandId_t TC_FLASHFOPEN = 7; static const DeviceCommandId_t TC_FLASHFCLOSE = 8; -static const DeviceCommandId_t TC_FLASHWRITE = 9; +static const DeviceCommandId_t TC_FLASH_WRITE_FULL_FILE = 9; static const DeviceCommandId_t TC_FLASHDELETE = 10; static const DeviceCommandId_t TC_REPLAY_START = 11; static const DeviceCommandId_t TC_REPLAY_STOP = 12; @@ -37,6 +79,11 @@ static const DeviceCommandId_t TC_CAM_TAKE_PIC = 22; static const DeviceCommandId_t TC_SIMPLEX_SEND_FILE = 23; static const DeviceCommandId_t TC_DOWNLINK_DATA_MODULATE = 24; static const DeviceCommandId_t TC_MODE_SNAPSHOT = 25; +static const DeviceCommandId_t TC_GET_HK_REPORT = 26; +static const DeviceCommandId_t TM_GET_HK_REPORT = 27; +static const DeviceCommandId_t TC_FLASH_GET_DIRECTORY_CONTENT = 28; +static const DeviceCommandId_t TM_FLASH_DIRECTORY_CONTENT = 29; +static constexpr DeviceCommandId_t TC_FLASH_READ_FULL_FILE = 30; // Will reset the sequence count of the OBSW static const DeviceCommandId_t OBSW_RESET_SEQ_COUNT = 50; @@ -45,6 +92,7 @@ static const uint16_t SIZE_ACK_REPORT = 14; static const uint16_t SIZE_EXE_REPORT = 14; static const uint16_t SIZE_TM_MEM_READ_REPORT = 18; static const uint16_t SIZE_TM_CAM_CMD_RPT = 18; +static constexpr size_t SIZE_TM_HK_REPORT = 369; /** * SpacePacket apids of PLOC telecommands and telemetry. @@ -57,23 +105,31 @@ static const uint16_t TC_DOWNLINK_PWR_ON = 0x113; static const uint16_t TC_MEM_WRITE = 0x114; static const uint16_t TC_MEM_READ = 0x115; static const uint16_t TC_CAM_TAKE_PIC = 0x116; -static const uint16_t TC_FLASHWRITE = 0x117; +static constexpr uint16_t TC_FLASHWRITE = 0x117; +static constexpr uint16_t TC_FLASHREAD = 0x118; static const uint16_t TC_FLASHFOPEN = 0x119; static const uint16_t TC_FLASHFCLOSE = 0x11A; +static constexpr uint16_t TC_FLASH_GET_DIRECTORY_CONTENT = 0x11B; static const uint16_t TC_FLASHDELETE = 0x11C; +static constexpr uint16_t TC_FLASH_CREATE_DIR = 0x11D; static const uint16_t TC_MODE_IDLE = 0x11E; static const uint16_t TC_MODE_REPLAY = 0x11F; static const uint16_t TC_MODE_SNAPSHOT = 0x120; static const uint16_t TC_DOWNLINK_DATA_MODULATE = 0x121; +static constexpr uint16_t TC_HK_GET_REPORT = 0x123; static const uint16_t TC_DOWNLINK_PWR_OFF = 0x124; static const uint16_t TC_CAM_CMD_SEND = 0x12C; +static constexpr uint16_t TC_FLASH_COPY_FILE = 0x12E; static const uint16_t TC_SIMPLEX_SEND_FILE = 0x130; -static const uint16_t TM_MEMORY_READ_REPORT = 0x404; static const uint16_t ACK_SUCCESS = 0x400; static const uint16_t ACK_FAILURE = 0x401; static const uint16_t EXE_SUCCESS = 0x402; static const uint16_t EXE_FAILURE = 0x403; +static const uint16_t TM_MEMORY_READ_REPORT = 0x404; +static const uint16_t TM_FLASH_READ_REPORT = 0x405; +static constexpr uint16_t TM_FLASH_DIRECTORY_CONTENT = 0x406; static const uint16_t TM_CAM_CMD_RPT = 0x407; +static constexpr uint16_t TM_HK_GET_REPORT = 0x408; } // namespace apid /** Offset from first byte in space packet to first byte of data field */ @@ -106,9 +162,13 @@ static const uint16_t LENGTH_TC_MEM_READ = 8; * 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; +static constexpr size_t MAX_REPLY_SIZE = SP_MAX_SIZE * 3; +static constexpr size_t MAX_COMMAND_SIZE = SP_MAX_SIZE; +// 1016 bytes. +static constexpr size_t SP_MAX_DATA_SIZE = SP_MAX_SIZE - ccsds::HEADER_LEN - CRC_SIZE; +static constexpr size_t FLASH_READ_MIN_OVERHEAD = 16; +// 1000 bytes. +static const size_t MAX_FLASH_READ_DATA_SIZE = SP_MAX_DATA_SIZE - FLASH_READ_MIN_OVERHEAD; /** * The replay write sequence command has a maximum delay for the execution report which amounts to @@ -374,8 +434,8 @@ class TcFlashWrite : public ploc::SpTcBase { ReturnValue_t buildPacket(const uint8_t* writeData, uint32_t writeLen_) { ReturnValue_t result = returnvalue::OK; writeLen = writeLen_; - if (writeLen > MAX_DATA_SIZE) { - sif::debug << "FlashWrite::createPacket: Command data too big" << std::endl; + if (writeLen > SP_MAX_DATA_SIZE) { + sif::error << "TcFlashWrite: Command data too big" << std::endl; return returnvalue::FAILED; } spParams.setFullPayloadLen(static_cast(writeLen) + 4 + CRC_SIZE); @@ -391,9 +451,9 @@ class TcFlashWrite : public ploc::SpTcBase { } std::memcpy(payloadStart + sizeof(writeLen), writeData, writeLen); updateSpFields(); - auto res = checkSizeAndSerializeHeader(); - if (res != returnvalue::OK) { - return res; + result = checkSizeAndSerializeHeader(); + if (result != returnvalue::OK) { + return result; } return calcAndSetCrc(); } @@ -402,6 +462,43 @@ class TcFlashWrite : public ploc::SpTcBase { uint32_t writeLen = 0; }; +class TcFlashRead : public ploc::SpTcBase { + public: + TcFlashRead(ploc::SpTcParams params, uint16_t sequenceCount) + : ploc::SpTcBase(params, apid::TC_FLASHWRITE, sequenceCount) {} + + ReturnValue_t buildPacket(uint32_t readLen) { + if (readLen > MAX_FLASH_READ_DATA_SIZE) { + sif::error << "TcFlashRead: Read length " << readLen << " too large" << std::endl; + return returnvalue::FAILED; + } + spParams.setFullPayloadLen(readLen + FLASH_READ_MIN_OVERHEAD + CRC_SIZE); + ReturnValue_t result = checkPayloadLen(); + if (result != returnvalue::OK) { + return result; + } + size_t serializedSize = ccsds::HEADER_LEN; + result = SerializeAdapter::serialize(&readLen, payloadStart, &serializedSize, spParams.maxSize, + SerializeIF::Endianness::NETWORK); + if (result != returnvalue::OK) { + return result; + } + updateSpFields(); + result = checkSizeAndSerializeHeader(); + if (result != returnvalue::OK) { + return result; + } + result = calcAndSetCrc(); + if (result != returnvalue::OK) { + return result; + } + readSize = readLen; + return result; + } + + uint32_t readSize = 0; +}; + /** * @brief Class to help creation of flash delete command. */ @@ -561,6 +658,32 @@ class TcDownlinkPwrOn : public TcBase { } }; +/** + * @brief Class to build replay stop space packet. + */ +class TcGetHkReport : public TcBase { + public: + TcGetHkReport(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_HK_GET_REPORT, sequenceCount) {} +}; + +class TcGetDirContent : public TcBase { + public: + TcGetDirContent(ploc::SpTcParams params, uint16_t sequenceCount) + : TcBase(params, apid::TC_FLASH_GET_DIRECTORY_CONTENT, sequenceCount) {} + + ReturnValue_t initPacket(const uint8_t* commandData, size_t commandDataLen) { + ReturnValue_t result = returnvalue::OK; + spParams.setFullPayloadLen(commandDataLen + sizeof(NULL_TERMINATOR) + CRC_SIZE); + if (result != returnvalue::OK) { + return result; + } + std::memcpy(payloadStart, commandData, commandDataLen); + *(payloadStart + commandDataLen) = NULL_TERMINATOR; + return result; + } +}; + /** * @brief Class to build replay stop space packet. */ @@ -611,36 +734,69 @@ class TcReplayWriteSeq : public TcBase { /** * @brief Helps to extract the fields of the flash write command from the PUS packet. */ -class FlashWritePusCmd : public MPSoCReturnValuesIF { +class FlashBasePusCmd : public MPSoCReturnValuesIF { public: - FlashWritePusCmd(){}; + FlashBasePusCmd() = default; + virtual ~FlashBasePusCmd() = default; - ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) { + virtual ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) { if (commandDataLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE + MAX_FILENAME_SIZE)) { return INVALID_LENGTH; } - obcFile = std::string(reinterpret_cast(commandData)); - if (obcFile.size() > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) { + size_t fileLen = strnlen(reinterpret_cast(commandData), commandDataLen); + if (fileLen > (config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE)) { return FILENAME_TOO_LONG; } - mpsocFile = std::string( - reinterpret_cast(commandData + obcFile.size() + SIZE_NULL_TERMINATOR)); - if (mpsocFile.size() > MAX_FILENAME_SIZE) { + obcFile = std::string(reinterpret_cast(commandData), fileLen); + fileLen = + strnlen(reinterpret_cast(commandData + obcFile.size() + SIZE_NULL_TERMINATOR), + commandDataLen - obcFile.size() - 1); + if (fileLen > MAX_FILENAME_SIZE) { return MPSOC_FILENAME_TOO_LONG; } + mpsocFile = std::string( + reinterpret_cast(commandData + obcFile.size() + SIZE_NULL_TERMINATOR), + fileLen); return returnvalue::OK; } - std::string getObcFile() { return obcFile; } + const std::string& getObcFile() const { return obcFile; } - std::string getMPSoCFile() { return mpsocFile; } + const std::string& getMPSoCFile() const { return mpsocFile; } + + protected: + size_t getParsedSize() const { + return getObcFile().size() + getMPSoCFile().size() + 2 * SIZE_NULL_TERMINATOR; + } + static const size_t SIZE_NULL_TERMINATOR = 1; private: - static const size_t SIZE_NULL_TERMINATOR = 1; - std::string obcFile = ""; - std::string mpsocFile = ""; + std::string obcFile; + std::string mpsocFile; }; +class FlashReadPusCmd : public FlashBasePusCmd { + public: + FlashReadPusCmd(){}; + + ReturnValue_t extractFields(const uint8_t* commandData, size_t commandDataLen) override { + ReturnValue_t result = FlashBasePusCmd::extractFields(commandData, commandDataLen); + if (result != returnvalue::OK) { + return result; + } + if (commandDataLen < (getParsedSize() + 4)) { + return returnvalue::FAILED; + } + size_t deserDummy = 4; + return SerializeAdapter::deSerialize(&readSize, commandData + getParsedSize(), &deserDummy, + SerializeIF::Endianness::NETWORK); + } + + size_t getReadSize() const { return readSize; } + + private: + size_t readSize = 0; +}; /** * @brief Class to build replay stop space packet. */ @@ -774,6 +930,67 @@ class TcCamcmdSend : public TcBase { static const uint8_t CARRIAGE_RETURN = 0xD; }; +class HkReport : public StaticLocalDataSet<36> { + public: + HkReport(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HK_SET_ID) {} + + HkReport(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HK_SET_ID)) {} + + lp_var_t status = lp_var_t(sid.objectId, mpsoc::poolid::STATUS, this); + lp_var_t mode = lp_var_t(sid.objectId, mpsoc::poolid::MODE, this); + lp_var_t downlinkPwrOn = + lp_var_t(sid.objectId, mpsoc::poolid::DOWNLINK_PWR_ON, this); + lp_var_t downlinkReplyActive = + lp_var_t(sid.objectId, mpsoc::poolid::DOWNLINK_REPLY_ACTIIVE, this); + lp_var_t downlinkJesdSyncStatus = + lp_var_t(sid.objectId, mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, this); + lp_var_t downlinkDacStatus = + lp_var_t(sid.objectId, mpsoc::poolid::DOWNLINK_DAC_STATUS, this); + lp_var_t camStatus = lp_var_t(sid.objectId, mpsoc::poolid::CAM_STATUS, this); + lp_var_t camSdiStatus = + lp_var_t(sid.objectId, mpsoc::poolid::CAM_SDI_STATUS, this); + lp_var_t camFpgaTemp = lp_var_t(sid.objectId, mpsoc::poolid::CAM_FPGA_TEMP, this); + lp_var_t camSocTemp = lp_var_t(sid.objectId, mpsoc::poolid::CAM_SOC_TEMP, this); + lp_var_t sysmonTemp = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_TEMP, this); + lp_var_t sysmonVccInt = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCCINT, this); + lp_var_t sysmonVccAux = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCCAUX, this); + lp_var_t sysmonVccBram = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCCBRAM, this); + lp_var_t sysmonVccPaux = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCCPAUX, this); + lp_var_t sysmonVccPint = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCCPINT, this); + lp_var_t sysmonVccPdro = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCCPDRO, this); + lp_var_t sysmonMb12V = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_MB12V, this); + lp_var_t sysmonMb3V3 = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_MB3V3, this); + lp_var_t sysmonMb1V8 = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_MB1V8, this); + lp_var_t sysmonVcc12V = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC12V, this); + lp_var_t sysmonVcc5V = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC5V, this); + lp_var_t sysmonVcc3V3 = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC3V3, this); + lp_var_t sysmonVcc3V3VA = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC3V3VA, this); + lp_var_t sysmonVcc2V5DDR = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC2V5DDR, this); + lp_var_t sysmonVcc1V2DDR = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC1V2DDR, this); + lp_var_t sysmonVcc0V9 = lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC0V9, this); + lp_var_t sysmonVcc0V6VTT = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_VCC0V6VTT, this); + lp_var_t sysmonSafeCotsCur = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_SAFE_COTS_CUR, this); + lp_var_t sysmonNvm4XoCur = + lp_var_t(sid.objectId, mpsoc::poolid::SYSMON_NVM4_XO_CUR, this); + lp_var_t semUncorrectableErrs = + lp_var_t(sid.objectId, mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, this); + lp_var_t semCorrectableErrs = + lp_var_t(sid.objectId, mpsoc::poolid::SEM_CORRECTABLE_ERRS, this); + lp_var_t semStatus = + lp_var_t(sid.objectId, mpsoc::poolid::SEM_CORRECTABLE_ERRS, this); + lp_var_t rebootMpsocRequired = + lp_var_t(sid.objectId, mpsoc::poolid::REBOOT_MPSOC_REQUIRED, this); +}; + } // namespace mpsoc #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCMPSOCDEFINITIONS_H_ */ diff --git a/mission/acs/defs.h b/mission/acs/defs.h index 7748562d..41d09976 100644 --- a/mission/acs/defs.h +++ b/mission/acs/defs.h @@ -3,6 +3,7 @@ #include #include +#include namespace acs { @@ -11,12 +12,12 @@ enum class SimpleSensorMode { NORMAL = 0, OFF = 1 }; // These modes are the modes of the ACS controller and of the ACS subsystem. enum AcsMode : Mode_t { OFF = HasModesIF::MODE_OFF, - SAFE = 10, - PTG_IDLE = 11, - PTG_NADIR = 12, - PTG_TARGET = 13, - PTG_TARGET_GS = 14, - PTG_INERTIAL = 15, + SAFE = satsystem::Mode::SAFE, + PTG_IDLE = satsystem::Mode::PTG_IDLE, + PTG_NADIR = satsystem::Mode::PTG_NADIR, + PTG_TARGET = satsystem::Mode::PTG_TARGET, + PTG_TARGET_GS = satsystem::Mode::PTG_TARGET_GS, + PTG_INERTIAL = satsystem::Mode::PTG_INERTIAL, }; enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 }; diff --git a/mission/acs/str/StarTrackerHandler.cpp b/mission/acs/str/StarTrackerHandler.cpp index d40e5fab..0942164a 100644 --- a/mission/acs/str/StarTrackerHandler.cpp +++ b/mission/acs/str/StarTrackerHandler.cpp @@ -17,6 +17,7 @@ extern "C" { #include #include "OBSWConfig.h" +#include "eive/definitions.h" std::atomic_bool JCFG_DONE(false); @@ -152,7 +153,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu return EXECUTION_FINISHED; } case (startracker::SET_JSON_FILE_NAME): { - if (size > MAX_PATH_SIZE) { + if (size > config::MAX_PATH_SIZE) { return FILE_PATH_TOO_LONG; } paramJsonFile = std::string(reinterpret_cast(data), size); @@ -189,7 +190,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu if (result != returnvalue::OK) { return result; } - if (size > MAX_PATH_SIZE + MAX_FILE_NAME) { + if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) { return FILE_PATH_TOO_LONG; } result = strHelper->startImageUpload(std::string(reinterpret_cast(data), size)); @@ -204,7 +205,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu if (result != returnvalue::OK) { return result; } - if (size > MAX_PATH_SIZE) { + if (size > config::MAX_PATH_SIZE) { return FILE_PATH_TOO_LONG; } result = @@ -228,14 +229,14 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu return EXECUTION_FINISHED; } case (startracker::CHANGE_IMAGE_DOWNLOAD_FILE): { - if (size > MAX_FILE_NAME) { + if (size > config::MAX_FILENAME_SIZE) { return FILENAME_TOO_LONG; } strHelper->setDownloadImageName(std::string(reinterpret_cast(data), size)); return EXECUTION_FINISHED; } case (startracker::SET_FLASH_READ_FILENAME): { - if (size > MAX_FILE_NAME) { + if (size > config::MAX_FILENAME_SIZE) { return FILENAME_TOO_LONG; } strHelper->setFlashReadFilename(std::string(reinterpret_cast(data), size)); @@ -246,7 +247,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu if (result != returnvalue::OK) { return result; } - if (size > MAX_PATH_SIZE + MAX_FILE_NAME) { + if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) { return FILE_PATH_TOO_LONG; } result = @@ -1568,7 +1569,7 @@ ReturnValue_t StarTrackerHandler::executeFlashReadCommand(const uint8_t* command << std::endl; return result; } - if (commandDataLen - sizeof(startRegion) - sizeof(length) > MAX_PATH_SIZE) { + if (commandDataLen - sizeof(startRegion) - sizeof(length) > config::MAX_PATH_SIZE) { sif::warning << "StarTrackerHandler::executeFlashReadCommand: Received command with invalid" << " path and filename" << std::endl; return FILE_PATH_TOO_LONG; @@ -1708,7 +1709,7 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData bool reinitSet) { // Stopwatch watch; ReturnValue_t result = returnvalue::OK; - if (commandDataLen > MAX_PATH_SIZE) { + if (commandDataLen > config::MAX_PATH_SIZE) { return FILE_PATH_TOO_LONG; } if (reinitSet) { diff --git a/mission/acs/str/StarTrackerHandler.h b/mission/acs/str/StarTrackerHandler.h index a74bff44..7bcc9f2a 100644 --- a/mission/acs/str/StarTrackerHandler.h +++ b/mission/acs/str/StarTrackerHandler.h @@ -144,9 +144,6 @@ class StarTrackerHandler : public DeviceHandlerBase { //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW); - static const size_t MAX_PATH_SIZE = 50; - static const size_t MAX_FILE_NAME = 30; - static const uint8_t STATUS_OFFSET = 2; static const uint8_t PARAMS_OFFSET = 2; static const uint8_t TICKS_OFFSET = 3; diff --git a/mission/genericFactory.cpp b/mission/genericFactory.cpp index 06f1220e..2dd00ee6 100644 --- a/mission/genericFactory.cpp +++ b/mission/genericFactory.cpp @@ -96,9 +96,10 @@ std::atomic_bool tcs::TCS_BOARD_SHORTLY_UNAVAILABLE = false; void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFunnel** pusFunnel, CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan, StorageManagerIF** ipcStore, StorageManagerIF** tmStore, - PersistentTmStores& stores) { + PersistentTmStores& stores, + uint32_t eventManagerQueueDepth) { // Framework objects - new EventManager(objects::EVENT_MANAGER, 160); + new EventManager(objects::EVENT_MANAGER, eventManagerQueueDepth); auto healthTable = new HealthTable(objects::HEALTH_TABLE); if (healthTable_ != nullptr) { *healthTable_ = healthTable; diff --git a/mission/genericFactory.h b/mission/genericFactory.h index 6cd2068d..a3a52704 100644 --- a/mission/genericFactory.h +++ b/mission/genericFactory.h @@ -45,7 +45,7 @@ namespace ObjectFactory { void produceGenericObjects(HealthTableIF** healthTable, PusTmFunnel** pusFunnel, CfdpTmFunnel** cfdpFunnel, SdCardMountedIF& sdcMan, StorageManagerIF** ipcStore, StorageManagerIF** tmStore, - PersistentTmStores& stores); + PersistentTmStores& stores, uint32_t eventManagerQueueDepth); void createGenericHeaterComponents(GpioIF& gpioIF, PowerSwitchIF& pwrSwitcher, HeaterHandler*& heaterHandler); diff --git a/mission/scheduling.cpp b/mission/scheduling.cpp index f89ce711..27a6417c 100644 --- a/mission/scheduling.cpp +++ b/mission/scheduling.cpp @@ -5,10 +5,12 @@ #include "fsfw/tasks/PeriodicTaskIF.h" void scheduling::scheduleTmpTempSensors(PeriodicTaskIF* tmpTask) { - const std::array tmpIds = { - objects::TMP1075_HANDLER_TCS_0, objects::TMP1075_HANDLER_TCS_1, - objects::TMP1075_HANDLER_PLPCDU_0, objects::TMP1075_HANDLER_PLPCDU_1, - objects::TMP1075_HANDLER_IF_BOARD}; + const std::array tmpIds = {objects::TMP1075_HANDLER_TCS_0, + objects::TMP1075_HANDLER_TCS_1, + objects::TMP1075_HANDLER_PLPCDU_0, + // damaged. + // objects::TMP1075_HANDLER_PLPCDU_1, + objects::TMP1075_HANDLER_IF_BOARD}; for (const auto& tmpId : tmpIds) { tmpTask->addComponent(tmpId, DeviceHandlerIF::PERFORM_OPERATION); tmpTask->addComponent(tmpId, DeviceHandlerIF::SEND_WRITE); diff --git a/mission/sysDefs.h b/mission/sysDefs.h index e8303524..c84c237f 100644 --- a/mission/sysDefs.h +++ b/mission/sysDefs.h @@ -1,16 +1,28 @@ #ifndef MISSION_SYSDEFS_H_ #define MISSION_SYSDEFS_H_ -#include +#include +#include +#include +#include -#include "acs/defs.h" +#include +#include extern std::atomic_uint16_t I2C_FATAL_ERRORS; namespace satsystem { -enum Mode : Mode_t { BOOT = 5, SAFE = acs::AcsMode::SAFE, PTG_IDLE = acs::AcsMode::PTG_IDLE }; - +enum Mode : Mode_t { + BOOT = 5, + // DO NOT CHANGE THE ORDER starting from here, breaks ACS mode checks. + SAFE = 10, + PTG_IDLE = 11, + PTG_NADIR = 12, + PTG_TARGET = 13, + PTG_TARGET_GS = 14, + PTG_INERTIAL = 15, +}; } namespace xsc { diff --git a/mission/system/EiveSystem.cpp b/mission/system/EiveSystem.cpp index 53bf7a32..f17b82cb 100644 --- a/mission/system/EiveSystem.cpp +++ b/mission/system/EiveSystem.cpp @@ -39,18 +39,22 @@ void EiveSystem::announceMode(bool recursive) { modeStr = "POINTING IDLE"; break; } - case (acs::AcsMode::PTG_INERTIAL): { - modeStr = "POINTING INERTIAL"; + case (satsystem::Mode::PTG_NADIR): { + modeStr = "POINTING NADIR"; break; } - case (acs::AcsMode::PTG_TARGET): { + case (satsystem::Mode::PTG_TARGET): { modeStr = "POINTING TARGET"; break; } - case (acs::AcsMode::PTG_TARGET_GS): { + case (satsystem::Mode::PTG_TARGET_GS): { modeStr = "POINTING TARGET GS"; break; } + case (satsystem::Mode::PTG_INERTIAL): { + modeStr = "POINTING INERTIAL"; + break; + } } sif::info << "EIVE system is now in " << modeStr << " mode" << std::endl; return Subsystem::announceMode(recursive); diff --git a/mission/system/acs/DualLaneAssemblyBase.cpp b/mission/system/acs/DualLaneAssemblyBase.cpp index 7d22fbd1..dc97908f 100644 --- a/mission/system/acs/DualLaneAssemblyBase.cpp +++ b/mission/system/acs/DualLaneAssemblyBase.cpp @@ -183,11 +183,11 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) { // transition to dual mode. if (not tryingOtherSide) { triggerEvent(CANT_KEEP_MODE, mode, submode); - startTransition(mode, nextSubmode); + startTransition(targetMode, nextSubmode); tryingOtherSide = true; } else { - triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode); - startTransition(mode, Submodes::DUAL_MODE); + triggerEvent(transitionOtherSideFailedEvent, targetMode, targetSubmode); + startTransition(targetMode, Submodes::DUAL_MODE); } } @@ -205,7 +205,8 @@ bool DualLaneAssemblyBase::checkAndHandleRecovery() { opCode = pwrStateMachine.fsm(); if (opCode == OpCodes::TO_OFF_DONE or opCode == OpCodes::TIMEOUT_OCCURED) { customRecoveryStates = RecoveryCustomStates::POWER_SWITCHING_ON; - pwrStateMachine.start(targetMode, targetSubmode); + // Command power back on in any case. + pwrStateMachine.start(HasModesIF::MODE_ON, targetSubmode); } } if (customRecoveryStates == POWER_SWITCHING_ON) { diff --git a/mission/system/systemTree.cpp b/mission/system/systemTree.cpp index 37adbaf5..41bf3216 100644 --- a/mission/system/systemTree.cpp +++ b/mission/system/systemTree.cpp @@ -22,6 +22,10 @@ const auto check = subsystem::checkInsert; void buildBootSequence(Subsystem& ss, ModeListEntry& eh); void buildSafeSequence(Subsystem& ss, ModeListEntry& eh); void buildIdleSequence(Subsystem& ss, ModeListEntry& eh); +void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh); +void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh); +void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh); +void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh); } // namespace static const auto OFF = HasModesIF::MODE_OFF; @@ -40,6 +44,10 @@ void satsystem::init() { buildBootSequence(EIVE_SYSTEM, entry); buildSafeSequence(EIVE_SYSTEM, entry); buildIdleSequence(EIVE_SYSTEM, entry); + buildPtgNadirSequence(EIVE_SYSTEM, entry); + buildPtgTargetSequence(EIVE_SYSTEM, entry); + buildPtgTargetGsSequence(EIVE_SYSTEM, entry); + buildPtgInertialSequence(EIVE_SYSTEM, entry); EIVE_SYSTEM.setInitialMode(satsystem::Mode::BOOT, 0); } @@ -68,88 +76,44 @@ auto EIVE_TABLE_IDLE_TRANS_0 = auto EIVE_TABLE_IDLE_TRANS_1 = std::make_pair((satsystem::Mode::PTG_IDLE << 24) | 3, FixedArrayList()); +auto EIVE_SEQUENCE_PTG_NADIR = + std::make_pair(satsystem::Mode::PTG_NADIR, FixedArrayList()); +auto EIVE_TABLE_PTG_NADIR_TGT = + std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 1, FixedArrayList()); +auto EIVE_TABLE_PTG_NADIR_TRANS_0 = + std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 2, FixedArrayList()); +auto EIVE_TABLE_PTG_NADIR_TRANS_1 = + std::make_pair((satsystem::Mode::PTG_NADIR << 24) | 3, FixedArrayList()); + +auto EIVE_SEQUENCE_PTG_TARGET = + std::make_pair(satsystem::Mode::PTG_TARGET, FixedArrayList()); +auto EIVE_TABLE_PTG_TARGET_TGT = + std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 1, FixedArrayList()); +auto EIVE_TABLE_PTG_TARGET_TRANS_0 = + std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 2, FixedArrayList()); +auto EIVE_TABLE_PTG_TARGET_TRANS_1 = + std::make_pair((satsystem::Mode::PTG_TARGET << 24) | 3, FixedArrayList()); + +auto EIVE_SEQUENCE_PTG_TARGET_GS = + std::make_pair(satsystem::Mode::PTG_TARGET_GS, FixedArrayList()); +auto EIVE_TABLE_PTG_TARGET_GS_TGT = + std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 1, FixedArrayList()); +auto EIVE_TABLE_PTG_TARGET_GS_TRANS_0 = + std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 2, FixedArrayList()); +auto EIVE_TABLE_PTG_TARGET_GS_TRANS_1 = + std::make_pair((satsystem::Mode::PTG_TARGET_GS << 24) | 3, FixedArrayList()); + +auto EIVE_SEQUENCE_PTG_INERTIAL = + std::make_pair(satsystem::Mode::PTG_INERTIAL, FixedArrayList()); +auto EIVE_TABLE_PTG_INERTIAL_TGT = + std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 1, FixedArrayList()); +auto EIVE_TABLE_PTG_INERTIAL_TRANS_0 = + std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 2, FixedArrayList()); +auto EIVE_TABLE_PTG_INERTIAL_TRANS_1 = + std::make_pair((satsystem::Mode::PTG_INERTIAL << 24) | 3, FixedArrayList()); + namespace { -void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { - std::string context = "satsystem::buildSafeSequence"; - auto ctxc = context.c_str(); - // Insert Helper Table - auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table, - bool allowAllSubmodes = false) { - eh.setObject(obj); - eh.setMode(mode); - eh.setSubmode(submode); - if (allowAllSubmodes) { - eh.allowAllSubmodes(); - } - check(table.insert(eh), ctxc); - }; - // Insert Helper Sequence - auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, - bool checkSuccess) { - eh.setTableId(tableId); - eh.setWaitSeconds(waitSeconds); - eh.setCheckSuccess(checkSuccess); - check(sequence.insert(eh), ctxc); - }; - - // Do no track submode to allow transitions to DETUMBLE submode. - iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true); - iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second); - check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc); - - // Build SAFE transition 0. - iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second); - iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second); - iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true); - check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)), - ctxc); - - // Build Safe sequence - ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false); - ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false); - check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second, - EIVE_SEQUENCE_SAFE.first)), - ctxc); -} - -void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { - std::string context = "satsystem::buildIdleSequence"; - auto ctxc = context.c_str(); - // Insert Helper Table - auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table) { - eh.setObject(obj); - eh.setMode(mode); - eh.setSubmode(submode); - check(table.insert(eh), ctxc); - }; - // Insert Helper Sequence - auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, - bool checkSuccess) { - eh.setTableId(tableId); - eh.setWaitSeconds(waitSeconds); - eh.setCheckSuccess(checkSuccess); - check(sequence.insert(eh), ctxc); - }; - - iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second); - check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc); - - // Build IDLE transition 0 - iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second); - iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_0.second); - iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second); - check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)), - ctxc); - - // Build IDLE sequence - ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false); - ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false); - check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second, - EIVE_SEQUENCE_SAFE.first)), - ctxc); -} - void buildBootSequence(Subsystem& ss, ModeListEntry& eh) { std::string context = "satsystem::buildBootSequence"; auto ctxc = context.c_str(); @@ -194,4 +158,240 @@ void buildBootSequence(Subsystem& ss, ModeListEntry& eh) { EIVE_SEQUENCE_SAFE.first)), ctxc); } + +void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { + std::string context = "satsystem::buildSafeSequence"; + auto ctxc = context.c_str(); + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table, + bool allowAllSubmodes = false) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + if (allowAllSubmodes) { + eh.allowAllSubmodes(); + } + check(table.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, + bool checkSuccess) { + eh.setTableId(tableId); + eh.setWaitSeconds(waitSeconds); + eh.setCheckSuccess(checkSuccess); + check(sequence.insert(eh), ctxc); + }; + + // Do no track submode to allow transitions to DETUMBLE submode. + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true); + check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc); + + // Build SAFE transition 0. + iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second); + iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true); + check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)), + ctxc); + + // Build Safe sequence + ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false); + ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false); + check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second, + EIVE_SEQUENCE_SAFE.first)), + ctxc); +} + +void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { + std::string context = "satsystem::buildIdleSequence"; + auto ctxc = context.c_str(); + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(table.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, + bool checkSuccess) { + eh.setTableId(tableId); + eh.setWaitSeconds(waitSeconds); + eh.setCheckSuccess(checkSuccess); + check(sequence.insert(eh), ctxc); + }; + + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second); + check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc); + + // Build IDLE transition 0 + iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second); + check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)), + ctxc); + + // Build IDLE sequence + ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false); + ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false); + check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second, + EIVE_SEQUENCE_SAFE.first)), + ctxc); +} + +void buildPtgNadirSequence(Subsystem& ss, ModeListEntry& eh) { + std::string context = "satsystem::buildPtgNadirSequence"; + auto ctxc = context.c_str(); + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(table.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, + bool checkSuccess) { + eh.setTableId(tableId); + eh.setWaitSeconds(waitSeconds); + eh.setCheckSuccess(checkSuccess); + check(sequence.insert(eh), ctxc); + }; + + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TGT.second); + check(ss.addTable(TableEntry(EIVE_TABLE_PTG_NADIR_TGT.first, &EIVE_TABLE_PTG_NADIR_TGT.second)), + ctxc); + + // Build PTG_NADIR transition 0 + iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_NADIR, 0, EIVE_TABLE_PTG_NADIR_TRANS_0.second); + check(ss.addTable( + TableEntry(EIVE_TABLE_PTG_NADIR_TRANS_0.first, &EIVE_TABLE_PTG_NADIR_TRANS_0.second)), + ctxc); + + // Build PTG_NADIR sequence + ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TGT.first, 0, false); + ihs(EIVE_SEQUENCE_PTG_NADIR.second, EIVE_TABLE_PTG_NADIR_TRANS_0.first, 0, false); + check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_NADIR.first, &EIVE_SEQUENCE_PTG_NADIR.second, + EIVE_SEQUENCE_IDLE.first)), + ctxc); +} + +void buildPtgTargetSequence(Subsystem& ss, ModeListEntry& eh) { + std::string context = "satsystem::buildPtgTargetSequence"; + auto ctxc = context.c_str(); + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(table.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, + bool checkSuccess) { + eh.setTableId(tableId); + eh.setWaitSeconds(waitSeconds); + eh.setCheckSuccess(checkSuccess); + check(sequence.insert(eh), ctxc); + }; + + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TGT.second); + check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_TGT.first, &EIVE_TABLE_PTG_TARGET_TGT.second)), + ctxc); + + // Build PTG_TARGET transition 0 + iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET, 0, EIVE_TABLE_PTG_TARGET_TRANS_0.second); + check(ss.addTable( + TableEntry(EIVE_TABLE_PTG_TARGET_TRANS_0.first, &EIVE_TABLE_PTG_TARGET_TRANS_0.second)), + ctxc); + + // Build PTG_TARGET sequence + ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TGT.first, 0, false); + ihs(EIVE_SEQUENCE_PTG_TARGET.second, EIVE_TABLE_PTG_TARGET_TRANS_0.first, 0, false); + check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET.first, + &EIVE_SEQUENCE_PTG_TARGET.second, EIVE_SEQUENCE_IDLE.first)), + ctxc); +} + +void buildPtgTargetGsSequence(Subsystem& ss, ModeListEntry& eh) { + std::string context = "satsystem::buildPtgTargetGsSequence"; + auto ctxc = context.c_str(); + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(table.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, + bool checkSuccess) { + eh.setTableId(tableId); + eh.setWaitSeconds(waitSeconds); + eh.setCheckSuccess(checkSuccess); + check(sequence.insert(eh), ctxc); + }; + + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0, EIVE_TABLE_PTG_TARGET_GS_TGT.second); + check(ss.addTable( + TableEntry(EIVE_TABLE_PTG_TARGET_GS_TGT.first, &EIVE_TABLE_PTG_TARGET_GS_TGT.second)), + ctxc); + + // Build PTG_TARGET_GS transition 0 + iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_TARGET_GS, 0, + EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second); + check(ss.addTable(TableEntry(EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first, + &EIVE_TABLE_PTG_TARGET_GS_TRANS_0.second)), + ctxc); + + // Build PTG_TARGET_GS sequence + ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TGT.first, 0, false); + ihs(EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_TABLE_PTG_TARGET_GS_TRANS_0.first, 0, false); + check( + ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_TARGET_GS.first, + &EIVE_SEQUENCE_PTG_TARGET_GS.second, EIVE_SEQUENCE_IDLE.first)), + ctxc); +} + +void buildPtgInertialSequence(Subsystem& ss, ModeListEntry& eh) { + std::string context = "satsystem::buildPtgInertialSequence"; + auto ctxc = context.c_str(); + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& table) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(table.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, + bool checkSuccess) { + eh.setTableId(tableId); + eh.setWaitSeconds(waitSeconds); + eh.setCheckSuccess(checkSuccess); + check(sequence.insert(eh), ctxc); + }; + + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0, EIVE_TABLE_PTG_INERTIAL_TGT.second); + check(ss.addTable( + TableEntry(EIVE_TABLE_PTG_INERTIAL_TGT.first, &EIVE_TABLE_PTG_INERTIAL_TGT.second)), + ctxc); + + // Build PTG_INERTIAL transition 0 + iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_PTG_INERTIAL_TRANS_0.second); + iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_INERTIAL, 0, + EIVE_TABLE_PTG_INERTIAL_TRANS_0.second); + check(ss.addTable(TableEntry(EIVE_TABLE_PTG_INERTIAL_TRANS_0.first, + &EIVE_TABLE_PTG_INERTIAL_TRANS_0.second)), + ctxc); + + // Build PTG_INERTIAL sequence + ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TGT.first, 0, false); + ihs(EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_TABLE_PTG_INERTIAL_TRANS_0.first, 0, false); + check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_PTG_INERTIAL.first, + &EIVE_SEQUENCE_PTG_INERTIAL.second, EIVE_SEQUENCE_IDLE.first)), + ctxc); +} + } // namespace diff --git a/mission/tcs/Tmp1075Definitions.h b/mission/tcs/Tmp1075Definitions.h index 946ac82e..345146e6 100644 --- a/mission/tcs/Tmp1075Definitions.h +++ b/mission/tcs/Tmp1075Definitions.h @@ -29,7 +29,7 @@ static const uint8_t MAX_REPLY_LENGTH = GET_TEMP_REPLY_SIZE; enum Tmp1075PoolIds : lp_id_t { TEMPERATURE_C_TMP1075 }; -class Tmp1075Dataset : public StaticLocalDataSet { +class Tmp1075Dataset : public StaticLocalDataSet<2> { public: Tmp1075Dataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TMP1075_DATA_SET_ID) {} diff --git a/tmtc b/tmtc index 5fbd19bb..e0e9a310 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 5fbd19bb6cca0790373a809d78f2307adca9d0c8 +Subproject commit e0e9a310b9a49bee742b9cf0f98baccfab3b03ee