#ifndef MISSION_DEVICES_PLOCMPSOCHANDLER_H_
#define MISSION_DEVICES_PLOCMPSOCHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/PlocMPSoCDefinitions.h>
#include <cstring>
/**
* @brief This is the device handler for the MPSoC which is programmed by the ILH of the
* university of stuttgart.
*
* @details
* The PLOC uses the space packet protocol for communication. To each command the PLOC
* answers with at least one acknowledgment and one execution report.
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
* ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
* @author J. Meier
*/
class PlocMPSoCHandler : public DeviceHandlerBase {
public:
PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
virtual ~PlocMPSoCHandler();
/**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
*/
void setModeNormal();
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies = 1, bool useAlternateId = false,
DeviceCommandId_t alternateReplyID = 0) override;
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HANDLER;
//! Space Packet received from PLOC has invalid CRC
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
//! Received ACK failure reply from PLOC
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
//! Received execution failure reply from PLOC
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
//! Received space packet with invalid APID from PLOC
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
//! PLOC crc failure in telemetry packet
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! PLOC receive acknowledgment failure report
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! PLOC receive execution failure report
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! PLOC reply has invalid crc
static const Event CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
uint8_t commandBuffer[PLOC_MPSOC::MAX_COMMAND_SIZE];
/**
* @brief This object is incremented each time a packet is sent or received. By checking the
* packet sequence count of a received packet, no packets can be lost without noticing
* it. Only the least significant 14 bits represent the packet sequence count in a
* space packet. Thus the maximum value amounts to 16383 (0x3FFF).
* @note Normally this should never happen because the PLOC replies are always sent in a
* fixed order. However, the PLOC software checks this value and will return an ACK
* failure report in case the sequence count is not incremented with each transferred
* space packet.
*/
uint16_t packetSequenceCount = 0x3FFF;
/**
* 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
* report.
*/
DeviceCommandId_t nextReplyId = PLOC_MPSOC::NONE;
/**
* @brief This function fills the commandBuffer to initiate the write memory command.
*
* @param commandData Pointer to action command data.
* @param commanDataLen Size of command data in bytes.
*
* @return RETURN_OK if successful, else RETURN_FAILURE.
*/
ReturnValue_t prepareTcMemWriteCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief This function fills the commandBuffer to initiate the write reads command.
*
* @param commandData Pointer to action command data.
* @param commanDataLen Size of command data in bytes.
*
* @return RETURN_OK if successful, else RETURN_FAILURE.
*/
ReturnValue_t prepareTcMemReadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief This function checks the crc of the received PLOC reply.
*
* @param start Pointer to the first byte of the reply.
* @param foundLen Pointer to the length of the whole packet.
*
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
*/
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
/**
* @brief This function handles the acknowledgment report.
*
* @param data Pointer to the data holding the acknowledgment report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleAckReport(const uint8_t* data);
/**
* @brief This function handles the data of a execution report.
*
* @param data Pointer to the received data packet.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleExecutionReport(const uint8_t* data);
/**
* @brief This function handles the memory read report.
*
* @param data Pointer to the data buffer holding the memory read report.
*
* @return RETURN_OK if successful, otherwise an error code.
*/
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
/**
* @brief Depending on the current active command, this function sets the reply id of the
* next reply after a successful acknowledgment report has been received. This is
* required by the function getNextReplyLength() to identify the length of the next
* reply to read.
*/
void setNextReplyId();
/**
* @brief This function handles action message replies in case the telemetry has been
* requested by another object.
*
* @param data Pointer to the telemetry data.
* @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);
/**
* @brief In case an acknowledgment failure reply has been received this function disables
* all previously enabled commands and resets the exepected replies variable of an
* active command.
*/
void disableAllReplies();
/**
* @brief This function sends a failure report if the active action was commanded by an other
* object.
*
* @param replyId The id of the reply which signals a failure.
* @param status A status byte which gives information about the failure type.
*/
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
/**
* @brief This function disables the execution report reply. Within this function also the
* the variable expectedReplies of an active command will be set to 0.
*/
void disableExeReportReply();
/**
* @brief This function checks and increments the packet sequence count of a received space
* packet.
*
* @param data Pointer to a space packet.
*
* @return RETURN_OK if successful
*
* @details There should be never a case in which a wrong packet sequence count is received
* because the communication scheme between PLOC and OBC always follows a strict
* procedure. Thus this function mainly serves for debugging purposes to detected an
* invalid handling of the packet sequence count.
*/
ReturnValue_t checkPacketSequenceCount(const uint8_t* data);
};
#endif /* MISSION_DEVICES_PLOCMPSOCHANDLER_H_ */