#ifndef MISSION_DEVICES_PLOCUPDATER_H_ #define MISSION_DEVICES_PLOCUPDATER_H_ #include "OBSWConfig.h" #include "devicedefinitions/PlocSupervisorDefinitions.h" #include "fsfw/action/CommandActionHelper.h" #include "fsfw/action/ActionHelper.h" #include "fsfw/action/HasActionsIF.h" #include "fsfw/action/CommandsActionsIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw/objectmanager/SystemObject.h" #include "bsp_q7s/memory/SdCardManager.h" #include "linux/fsfwconfig/objects/systemObjectList.h" #include "fsfw/tmtcpacket/SpacePacket.h" /** * @brief An object of this class can be used to perform the software updates of the PLOC. The * software update will be read from one of the SD cards, split into multiple space * packets and sent to the PlocSupervisorHandler. * * @details The MPSoC has two boot memories (NVM0 and NVM1) where each stores two images (Partition A * and Partition B) * * @author J. Meier */ class PlocUpdater : public SystemObject, public HasActionsIF, public ExecutableObjectIF, public HasReturnvaluesIF, public CommandsActionsIF { public: static const ActionId_t UPDATE_A_UBOOT = 0; static const ActionId_t UPDATE_A_BITSTREAM = 1; static const ActionId_t UPDATE_A_LINUX = 2; static const ActionId_t UPDATE_A_APP_SW = 3; static const ActionId_t UPDATE_B_UBOOT = 4; static const ActionId_t UPDATE_B_BITSTREAM = 5; static const ActionId_t UPDATE_B_LINUX = 6; static const ActionId_t UPDATE_B_APP_SW = 7; PlocUpdater(object_id_t objectId); virtual ~PlocUpdater(); ReturnValue_t performOperation(uint8_t operationCode = 0) override; ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, size_t size); MessageQueueId_t getCommandQueue() const; ReturnValue_t initialize() override; MessageQueueIF* getCommandQueuePtr() override; void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override; void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override; void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override; void completionSuccessfulReceived(ActionId_t actionId) override; void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override; private: static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_UPDATER; //! [EXPORT] : [COMMENT] Updater is already performing an update static const ReturnValue_t UPDATER_BUSY = MAKE_RETURN_CODE(0xA0); //! [EXPORT] : [COMMENT] Received update command with invalid path string (too long). static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1); //! [EXPORT] : [COMMENT] Received command to initiate update but SD card with update image not mounted. static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2); //! [EXPORT] : [COMMENT] Update file received with update command does not exist. static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_UPDATER; //! [EXPORT] : [COMMENT] Try to read update file but the file does not exist. //! P1: Indicates in which state the file read fails //! P2: During the update transfer the second parameter gives information about the number of already sent packets static const Event UPDATE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW); //! [EXPORT] : [COMMENT] Failed to send command to supervisor handler //! P1: Return value of CommandActionHelper::commandAction //! P2: Action ID of command to send static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW); //! [EXPORT] : [COMMENT] Supervisor handler replied action message indicating a command execution failure of the update available command static const Event UPDATE_AVAILABLE_FAILED = MAKE_EVENT(2, severity::LOW); //! [EXPORT] : [COMMENT] Supervisor handler failed to transfer an update space packet. //! P1: Parameter holds the number of update packets already sent (inclusive the failed packet) static const Event UPDATE_TRANSFER_FAILED = MAKE_EVENT(3, severity::LOW); //! [EXPORT] : [COMMENT] Supervisor failed to execute the update verify command. static const Event UPDATE_VERIFY_FAILED = MAKE_EVENT(4, severity::LOW); //! [EXPORT] : [COMMENT] MPSoC update successful completed static const Event UPDATE_FINISHED = MAKE_EVENT(5, severity::INFO); static const uint32_t QUEUE_SIZE = config::PLOC_UPDATER_QUEUE_SIZE; static const size_t MAX_PLOC_UPDATE_PATH = 50; static const size_t SD_PREFIX_LENGTH = 8; // Maximum size of update payload data per space packet (max size of space packet is 1024 bytes) static const size_t MAX_SP_DATA = 1016; static const uint32_t TOPBIT_32 = (1 << 31); static const uint32_t POLYNOMIAL_32 = 0x04C11DB7; static const uint32_t INITIAL_REMAINDER_32 = 0xFFFFFFFF; static const uint32_t FINAL_XOR_VALUE_32 = 0xFFFFFFFF; MessageQueueIF* commandQueue = nullptr; #if BOARD_TE0720 == 0 SdCardManager* sdcMan = nullptr; #endif CommandActionHelper commandActionHelper; ActionHelper actionHelper; enum class State: uint8_t { IDLE, UPDATE_AVAILABLE, UPDATE_TRANSFER, UPDATE_VERIFY, COMMAND_EXECUTING }; State state = State::IDLE; ActionId_t pendingCommand = PLOC_SPV::NONE; enum class Image: uint8_t { NONE, A, B }; Image image = Image::NONE; enum class Partition: uint8_t { NONE, UBOOT, BITSTREAM, LINUX_OS, APP_SW }; Partition partition = Partition::NONE; uint32_t packetsSent = 0; uint32_t remainingPackets = 0; // Number of packets required to transfer the update image uint32_t numOfUpdatePackets = 0; std::string updateFile; uint32_t imageSize = 0; uint32_t imageCrc = 0; void readCommandQueue(); void doStateMachine(); /** * @brief Extracts the path and name of the update image from the service 8 command data. */ ReturnValue_t getImageLocation(const uint8_t* data, size_t size); ReturnValue_t checkNameLength(size_t size); /** * @brief Prepares and sends update available command to PLOC supervisor handler. */ void commandUpdateAvailable(); /** * @brief Prepares and sends and update packet to the PLOC supervisor handler. */ void commandUpdatePacket(); /** * @brief Prepares and sends the update verification packet to the PLOC supervisor handler. */ void commandUpdateVerify(); #if BOARD_TE0720 == 0 /** * @brief Checks whether the SD card to read from is mounted or not. */ bool isSdCardMounted(sd::SdCard sdCard); #endif void calcImageCrc(); void adjustSequenceFlags(PLOC_SPV::UpdatePacket& packet); }; #endif /* MISSION_DEVICES_PLOCUPDATER_H_ */