#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
#include <linux/payload/PlocMpsocHelper.h>
#include <linux/payload/mpsocRetvals.h>
#include <linux/payload/plocMpscoDefs.h>
#include <linux/payload/plocSupvDefs.h>
#include <string>
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/action/CommandsActionsIF.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/tmtcservices/SourceSequenceCounter.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "fsfw_hal/linux/serial/SerialComIF.h"
/**
* @brief This is the device handler for the MPSoC of the payload computer.
*
* @details The PLOC uses the space packet protocol for communication. Each command will be
* answered with at least one acknowledgment and one execution report.
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_MPSoC ICD:
* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
*
* @note The sequence count in the space packets must be incremented with each received and sent
* packet otherwise the MPSoC will reply with an acknowledgment failure report.
*
* @author J. Meier
*/
class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
public:
/**
* @brief Constructor
*
* @param ojectId Object ID of the MPSoC handler
* @param uartcomIFid Object ID of the UART communication interface
* @param comCookie UART communication cookie
* @param plocMPSoCHelper Pointer to MPSoC helper object
* @param uartIsolatorSwitch Gpio object representing the GPIO connected to the UART isolator
* module in the programmable logic
* @param supervisorHandler Object ID of the supervisor handler
*/
PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF* comCookie,
PlocMPSoCHelper* plocMPSoCHelper, Gpio uartIsolatorSwitch,
object_id_t supervisorHandler);
virtual ~PlocMPSoCHandler();
virtual ReturnValue_t initialize() override;
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
void performOperationHook() 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;
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;
virtual ReturnValue_t doSendReadHook() override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
//! P1: Command Id which leads the acknowledgment failure report
//! P2: The status field inserted by the MPSoC into the data field
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC receive execution failure report
//! P1: Command Id which leads the execution failure report
//! P2: The status field inserted by the MPSoC into the data field
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected
//! count P1: Expected sequence count P2: Received sequence count
static const Event MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Supervisor fails to shutdown MPSoC. Requires to power off the PLOC and
//! thus also to shutdown the supervisor.
static const Event MPSOC_SHUTDOWN_FAILED = MAKE_EVENT(6, severity::HIGH);
static const uint16_t APID_MASK = 0x7FF;
static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
static const uint8_t STATUS_OFFSET = 10;
MessageQueueIF* eventQueue = nullptr;
MessageQueueIF* commandActionHelperQueue = nullptr;
SourceSequenceCounter sequenceCount = SourceSequenceCounter(0);
uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
SpacePacketCreator creator;
ploc::SpTcParams spParams = ploc::SpTcParams(creator);
/**
* 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 = mpsoc::NONE;
SerialComIF* uartComIf = nullptr;
PlocMPSoCHelper* plocMPSoCHelper = nullptr;
Gpio uartIsolatorSwitch;
object_id_t supervisorHandler = 0;
CommandActionHelper commandActionHelper;
// Used to block incoming commands when MPSoC helper class is currently executing a command
bool plocMPSoCHelperExecuting = false;
struct TmMemReadReport {
static const uint8_t FIX_SIZE = 14;
size_t rememberRequestedSize = 0;
};
TmMemReadReport tmMemReadReport;
struct TmCamCmdRpt {
size_t rememberSpacePacketSize = 0;
};
TmCamCmdRpt tmCamCmdRpt;
struct TelemetryBuffer {
uint16_t length = 0;
uint8_t buffer[mpsoc::SP_MAX_SIZE];
};
TelemetryBuffer tmBuffer;
enum class PowerState { OFF, BOOTING, SHUTDOWN, ON };
PowerState powerState = PowerState::OFF;
/**
* @brief Handles events received from the PLOC MPSoC helper
*/
void handleEvent(EventMessage* eventMessage);
ReturnValue_t prepareTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcMemRead(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcReplayStop();
ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkPwrOff();
ReturnValue_t prepareTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeIdle();
ReturnValue_t prepareTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcSimplexSendFile(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareTcModeSnapshot();
void finishTcPrep(size_t packetLen);
/**
* @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 returnvalue::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 returnvalue::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 returnvalue::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 returnvalue::OK if successful, otherwise an error code.
*/
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
ReturnValue_t handleCamCmdRpt(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();
void printStatus(const uint8_t* data);
ReturnValue_t prepareTcModeReplay();
uint16_t getStatus(const uint8_t* data);
void handleActionCommandFailure(ActionId_t actionId);
std::string getStatusString(uint16_t status);
};
#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */