#ifndef CCSDSHANDLER_H_
#define CCSDSHANDLER_H_
#include <fsfw/modes/HasModesIF.h>
#include <mission/tmtc/VirtualChannelWithQueue.h>
#include <cstdint>
#include <unordered_map>
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/events/EventMessage.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/parameters/ParameterHelper.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/subsystem/ModeTreeConnectionIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/timemanager/Countdown.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "linux/ipcore/PtmeConfig.h"
#include "mission/com/defs.h"
struct PtmeGpios {
gpioId_t enableTxClock = gpio::NO_GPIO;
gpioId_t enableTxData = gpio::NO_GPIO;
gpioId_t ptmeResetn = gpio::NO_GPIO;
};
/**
* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
* programmable logic of the Q7S.
*
* @details
* After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver). The IP core handler exposes
* a parameter to enable the priority selection mode for the PTME core.
*
* If the transmitter is on, the selection mode will be enabled when the transmitter goes off.
* If the transmitter is off, the update of the PTME will be done immediately on a parameter update.
* This is done because changing this parameter requires a reset of the PTME core to avoid bugs
* while the transmitter is enabled.
*
* @author J. Meier
*/
class CcsdsIpCoreHandler : public SystemObject,
public ExecutableObjectIF,
public ModeTreeChildIF,
public ModeTreeConnectionIF,
public HasModesIF,
public AcceptsTelecommandsIF,
public ReceivesParameterMessagesIF,
public HasActionsIF {
public:
enum ParamId : uint8_t { BAT_PRIORITY = 0 };
static const bool LINK_UP = true;
static const bool LINK_DOWN = false;
using VcId_t = uint8_t;
/**
* @brief Constructor
*
* @param objectId Object ID of the CCSDS handler
* @param ptmeId Object ID of the PTME object providing access to the PTME IP Core.
* @param tcDestination Object ID of object handling received TC space packets
* @param txRateSetter Object providing the functionality to switch the input bitrate of
* the S-Band transceiver.
* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
* @param enTxClock GPIO ID of RS485 tx clock enable
* @param enTxData GPIO ID of RS485 tx data enable
*/
CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination, PtmeConfig& ptmeConfig,
std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds);
~CcsdsIpCoreHandler();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t initialize();
MessageQueueId_t getCommandQueue() const override;
// ModesIF
void getMode(Mode_t* mode, Submode_t* submode) override;
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
void startTransition(Mode_t mode, Submode_t submode) override;
void announceMode(bool recursive) override;
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex);
uint32_t getIdentifier() const override;
MessageQueueId_t getRequestQueue() const override;
const char* getName() const override;
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size);
const HasHealthIF* getOptHealthIF() const override;
const HasModesIF& getModeIF() const override;
object_id_t getObjectId() const override;
ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
ModeTreeChildIF& getModeTreeChildIF() override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
static const uint32_t QUEUE_SIZE = config::CCSDS_HANDLER_QUEUE_SIZE;
static const ActionId_t SET_LOW_RATE = 0;
static const ActionId_t SET_HIGH_RATE = 1;
static const ActionId_t EN_TRANSMITTER = 2;
static const ActionId_t DISABLE_TRANSMITTER = 3;
static const ActionId_t ARBITRARY_RATE = 4;
static const ActionId_t ENABLE_TX_CLK_MANIPULATOR = 5;
static const ActionId_t DISABLE_TX_CLK_MANIPULATOR = 6;
// Will update data with respect to tx clock signal of cadu bitstream on rising edge
static const ActionId_t UPDATE_ON_RISING_EDGE = 7;
// Will update data with respect to tx clock signal of cadu bitstream on falling edge
static const ActionId_t UPDATE_ON_FALLING_EDGE = 8;
// Syrlinks supports two bitrates (200 kbps and 1000 kbps)
// Due to convolutional code added by the syrlinks the input frequency must be half the
// target frequency
static const uint32_t RATE_100KBPS = 100000;
static const uint32_t RATE_500KBPS = 500000;
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
// using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannelWithQueue*>;
// VirtualChannelMap virtualChannelMap;
std::atomic_bool& linkState;
object_id_t tcDestination;
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* eventQueue = nullptr;
ParameterHelper parameterHelper;
ActionHelper actionHelper;
Mode_t mode = HasModesIF::MODE_OFF;
Submode_t submode = static_cast<Submode_t>(com::CcsdsSubmode::UNSET);
ModeHelper modeHelper;
MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
PtmeConfig& ptmeConfig;
PtmeGpios ptmeGpios;
// BAT priority bit on by default to enable priority selection mode for the PTME.
uint8_t batPriorityParam = 0;
bool updateBatPriorityOnTxOff = false;
GpioIF* gpioIF = nullptr;
void readCommandQueue(void);
/**
* @brief Forward link state to virtual channels.
*/
void updateLinkState();
/**
* @brief Starts transmit timer and enables transmitter.
*/
void enableTransmit();
/**
* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
* RS485 transceiver chips to high.
*/
void disableTransmit();
/**
* The following set of functions configure the mode of the PTME bandwith allocation table (BAT)
* module. This consists of the following 2 steps:
* 1. Update the BAT priority bit in the PTME wrapper
* 2. Reset the PTME as specified in the datasheet.
*/
void enablePrioritySelectMode();
void disablePrioritySelectMode();
void updateBatPriorityFromParam();
};
#endif /* CCSDSHANDLER_H_ */