538 lines
18 KiB
C++
538 lines
18 KiB
C++
#include "../../bsp_q7s/devices/ploc/PlocMPSoCHandler.h"
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#include "OBSWConfig.h"
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
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CookieIF * comCookie) :
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DeviceHandlerBase(objectId, uartComIFid, comCookie) {
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if (comCookie == NULL) {
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sif::error << "PlocMPSoCHandler: Invalid com cookie" << std::endl;
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}
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}
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PlocMPSoCHandler::~PlocMPSoCHandler() {
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}
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ReturnValue_t PlocMPSoCHandler::initialize() {
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ReturnValue_t result = RETURN_OK;
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result = DeviceHandlerBase::initialize();
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if (result != RETURN_OK) {
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return result;
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}
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uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
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if (uartComIf == nullptr) {
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sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return result;
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}
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void PlocMPSoCHandler::doStartUp(){
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#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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setMode(MODE_NORMAL);
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#else
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setMode(_MODE_TO_ON);
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#endif
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}
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void PlocMPSoCHandler::doShutDown(){
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(
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DeviceCommandId_t * id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(
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DeviceCommandId_t * id){
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t * commandData,
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size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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switch(deviceCommand) {
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case(mpsoc::TC_MEM_WRITE): {
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result = prepareTcMemWriteCommand(commandData, commandDataLen);
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break;
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}
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case(mpsoc::TC_MEM_READ): {
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result = prepareTcMemReadCommand(commandData, commandDataLen);
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break;
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}
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case(mpsoc::TC_FLASHFOPEN): {
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result = prepareFlashFopenCmd(commandData, commandDataLen);
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break;
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}
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default:
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sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented" << std::endl;
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result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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break;
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}
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if (result == RETURN_OK) {
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/**
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* Flushing the receive buffer to make sure there are no data left from a faulty reply.
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*/
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uartComIf->flushUartRxBuffer(comCookie);
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}
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return result;
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}
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void PlocMPSoCHandler::fillCommandAndReplyMap() {
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this->insertInCommandMap(mpsoc::TC_MEM_WRITE);
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this->insertInCommandMap(mpsoc::TC_MEM_READ);
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this->insertInCommandMap(mpsoc::TC_FLASHFOPEN);
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this->insertInReplyMap(mpsoc::ACK_REPORT, 1, nullptr, mpsoc::SIZE_ACK_REPORT);
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this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
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this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
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}
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ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t *start,
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size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
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ReturnValue_t result = RETURN_OK;
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uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;
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switch(apid) {
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case(mpsoc::apid::ACK_SUCCESS):
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*foundLen = mpsoc::SIZE_ACK_REPORT;
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*foundId = mpsoc::ACK_REPORT;
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break;
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case(mpsoc::apid::ACK_FAILURE):
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*foundLen = mpsoc::SIZE_ACK_REPORT;
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*foundId = mpsoc::ACK_REPORT;
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break;
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case(mpsoc::apid::TM_MEMORY_READ_REPORT):
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*foundLen = mpsoc::SIZE_TM_MEM_READ_REPORT;
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*foundId = mpsoc::TM_MEMORY_READ_REPORT;
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break;
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case(mpsoc::apid::EXE_SUCCESS):
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*foundLen = mpsoc::SIZE_EXE_REPORT;
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*foundId = mpsoc::EXE_REPORT;
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break;
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case(mpsoc::apid::EXE_FAILURE):
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*foundLen = mpsoc::SIZE_EXE_REPORT;
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*foundId = mpsoc::EXE_REPORT;
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break;
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default: {
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sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
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*foundLen = remainingSize;
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return INVALID_APID;
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}
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}
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result = checkPacketSequenceCount(start);
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return result;
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}
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ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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ReturnValue_t result = RETURN_OK;
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switch (id) {
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case mpsoc::ACK_REPORT: {
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result = handleAckReport(packet);
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break;
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}
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case (mpsoc::TM_MEMORY_READ_REPORT): {
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result = handleMemoryReadReport(packet);
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break;
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}
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case (mpsoc::EXE_REPORT): {
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result = handleExecutionReport(packet);
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break;
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}
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default: {
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sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return result;
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}
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void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid(){
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}
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uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
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return 500;
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}
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ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PlocMPSoCHandler::setModeNormal() {
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mode = MODE_NORMAL;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcMemWriteCommand(const uint8_t * commandData,
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size_t commandDataLen) {
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const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
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| *(commandData + 2) << 8 | *(commandData + 3);
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const uint32_t memoryData = *(commandData + 4) << 24 | *(commandData + 5) << 16
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| *(commandData + 6) << 8 | *(commandData + 7);
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packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
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mpsoc::TcMemWrite tcMemWrite(memoryAddress, memoryData, packetSequenceCount);
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if (tcMemWrite.getFullSize() > mpsoc::MAX_COMMAND_SIZE) {
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sif::debug << "PlocMPSoCHandler::prepareTcMemWriteCommand: Command too big" << std::endl;
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return RETURN_FAILED;
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}
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memcpy(commandBuffer, tcMemWrite.getWholeData(), tcMemWrite.getFullSize());
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rawPacket = commandBuffer;
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rawPacketLen = tcMemWrite.getFullSize();
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nextReplyId = mpsoc::ACK_REPORT;
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcMemReadCommand(const uint8_t * commandData,
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size_t commandDataLen) {
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const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
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| *(commandData + 2) << 8 | *(commandData + 3);
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packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
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mpsoc::TcMemRead tcMemRead(memoryAddress, packetSequenceCount);
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if (tcMemRead.getFullSize() > mpsoc::MAX_COMMAND_SIZE) {
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sif::debug << "PlocMPSoCHandler::prepareTcMemReadCommand: Command too big" << std::endl;
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return RETURN_FAILED;
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}
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memcpy(commandBuffer, tcMemRead.getWholeData(), tcMemRead.getFullSize());
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rawPacket = commandBuffer;
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rawPacketLen = tcMemRead.getFullSize();
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nextReplyId = mpsoc::ACK_REPORT;
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareFlashFopenCmd(const uint8_t * commandData,
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size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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packetSequenceCount = (packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK;
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mpsoc::FlashFopen flashFopen(packetSequenceCount);
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result = flashFopen.createPacket(commandData, commandDataLen);
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if (result != RETURN_OK) {
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return result;
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}
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copyToCommandBuffer(&flashFopen);
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return RETURN_OK;
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}
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void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
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if (tc == nullptr) {
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sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
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}
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memcpy(commandBuffer, tc->getWholeData(), tc->getFullSize());
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rawPacket = commandBuffer;
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rawPacketLen = tc->getFullSize();
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nextReplyId = mpsoc::ACK_REPORT;
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}
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ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
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uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
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uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
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if (receivedCrc != recalculatedCrc) {
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return CRC_FAILURE;
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}
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
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ReturnValue_t result = RETURN_OK;
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result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
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if(result == CRC_FAILURE) {
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sif::error << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
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nextReplyId = mpsoc::NONE;
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replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
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triggerEvent(CRC_FAILURE_EVENT);
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sendFailureReport(mpsoc::ACK_REPORT, CRC_FAILURE);
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disableAllReplies();
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return IGNORE_REPLY_DATA;
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}
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uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
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switch(apid) {
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case mpsoc::apid::ACK_FAILURE: {
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//TODO: Interpretation of status field in acknowledgment report
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sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
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DeviceCommandId_t commandId = getPendingCommand();
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if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
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triggerEvent(ACK_FAILURE, commandId);
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}
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sendFailureReport(mpsoc::ACK_REPORT, RECEIVED_ACK_FAILURE);
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disableAllReplies();
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nextReplyId = mpsoc::NONE;
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result = IGNORE_REPLY_DATA;
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break;
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}
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case mpsoc::apid::ACK_SUCCESS: {
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setNextReplyId();
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break;
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}
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default: {
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sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
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result = RETURN_FAILED;
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break;
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}
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
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ReturnValue_t result = RETURN_OK;
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result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
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if(result == CRC_FAILURE) {
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sif::error << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
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nextReplyId = mpsoc::NONE;
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return result;
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}
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uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
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switch (apid) {
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case (mpsoc::apid::EXE_SUCCESS): {
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break;
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}
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case (mpsoc::apid::EXE_FAILURE): {
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//TODO: Interpretation of status field in execution report
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sif::error << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
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<< std::endl;
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DeviceCommandId_t commandId = getPendingCommand();
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if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
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triggerEvent(EXE_FAILURE, commandId);
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}
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else {
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sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
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}
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sendFailureReport(mpsoc::EXE_REPORT, RECEIVED_EXE_FAILURE);
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disableExeReportReply();
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result = IGNORE_REPLY_DATA;
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break;
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}
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default: {
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sif::error << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
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result = RETURN_FAILED;
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break;
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}
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}
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nextReplyId = mpsoc::NONE;
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return result;
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}
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ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
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ReturnValue_t result = RETURN_OK;
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result = verifyPacket(data, mpsoc::SIZE_TM_MEM_READ_REPORT);
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if(result == CRC_FAILURE) {
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sif::error << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
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<< std::endl;
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}
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/** Send data to commanding queue */
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handleDeviceTM(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_REPORT_DATA,
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mpsoc::TM_MEMORY_READ_REPORT);
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nextReplyId = mpsoc::EXE_REPORT;
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return result;
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}
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ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
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uint8_t expectedReplies, bool useAlternateId,
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DeviceCommandId_t alternateReplyID) {
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ReturnValue_t result = RETURN_OK;
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uint8_t enabledReplies = 0;
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switch (command->first) {
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case mpsoc::TC_MEM_WRITE:
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case mpsoc::TC_FLASHFOPEN:
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enabledReplies = 2;
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break;
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case mpsoc::TC_MEM_READ: {
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enabledReplies = 3;
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result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
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mpsoc::TM_MEMORY_READ_REPORT);
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if (result != RETURN_OK) {
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sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
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<< mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
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}
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break;
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}
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default:
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sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
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break;
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}
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/**
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* Every command causes at least one acknowledgment and one execution report. Therefore both
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* replies will be enabled here.
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*/
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result = DeviceHandlerBase::enableReplyInReplyMap(command,
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enabledReplies, true, mpsoc::ACK_REPORT);
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if (result != RETURN_OK) {
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sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::ACK_REPORT
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<< " not in replyMap" << std::endl;
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}
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result = DeviceHandlerBase::enableReplyInReplyMap(command,
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enabledReplies, true, mpsoc::EXE_REPORT);
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if (result != RETURN_OK) {
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sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::EXE_REPORT
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<< " not in replyMap" << std::endl;
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}
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return RETURN_OK;
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}
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void PlocMPSoCHandler::setNextReplyId() {
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switch(getPendingCommand()) {
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case mpsoc::TC_MEM_READ:
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nextReplyId = mpsoc::TM_MEMORY_READ_REPORT;
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break;
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default:
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/* If no telemetry is expected the next reply is always the execution report */
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nextReplyId = mpsoc::EXE_REPORT;
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break;
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}
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}
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size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId){
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size_t replyLen = 0;
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if (nextReplyId == mpsoc::NONE) {
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return replyLen;
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}
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DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
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if (iter != deviceReplyMap.end()) {
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if (iter->second.delayCycles == 0) {
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/* Reply inactive */
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return replyLen;
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}
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replyLen = iter->second.replyLen;
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}
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else {
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sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
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<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
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}
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return replyLen;
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}
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void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
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ReturnValue_t result = RETURN_OK;
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if (wiretappingMode == RAW) {
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/* Data already sent in doGetRead() */
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return;
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}
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DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
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if (iter == deviceReplyMap.end()) {
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sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
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return;
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}
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MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
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if (queueId == NO_COMMANDER) {
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return;
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}
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result = actionHelper.reportData(queueId, replyId, data, dataSize);
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if (result != RETURN_OK) {
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sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
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}
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}
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void PlocMPSoCHandler::disableAllReplies() {
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DeviceReplyMap::iterator iter;
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/* Disable ack reply */
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iter = deviceReplyMap.find(mpsoc::ACK_REPORT);
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DeviceReplyInfo *info = &(iter->second);
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info->delayCycles = 0;
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info->command = deviceCommandMap.end();
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DeviceCommandId_t commandId = getPendingCommand();
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/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
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switch (commandId) {
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case mpsoc::TC_MEM_WRITE:
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case mpsoc::TC_FLASHFOPEN:
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break;
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case mpsoc::TC_MEM_READ: {
|
|
iter = deviceReplyMap.find(mpsoc::TM_MEMORY_READ_REPORT);
|
|
info = &(iter->second);
|
|
info->delayCycles = 0;
|
|
info->command = deviceCommandMap.end();
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* We must always disable the execution report reply here */
|
|
disableExeReportReply();
|
|
}
|
|
|
|
void PlocMPSoCHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
|
|
|
|
DeviceReplyIter iter = deviceReplyMap.find(replyId);
|
|
|
|
if (iter == deviceReplyMap.end()) {
|
|
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
|
|
return;
|
|
}
|
|
|
|
DeviceCommandInfo* info = &(iter->second.command->second);
|
|
|
|
if (info == nullptr) {
|
|
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply has no active command" << std::endl;
|
|
return;
|
|
}
|
|
|
|
if (info->sendReplyTo != NO_COMMANDER) {
|
|
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
|
|
}
|
|
info->isExecuting = false;
|
|
}
|
|
|
|
void PlocMPSoCHandler::disableExeReportReply() {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
DeviceReplyInfo *info = &(iter->second);
|
|
info->delayCycles = 0;
|
|
info->command = deviceCommandMap.end();
|
|
/* Expected replies is set to one here. The value will set to 0 in replyToReply() */
|
|
info->command->second.expectedReplies = 0;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::checkPacketSequenceCount(const uint8_t* data) {
|
|
uint16_t receivedSeqCnt = (*(data + 2) << 8 | *(data + 3)) & PACKET_SEQUENCE_COUNT_MASK;
|
|
uint16_t expectedSeqCnt = ((packetSequenceCount + 1) & PACKET_SEQUENCE_COUNT_MASK);
|
|
if (receivedSeqCnt != expectedSeqCnt) {
|
|
sif::warning << "PlocMPSoCHandler::checkPacketSequenceCount: Packet sequence count "
|
|
"mismatch. Received: " << receivedSeqCnt << ", Expected: "
|
|
<< expectedSeqCnt << std::endl;
|
|
triggerEvent(SEQ_CNT_MISMATCH, expectedSeqCnt, receivedSeqCnt);
|
|
}
|
|
packetSequenceCount = receivedSeqCnt;
|
|
return RETURN_OK;
|
|
}
|