eive-obsw/linux/payload/PlocMpsocHelper.cpp
Robin Mueller 63b50e6101
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2023-03-26 16:42:00 +02:00

356 lines
11 KiB
C++

#include <linux/payload/PlocMpsocHelper.h>
#include <filesystem>
#include <fstream>
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/FilesystemHelper.h"
#endif
#include "mission/utility/Timestamp.h"
using namespace ploc;
PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
}
PlocMPSoCHelper::~PlocMPSoCHelper() {}
ReturnValue_t PlocMPSoCHelper::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = returnvalue::OK;
semaphore.acquire();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "PLOC MPSOC Helper");
#endif
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
sequenceCount = sequenceCount_;
}
ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
ReturnValue_t result = returnvalue::OK;
#ifdef XIPHOS_Q7S
result = FilesystemHelper::checkPath(obcFile);
if (result != returnvalue::OK) {
return result;
}
result = FilesystemHelper::fileExists(mpsocFile);
if (result != returnvalue::OK) {
return result;
}
#endif
#ifdef TE0720_1CFA
if (not std::filesystem::exists(obcFile)) {
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
<< std::endl;
return returnvalue::FAILED;
}
#endif
flashWrite.obcFile = obcFile;
flashWrite.mpsocFile = mpsocFile;
internalState = InternalState::FLASH_WRITE;
result = resetHelper();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::resetHelper() {
ReturnValue_t result = returnvalue::OK;
semaphore.release();
spParams.buf = commandBuffer;
terminate = false;
result = uartComIF->flushUartRxBuffer(comCookie);
return result;
}
void PlocMPSoCHelper::stopProcess() { terminate = true; }
ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
ReturnValue_t result = returnvalue::OK;
result = flashfopen();
if (result != returnvalue::OK) {
return result;
}
uint8_t tempData[mpsoc::MAX_DATA_SIZE];
std::ifstream file(flashWrite.obcFile, std::ifstream::binary);
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
size_t remainingSize = file.tellg();
size_t dataLength = 0;
size_t bytesRead = 0;
while (remainingSize > 0) {
if (terminate) {
return returnvalue::OK;
}
if (remainingSize > mpsoc::MAX_DATA_SIZE) {
dataLength = mpsoc::MAX_DATA_SIZE;
} else {
dataLength = remainingSize;
}
if (file.is_open()) {
file.seekg(bytesRead, file.beg);
file.read(reinterpret_cast<char*>(tempData), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
} else {
return FILE_CLOSED_ACCIDENTALLY;
}
(*sequenceCount)++;
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
result = tc.buildPacket(tempData, dataLength);
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(tc);
if (result != returnvalue::OK) {
return result;
}
}
result = flashfclose();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::flashfopen() {
ReturnValue_t result = returnvalue::OK;
spParams.buf = commandBuffer;
(*sequenceCount)++;
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND);
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(flashFopen);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::flashfclose() {
ReturnValue_t result = returnvalue::OK;
spParams.buf = commandBuffer;
(*sequenceCount)++;
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
result = flashFclose.createPacket(flashWrite.mpsocFile);
if (result != returnvalue::OK) {
return result;
}
result = handlePacketTransmission(flashFclose);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
result = handleExe();
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
return result;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::handleAck() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception(mpsoc::SIZE_ACK_REPORT);
if (result != returnvalue::OK) {
return result;
}
SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
result = checkReceivedTm(tmPacket);
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = tmPacket.getApid();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(apid);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::ACK_FAILURE) {
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
<< "report" << std::endl;
} else {
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMPSoCHelper::handleExe() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception(mpsoc::SIZE_EXE_REPORT);
if (result != returnvalue::OK) {
return result;
}
ploc::SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
result = checkReceivedTm(tmPacket);
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = tmPacket.getApid();
if (apid != mpsoc::apid::EXE_SUCCESS) {
handleExeApidFailure(apid);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
if (apid == mpsoc::apid::EXE_FAILURE) {
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
<< "report" << std::endl;
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMPSoCHelper::handleTmReception(size_t remainingBytes) {
ReturnValue_t result = returnvalue::OK;
size_t readBytes = 0;
size_t currentBytes = 0;
for (int retries = 0; retries < RETRIES; retries++) {
result = receive(tmBuf.data() + readBytes, &currentBytes, remainingBytes);
if (result != returnvalue::OK) {
return result;
}
readBytes += currentBytes;
remainingBytes = remainingBytes - currentBytes;
if (remainingBytes == 0) {
break;
}
}
if (remainingBytes != 0) {
sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
}
return result;
}
ReturnValue_t PlocMPSoCHelper::checkReceivedTm(SpTmReader& reader) {
ReturnValue_t result = reader.checkSize();
if (result != returnvalue::OK) {
sif::error << "PlocMPSoCHelper::handleTmReception: Size check on received TM failed"
<< std::endl;
triggerEvent(MPSOC_TM_SIZE_ERROR);
return result;
}
reader.checkCrc();
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
return result;
}
(*sequenceCount)++;
uint16_t recvSeqCnt = reader.getSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
}
return returnvalue::OK;
}
ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
ReturnValue_t result = returnvalue::OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return returnvalue::FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
}
return result;
}