345 lines
11 KiB
C++
345 lines
11 KiB
C++
#include "CcsdsIpCoreHandler.h"
|
|
|
|
#include <fsfw/subsystem/helper.h>
|
|
#include <linux/ipcore/PtmeConfig.h>
|
|
#include <mission/config/comCfg.h>
|
|
|
|
#include "eive/definitions.h"
|
|
#include "fsfw/ipc/QueueFactory.h"
|
|
#include "fsfw/objectmanager/ObjectManager.h"
|
|
#include "fsfw/serialize/SerializeAdapter.h"
|
|
#include "fsfw/serviceinterface/ServiceInterface.h"
|
|
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
|
|
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
|
|
|
|
CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
|
|
object_id_t tcDestination, PtmeConfig* ptmeConfig,
|
|
GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData)
|
|
: SystemObject(objectId),
|
|
ptmeId(ptmeId),
|
|
tcDestination(tcDestination),
|
|
parameterHelper(this),
|
|
actionHelper(this, nullptr),
|
|
modeHelper(this),
|
|
ptmeConfig(ptmeConfig),
|
|
gpioIF(gpioIF),
|
|
enTxClock(enTxClock),
|
|
enTxData(enTxData) {
|
|
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
|
|
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
|
|
eventQueue =
|
|
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
|
|
}
|
|
|
|
CcsdsIpCoreHandler::~CcsdsIpCoreHandler() {}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
|
|
readCommandQueue();
|
|
handleTelemetry();
|
|
handleTelecommands();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::handleTelemetry() {
|
|
VirtualChannelMapIter iter;
|
|
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
|
|
iter->second->performOperation();
|
|
}
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::handleTelecommands() {}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::initialize() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
PtmeIF* ptme = ObjectManager::instance()->get<PtmeIF>(ptmeId);
|
|
if (ptme == nullptr) {
|
|
sif::warning << "Invalid PTME object" << std::endl;
|
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
}
|
|
|
|
AcceptsTelecommandsIF* tcDistributor =
|
|
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
|
|
if (tcDistributor == nullptr) {
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
sif::error << "CcsdsHandler::initialize: Invalid TC Distributor object" << std::endl;
|
|
#endif
|
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
}
|
|
|
|
tcDistributorQueueId = tcDistributor->getRequestQueue();
|
|
|
|
result = parameterHelper.initialize();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
result = actionHelper.initialize(commandQueue);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
result = modeHelper.initialize();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
VirtualChannelMapIter iter;
|
|
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
|
|
result = iter->second->initialize();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
iter->second->setPtmeObject(ptme);
|
|
}
|
|
|
|
result = ptmeConfig->initialize();
|
|
if (result != returnvalue::OK) {
|
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
}
|
|
|
|
#if OBSW_SYRLINKS_SIMULATED == 1
|
|
// Update data on rising edge
|
|
ptmeConfig->invertTxClock(false);
|
|
linkState = UP;
|
|
forwardLinkstate();
|
|
#endif /* OBSW_SYRLINKS_SIMULATED == 1*/
|
|
|
|
return result;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::readCommandQueue(void) {
|
|
CommandMessage commandMessage;
|
|
ReturnValue_t result = returnvalue::FAILED;
|
|
|
|
result = commandQueue->receiveMessage(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
result = parameterHelper.handleParameterMessage(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
return;
|
|
}
|
|
result = actionHelper.handleActionMessage(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
return;
|
|
}
|
|
result = modeHelper.handleModeCommand(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
return;
|
|
}
|
|
CommandMessage reply;
|
|
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
|
|
commandQueue->reply(&reply);
|
|
return;
|
|
}
|
|
}
|
|
|
|
MessageQueueId_t CcsdsIpCoreHandler::getCommandQueue() const { return commandQueue->getId(); }
|
|
|
|
void CcsdsIpCoreHandler::addVirtualChannel(VcId_t vcId, VirtualChannel* virtualChannel) {
|
|
if (vcId > config::NUMBER_OF_VIRTUAL_CHANNELS) {
|
|
sif::warning << "CcsdsHandler::addVirtualChannel: Invalid virtual channel ID" << std::endl;
|
|
return;
|
|
}
|
|
|
|
if (virtualChannel == nullptr) {
|
|
sif::warning << "CcsdsHandler::addVirtualChannel: Invalid virtual channel interface"
|
|
<< std::endl;
|
|
return;
|
|
}
|
|
|
|
auto status = virtualChannelMap.emplace(vcId, virtualChannel);
|
|
if (status.second == false) {
|
|
sif::warning << "CcsdsHandler::addVirtualChannel: Failed to add virtual channel to "
|
|
"virtual channel map"
|
|
<< std::endl;
|
|
return;
|
|
}
|
|
}
|
|
|
|
MessageQueueId_t CcsdsIpCoreHandler::getReportReceptionQueue(uint8_t virtualChannel) const {
|
|
if (virtualChannel < config::NUMBER_OF_VIRTUAL_CHANNELS) {
|
|
auto iter = virtualChannelMap.find(virtualChannel);
|
|
if (iter != virtualChannelMap.end()) {
|
|
return iter->second->getReportReceptionQueue();
|
|
} else {
|
|
sif::warning << "CcsdsHandler::getReportReceptionQueue: Virtual channel with ID "
|
|
<< static_cast<unsigned int>(virtualChannel) << " not in virtual channel map"
|
|
<< std::endl;
|
|
return MessageQueueIF::NO_QUEUE;
|
|
}
|
|
} else {
|
|
sif::debug << "CcsdsHandler::getReportReceptionQueue: Invalid virtual channel requested";
|
|
}
|
|
return MessageQueueIF::NO_QUEUE;
|
|
}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
|
|
ParameterWrapper* parameterWrapper,
|
|
const ParameterWrapper* newValues,
|
|
uint16_t startAtIndex) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
uint32_t CcsdsIpCoreHandler::getIdentifier() const { return 0; }
|
|
|
|
MessageQueueId_t CcsdsIpCoreHandler::getRequestQueue() const {
|
|
// Forward packets directly to TC distributor
|
|
return tcDistributorQueueId;
|
|
}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
|
const uint8_t* data, size_t size) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
switch (actionId) {
|
|
case SET_LOW_RATE: {
|
|
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
|
|
result = ptmeConfig->setRate(RATE_100KBPS);
|
|
break;
|
|
}
|
|
case SET_HIGH_RATE: {
|
|
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
|
|
result = ptmeConfig->setRate(RATE_500KBPS);
|
|
break;
|
|
}
|
|
case ARBITRARY_RATE: {
|
|
uint32_t bitrate = 0;
|
|
SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
|
|
result = ptmeConfig->setRate(bitrate);
|
|
break;
|
|
}
|
|
case EN_TRANSMITTER: {
|
|
enableTransmit();
|
|
if (mode == HasModesIF::MODE_OFF) {
|
|
mode = HasModesIF::MODE_ON;
|
|
}
|
|
return EXECUTION_FINISHED;
|
|
}
|
|
case DISABLE_TRANSMITTER: {
|
|
disableTransmit();
|
|
if (mode == HasModesIF::MODE_ON) {
|
|
mode = HasModesIF::MODE_OFF;
|
|
}
|
|
return EXECUTION_FINISHED;
|
|
}
|
|
case ENABLE_TX_CLK_MANIPULATOR: {
|
|
result = ptmeConfig->configTxManipulator(true);
|
|
break;
|
|
}
|
|
case DISABLE_TX_CLK_MANIPULATOR: {
|
|
result = ptmeConfig->configTxManipulator(false);
|
|
break;
|
|
}
|
|
case UPDATE_ON_RISING_EDGE: {
|
|
result = ptmeConfig->invertTxClock(false);
|
|
break;
|
|
}
|
|
case UPDATE_ON_FALLING_EDGE: {
|
|
result = ptmeConfig->invertTxClock(true);
|
|
break;
|
|
}
|
|
default:
|
|
return COMMAND_NOT_IMPLEMENTED;
|
|
}
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return EXECUTION_FINISHED;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::forwardLinkstate() {
|
|
VirtualChannelMapIter iter;
|
|
for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
|
|
iter->second->setLinkState(linkState);
|
|
}
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::enableTransmit() {
|
|
#ifndef TE0720_1CFA
|
|
gpioIF->pullHigh(enTxClock);
|
|
gpioIF->pullHigh(enTxData);
|
|
#endif
|
|
linkState = UP;
|
|
forwardLinkstate();
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
|
|
*mode = this->mode;
|
|
*submode = this->submode;
|
|
}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submode,
|
|
uint32_t* msToReachTheMode) {
|
|
if (mode == HasModesIF::MODE_ON) {
|
|
if (submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
|
|
submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
|
|
submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
|
|
return HasModesIF::INVALID_SUBMODE;
|
|
}
|
|
} else if (mode != HasModesIF::MODE_OFF) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
*msToReachTheMode = 2000;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
|
|
auto rateHigh = [&]() {
|
|
ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
|
|
if (result == returnvalue::OK) {
|
|
this->mode = HasModesIF::MODE_ON;
|
|
}
|
|
};
|
|
auto rateLow = [&]() {
|
|
ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
|
|
if (result == returnvalue::OK) {
|
|
this->mode = HasModesIF::MODE_ON;
|
|
}
|
|
};
|
|
if (mode == HasModesIF::MODE_ON) {
|
|
enableTransmit();
|
|
if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
|
|
com::Datarate currentDatarate = com::getCurrentDatarate();
|
|
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
|
|
rateLow();
|
|
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
|
|
rateHigh();
|
|
}
|
|
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
|
|
rateHigh();
|
|
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
|
|
rateLow();
|
|
}
|
|
|
|
} else if (mode == HasModesIF::MODE_OFF) {
|
|
disableTransmit();
|
|
this->mode = HasModesIF::MODE_OFF;
|
|
}
|
|
this->submode = submode;
|
|
modeHelper.modeChanged(mode, submode);
|
|
announceMode(false);
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
|
|
|
|
void CcsdsIpCoreHandler::disableTransmit() {
|
|
#ifndef TE0720_1CFA
|
|
gpioIF->pullLow(enTxClock);
|
|
gpioIF->pullLow(enTxData);
|
|
#endif
|
|
linkState = DOWN;
|
|
forwardLinkstate();
|
|
}
|
|
|
|
const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
|
|
|
|
const HasHealthIF* CcsdsIpCoreHandler::getOptHealthIF() const { return nullptr; }
|
|
|
|
const HasModesIF& CcsdsIpCoreHandler::getModeIF() const { return *this; }
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
|
|
return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
|
|
}
|
|
|
|
ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
|
|
|
|
object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
|