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eive-obsw/linux/devices/ploc/PlocMPSoCHandler.cpp

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#include "PlocMPSoCHandler.h"
#include "OBSWConfig.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/CRC.h"
#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
// TODO this is work in progress in adapting to new actions
PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper,
Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
: DeviceHandlerBase(objectId, uartComIFid, comCookie),
plocMPSoCHelper(plocMPSoCHelper),
uartIsolatorSwitch(uartIsolatorSwitch),
supervisorHandler(supervisorHandler),
commandActionHelper(this) {
if (comCookie == nullptr) {
sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
commandActionHelperQueue =
QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}
PlocMPSoCHandler::~PlocMPSoCHandler() {}
ReturnValue_t PlocMPSoCHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
if (uartComIf == nullptr) {
sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
;
}
result = manager->registerListener(eventQueue->getId());
if (result != RETURN_OK) {
return result;
}
result = manager->subscribeToEventRange(
eventQueue->getId(), event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_FAILED),
event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PlocMPSoCHandler::initialize: Failed to subscribe to events from "
" ploc mpsoc helper"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = plocMPSoCHelper->setComIF(communicationInterface);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
plocMPSoCHelper->setComCookie(comCookie);
plocMPSoCHelper->setSequenceCount(&sequenceCount);
result = commandActionHelper.initialize();
if (result != HasReturnvaluesIF::RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return result;
}
void PlocMPSoCHandler::performOperationHook() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "PlocMPSoCHandler::performOperationHook: Did not subscribe to this event"
<< " message" << std::endl;
break;
}
}
CommandMessage message;
for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message);
result == RETURN_OK; result = commandActionHelperQueue->receiveMessage(&message)) {
result = commandActionHelper.handleReply(&message);
if (result == RETURN_OK) {
continue;
}
}
}
ReturnValue_t PlocMPSoCHandler::executeAction(Action* action) {
switch (PlocMpSoCCommands(action->getId())) {
case PlocMpSoCCommands::SET_UART_TX_TRISTATE: {
uartIsolatorSwitch.pullLow();
return EXECUTION_FINISHED;
break;
}
case PlocMpSoCCommands::RELEASE_UART_TX: {
uartIsolatorSwitch.pullHigh();
return EXECUTION_FINISHED;
break;
default:
break;
}
}
if (plocMPSoCHelperExecuting) {
return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
}
switch (PlocMpSoCCommands(action->getId())) {
case PlocMpSoCCommands::TC_FLASHWRITE: {
// refer handling to the handleAction() below
return action->handle();
}
case (PlocMpSoCCommands::OBSW_RESET_SEQ_COUNT): {
sequenceCount = 0;
return EXECUTION_FINISHED;
}
default:
break;
}
ReturnValue_t result = DeviceHandlerBase::executeAction(action);
if (result == RETURN_OK) {
/**
* Flushing the receive buffer to make sure there are no data left from a faulty reply.
*/
uartComIf->flushUartRxBuffer(comCookie);
}
return result;
}
void PlocMPSoCHandler::doStartUp() {
#ifdef XIPHOS_Q7S
#if not OBSW_MPSOC_JTAG_BOOT == 1
switch (powerState) {
case PowerState::OFF:
commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
powerState = PowerState::BOOTING;
break;
case PowerState::ON:
setMode(_MODE_TO_ON);
uartIsolatorSwitch.pullHigh();
break;
default:
break;
}
#else
powerState = PowerState::ON;
setMode(_MODE_TO_ON);
uartIsolatorSwitch.pullHigh();
#endif /* not MSPOC_JTAG_BOOT == 1 */
#else
powerState = PowerState::ON;
setMode(_MODE_TO_ON);
#endif /* XIPHOS_Q7S */
}
void PlocMPSoCHandler::doShutDown() {
#ifdef XIPHOS_Q7S
#if not OBSW_MPSOC_JTAG_BOOT == 1
switch (powerState) {
case PowerState::ON:
uartIsolatorSwitch.pullLow();
commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
powerState = PowerState::SHUTDOWN;
break;
case PowerState::OFF:
setMode(_MODE_POWER_DOWN);
break;
default:
break;
}
#else
uartIsolatorSwitch.pullLow();
setMode(_MODE_POWER_DOWN);
powerState = PowerState::OFF;
#endif
#endif
}
ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return NOTHING_TO_SEND;
}
void PlocMPSoCHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_MEM_WRITE));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_MEM_READ));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_FLASHDELETE));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_REPLAY_START));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_REPLAY_STOP));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_DOWNLINK_PWR_ON));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_DOWNLINK_PWR_OFF));
this->insertInCommandMap(
static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_REPLAY_WRITE_SEQUENCE));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_MODE_REPLAY));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_MODE_IDLE));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TC_CAM_CMD_SEND));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::RELEASE_UART_TX));
this->insertInCommandMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::SET_UART_TX_TRISTATE));
this->insertInReplyMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::ACK_REPORT), 3, nullptr,
mpsoc::SIZE_ACK_REPORT);
this->insertInReplyMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT), 3, nullptr,
mpsoc::SIZE_EXE_REPORT);
this->insertInReplyMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_MEMORY_READ_REPORT),
2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
this->insertInReplyMap(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_CAM_CMD_RPT), 2,
nullptr, SpacePacket::PACKET_MAX_SIZE);
}
ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
ReturnValue_t result = RETURN_OK;
SpacePacket spacePacket;
std::memcpy(spacePacket.getWholeData(), start, remainingSize);
uint16_t apid = spacePacket.getAPID();
switch (apid) {
case (mpsoc::apid::ACK_SUCCESS):
*foundLen = mpsoc::SIZE_ACK_REPORT;
*foundId = static_cast<DeviceCommandId_t>(PlocMpSoCCommands::ACK_REPORT);
break;
case (mpsoc::apid::ACK_FAILURE):
*foundLen = mpsoc::SIZE_ACK_REPORT;
*foundId = static_cast<DeviceCommandId_t>(PlocMpSoCCommands::ACK_REPORT);
break;
case (mpsoc::apid::TM_MEMORY_READ_REPORT):
*foundLen = tmMemReadReport.rememberRequestedSize;
*foundId = static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_MEMORY_READ_REPORT);
break;
case (mpsoc::apid::TM_CAM_CMD_RPT):
*foundLen = spacePacket.getFullSize();
tmCamCmdRpt.rememberSpacePacketSize = *foundLen;
*foundId = static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_CAM_CMD_RPT);
break;
case (mpsoc::apid::EXE_SUCCESS):
*foundLen = mpsoc::SIZE_EXE_REPORT;
*foundId = static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT);
break;
case (mpsoc::apid::EXE_FAILURE):
*foundLen = mpsoc::SIZE_EXE_REPORT;
*foundId = static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT);
break;
default: {
sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
*foundLen = remainingSize;
return MPSoCReturnValuesIF::INVALID_APID;
}
}
sequenceCount++;
uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
if (recvSeqCnt != sequenceCount) {
triggerEvent(MPSOC_HANDLER_SEQUENCE_COUNT_MISMATCH, sequenceCount, recvSeqCnt);
sequenceCount = recvSeqCnt;
}
return result;
}
ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
ReturnValue_t result = RETURN_OK;
PlocMpSoCCommands enumId = PlocMpSoCCommands(id);
switch (enumId) {
case PlocMpSoCCommands::ACK_REPORT: {
result = handleAckReport(packet);
break;
}
case (PlocMpSoCCommands::TM_MEMORY_READ_REPORT): {
result = handleMemoryReadReport(packet);
break;
}
case (PlocMpSoCCommands::TM_CAM_CMD_RPT): {
result = handleCamCmdRpt(packet);
break;
}
case (PlocMpSoCCommands::EXE_REPORT): {
result = handleExecutionReport(packet);
break;
}
default: {
sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return result;
}
void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {}
uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
void PlocMPSoCHandler::handleEvent(EventMessage* eventMessage) {
object_id_t objectId = eventMessage->getReporter();
switch (objectId) {
case objects::PLOC_MPSOC_HELPER: {
plocMPSoCHelperExecuting = false;
break;
}
default:
sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
break;
}
}
ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
return NOTHING_TO_SEND;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCMemWriteAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcMemWrite tcMemWrite(sequenceCount);
result = tcMemWrite.createPacket(action);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcMemWrite);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCMemReadAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcMemRead tcMemRead(sequenceCount);
// result = tcMemRead.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcMemRead);
tmMemReadReport.rememberRequestedSize = tcMemRead.getMemLen() * 4 + TmMemReadReport::FIX_SIZE;
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCFlashDeleteAction* action) {
// if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
// return MPSoCReturnValuesIF::NAME_TOO_LONG;
// }
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcFlashDelete tcFlashDelete(sequenceCount);
// result = tcFlashDelete.createPacket(
// std::string(reinterpret_cast<const char*>(commandData), commandDataLen));
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcFlashDelete);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCReplayStartAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcReplayStart tcReplayStart(sequenceCount);
// result = tcReplayStart.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcReplayStart);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCReplayStopAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcReplayStop tcReplayStop(sequenceCount);
result = tcReplayStop.createPacket();
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcReplayStop);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCDownlinkPwrOnAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(sequenceCount);
// result = tcDownlinkPwrOn.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcDownlinkPwrOn);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCDownlinkPwrOffAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(sequenceCount);
result = tcDownlinkPwrOff.createPacket();
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcDownlinkPwrOff);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCReplayWriteSequenceAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcReplayWriteSeq tcReplayWriteSeq(sequenceCount);
// result = tcReplayWriteSeq.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcReplayWriteSeq);
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCModeReplayAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcModeReplay tcModeReplay(sequenceCount);
result = tcModeReplay.createPacket();
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
memcpy(commandBuffer, tcModeReplay.getWholeData(), tcModeReplay.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcModeReplay.getFullSize();
nextReplyId = PlocMpSoCCommands::ACK_REPORT;
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCModeIdleAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcModeIdle tcModeIdle(sequenceCount);
result = tcModeIdle.createPacket();
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
memcpy(commandBuffer, tcModeIdle.getWholeData(), tcModeIdle.getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tcModeIdle.getFullSize();
nextReplyId = PlocMpSoCCommands::ACK_REPORT;
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCCamCmdSendAction* action) {
ReturnValue_t result = RETURN_OK;
sequenceCount++;
mpsoc::TcCamcmdSend tcCamCmdSend(sequenceCount);
// result = tcCamCmdSend.createPacket(commandData, commandDataLen);
if (result != RETURN_OK) {
sequenceCount--;
return result;
}
copyToCommandBuffer(&tcCamCmdSend);
nextReplyId = PlocMpSoCCommands::TM_CAM_CMD_RPT;
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCFlashWriteAction* action) {
ReturnValue_t result = RETURN_OK;
// if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
// return MPSoCReturnValuesIF::FILENAME_TOO_LONG;
// }
mpsoc::FlashWritePusCmd flashWritePusCmd;
// result = flashWritePusCmd.extractFields(data, size);
if (result != RETURN_OK) {
return result;
}
result = plocMPSoCHelper->startFlashWrite(flashWritePusCmd.getObcFile(),
flashWritePusCmd.getMPSoCFile());
if (result != RETURN_OK) {
return result;
}
plocMPSoCHelperExecuting = true;
return EXECUTION_FINISHED;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCUartTxTristateAction* action) {
// not used
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCReleaseUartTxAction* action) {
// not used
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAction(PlocMpSoCObswResetSeqCountAction* action) {
// not used
return RETURN_OK;
}
void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
if (tc == nullptr) {
sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
}
memcpy(commandBuffer, tc->getWholeData(), tc->getFullSize());
rawPacket = commandBuffer;
rawPacketLen = tc->getFullSize();
nextReplyId = PlocMpSoCCommands::ACK_REPORT;
}
ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
if (receivedCrc != recalculatedCrc) {
return MPSoCReturnValuesIF::CRC_FAILURE;
}
return RETURN_OK;
}
ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = PlocMpSoCCommands::NONE;
replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
sendFailureReport(PlocMpSoCCommands::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
disableAllReplies();
return IGNORE_REPLY_DATA;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case mpsoc::apid::ACK_FAILURE: {
sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
DeviceCommandId_t commandId = getPendingCommand();
uint16_t status = getStatus(data);
printStatus(data);
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(ACK_FAILURE, commandId, status);
}
sendFailureReport(PlocMpSoCCommands::ACK_REPORT, status);
disableAllReplies();
nextReplyId = PlocMpSoCCommands::NONE;
result = IGNORE_REPLY_DATA;
break;
}
case mpsoc::apid::ACK_SUCCESS: {
setNextReplyId();
break;
}
default: {
sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
result = RETURN_FAILED;
break;
}
}
return result;
}
ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
nextReplyId = PlocMpSoCCommands::NONE;
return result;
}
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
switch (apid) {
case (mpsoc::apid::EXE_SUCCESS): {
break;
}
case (mpsoc::apid::EXE_FAILURE): {
// TODO: Interpretation of status field in execution report
sif::warning << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
<< std::endl;
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
uint16_t status = getStatus(data);
triggerEvent(EXE_FAILURE, commandId, status);
} else {
sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
}
printStatus(data);
sendFailureReport(PlocMpSoCCommands::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
disableExeReportReply();
result = IGNORE_REPLY_DATA;
break;
}
default: {
sif::warning << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
result = RETURN_FAILED;
break;
}
}
nextReplyId = PlocMpSoCCommands::NONE;
return result;
}
ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
<< std::endl;
}
uint16_t memLen =
*(data + mpsoc::MEM_READ_RPT_LEN_OFFSET) << 8 | *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET + 1);
/** Send data to commanding queue */
handleDeviceTM(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_RPT_FIX + memLen * 4,
static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_MEMORY_READ_REPORT));
nextReplyId = PlocMpSoCCommands::EXE_REPORT;
return result;
}
ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
ReturnValue_t result = RETURN_OK;
SpacePacket packet;
std::memcpy(packet.getWholeData(), data, tmCamCmdRpt.rememberSpacePacketSize);
result = verifyPacket(data, tmCamCmdRpt.rememberSpacePacketSize);
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
}
const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE + sizeof(uint16_t);
std::string camCmdRptMsg(
reinterpret_cast<const char*>(dataFieldPtr),
tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - sizeof(uint16_t) - 3);
#if OBSW_DEBUG_PLOC_MPSOC == 1
uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
sif::info << "PlocMPSoCHandler: CamCmdRpt message: " << camCmdRptMsg << std::endl;
sif::info << "PlocMPSoCHandler: CamCmdRpt Ack value: 0x" << std::hex
<< static_cast<unsigned int>(ackValue) << std::endl;
#endif /* OBSW_DEBUG_PLOC_MPSOC == 1 */
handleDeviceTM(packet.getPacketData() + sizeof(uint16_t), packet.getPacketDataLength() - 1,
static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_CAM_CMD_RPT));
return result;
}
ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies, bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = RETURN_OK;
uint8_t enabledReplies = 0;
PlocMpSoCCommands enumCommand = PlocMpSoCCommands(command->first);
switch (enumCommand) {
case PlocMpSoCCommands::TC_MEM_WRITE:
case PlocMpSoCCommands::TC_FLASHDELETE:
case PlocMpSoCCommands::TC_REPLAY_START:
case PlocMpSoCCommands::TC_REPLAY_STOP:
case PlocMpSoCCommands::TC_DOWNLINK_PWR_ON:
case PlocMpSoCCommands::TC_DOWNLINK_PWR_OFF:
case PlocMpSoCCommands::TC_REPLAY_WRITE_SEQUENCE:
case PlocMpSoCCommands::TC_MODE_REPLAY:
case PlocMpSoCCommands::TC_MODE_IDLE:
enabledReplies = 2;
break;
case PlocMpSoCCommands::TC_MEM_READ: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(
command, enabledReplies, true,
static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_MEMORY_READ_REPORT));
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_MEMORY_READ_REPORT)
<< " not in replyMap" << std::endl;
return result;
}
break;
}
case PlocMpSoCCommands::TC_CAM_CMD_SEND: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(
command, enabledReplies, true,
static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_CAM_CMD_RPT));
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_CAM_CMD_RPT)
<< " not in replyMap" << std::endl;
return result;
}
break;
}
case PlocMpSoCCommands::OBSW_RESET_SEQ_COUNT:
break;
default:
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
/**
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(
command, enabledReplies, true, static_cast<DeviceCommandId_t>(PlocMpSoCCommands::ACK_REPORT));
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< static_cast<DeviceCommandId_t>(PlocMpSoCCommands::ACK_REPORT)
<< " not in replyMap" << std::endl;
}
result = DeviceHandlerBase::enableReplyInReplyMap(
command, enabledReplies, true, static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT));
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
<< static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT)
<< " not in replyMap" << std::endl;
}
switch (enumCommand) {
case PlocMpSoCCommands::TC_REPLAY_WRITE_SEQUENCE: {
DeviceReplyIter iter =
deviceReplyMap.find(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT));
// Overwrite delay cycles because replay write sequence command can required up to
// 30 seconds for execution
iter->second.delayCycles = mpsoc::TC_WRITE_SEQ_EXECUTION_DELAY;
break;
}
case PlocMpSoCCommands::TC_DOWNLINK_PWR_ON: {
DeviceReplyIter iter =
deviceReplyMap.find(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT));
//
iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON_EXECUTION_DELAY;
break;
}
default:
break;
}
return RETURN_OK;
}
void PlocMPSoCHandler::setNextReplyId() {
switch (PlocMpSoCCommands(getPendingCommand())) {
case PlocMpSoCCommands::TC_MEM_READ:
nextReplyId = PlocMpSoCCommands::TM_MEMORY_READ_REPORT;
break;
default:
/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = PlocMpSoCCommands::EXE_REPORT;
break;
}
}
size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
if (nextReplyId == PlocMpSoCCommands::NONE) {
return replyLen;
}
DeviceReplyIter iter = deviceReplyMap.find(static_cast<DeviceCommandId_t>(nextReplyId));
if (iter != deviceReplyMap.end()) {
if (iter->second.delayCycles == 0) {
/* Reply inactive */
return replyLen;
}
switch (nextReplyId) {
case PlocMpSoCCommands::TM_MEMORY_READ_REPORT: {
replyLen = tmMemReadReport.rememberRequestedSize;
break;
}
case PlocMpSoCCommands::TM_CAM_CMD_RPT:
// Read acknowledgment, camera and execution report in one go because length of camera
// report is not fixed
replyLen = SpacePacket::PACKET_MAX_SIZE;
break;
default: {
replyLen = iter->second.replyLen;
break;
}
}
} else {
sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << static_cast<DeviceCommandId_t>(nextReplyId) << " in deviceReplyMap"
<< std::endl;
}
return replyLen;
}
ReturnValue_t PlocMPSoCHandler::doSendReadHook() {
// Prevent DHB from polling UART during commands executed by the mpsoc helper task
if (plocMPSoCHelperExecuting) {
return RETURN_FAILED;
}
return RETURN_OK;
}
MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
ReturnValue_t returnCode) {
switch (actionId) {
case supv::START_MPSOC: {
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
// This usually happens when the supervisor handler is in off mode
powerState = PowerState::OFF;
setMode(MODE_OFF);
break;
}
case supv::SHUTDOWN_MPSOC: {
triggerEvent(MPSOC_SHUTDOWN_FAILED);
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
powerState = PowerState::OFF;
break;
}
default:
sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
<< std::endl;
break;
}
}
void PlocMPSoCHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
return;
}
void PlocMPSoCHandler::completionSuccessfulReceived(ActionId_t actionId) {
if (actionId != supv::EXE_REPORT) {
sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
<< "ID" << std::endl;
return;
}
switch (powerState) {
case PowerState::BOOTING: {
powerState = PowerState::ON;
break;
}
case PowerState::SHUTDOWN: {
powerState = PowerState::OFF;
break;
}
default: {
break;
}
}
}
void PlocMPSoCHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
handleActionCommandFailure(actionId);
}
void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}
void PlocMPSoCHandler::disableAllReplies() {
DeviceReplyMap::iterator iter;
/* Disable ack reply */
iter = deviceReplyMap.find(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::ACK_REPORT));
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
DeviceCommandId_t commandId = getPendingCommand();
PlocMpSoCCommands enumCommand = PlocMpSoCCommands(commandId);
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (enumCommand) {
case PlocMpSoCCommands::TC_MEM_WRITE:
break;
case PlocMpSoCCommands::TC_MEM_READ: {
iter = deviceReplyMap.find(
static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_MEMORY_READ_REPORT));
info = &(iter->second);
info->delayCycles = 0;
info->active = false;
info->command = deviceCommandMap.end();
break;
}
case PlocMpSoCCommands::TC_CAM_CMD_SEND: {
iter = deviceReplyMap.find(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::TM_CAM_CMD_RPT));
info = &(iter->second);
info->delayCycles = 0;
info->active = false;
info->command = deviceCommandMap.end();
break;
}
default: {
sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id: " << commandId
<< std::endl;
break;
}
}
/* We always need to disable the execution report reply here */
disableExeReportReply();
nextReplyId = PlocMpSoCCommands::NONE;
}
void PlocMPSoCHandler::sendFailureReport(PlocMpSoCCommands replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(static_cast<DeviceCommandId_t>(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(static_cast<DeviceCommandId_t>(PlocMpSoCCommands::EXE_REPORT));
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
/* Expected replies is set to one here. The value will be set to 0 in replyToReply() */
info->command->second.expectedReplies = 0;
}
void PlocMPSoCHandler::printStatus(const uint8_t* data) {
uint16_t status = *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
sif::info << "Verification report status: " << getStatusString(status) << std::endl;
}
uint16_t PlocMPSoCHandler::getStatus(const uint8_t* data) {
return *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
}
void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
switch (actionId) {
case supv::ACK_REPORT:
case supv::EXE_REPORT:
break;
default:
sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
<< std::endl;
return;
}
switch (powerState) {
case PowerState::BOOTING: {
sif::info << "PlocMPSoCHandler::handleActionCommandFailure: MPSoC boot command failed"
<< std::endl;
// This is commonly the case when the MPSoC is already operational. Thus the power state is
// set to on here
powerState = PowerState::ON;
break;
}
case PowerState::SHUTDOWN: {
// FDIR will intercept event and switch PLOC power off
triggerEvent(MPSOC_SHUTDOWN_FAILED);
sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
<< std::endl;
powerState = PowerState::OFF;
break;
}
default:
break;
}
return;
}
std::string PlocMPSoCHandler::getStatusString(uint16_t status) {
switch (status) {
case (mpsoc::status_code::UNKNOWN_APID): {
return "Unknown APID";
break;
}
case (mpsoc::status_code::INCORRECT_LENGTH): {
return "Incorrect length";
break;
}
case (mpsoc::status_code::INCORRECT_CRC): {
return "Incorrect crc";
break;
}
case (mpsoc::status_code::INCORRECT_PKT_SEQ_CNT): {
return "Incorrect packet sequence count";
break;
}
case (mpsoc::status_code::TC_NOT_ALLOWED_IN_MODE): {
return "TC not allowed in this mode";
break;
}
case (mpsoc::status_code::TC_EXEUTION_DISABLED): {
return "TC execution disabled";
break;
}
case (mpsoc::status_code::FLASH_MOUNT_FAILED): {
return "Flash mount failed";
break;
}
case (mpsoc::status_code::FLASH_FILE_ALREADY_CLOSED): {
return "Flash file already closed";
break;
}
case (mpsoc::status_code::FLASH_FILE_NOT_OPEN): {
return "Flash file not open";
break;
}
case (mpsoc::status_code::FLASH_UNMOUNT_FAILED): {
return "Flash unmount failed";
break;
}
case (mpsoc::status_code::HEAP_ALLOCATION_FAILED): {
return "Heap allocation failed";
break;
}
case (mpsoc::status_code::INVALID_PARAMETER): {
return "Invalid parameter";
break;
}
case (mpsoc::status_code::NOT_INITIALIZED): {
return "Not initialized";
break;
}
case (mpsoc::status_code::REBOOT_IMMINENT): {
return "Reboot imminent";
break;
}
case (mpsoc::status_code::CORRUPT_DATA): {
return "Corrupt data";
break;
}
case (mpsoc::status_code::FLASH_CORRECTABLE_MISMATCH): {
return "Flash correctable mismatch";
break;
}
case (mpsoc::status_code::FLASH_UNCORRECTABLE_MISMATCH): {
return "Flash uncorrectable mismatch";
break;
}
default:
break;
}
return "";
}
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