Robin Mueller
4e92fd4421
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185 lines
7.4 KiB
C++
185 lines
7.4 KiB
C++
#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
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#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
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#include <mission/csp/CspCookie.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
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#include "returnvalues/classIds.h"
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struct TableConfig {
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uint16_t maxConfigTableAddress;
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uint16_t maxHkTableAddress;
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uint16_t hkTableSize;
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uint16_t cfgTableSize;
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};
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/**
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* @brief This is the device handler class for all gomspace devices.
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*
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* @details
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* All gomspace devices are similar with respect to commanding. Thusmost of the functionality to
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* command a gomspace device can be accommodated in one class. For device specific functions, a new
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* class could be created by inheriting from the GomspaceDeviceHandler.
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*
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Gomspace_PCDU_P60_System
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*/
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class GomspaceDeviceHandler : public DeviceHandlerBase {
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public:
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static constexpr uint8_t CLASS_ID = CLASS_ID::GOM_SPACE_HANDLER;
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static const ReturnValue_t PACKET_TOO_LONG = returnvalue::makeCode(CLASS_ID, 0);
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static const ReturnValue_t INVALID_TABLE_ID = returnvalue::makeCode(CLASS_ID, 1);
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static const ReturnValue_t INVALID_ADDRESS = returnvalue::makeCode(CLASS_ID, 2);
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static const ReturnValue_t INVALID_PARAM_SIZE = returnvalue::makeCode(CLASS_ID, 3);
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static const ReturnValue_t INVALID_PAYLOAD_SIZE = returnvalue::makeCode(CLASS_ID, 4);
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static const ReturnValue_t UNKNOWN_REPLY_ID = returnvalue::makeCode(CLASS_ID, 5);
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/**
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* @brief Constructor
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*
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* @param maxConfigTableAddress The maximum memory address of the configu-
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* ration table of a gomspace device.
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* @param maxHkTableAddress The maximum memory address of a value in the
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* houskeeping (telemetry) table of a gomspace
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* device.
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*/
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GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
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TableConfig &tableConfig, FailureIsolationBase *customFdir);
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virtual ~GomspaceDeviceHandler();
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/**
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* @brief This function can be used to set a gomspace device to normal mode immediately after
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* object creation.
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*/
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void setModeNormal();
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protected:
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static const uint8_t MAX_PACKET_LEN = 36;
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static const uint8_t PARAM_SET_OK = 1;
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static const uint8_t PING_REPLY_SIZE = 2;
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uint8_t rememberRequestedSize = 0;
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uint8_t rememberCommandId = GOMSPACE::NONE;
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uint8_t cspPacket[MAX_PACKET_LEN];
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LocalPoolDataSetBase *hkTableDataset = nullptr;
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void initPduConfigTable();
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void doStartUp() override;
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void doShutDown() override;
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virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
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virtual void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
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size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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/**
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* @brief The command to generate a request to receive the full housekeeping table is device
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* specific. Thus the child has to build this command.
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*/
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ReturnValue_t generateRequestFullHkTableCmd(GOMSPACE::DeviceType devType, uint16_t tableSize,
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DeviceCommandId_t id, CspCookie *cspCookie);
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/**
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* Unfortunately, it was not possible to specify the table ID (e.g. request table from
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* default store)
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* @param devType
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* @param tableSize
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* @param id
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* @param cspCookie
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* @return
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*/
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ReturnValue_t generateRequestFullCfgTableCmd(GOMSPACE::DeviceType devType,
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uint16_t tableSize, DeviceCommandId_t id,
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CspCookie *cspCookie);
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ReturnValue_t getDevType(GOMSPACE::DeviceType& type) const;
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/**
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* This command handles printing the HK table to the console. This is useful for debugging
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* purposes
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* @return
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*/
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virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
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/**
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* @brief Because housekeeping tables are device specific the handling of the reply is
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* given to the child class.
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* @param id The id of the command which initiates the full table request.
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* @param packet Pointer to the reply containing the hk table.
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*/
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virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
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virtual void letChildHandleConfigReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
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virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) = 0;
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/**
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* @brief Can be overriden by child classes to implement device specific commands.
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* @return Return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED to let this handler handle
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* the command or returnvalue::OK if the child handles the command
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*/
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virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
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size_t commandDataLen);
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ReturnValue_t parsePduHkTable(PDU::PduCoreHk &coreHk, PDU::PduAuxHk &auxHk,
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const uint8_t *packet);
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ReturnValue_t initializePduPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager,
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std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb);
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template <typename T>
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T as(const uint8_t *);
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static bool validTableId(uint8_t id);
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private:
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SetParamMessageUnpacker setParamCacher;
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TableConfig &tableCfg;
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/**
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* @brief Function to generate the command to set a parameter. Command
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* will be sent to the ComIF over the rawPacket buffer.
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*/
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ReturnValue_t generateSetParamCommand(const uint8_t *commandData, size_t commandDataLen);
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/**
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* Callback is called on a parameter set command. It is called before executing it and after
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* after successful execution
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* @param unpacker Passed before
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* @param beforeSet False for callback before execution, true if called after successful
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* execution
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* @return
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*/
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virtual ReturnValue_t setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution);
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/**
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* @brief Function to generate the command to get a parameter from a
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* gomspace device. Command will be sent to the ComIF over the
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* rawPacket buffer.
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*/
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ReturnValue_t generateGetParamCommand(const uint8_t *commandData, size_t commandDataLen);
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/**
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* @brief Function to generate the ping command for the ComIF.
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*/
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ReturnValue_t generatePingCommand(const uint8_t *commandData, size_t commandDataLen);
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/**
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* @brief Function to generate the command to reboot a gomspace device
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* via the ComIF.
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*/
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void generateRebootCommand();
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/**
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* @brief Function to generate the command to force a ground watchdog
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* reset in a gomspace device.
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*/
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ReturnValue_t generateResetWatchdogCmd();
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};
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template <typename T>
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inline T GomspaceDeviceHandler::as(const uint8_t *ptr) {
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return *(reinterpret_cast<const T *>(ptr));
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}
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#endif /* MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ */
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