213 lines
9.4 KiB
C++
213 lines
9.4 KiB
C++
#include "fsfw/action/ActionMessage.h"
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#include "fsfw/action/CommandsActionsIF.h"
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#include "fsfw/devicehandlers/DeviceHandlerIF.h"
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#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
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#include "fsfw/ipc/MessageQueueIF.h"
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#include "fsfw/ipc/messageQueueDefinitions.h"
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#include "fsfw/modes/ModeMessage.h"
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/power/PowerSwitchIF.h"
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#include "fsfw/power/definitions.h"
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw_hal/linux/gpio/Gpio.h"
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#include "linux/payload/MpsocCommunication.h"
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#include "linux/payload/PlocMpsocSpecialComHelper.h"
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#include "linux/payload/plocMpsocHelpers.h"
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class FreshMpsocHandler : public FreshDeviceHandlerBase, public CommandsActionsIF {
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public:
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enum OpCode { DEFAULT_OPERATION = 0, PARSE_TM = 1 };
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static constexpr uint32_t MPSOC_MODE_CMD_TIMEOUT_MS = 120000;
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FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
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PlocMpsocSpecialComHelper& specialComHelper, Gpio uartIsolatorSwitch,
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object_id_t supervisorHandler, PowerSwitchIF& powerSwitcher,
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power::Switch_t camSwitchId);
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/**
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* Periodic helper executed function, implemented by child class.
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*/
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void performDeviceOperation(uint8_t opCode) override;
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void performDefaultDeviceOperation();
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/**
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* Implemented by child class. Handle all command messages which are
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* not health, mode, action or housekeeping messages.
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* @param message
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* @return
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*/
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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ReturnValue_t initialize() override;
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private:
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enum class StartupState { IDLE, HW_INIT, DONE } startupState = StartupState::IDLE;
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enum class PowerState { IDLE, PENDING_STARTUP, PENDING_SHUTDOWN, SUPV_FAILED, DONE };
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enum TransitionState { NONE, TO_ON, TO_OFF, SUBMODE } transitionState = TransitionState::NONE;
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MpsocCommunication& comInterface;
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PlocMpsocSpecialComHelper& specialComHelper;
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MessageQueueIF* eventQueue = nullptr;
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SourceSequenceCounter commandSequenceCount = SourceSequenceCounter(0);
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MessageQueueIF* commandActionHelperQueue = nullptr;
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CommandActionHelper commandActionHelper;
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Gpio uartIsolatorSwitch;
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mpsoc::HkReport hkReport;
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object_id_t supervisorHandler;
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Countdown mpsocBootTransitionCd = Countdown(6500);
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Countdown supvTransitionCd = Countdown(3000);
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PoolEntry<uint32_t> peStatus = PoolEntry<uint32_t>();
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PoolEntry<uint8_t> peMode = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkPwrOn = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkReplyActive = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkJesdSyncStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peDownlinkDacStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peCameraStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peCameraSdiStatus = PoolEntry<uint8_t>();
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PoolEntry<float> peCameraFpgaTemp = PoolEntry<float>();
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PoolEntry<float> peCameraSocTemp = PoolEntry<float>();
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PoolEntry<float> peSysmonTemp = PoolEntry<float>();
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PoolEntry<float> peSysmonVccInt = PoolEntry<float>();
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PoolEntry<float> peSysmonVccAux = PoolEntry<float>();
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PoolEntry<float> peSysmonVccBram = PoolEntry<float>();
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PoolEntry<float> peSysmonVccPaux = PoolEntry<float>();
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PoolEntry<float> peSysmonVccPint = PoolEntry<float>();
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PoolEntry<float> peSysmonVccPdro = PoolEntry<float>();
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PoolEntry<float> peSysmonMb12V = PoolEntry<float>();
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PoolEntry<float> peSysmonMb3V3 = PoolEntry<float>();
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PoolEntry<float> peSysmonMb1V8 = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc12V = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc5V = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc3V3 = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc3V3VA = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc2V5DDR = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc1V2DDR = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc0V9 = PoolEntry<float>();
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PoolEntry<float> peSysmonVcc0V6VTT = PoolEntry<float>();
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PoolEntry<float> peSysmonSafeCotsCur = PoolEntry<float>();
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PoolEntry<float> peSysmonNvm4XoCur = PoolEntry<float>();
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PoolEntry<uint16_t> peSemUncorrectableErrs = PoolEntry<uint16_t>();
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PoolEntry<uint16_t> peSemCorrectableErrs = PoolEntry<uint16_t>();
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PoolEntry<uint8_t> peSemStatus = PoolEntry<uint8_t>();
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PoolEntry<uint8_t> peRebootMpsocRequired = PoolEntry<uint8_t>();
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PowerState powerState;
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bool specialComHelperExecuting = false;
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struct ActionCommandInfo {
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Countdown cmdCountdown = Countdown(mpsoc::DEFAULT_CMD_TIMEOUT_MS);
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bool pending = false;
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MessageQueueId_t commandedBy = MessageQueueIF::NO_QUEUE;
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DeviceCommandId_t pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
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uint16_t pendingCmdMpsocApid = 0;
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void reset() {
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pending = false;
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commandedBy = MessageQueueIF::NO_QUEUE;
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pendingCmd = DeviceHandlerIF::NO_COMMAND_ID;
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}
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void start(DeviceCommandId_t commandId, MessageQueueId_t commandedBy) {
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pending = true;
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cmdCountdown.resetTimer();
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pendingCmd = commandId;
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this->commandedBy = commandedBy;
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}
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} activeCmdInfo;
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uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
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SpacePacketCreator creator;
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ploc::SpTcParams spParams = ploc::SpTcParams(creator);
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Mode_t targetMode = HasModesIF::MODE_UNDEFINED;
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Submode_t targetSubmode = 0;
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struct TmMemReadReport {
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static const uint8_t FIX_SIZE = 14;
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size_t rememberRequestedSize = 0;
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};
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TmMemReadReport tmMemReadReport;
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uint32_t lastReplySequenceCount = 0;
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uint8_t skipSupvCommandingToOn = false;
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PowerSwitchIF& powerSwitcher;
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power::Switch_t camSwitchId;
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// HK manager abstract functions.
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LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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// Mode abstract functions
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ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) override;
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// Action override. Forward to user.
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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/**
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* @overload
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* @param submode
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*/
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void startTransition(Mode_t newMode, Submode_t submode) override;
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ReturnValue_t performDeviceOperationPreQueueHandling(uint8_t opCode) override;
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// CommandsActionsIF overrides.
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MessageQueueIF* getCommandQueuePtr() override;
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void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
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void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
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void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
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void completionSuccessfulReceived(ActionId_t actionId) override;
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void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
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ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues, uint16_t startAtIndex) override;
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void handleActionCommandFailure(ActionId_t actionId, ReturnValue_t returnCode);
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ReturnValue_t executeRegularCmd(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t dataLen);
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void handleTransitionToOn();
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void handleTransitionToOff();
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ReturnValue_t commandTcModeReplay();
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ReturnValue_t commandTcMemWrite(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcMemRead(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcFlashDelete(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcReplayStart(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcReplayStop();
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ReturnValue_t commandTcDownlinkPwrOn(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcDownlinkPwrOff();
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ReturnValue_t commandTcGetHkReport();
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ReturnValue_t commandTcGetDirContent(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcReplayWriteSequence(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcCamCmdSend(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcModeIdle();
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ReturnValue_t commandTcCamTakePic(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcSimplexStreamFile(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcSplitFile(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcDownlinkDataModulate(const uint8_t* commandData, size_t commandDataLen);
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ReturnValue_t commandTcModeSnapshot();
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ReturnValue_t finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
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uint32_t cmdCountdown = mpsoc::DEFAULT_CMD_TIMEOUT_MS);
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void handleEvent(EventMessage* eventMessage);
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void cmdDoneHandler(bool success, ReturnValue_t result);
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ReturnValue_t handleDeviceReply();
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ReturnValue_t handleAckReport();
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ReturnValue_t handleExecutionReport();
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void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
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ReturnValue_t reportReplyData(DeviceCommandId_t tmId);
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ReturnValue_t handleGetHkReport();
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bool handleHwStartup();
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bool handleHwShutdown();
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void stopSpecialComHelper();
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void commandSubmodeTransition();
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void commonSpecialComInit();
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void commonSpecialComStop();
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void commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy);
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};
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