Robin Mueller
5c535784e9
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EIVE/eive-obsw/pipeline/head This commit looks good
410 lines
15 KiB
C++
410 lines
15 KiB
C++
#include <mission/devices/GomspaceDeviceHandler.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
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CookieIF* comCookie, uint16_t maxConfigTableAddress,
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uint16_t maxHkTableAddress, uint16_t hkTableReplySize,
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LocalPoolDataSetBase* hkTableDataset)
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: DeviceHandlerBase(objectId, comIF, comCookie),
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maxConfigTableAddress(maxConfigTableAddress),
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maxHkTableAddress(maxHkTableAddress),
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hkTableReplySize(hkTableReplySize),
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hkTableDataset(hkTableDataset) {
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if (comCookie == nullptr) {
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sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie" << std::endl;
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}
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if (hkTableDataset == nullptr) {
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sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid hk table data set"
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<< std::endl;
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}
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}
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GomspaceDeviceHandler::~GomspaceDeviceHandler() {}
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void GomspaceDeviceHandler::doStartUp() {}
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void GomspaceDeviceHandler::doShutDown() {}
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ReturnValue_t GomspaceDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GomspaceDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = childCommandHook(deviceCommand, commandData, commandDataLen);
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switch (deviceCommand) {
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case (GOMSPACE::PING): {
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result = generatePingCommand(commandData, commandDataLen);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::REBOOT): {
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generateRebootCommand();
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break;
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}
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case (GOMSPACE::PARAM_SET): {
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result = generateSetParamCommand(commandData, commandDataLen);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::PARAM_GET): {
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result = generateGetParamCommand(commandData, commandDataLen);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::GNDWDT_RESET): {
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result = generateResetWatchdogCmd();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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break;
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}
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case (GOMSPACE::PRINT_SWITCH_V_I): {
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result = printStatus(deviceCommand);
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break;
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}
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case (GOMSPACE::REQUEST_HK_TABLE): {
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result = generateRequestFullHkTableCmd(hkTableReplySize);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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break;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void GomspaceDeviceHandler::fillCommandAndReplyMap() {
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this->insertInCommandAndReplyMap(GOMSPACE::PING, 3);
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this->insertInCommandMap(GOMSPACE::REBOOT);
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this->insertInCommandAndReplyMap(GOMSPACE::PARAM_SET, 3);
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this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
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this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
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this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
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this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
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}
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ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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switch (rememberCommandId) {
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case (GOMSPACE::PING):
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*foundId = GOMSPACE::PING;
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*foundLen = PING_REPLY_SIZE;
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rememberCommandId = GOMSPACE::NONE;
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break;
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case (GOMSPACE::PARAM_GET): {
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*foundId = GOMSPACE::PARAM_GET;
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*foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
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rememberCommandId = GOMSPACE::NONE;
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break;
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}
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case (GOMSPACE::PARAM_SET): {
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*foundId = GOMSPACE::PARAM_SET;
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*foundLen = rememberRequestedSize;
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rememberCommandId = GOMSPACE::NONE;
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break;
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}
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case (GOMSPACE::REQUEST_HK_TABLE): {
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*foundId = GOMSPACE::REQUEST_HK_TABLE;
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*foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
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rememberCommandId = GOMSPACE::NONE;
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break;
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}
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default:
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return IGNORE_REPLY_DATA;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t* packet) {
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switch (id) {
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case (GOMSPACE::PING): {
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SerializeElement<uint32_t> replyTime = *packet;
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handleDeviceTM(&replyTime, id, true);
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break;
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}
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case (GOMSPACE::PARAM_GET): {
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// -2 to subtract address size from gomspace parameter reply packet
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uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2;
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if (payloadLength > sizeof(uint32_t)) {
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sif::error << "GomspaceDeviceHandler: PARAM_GET: Invalid payload "
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<< "size in reply" << std::endl;
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return INVALID_PAYLOAD_SIZE;
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}
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uint8_t tempPayloadBuffer[payloadLength];
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/* Extract information from received data */
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CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
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size_t size = GOMSPACE::GS_HDR_LENGTH + payloadLength;
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ReturnValue_t result =
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cspGetParamReply.deSerialize(&packet, &size, SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "GomspaceDeviceHandler: Failed to deserialize get parameter"
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<< "reply" << std::endl;
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return result;
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}
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uint8_t action = cspGetParamReply.getAction();
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uint8_t tableId = cspGetParamReply.getTableId();
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uint16_t address = cspGetParamReply.getAddress();
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/* Pack relevant information into a tm packet */
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ParamReply paramReply(action, tableId, address, payloadLength, tempPayloadBuffer);
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handleDeviceTM(¶mReply, id, true);
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break;
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}
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case (GOMSPACE::PARAM_SET): {
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/* When setting a parameter, the p60dock sends back the state of the
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* operation */
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if (*packet != PARAM_SET_OK) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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setParamCallback(setParamCacher, true);
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break;
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}
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case (GOMSPACE::REQUEST_HK_TABLE): {
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letChildHandleHkReply(id, packet);
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break;
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}
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default:
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break;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid() {}
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ReturnValue_t GomspaceDeviceHandler::generateSetParamCommand(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result =
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setParamCacher.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "GomspaceDeviceHandler: Failed to deserialize set parameter "
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"message"
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<< std::endl;
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return result;
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}
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result = setParamCallback(setParamCacher, false);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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/* Get and check address */
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uint16_t address = setParamCacher.getAddress();
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if (address > maxConfigTableAddress) {
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sif::error << "GomspaceDeviceHandler: Invalid address for set parameter "
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<< "action" << std::endl;
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return INVALID_ADDRESS;
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}
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uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
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uint16_t seq = 0;
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uint16_t total = 0;
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/* CSP reply only contains the transaction state */
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uint16_t querySize = 1;
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const uint8_t* parameterPtr = setParamCacher.getParameter();
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uint8_t parameterSize = setParamCacher.getParameterSize();
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uint16_t payloadlength = sizeof(address) + parameterSize;
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/* Generate command for CspComIF */
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CspSetParamCommand setParamCmd(querySize, payloadlength, checksum, seq, total, address,
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parameterPtr, parameterSize);
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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result = setParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
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SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "GomspaceDeviceHandler: Failed to serialize command for "
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<< "CspComIF" << std::endl;
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return result;
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}
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if (cspPacketLen > MAX_PACKET_LEN) {
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sif::error << "GomspaceDeviceHandler: Invalid length of set parameter "
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"command"
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<< std::endl;
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return PACKET_TOO_LONG;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberRequestedSize = querySize;
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rememberCommandId = GOMSPACE::PARAM_SET;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GomspaceDeviceHandler::generateGetParamCommand(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result;
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/* Unpack the received action message */
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GetParamMessageUnpacker getParamMessage;
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result = getParamMessage.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "Failed to deserialize message to extract information "
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"from get parameter message"
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<< std::endl;
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return result;
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}
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/* Get an check table id to read from */
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uint8_t tableId = getParamMessage.getTableId();
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if (tableId != CONFIG_TABLE_ID && tableId != HK_TABLE_ID) {
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sif::error << "GomspaceDeviceHandler: Invalid table id in get parameter"
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" message"
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<< std::endl;
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return INVALID_TABLE_ID;
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}
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/* Get and check address */
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uint16_t address = getParamMessage.getAddress();
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if (address > maxHkTableAddress && tableId == HK_TABLE_ID) {
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sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
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<< "housekeeping table" << std::endl;
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return INVALID_ADDRESS;
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}
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if (address > maxConfigTableAddress && tableId == CONFIG_TABLE_ID) {
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sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
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<< "configuration table" << std::endl;
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return INVALID_ADDRESS;
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}
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uint16_t length = sizeof(address);
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uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
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uint16_t seq = 0;
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uint16_t total = 0;
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uint8_t parameterSize = getParamMessage.getParameterSize();
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if (parameterSize > sizeof(uint32_t)) {
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sif::error << "GomspaceDeviceHandler: GET_PARAM: Invalid parameter "
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<< "size" << std::endl;
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return INVALID_PARAM_SIZE;
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}
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uint16_t querySize = parameterSize + GOMSPACE::GS_HDR_LENGTH;
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/* Generate the CSP command to send to the P60 Dock */
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CspGetParamCommand getParamCmd(querySize, tableId, length, checksum, seq, total, address);
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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result = getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
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SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "GomspaceDeviceHandler: Failed to serialize command to "
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<< "get parameter" << std::endl;
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}
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if (cspPacketLen > MAX_PACKET_LEN) {
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sif::error << "GomspaceDeviceHandler: Received invalid get parameter "
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"command"
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<< std::endl;
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return PACKET_TOO_LONG;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberRequestedSize = querySize;
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rememberCommandId = GOMSPACE::PARAM_GET;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GomspaceDeviceHandler::generatePingCommand(const uint8_t* commandData,
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size_t commandDataLen) {
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CspPingCommand cspPingCommand(commandData, commandDataLen);
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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ReturnValue_t result = cspPingCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
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SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "GomspaceDeviceHandler: Failed to serialize ping command" << std::endl;
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return result;
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}
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if (cspPacketLen > MAX_PACKET_LEN) {
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sif::error << "GomspaceDeviceHandler: Received invalid ping message" << std::endl;
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return PACKET_TOO_LONG;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberCommandId = GOMSPACE::PING;
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return HasReturnvaluesIF::RETURN_OK;
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}
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void GomspaceDeviceHandler::generateRebootCommand() {
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uint8_t cspPort = GOMSPACE::REBOOT_PORT;
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uint16_t querySize = 0;
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*cspPacket = GOMSPACE::REBOOT_PORT;
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*(cspPacket + 1) = querySize;
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size_t cspPacketLen = sizeof(cspPort) + sizeof(cspPacketLen);
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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}
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ReturnValue_t GomspaceDeviceHandler::childCommandHook(DeviceCommandId_t cmd,
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const uint8_t* commandData,
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size_t commandDataLen) {
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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ReturnValue_t GomspaceDeviceHandler::setParamCallback(SetParamMessageUnpacker& unpacker,
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bool afterExecution) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GomspaceDeviceHandler::generateResetWatchdogCmd() {
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WatchdogResetCommand watchdogResetCommand;
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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ReturnValue_t result = watchdogResetCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
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SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "GomspaceDeviceHandler: Failed to serialize watchdog reset "
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<< "command" << std::endl;
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return result;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberRequestedSize = 0; // No bytes will be queried with the ground
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// watchdog command.
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rememberCommandId = GOMSPACE::GNDWDT_RESET;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GomspaceDeviceHandler::generateRequestFullHkTableCmd(uint16_t hkTableReplySize) {
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uint16_t querySize = hkTableReplySize;
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uint8_t tableId = HK_TABLE_ID;
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RequestFullTableCommand requestFullTableCommand(querySize, tableId);
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size_t cspPacketLen = 0;
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uint8_t* buffer = cspPacket;
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ReturnValue_t result = requestFullTableCommand.serialize(
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&buffer, &cspPacketLen, sizeof(cspPacket), SerializeIF::Endianness::BIG);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "GomspaceDeviceHandler::generateRequestFullHkTableCmd Failed to serialize "
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"full table request command "
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<< std::endl;
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return result;
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}
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rawPacket = cspPacket;
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rawPacketLen = cspPacketLen;
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rememberRequestedSize = querySize;
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rememberCommandId = GOMSPACE::REQUEST_HK_TABLE;
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return RETURN_OK;
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}
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uint32_t GomspaceDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }
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LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
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if (sid == hkTableDataset->getSid()) {
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return hkTableDataset;
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} else {
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return nullptr;
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}
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}
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void GomspaceDeviceHandler::setModeNormal() { mode = MODE_NORMAL; }
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ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
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sif::info << "No printHkTable implementation given.." << std::endl;
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return HasReturnvaluesIF::RETURN_OK;
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}
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