eive-obsw/mission/devices/P60DockHandler.cpp

226 lines
6.9 KiB
C++

#include <mission/devices/P60DockHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie):DeviceHandlerBase(objectId, comIF, comCookie) {
mode = MODE_NORMAL;
if(comCookie == NULL){
sif::error << "P60DockHandler invalid com cookie" << std::endl;
}
}
P60DockHandler::~P60DockHandler() {
}
void P60DockHandler::doStartUp(){
}
void P60DockHandler::doShutDown(){
}
ReturnValue_t P60DockHandler::buildNormalDeviceCommand(DeviceCommandId_t * id){
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(PING): {
const uint8_t* pingData = commandData;
uint8_t pingDataSz = commandDataLen;
CspPingCommand cspPingCommand(pingData, pingDataSz);
size_t cspPacketLen = 0;
uint8_t* buffer = cspPacket;
cspPingCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
SerializeIF::Endianness::BIG);
if(cspPacketLen > MAX_PACKET_LEN){
sif::error << "P60DockHandler: Received invalid ping message"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
rawPacket = cspPacket;
rawPacketLen = cspPacketLen;
rememberCommandId = PING;
break;
}
case(REBOOT): {
uint8_t cspPort = GOMSPACE::REBOOT_PORT;
uint16_t querySize = 0;
*cspPacket = GOMSPACE::REBOOT_PORT;
*(cspPacket + 1) = querySize;
size_t cspPacketLen = sizeof(cspPort) + sizeof(cspPacketLen);
rawPacket = cspPacket;
rawPacketLen = cspPacketLen;
break;
}
case(PARAM_SET):{
SetParamMessageUnpacker setParamMessageUnpacker(commandData,
commandDataLen);
uint8_t tableId = setParamMessageUnpacker.getTableId();
uint16_t address = setParamMessageUnpacker.getAddress();
uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
uint16_t seq = 0;
uint16_t total = 0;
/* Reply only comprises the transaction state */
uint16_t querySize = 1;
const uint8_t* parameterPtr = setParamMessageUnpacker.getParameter();
uint8_t parameterSize = setParamMessageUnpacker.getParameterSize();
uint16_t payloadlength = sizeof(address) + parameterSize;
CspSetParamCommand setParamCmd(querySize, PARAM_SET, tableId, payloadlength,
checksum, seq, total, address, parameterPtr,
parameterSize);
size_t cspPacketLen = 0;
uint8_t* buffer = cspPacket;
setParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
SerializeIF::Endianness::BIG);
if(cspPacketLen > MAX_PACKET_LEN){
sif::error << "P60DockHandler: Received invalid set parameter "
"command" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
rawPacket = cspPacket;
rawPacketLen = cspPacketLen;
rememberRequestedSize = querySize;
rememberCommandId = PARAM_SET;
break;
}
case(PARAM_GET):{
/* Unpack the received action message */
GetParamMessageUnpacker getParamMessage(commandData, commandDataLen);
uint8_t tableId = getParamMessage.getTableId();
uint16_t address = getParamMessage.getAddress();
uint16_t length = sizeof(address);
uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
uint16_t seq = 0;
uint16_t total = 0;
uint16_t querySize = getParamMessage.getParameterSize()
+ CspGetParamCommand::GS_HDR_LENGTH;
/* Generate the CSP command to send to the P60 Dock */
CspGetParamCommand getParamCmd(querySize, PARAM_GET, tableId, length,
checksum, seq, total, address);
size_t cspPacketLen = 0;
uint8_t* buffer = cspPacket;
getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
SerializeIF::Endianness::BIG);
if(cspPacketLen > MAX_PACKET_LEN){
sif::error << "P60DockHandler: Received invalid get parameter "
"command" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
rawPacket = cspPacket;
rawPacketLen = cspPacketLen;
rememberRequestedSize = querySize;
rememberCommandId = PARAM_GET;
break;
}
case(GNDWDT_RESET): {
WatchdogResetCommand watchdogResetCommand;
size_t cspPacketLen = 0;
uint8_t* buffer = cspPacket;
watchdogResetCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
SerializeIF::Endianness::BIG);
if(cspPacketLen > MAX_PACKET_LEN){
sif::error << "P60DockHandler: Received invalid ground watchdog"
"reset command" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
rawPacket = cspPacket;
rawPacketLen = cspPacketLen;
rememberRequestedSize = 0; // No bytes will be queried with the ground
// watchdog command.
rememberCommandId = GNDWDT_RESET;
}
default:
break;
}
return HasReturnvaluesIF::RETURN_OK;
}
void P60DockHandler::fillCommandAndReplyMap(){
this->insertInCommandAndReplyMap(PING, 3);
this->insertInCommandMap(REBOOT);
this->insertInCommandAndReplyMap(PARAM_SET, 3);
this->insertInCommandAndReplyMap(PARAM_GET, 3);
this->insertInCommandMap(GNDWDT_RESET);
}
ReturnValue_t P60DockHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
switch(rememberCommandId) {
case(PING):
*foundId = PING;
*foundLen = PING_REPLY_SIZE;
rememberCommandId = NONE;
break;
case(PARAM_GET): {
*foundId = PARAM_GET;
*foundLen = rememberRequestedSize + CspGetParamReply::GS_HDR_LENGTH;
rememberCommandId = NONE;
break;
}
case(PARAM_SET): {
*foundId = PARAM_SET;
*foundLen = rememberRequestedSize;
rememberCommandId = NONE;
break;
}
default:
return IGNORE_REPLY_DATA;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t P60DockHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch(id) {
case(PING): {
SerializeElement<uint32_t> replyTime = *packet;
handleDeviceTM(&replyTime, id, true);
break;
}
case(PARAM_GET): {
// -2 to subtract address size from gomspace parameter reply packet
uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2;
uint8_t tempPayloadBuffer[payloadLength];
/* Extract information from received data */
CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
size_t size = CspGetParamReply::GS_HDR_LENGTH + payloadLength;
cspGetParamReply.deSerialize(&packet, &size,
SerializeIF::Endianness::BIG);
uint8_t action = cspGetParamReply.getAction();
uint8_t tableId = cspGetParamReply.getTableId();
uint16_t address = cspGetParamReply.getAddress();
/* Pack relevant information into a tm reply packet */
ParamReply paramReply(action, tableId, address, payloadLength,
tempPayloadBuffer);
handleDeviceTM(&paramReply, id, true);
break;
}
case(PARAM_SET): {
/* When setting a parameter, the p60dock sends back the state of the
* operation */
if(*packet != PARAM_SET_OK){
return HasReturnvaluesIF::RETURN_FAILED;
}
break;
}
default:
break;
}
return HasReturnvaluesIF::RETURN_OK;
}
void P60DockHandler::setNormalDatapoolEntriesInvalid(){
}