eive-obsw/mission/devices/SyrlinksHkHandler.cpp

489 lines
20 KiB
C++

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <mission/devices/SyrlinksHkHandler.h>
#include "OBSWConfig.h"
SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t powerSwitch)
: DeviceHandlerBase(objectId, comIF, comCookie),
rxDataset(this),
txDataset(this),
powerSwitch(powerSwitch) {
if (comCookie == NULL) {
sif::error << "SyrlinksHkHandler: Invalid com cookie" << std::endl;
}
}
SyrlinksHkHandler::~SyrlinksHkHandler() {}
void SyrlinksHkHandler::doStartUp() {
if (mode == _MODE_START_UP) {
setMode(MODE_ON);
}
}
void SyrlinksHkHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (nextCommand) {
case (SYRLINKS::READ_RX_STATUS_REGISTERS):
*id = SYRLINKS::READ_RX_STATUS_REGISTERS;
nextCommand = SYRLINKS::READ_TX_STATUS;
break;
case (SYRLINKS::READ_TX_STATUS):
*id = SYRLINKS::READ_TX_STATUS;
nextCommand = SYRLINKS::READ_TX_WAVEFORM;
break;
case (SYRLINKS::READ_TX_WAVEFORM):
*id = SYRLINKS::READ_TX_WAVEFORM;
nextCommand = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE;
break;
case (SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE):
*id = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE;
nextCommand = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
break;
case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE):
*id = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
nextCommand = SYRLINKS::READ_RX_STATUS_REGISTERS;
break;
default:
sif::debug << "SyrlinksHkHandler::buildNormalDeviceCommand: rememberCommandId has invalid"
<< "command id" << std::endl;
break;
}
return buildCommandFromCommand(*id, NULL, 0);
}
ReturnValue_t SyrlinksHkHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (SYRLINKS::RESET_UNIT): {
resetCommand.copy(reinterpret_cast<char*>(commandBuffer), resetCommand.size(), 0);
rawPacketLen = resetCommand.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::SET_TX_MODE_STANDBY): {
setTxModeStandby.copy(reinterpret_cast<char*>(commandBuffer), setTxModeStandby.size(), 0);
rawPacketLen = setTxModeStandby.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::SET_TX_MODE_MODULATION): {
setTxModeModulation.copy(reinterpret_cast<char*>(commandBuffer), setTxModeModulation.size(),
0);
rawPacketLen = setTxModeModulation.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::SET_TX_MODE_CW): {
setTxModeCw.copy(reinterpret_cast<char*>(commandBuffer), setTxModeCw.size(), 0);
rawPacketLen = setTxModeCw.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::WRITE_LCL_CONFIG): {
writeLclConfig.copy(reinterpret_cast<char*>(commandBuffer), writeLclConfig.size(), 0);
rawPacketLen = writeLclConfig.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::READ_RX_STATUS_REGISTERS): {
readRxStatusRegCommand.copy(reinterpret_cast<char*>(commandBuffer),
readRxStatusRegCommand.size(), 0);
rawPacketLen = readRxStatusRegCommand.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::READ_TX_STATUS): {
readTxStatus.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
rawPacketLen = readTxStatus.size();
rememberCommandId = SYRLINKS::READ_TX_STATUS;
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::READ_TX_WAVEFORM): {
readTxWaveform.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
rawPacketLen = readTxWaveform.size();
rememberCommandId = SYRLINKS::READ_TX_WAVEFORM;
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE): {
readTxAgcValueHighByte.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
rawPacketLen = readTxAgcValueHighByte.size();
rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE;
rawPacket = commandBuffer;
return RETURN_OK;
}
case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE): {
readTxAgcValueLowByte.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
rawPacketLen = readTxAgcValueLowByte.size();
rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
rawPacket = commandBuffer;
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void SyrlinksHkHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(SYRLINKS::RESET_UNIT, 1, nullptr, SYRLINKS::ACK_SIZE, false,
true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_STANDBY, 1, nullptr, SYRLINKS::ACK_SIZE,
false, true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_MODULATION, 1, nullptr, SYRLINKS::ACK_SIZE,
false, true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_CW, 1, nullptr, SYRLINKS::ACK_SIZE, false,
true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::WRITE_LCL_CONFIG, 2, nullptr, SYRLINKS::ACK_SIZE, false,
true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_STATUS, 1, &txDataset,
SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_WAVEFORM, 1, &txDataset,
SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE, 1, &txDataset,
SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE, 1, &txDataset,
SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
this->insertInCommandAndReplyMap(SYRLINKS::READ_RX_STATUS_REGISTERS, 1, &rxDataset,
SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
}
//ReturnValue_t SyrlinksHkHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
// uint8_t expectedReplies, bool useAlternateId,
// DeviceCommandId_t alternateReplyID) {
// switch (command->first) {
// case SYRLINKS::RESET_UNIT: {
// case SYRLINKS::SET_TX_MODE_STANDBY:
// case SYRLINKS::SET_TX_MODE_MODULATION:
// case SYRLINKS::SET_TX_MODE_CW:
// return DeviceHandlerBase::enableReplyInReplyMap(command, 1, true, SYRLINKS::ACK_REPLY);
// }
// default:
// break;
// }
// return DeviceHandlerBase::enableReplyInReplyMap(command);
//}
ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
ReturnValue_t result = RETURN_OK;
if (*start != '<') {
sif::error << "SyrlinksHkHandler::scanForReply: Missing start frame character" << std::endl;
return MISSING_START_FRAME_CHARACTER;
}
switch (*(start + 1)) {
case ('A'):
*foundLen = SYRLINKS::ACK_SIZE;
*foundId = SYRLINKS::ACK_REPLY;
break;
case ('E'):
*foundLen = SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE;
*foundId = SYRLINKS::READ_RX_STATUS_REGISTERS;
break;
case ('R'):
*foundId = rememberCommandId;
*foundLen = SYRLINKS::READ_ONE_REGISTER_REPLY_SIE;
break;
default:
sif::error << "SyrlinksHkHandler::scanForReply: Unknown reply identifier" << std::endl;
result = IGNORE_REPLY_DATA;
break;
}
return result;
}
ReturnValue_t SyrlinksHkHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
if (powerSwitch == power::NO_SWITCH) {
return DeviceHandlerBase::NO_SWITCH;
}
*numberOfSwitches = 1;
*switches = &powerSwitch;
return RETURN_OK;
}
ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
ReturnValue_t result;
switch (id) {
case (SYRLINKS::ACK_REPLY):
result = verifyReply(packet, SYRLINKS::ACK_SIZE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgment reply has "
"invalid crc"
<< std::endl;
return CRC_FAILURE;
}
result =
parseReplyStatus(reinterpret_cast<const char*>(packet + SYRLINKS::MESSAGE_HEADER_SIZE));
if (result != RETURN_OK) {
return result;
}
break;
case (SYRLINKS::READ_RX_STATUS_REGISTERS):
result = verifyReply(packet, SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read rx status registers reply "
<< "has invalid crc" << std::endl;
return CRC_FAILURE;
}
parseRxStatusRegistersReply(packet);
break;
case (SYRLINKS::READ_TX_STATUS):
result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx status reply "
<< "has invalid crc" << std::endl;
return CRC_FAILURE;
}
parseTxStatusReply(packet);
break;
case (SYRLINKS::READ_TX_WAVEFORM):
result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx waveform reply "
<< "has invalid crc" << std::endl;
return CRC_FAILURE;
}
parseTxWaveformReply(packet);
break;
case (SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE):
result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx AGC high byte reply "
<< "has invalid crc" << std::endl;
return CRC_FAILURE;
}
parseAgcHighByte(packet);
break;
case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE):
result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx AGC low byte reply "
<< "has invalid crc" << std::endl;
return CRC_FAILURE;
}
parseAgcLowByte(packet);
break;
default: {
sif::debug << "SyrlinksHkHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
}
LocalPoolDataSetBase* SyrlinksHkHandler::getDataSetHandle(sid_t sid) {
if (sid == rxDataset.getSid()) {
return &rxDataset;
} else if (sid == txDataset.getSid()) {
return &txDataset;
} else {
sif::error << "SyrlinksHkHandler::getDataSetHandle: Invalid sid" << std::endl;
return nullptr;
}
}
std::string SyrlinksHkHandler::convertUint16ToHexString(uint16_t intValue) {
std::stringstream stream;
stream << std::setfill('0') << std::setw(4) << std::hex << std::uppercase << intValue;
return stream.str();
}
uint8_t SyrlinksHkHandler::convertHexStringToUint8(const char* twoChars) {
uint32_t value;
std::string hexString(twoChars, 2);
std::stringstream stream;
stream << std::hex << hexString;
stream >> value;
return static_cast<uint8_t>(value);
}
uint16_t SyrlinksHkHandler::convertHexStringToUint16(const char* fourChars) {
uint16_t value = 0;
value = convertHexStringToUint8(fourChars) << 8 | convertHexStringToUint8(fourChars + 2);
return value;
}
uint32_t SyrlinksHkHandler::convertHexStringToUint32(const char* characters,
uint8_t numberOfChars) {
uint32_t value = 0;
switch (numberOfChars) {
case 6:
value = convertHexStringToUint8(characters) << 16 |
convertHexStringToUint8(characters + 2) << 8 |
convertHexStringToUint8(characters + 4);
return value;
case 8:
value = convertHexStringToUint8(characters) << 24 |
convertHexStringToUint8(characters + 2) << 16 |
convertHexStringToUint8(characters + 4) << 8 |
convertHexStringToUint8(characters + 4);
return value;
default:
sif::debug << "SyrlinksHkHandler::convertHexStringToUint32: Invalid number of characters. "
<< "Must be either 6 or 8" << std::endl;
return 0;
}
}
ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) {
switch (*status) {
case '0':
return RETURN_OK;
case '1':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Uart faming or parity error" << std::endl;
return UART_FRAMIN_OR_PARITY_ERROR_ACK;
case '2':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad character detected" << std::endl;
return BAD_CHARACTER_ACK;
case '3':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad parameter value (unexpected value "
<< "detected" << std::endl;
return BAD_PARAMETER_VALUE_ACK;
case '4':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad end of frame" << std::endl;
return BAD_END_OF_FRAME_ACK;
case '5':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Unknown command id or attempt to access"
<< " a protected register" << std::endl;
return UNKNOWN_COMMAND_ID_ACK;
case '6':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad CRC" << std::endl;
return BAD_CRC_ACK;
default:
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Status reply contains an invalid "
<< "status id" << std::endl;
return RETURN_FAILED;
}
}
ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size) {
int result = 0;
/* Calculate crc from received packet */
uint16_t crc =
CRC::crc16ccitt(packet, size - SYRLINKS::SIZE_CRC_AND_TERMINATION, CRC_INITIAL_VALUE);
std::string recalculatedCrc = convertUint16ToHexString(crc);
const char* startOfCrc =
reinterpret_cast<const char*>(packet + size - SYRLINKS::SIZE_CRC_AND_TERMINATION);
const char* endOfCrc = reinterpret_cast<const char*>(packet + size - 1);
std::string replyCrc(startOfCrc, endOfCrc);
result = recalculatedCrc.compare(replyCrc);
if (result != 0) {
return RETURN_FAILED;
}
return RETURN_OK;
}
void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
PoolReadGuard readHelper(&rxDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
rxDataset.rxStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
offset += 2;
rxDataset.rxSensitivity =
convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
offset += 6;
rxDataset.rxFrequencyShift =
convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
offset += 6;
rxDataset.rxIqPower = convertHexStringToUint16(reinterpret_cast<const char*>(packet + offset));
offset += 4;
rxDataset.rxAgcValue = convertHexStringToUint16(reinterpret_cast<const char*>(packet + offset));
offset += 4;
offset += 2; // reserved register
rxDataset.rxDemodEb = convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
offset += 6;
rxDataset.rxDemodN0 = convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
offset += 6;
rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value
<< std::endl;
sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl;
sif::info << "Syrlinks RX Frequency Shift: " << rxDataset.rxFrequencyShift << std::endl;
sif::info << "Syrlinks RX IQ Power: " << rxDataset.rxIqPower << std::endl;
sif::info << "Syrlinks RX AGC Value: " << rxDataset.rxAgcValue << std::endl;
sif::info << "Syrlinks RX Demod Eb: " << rxDataset.rxDemodEb << std::endl;
sif::info << "Syrlinks RX Demod N0: " << rxDataset.rxDemodN0 << std::endl;
sif::info << "Syrlinks RX Datarate: " << (unsigned int)rxDataset.rxDataRate.value << std::endl;
#endif
}
void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int)txDataset.txStatus.value
<< std::endl;
#endif
}
void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int)txDataset.txWaveform.value
<< std::endl;
#endif
}
void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
txDataset.txAgcValue = agcValueHighByte << 8 |
convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl;
#endif
}
void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
PoolReadGuard readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
agcValueHighByte = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
}
void SyrlinksHkHandler::setNormalDatapoolEntriesInvalid() {}
uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(SYRLINKS::RX_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(SYRLINKS::RX_SENSITIVITY, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(SYRLINKS::RX_FREQUENCY_SHIFT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(SYRLINKS::RX_IQ_POWER, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SYRLINKS::RX_AGC_VALUE, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_EB, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_N0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(SYRLINKS::RX_DATA_RATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(SYRLINKS::TX_STATUS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(SYRLINKS::TX_WAVEFORM, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(SYRLINKS::TX_AGC_VALUE, new PoolEntry<uint16_t>({0}));
return HasReturnvaluesIF::RETURN_OK;
}
void SyrlinksHkHandler::setModeNormal() { mode = MODE_NORMAL; }