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eive-obsw/linux/payload/PlocSupervisorHandler.cpp
Robin Mueller d1a446d445
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hopefully dont need this const
2023-08-15 14:43:23 +02:00

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#include "PlocSupervisorHandler.h"
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <filesystem>
#include <fstream>
#include <sstream>
#include <string>
#include "OBSWConfig.h"
#include "eive/definitions.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/timemanager/Clock.h"
using namespace supv;
using namespace returnvalue;
PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, CookieIF* comCookie,
Gpio uartIsolatorSwitch, power::Switch_t powerSwitch,
PlocSupvUartManager& supvHelper)
: DeviceHandlerBase(objectId, supvHelper.getObjectId(), comCookie),
uartIsolatorSwitch(uartIsolatorSwitch),
hkset(this),
bootStatusReport(this),
latchupStatusReport(this),
loggingReport(this),
adcReport(this),
powerSwitch(powerSwitch),
uartManager(supvHelper) {
if (comCookie == nullptr) {
sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
}
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}
PlocSupervisorHandler::~PlocSupervisorHandler() {}
ReturnValue_t PlocSupervisorHandler::initialize() {
ReturnValue_t result = returnvalue::OK;
result = DeviceHandlerBase::initialize();
if (result != returnvalue::OK) {
return result;
}
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
#endif /* TE0720_1CFA */
result = eventSubscription();
if (result != returnvalue::OK) {
return result;
}
return result;
}
void PlocSupervisorHandler::performOperationHook() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "PlocSupervisorHandler::performOperationHook: Did not subscribe to this event"
<< " message" << std::endl;
break;
}
}
}
ReturnValue_t PlocSupervisorHandler::executeAction(ActionId_t actionId,
MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
using namespace supv;
ReturnValue_t result = returnvalue::OK;
switch (actionId) {
default:
break;
}
if (uartManager.longerRequestActive()) {
return result::SUPV_HELPER_EXECUTING;
}
result = acceptExternalDeviceCommands();
if (result != returnvalue::OK) {
return result;
}
switch (actionId) {
case PERFORM_UPDATE: {
if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return result::FILENAME_TOO_LONG;
}
shutdownCmdSent = false;
UpdateParams params;
result = extractUpdateCommand(data, size, params);
if (result != returnvalue::OK) {
return result;
}
result = uartManager.performUpdate(params);
if (result != returnvalue::OK) {
return result;
}
return EXECUTION_FINISHED;
}
case CONTINUE_UPDATE: {
shutdownCmdSent = false;
uartManager.initiateUpdateContinuation();
return EXECUTION_FINISHED;
}
case MEMORY_CHECK_WITH_FILE: {
shutdownCmdSent = false;
UpdateParams params;
result = extractBaseParams(&data, size, params);
if (result != returnvalue::OK) {
return result;
}
if (not std::filesystem::exists(params.file)) {
return HasFileSystemIF::FILE_DOES_NOT_EXIST;
}
uartManager.performMemCheck(params.file, params.memId, params.startAddr);
return EXECUTION_FINISHED;
}
default:
break;
}
return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
}
void PlocSupervisorHandler::doStartUp() {
if (startupState == StartupState::OFF) {
bootTimeout.resetTimer();
startupState = StartupState::BOOTING;
}
if (startupState == StartupState::BOOTING) {
if (bootTimeout.hasTimedOut()) {
uartIsolatorSwitch.pullHigh();
uartManager.start();
if (SET_TIME_DURING_BOOT) {
startupState = StartupState::SET_TIME;
} else {
startupState = StartupState::ON;
}
}
}
if (startupState == StartupState::TIME_WAS_SET) {
startupState = StartupState::ON;
}
if (startupState == StartupState::ON) {
hkset.setReportingEnabled(true);
setMode(_MODE_TO_ON);
}
}
void PlocSupervisorHandler::doShutDown() {
setMode(_MODE_POWER_DOWN);
hkset.setReportingEnabled(false);
hkset.setValidity(false, true);
shutdownCmdSent = false;
packetInBuffer = false;
nextReplyId = supv::NONE;
uartManager.stop();
uartIsolatorSwitch.pullLow();
startupState = StartupState::OFF;
}
ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
if (not commandIsExecuting(GET_HK_REPORT)) {
*id = GET_HK_REPORT;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (startupState == StartupState::SET_TIME) {
*id = supv::SET_TIME_REF;
startupState = StartupState::WAIT_FOR_TIME_REPLY;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
}
ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
using namespace supv;
ReturnValue_t result = returnvalue::FAILED;
spParams.buf = commandBuffer;
switch (deviceCommand) {
case GET_HK_REPORT: {
prepareEmptyCmd(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT));
result = returnvalue::OK;
break;
}
case START_MPSOC: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::START_MPSOC));
result = returnvalue::OK;
break;
}
case SHUTDOWN_MPSOC: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC));
result = returnvalue::OK;
break;
}
case SEL_MPSOC_BOOT_IMAGE: {
prepareSelBootImageCmd(commandData);
result = returnvalue::OK;
break;
}
case RESET_MPSOC: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_MPSOC));
result = returnvalue::OK;
break;
}
case SET_TIME_REF: {
result = prepareSetTimeRefCmd();
break;
}
case SET_BOOT_TIMEOUT: {
prepareSetBootTimeoutCmd(commandData);
result = returnvalue::OK;
break;
}
case SET_MAX_RESTART_TRIES: {
prepareRestartTriesCmd(commandData);
result = returnvalue::OK;
break;
}
case DISABLE_PERIOIC_HK_TRANSMISSION: {
prepareDisableHk();
result = returnvalue::OK;
break;
}
case GET_BOOT_STATUS_REPORT: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::GET_BOOT_STATUS_REPORT));
result = returnvalue::OK;
break;
}
case ENABLE_LATCHUP_ALERT: {
result = prepareLatchupConfigCmd(commandData, deviceCommand);
break;
}
case DISABLE_LATCHUP_ALERT: {
result = prepareLatchupConfigCmd(commandData, deviceCommand);
break;
}
case SET_ALERT_LIMIT: {
result = prepareSetAlertLimitCmd(commandData);
break;
}
case GET_LATCHUP_STATUS_REPORT: {
prepareEmptyCmd(Apid::LATCHUP_MON, static_cast<uint8_t>(tc::LatchupMonId::GET_STATUS_REPORT));
result = returnvalue::OK;
break;
}
case RUN_AUTO_EM_TESTS: {
result = prepareRunAutoEmTest(commandData);
break;
}
case SET_GPIO: {
prepareSetGpioCmd(commandData);
result = returnvalue::OK;
break;
}
case FACTORY_RESET: {
result = prepareFactoryResetCmd(commandData, commandDataLen);
break;
}
case READ_GPIO: {
prepareReadGpioCmd(commandData);
result = returnvalue::OK;
break;
}
case SET_SHUTDOWN_TIMEOUT: {
prepareSetShutdownTimeoutCmd(commandData);
result = returnvalue::OK;
break;
}
case FACTORY_FLASH: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::FACTORY_FLASH));
result = returnvalue::OK;
break;
}
case RESET_PL: {
prepareEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_PL));
result = returnvalue::OK;
break;
}
case SET_ADC_ENABLED_CHANNELS: {
prepareSetAdcEnabledChannelsCmd(commandData);
result = returnvalue::OK;
break;
}
case SET_ADC_WINDOW_AND_STRIDE: {
prepareSetAdcWindowAndStrideCmd(commandData);
result = returnvalue::OK;
break;
}
case SET_ADC_THRESHOLD: {
prepareSetAdcThresholdCmd(commandData);
result = returnvalue::OK;
break;
}
case WIPE_MRAM: {
result = prepareWipeMramCmd(commandData);
break;
}
// case ENABLE_NVMS: {
// result = prepareEnableNvmsCommand(commandData);
// break;
// }
// case RESTART_SUPERVISOR: {
// prepareEmptyCmd(APID_RESTART_SUPERVISOR);
// result = returnvalue::OK;
// break;
// }
// Removed command
// case START_MPSOC_QUIET: {
// prepareEmptyCmd(APID_START_MPSOC_QUIET);
// result = returnvalue::OK;
// break;
// }
// case ENABLE_AUTO_TM: {
// EnableAutoTm packet(spParams);
// result = packet.buildPacket();
// if (result != returnvalue::OK) {
// break;
// }
// finishTcPrep(packet.getFullPacketLen());
// break;
// }
// case DISABLE_AUTO_TM: {
// DisableAutoTm packet(spParams);
// result = packet.buildPacket();
// if (result != returnvalue::OK) {
// break;
// }
// finishTcPrep(packet.getFullPacketLen());
// break;
// }
// case LOGGING_REQUEST_COUNTERS: {
// RequestLoggingData packet(spParams);
// result = packet.buildPacket(RequestLoggingData::Sa::REQUEST_COUNTERS);
// if (result != returnvalue::OK) {
// break;
// }
// finishTcPrep(packet.getFullPacketLen());
// break;
// }
// case LOGGING_CLEAR_COUNTERS: {
// RequestLoggingData packet(spParams);
// result = packet.buildPacket(RequestLoggingData::Sa::CLEAR_COUNTERS);
// if (result != returnvalue::OK) {
// break;
// }
// finishTcPrep(packet.getFullPacketLen());
// break;
// }
// case LOGGING_SET_TOPIC: {
// if (commandData == nullptr or commandDataLen == 0) {
// return HasActionsIF::INVALID_PARAMETERS;
// }
// uint8_t tpc = *(commandData);
// RequestLoggingData packet(spParams);
// result = packet.buildPacket(RequestLoggingData::Sa::SET_LOGGING_TOPIC, tpc);
// if (result != returnvalue::OK) {
// break;
// }
// finishTcPrep(packet.getFullPacketLen());
// break;
// }
// I think this is disabled right now according to the TC excel table
// case COPY_ADC_DATA_TO_MRAM: {
// prepareEmptyCmd(APID_COPY_ADC_DATA_TO_MRAM);
// result = returnvalue::OK;
// break;
// }
// case REQUEST_ADC_REPORT: {
// prepareEmptyCmd(APID_REQUEST_ADC_REPORT);
// result = returnvalue::OK;
// break;
// }
// case FIRST_MRAM_DUMP:
// case CONSECUTIVE_MRAM_DUMP:
// result = prepareDumpMramCmd(commandData);
// break;
default:
sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;
result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
break;
}
return result;
}
void PlocSupervisorHandler::fillCommandAndReplyMap() {
// Command only
insertInCommandMap(GET_HK_REPORT);
insertInCommandMap(START_MPSOC);
insertInCommandMap(SHUTDOWN_MPSOC);
insertInCommandMap(SEL_MPSOC_BOOT_IMAGE);
insertInCommandMap(SET_BOOT_TIMEOUT);
insertInCommandMap(SET_MAX_RESTART_TRIES);
insertInCommandMap(RESET_MPSOC);
insertInCommandMap(WIPE_MRAM);
insertInCommandMap(SET_TIME_REF);
insertInCommandMap(DISABLE_PERIOIC_HK_TRANSMISSION);
insertInCommandMap(GET_BOOT_STATUS_REPORT);
insertInCommandMap(ENABLE_LATCHUP_ALERT);
insertInCommandMap(DISABLE_LATCHUP_ALERT);
insertInCommandMap(SET_ALERT_LIMIT);
insertInCommandMap(GET_LATCHUP_STATUS_REPORT);
insertInCommandMap(RUN_AUTO_EM_TESTS);
insertInCommandMap(SET_GPIO);
insertInCommandMap(READ_GPIO);
insertInCommandMap(FACTORY_RESET);
insertInCommandMap(MEMORY_CHECK);
insertInCommandMap(SET_SHUTDOWN_TIMEOUT);
insertInCommandMap(FACTORY_FLASH);
insertInCommandMap(SET_ADC_ENABLED_CHANNELS);
insertInCommandMap(SET_ADC_THRESHOLD);
insertInCommandMap(SET_ADC_WINDOW_AND_STRIDE);
insertInCommandMap(RESET_PL);
// ACK replies, use countdown for them
insertInReplyMap(ACK_REPORT, 0, nullptr, SIZE_ACK_REPORT, false, &acknowledgementReportTimeout);
insertInReplyMap(EXE_REPORT, 0, nullptr, SIZE_EXE_REPORT, false, &executionReportTimeout);
insertInReplyMap(MEMORY_CHECK, 5, nullptr, 0, false);
// TM replies
insertInReplyMap(HK_REPORT, 3, &hkset);
insertInReplyMap(BOOT_STATUS_REPORT, 3, &bootStatusReport, SIZE_BOOT_STATUS_REPORT);
insertInReplyMap(LATCHUP_REPORT, 3, &latchupStatusReport, SIZE_LATCHUP_STATUS_REPORT);
insertInReplyMap(LOGGING_REPORT, 3, &loggingReport, SIZE_LOGGING_REPORT);
insertInReplyMap(ADC_REPORT, 3, &adcReport, SIZE_ADC_REPORT);
}
ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
uint8_t expectedReplies,
bool useAlternateId,
DeviceCommandId_t alternateReplyID) {
ReturnValue_t result = OK;
uint8_t enabledReplies = 0;
switch (command->first) {
case GET_HK_REPORT: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, HK_REPORT);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << HK_REPORT
<< " not in replyMap" << std::endl;
}
break;
}
case GET_BOOT_STATUS_REPORT: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
BOOT_STATUS_REPORT);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< BOOT_STATUS_REPORT << " not in replyMap" << std::endl;
}
break;
}
case GET_LATCHUP_STATUS_REPORT: {
enabledReplies = 3;
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, LATCHUP_REPORT);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< LATCHUP_REPORT << " not in replyMap" << std::endl;
}
break;
}
case LOGGING_REQUEST_COUNTERS: {
enabledReplies = 3;
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, LOGGING_REPORT);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< LOGGING_REPORT << " not in replyMap" << std::endl;
}
break;
}
case REQUEST_ADC_REPORT: {
enabledReplies = 3;
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, ADC_REPORT);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << ADC_REPORT
<< " not in replyMap" << std::endl;
}
break;
}
case FIRST_MRAM_DUMP: {
enabledReplies = 2; // expected replies will be increased in handleMramDumpPacket
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, FIRST_MRAM_DUMP);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< FIRST_MRAM_DUMP << " not in replyMap" << std::endl;
}
break;
}
case CONSECUTIVE_MRAM_DUMP: {
enabledReplies = 2; // expected replies will be increased in handleMramDumpPacket
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
CONSECUTIVE_MRAM_DUMP);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
<< CONSECUTIVE_MRAM_DUMP << " not in replyMap" << std::endl;
}
break;
}
case MEMORY_CHECK: {
enabledReplies = 3;
result =
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, MEMORY_CHECK);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << MEMORY_CHECK
<< " not in replyMap" << std::endl;
}
break;
}
case START_MPSOC:
case SHUTDOWN_MPSOC:
case SEL_MPSOC_BOOT_IMAGE:
case SET_BOOT_TIMEOUT:
case SET_MAX_RESTART_TRIES:
case RESET_MPSOC:
case SET_TIME_REF:
case ENABLE_LATCHUP_ALERT:
case DISABLE_LATCHUP_ALERT:
case SET_ALERT_LIMIT:
case SET_ADC_ENABLED_CHANNELS:
case SET_ADC_WINDOW_AND_STRIDE:
case SET_ADC_THRESHOLD:
// case COPY_ADC_DATA_TO_MRAM:
case RUN_AUTO_EM_TESTS:
case WIPE_MRAM:
case SET_GPIO:
case FACTORY_RESET:
case READ_GPIO:
// case RESTART_SUPERVISOR:
case DISABLE_PERIOIC_HK_TRANSMISSION:
// case START_MPSOC_QUIET:
case SET_SHUTDOWN_TIMEOUT:
case FACTORY_FLASH:
case ENABLE_AUTO_TM:
case DISABLE_AUTO_TM:
// case LOGGING_CLEAR_COUNTERS:
// case LOGGING_SET_TOPIC:
case RESET_PL:
// case ENABLE_NVMS:
enabledReplies = 2;
break;
default:
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
break;
}
/**
* Every command causes at least one acknowledgment and one execution report. Therefore both
* replies will be enabled here.
*/
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, ACK_REPORT);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << ACK_REPORT
<< " not in replyMap" << std::endl;
}
setExecutionTimeout(command->first);
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, EXE_REPORT);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id " << EXE_REPORT
<< " not in replyMap" << std::endl;
}
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
using namespace supv;
// TODO: Is this still required?
// if (nextReplyId == FIRST_MRAM_DUMP) {
// *foundId = FIRST_MRAM_DUMP;
// return parseMramPackets(start, remainingSize, foundLen);
// } else if (nextReplyId == CONSECUTIVE_MRAM_DUMP) {
// *foundId = CONSECUTIVE_MRAM_DUMP;
// return parseMramPackets(start, remainingSize, foundLen);
// }
tmReader.setData(start, remainingSize);
// sif::debug << "PlocSupervisorHandler::scanForReply: Received Packet" << std::endl;
// arrayprinter::print(start, remainingSize);
uint16_t apid = tmReader.getModuleApid();
switch (apid) {
case (Apid::TMTC_MAN): {
switch (tmReader.getServiceId()) {
case (static_cast<uint8_t>(supv::tm::TmtcId::ACK)):
case (static_cast<uint8_t>(supv::tm::TmtcId::NAK)): {
*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::ACK_REPORT;
return OK;
}
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)):
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)): {
*foundLen = tmReader.getFullPacketLen();
*foundId = EXE_REPORT;
return OK;
}
}
break;
}
case (Apid::HK): {
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::REPORT)) {
*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::HK_REPORT;
return OK;
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::HARDFAULTS)) {
handleBadApidServiceCombination(SUPV_UNINIMPLEMENTED_TM, apid, tmReader.getServiceId());
return INVALID_DATA;
}
break;
}
case (Apid::BOOT_MAN): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::BootManId::BOOT_STATUS_REPORT)) {
*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::BOOT_STATUS_REPORT;
return OK;
}
break;
}
case (Apid::MEM_MAN): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::MemManId::UPDATE_STATUS_REPORT)) {
*foundLen = tmReader.getFullPacketLen();
*foundId = ReplyId::UPDATE_STATUS_REPORT;
return OK;
}
}
}
handleBadApidServiceCombination(SUPV_UNKNOWN_TM, apid, tmReader.getServiceId());
*foundLen = remainingSize;
return INVALID_DATA;
}
ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t* packet) {
using namespace supv;
ReturnValue_t result = returnvalue::OK;
switch (id) {
case ACK_REPORT: {
result = handleAckReport(packet);
break;
}
case (HK_REPORT): {
result = handleHkReport(packet);
break;
}
case (BOOT_STATUS_REPORT): {
result = handleBootStatusReport(packet);
break;
}
case (LATCHUP_REPORT): {
result = handleLatchupStatusReport(packet);
break;
}
case (ADC_REPORT): {
result = handleAdcReport(packet);
break;
}
case (EXE_REPORT): {
result = handleExecutionReport(packet);
break;
}
case (UPDATE_STATUS_REPORT): {
// TODO: handle status report here
break;
}
default: {
sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return result;
}
ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(supv::NUM_TMS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TEMP_PS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TEMP_PL, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::HK_SOC_STATE, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::NVM0_1_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::NVM3_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::MISSION_IO_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::FMC_STATE, &fmcStateEntry);
localDataPoolMap.emplace(supv::NUM_TCS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TEMP_SUP, &tempSupEntry);
localDataPoolMap.emplace(supv::UPTIME, new PoolEntry<uint64_t>({0}));
localDataPoolMap.emplace(supv::CPULOAD, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::AVAILABLEHEAP, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::BR_SOC_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::POWER_CYCLES, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BOOT_AFTER_MS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::BOOT_TIMEOUT_MS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::ACTIVE_NVM, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BP0_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BP1_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BP2_STATE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::BOOT_STATE, &bootStateEntry);
localDataPoolMap.emplace(supv::BOOT_CYCLES, &bootCyclesEntry);
localDataPoolMap.emplace(supv::LATCHUP_ID, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::CNT0, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT1, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT2, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT3, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT4, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT5, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::CNT6, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MON, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_RPT_IS_SET, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_0, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_1, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_2, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_3, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_4, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_5, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNT_6, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::ADC_DEVIATION_TRIGGERS_CNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TC_RECEIVED_CNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TM_AVAILABLE_CNT, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::SUPERVISOR_BOOTS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_BOOTS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_BOOT_FAILED_ATTEMPTS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_POWER_UP, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MPSOC_UPDATES, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LAST_RECVD_TC, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_0, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_1, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_2, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_3, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_4, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_5, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_6, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_7, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_8, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_9, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_10, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_11, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_12, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_13, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_14, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_RAW_15, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_0, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_1, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_2, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_3, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_4, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_5, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_6, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_7, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_8, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_9, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_10, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_11, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_12, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_13, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_14, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(supv::ADC_ENG_15, new PoolEntry<uint16_t>({0}));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(hkset.getSid(), false, 10.0));
return returnvalue::OK;
}
void PlocSupervisorHandler::handleEvent(EventMessage* eventMessage) {
ReturnValue_t result = returnvalue::OK;
object_id_t objectId = eventMessage->getReporter();
Event event = eventMessage->getEvent();
switch (objectId) {
case objects::PLOC_SUPERVISOR_HELPER: {
// After execution of update procedure, PLOC is in a state where it draws approx. 700 mA of
// current. To leave this state the shutdown MPSoC command must be sent here.
if (event == PlocSupvUartManager::SUPV_UPDATE_FAILED ||
event == PlocSupvUartManager::SUPV_UPDATE_SUCCESSFUL ||
event == PlocSupvUartManager::SUPV_CONTINUE_UPDATE_FAILED ||
event == PlocSupvUartManager::SUPV_CONTINUE_UPDATE_SUCCESSFUL ||
event == PlocSupvUartManager::SUPV_MEM_CHECK_FAIL ||
event == PlocSupvUartManager::SUPV_MEM_CHECK_OK) {
// Wait for a short period for the uart state machine to adjust
// TaskFactory::delayTask(5);
if (not shutdownCmdSent) {
shutdownCmdSent = true;
result = this->executeAction(supv::SHUTDOWN_MPSOC, NO_COMMANDER, nullptr, 0);
if (result != returnvalue::OK) {
triggerEvent(SUPV_MPSOC_SHUTDOWN_BUILD_FAILED);
sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown "
"command"
<< std::endl;
return;
}
}
}
break;
}
default:
sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
break;
}
}
void PlocSupervisorHandler::setExecutionTimeout(DeviceCommandId_t command) {
using namespace supv;
switch (command) {
case FIRST_MRAM_DUMP:
case CONSECUTIVE_MRAM_DUMP:
executionReportTimeout.setTimeout(MRAM_DUMP_EXECUTION_TIMEOUT);
break;
case COPY_ADC_DATA_TO_MRAM:
executionReportTimeout.setTimeout(COPY_ADC_TO_MRAM_TIMEOUT);
break;
default:
executionReportTimeout.setTimeout(EXECUTION_DEFAULT_TIMEOUT);
break;
}
}
ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
if (CRC::crc16ccitt(start, foundLen) != 0) {
return result::CRC_FAILURE;
}
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {
using namespace supv;
ReturnValue_t result = returnvalue::OK;
if (not tmReader.verifyCrc()) {
sif::error << "PlocSupervisorHandler::handleAckReport: CRC failure" << std::endl;
nextReplyId = supv::NONE;
replyRawReplyIfnotWiretapped(data, supv::SIZE_ACK_REPORT);
triggerEvent(SUPV_CRC_FAILURE_EVENT);
sendFailureReport(supv::ACK_REPORT, result::CRC_FAILURE);
disableAllReplies();
return returnvalue::OK;
}
AcknowledgmentReport ack(tmReader);
result = ack.parse();
if (result != returnvalue::OK) {
nextReplyId = supv::NONE;
replyRawReplyIfnotWiretapped(data, supv::SIZE_ACK_REPORT);
triggerEvent(SUPV_CRC_FAILURE_EVENT);
sendFailureReport(supv::ACK_REPORT, result);
disableAllReplies();
return result;
}
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
DeviceCommandId_t commandId = getPendingCommand();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_ACK_FAILURE, commandId, static_cast<uint32_t>(ack.getStatusCode()));
}
ack.printStatusInformation();
printAckFailureInfo(ack.getStatusCode(), commandId);
sendFailureReport(supv::ACK_REPORT, result::RECEIVED_ACK_FAILURE);
disableAllReplies();
nextReplyId = supv::NONE;
result = IGNORE_REPLY_DATA;
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
setNextReplyId();
}
return result;
}
ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {
using namespace supv;
ReturnValue_t result = returnvalue::OK;
if (not tmReader.verifyCrc()) {
nextReplyId = supv::NONE;
return result::CRC_FAILURE;
}
ExecutionReport report(tmReader);
result = report.parse();
if (result != OK) {
nextReplyId = supv::NONE;
return result;
}
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
result = handleExecutionSuccessReport(report);
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
handleExecutionFailureReport(report);
}
nextReplyId = supv::NONE;
return result;
}
ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {
ReturnValue_t result = returnvalue::OK;
result = verifyPacket(data, tmReader.getFullPacketLen());
if (result == result::CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc" << std::endl;
return result;
}
uint16_t offset = supv::PAYLOAD_OFFSET;
hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
size_t size = sizeof(hkset.uptime.value);
result = SerializeAdapter::deSerialize(&hkset.uptime, data + offset, &size,
SerializeIF::Endianness::BIG);
offset += 8;
hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 |
*(data + offset + 2) << 8 | *(data + offset + 3);
offset += 4;
hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8 |
*(data + offset + 3);
offset += 4;
hkset.nvm0_1_state = *(data + offset);
offset += 1;
hkset.nvm3_state = *(data + offset);
offset += 1;
hkset.missionIoState = *(data + offset);
offset += 1;
hkset.fmcState = *(data + offset);
offset += 1;
nextReplyId = supv::EXE_REPORT;
hkset.setValidity(true, true);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
sif::info << "PlocSupervisorHandler::handleHkReport: temp_ps: " << hkset.tempPs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: temp_pl: " << hkset.tempPl << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap
<< std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: nvm0_1_state: "
<< static_cast<unsigned int>(hkset.nvm0_1_state.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: nvm3_state: "
<< static_cast<unsigned int>(hkset.nvm3_state.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: mission_io_state: "
<< static_cast<unsigned int>(hkset.missionIoState.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleHkReport: fmc_state: "
<< static_cast<unsigned int>(hkset.fmcState.value) << std::endl;
#endif
return result;
}
ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {
ReturnValue_t result = returnvalue::OK;
result = verifyPacket(data, tmReader.getFullPacketLen());
if (result == result::CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
" crc"
<< std::endl;
return result;
}
const uint8_t* payloadStart = tmReader.getPayloadStart();
uint16_t offset = 0;
bootStatusReport.socState = payloadStart[0];
offset += 1;
bootStatusReport.powerCycles = payloadStart[1];
offset += 1;
bootStatusReport.bootAfterMs = *(payloadStart + offset) << 24 |
*(payloadStart + offset + 1) << 16 |
*(payloadStart + offset + 2) << 8 | *(payloadStart + offset + 3);
offset += 4;
bootStatusReport.bootTimeoutMs = *(payloadStart + offset) << 24 |
*(payloadStart + offset + 1) << 16 |
*(payloadStart + offset + 2) << 8 | *(payloadStart + offset + 3);
offset += 4;
bootStatusReport.activeNvm = *(payloadStart + offset);
offset += 1;
bootStatusReport.bp0State = *(payloadStart + offset);
offset += 1;
bootStatusReport.bp1State = *(payloadStart + offset);
offset += 1;
bootStatusReport.bp2State = *(payloadStart + offset);
offset += 1;
bootStatusReport.bootState = *(payloadStart + offset);
offset += 1;
bootStatusReport.bootCycles = *(payloadStart + offset);
nextReplyId = supv::EXE_REPORT;
bootStatusReport.setValidity(true, true);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
sif::info << "PlocSupervisorHandler::handleBootStatusReport: SoC State (0 - off, 1 - booting, 2 "
"- Update, 3 "
"- operating, 4 - Shutdown, 5 - Reset): "
<< static_cast<unsigned int>(bootStatusReport.socState.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Power Cycles: "
<< static_cast<unsigned int>(bootStatusReport.powerCycles.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootAfterMs: "
<< bootStatusReport.bootAfterMs << " ms" << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootTimeoutMs: " << std::dec
<< bootStatusReport.bootTimeoutMs << " ms" << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Active NVM: "
<< static_cast<unsigned int>(bootStatusReport.activeNvm.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP0: "
<< static_cast<unsigned int>(bootStatusReport.bp0State.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP1: "
<< static_cast<unsigned int>(bootStatusReport.bp1State.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP2: "
<< static_cast<unsigned int>(bootStatusReport.bp2State.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot state: "
<< static_cast<unsigned int>(bootStatusReport.bootState.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot cycles: "
<< static_cast<unsigned int>(bootStatusReport.bootCycles.value) << std::endl;
#endif
return result;
}
ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {
ReturnValue_t result = returnvalue::OK;
result = verifyPacket(data, tmReader.getFullPacketLen());
if (result == result::CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup status report has "
<< "invalid crc" << std::endl;
return result;
}
const uint8_t* payloadData = tmReader.getPayloadStart();
uint16_t offset = 0;
latchupStatusReport.id = *(payloadData + offset);
offset += 1;
latchupStatusReport.cnt0 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
offset += 2;
latchupStatusReport.cnt1 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
offset += 2;
latchupStatusReport.cnt2 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
offset += 2;
latchupStatusReport.cnt3 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
offset += 2;
latchupStatusReport.cnt4 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
offset += 2;
latchupStatusReport.cnt5 = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
offset += 2;
latchupStatusReport.cnt6 = *(payloadData + offset) << 8 | *(data + offset + 1);
offset += 2;
uint16_t msec = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
latchupStatusReport.isSet = msec >> supv::LatchupStatusReport::IS_SET_BIT_POS;
latchupStatusReport.timeMsec = msec & (~(1 << latchupStatusReport.IS_SET_BIT_POS));
offset += 2;
latchupStatusReport.timeSec = *(payloadData + offset);
offset += 1;
latchupStatusReport.timeMin = *(payloadData + offset);
offset += 1;
latchupStatusReport.timeHour = *(payloadData + offset);
offset += 1;
latchupStatusReport.timeDay = *(payloadData + offset);
offset += 1;
latchupStatusReport.timeMon = *(payloadData + offset);
offset += 1;
latchupStatusReport.timeYear = *(payloadData + offset);
nextReplyId = supv::EXE_REPORT;
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup ID: "
<< static_cast<unsigned int>(latchupStatusReport.id.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT0: "
<< latchupStatusReport.cnt0 << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT1: "
<< latchupStatusReport.cnt1 << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT2: "
<< latchupStatusReport.cnt2 << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT3: "
<< latchupStatusReport.cnt3 << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT4: "
<< latchupStatusReport.cnt4 << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT5: "
<< latchupStatusReport.cnt5 << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT6: "
<< latchupStatusReport.cnt6 << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Sec: "
<< static_cast<unsigned int>(latchupStatusReport.timeSec.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Min: "
<< static_cast<unsigned int>(latchupStatusReport.timeMin.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Hour: "
<< static_cast<unsigned int>(latchupStatusReport.timeHour.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Day: "
<< static_cast<unsigned int>(latchupStatusReport.timeDay.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Mon: "
<< static_cast<unsigned int>(latchupStatusReport.timeMon.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Year: "
<< static_cast<unsigned int>(latchupStatusReport.timeYear.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
<< static_cast<unsigned int>(latchupStatusReport.timeMsec.value) << std::endl;
sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: "
<< static_cast<unsigned int>(latchupStatusReport.isSet.value) << std::endl;
#endif
return result;
}
ReturnValue_t PlocSupervisorHandler::handleAdcReport(const uint8_t* data) {
ReturnValue_t result = returnvalue::OK;
result = verifyPacket(data, supv::SIZE_ADC_REPORT);
if (result == result::CRC_FAILURE) {
sif::error << "PlocSupervisorHandler::handleAdcReport: ADC report has "
<< "invalid crc" << std::endl;
return result;
}
const uint8_t* dataField = data + supv::PAYLOAD_OFFSET;
result = adcReport.read();
if (result != returnvalue::OK) {
return result;
}
adcReport.setValidityBufferGeneration(false);
size_t size = adcReport.getSerializedSize();
result = adcReport.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::handleAdcReport: Deserialization failed" << std::endl;
}
adcReport.setValidityBufferGeneration(true);
adcReport.setValidity(true, true);
result = adcReport.commit();
if (result != returnvalue::OK) {
return result;
}
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
adcReport.printSet();
#endif
nextReplyId = supv::EXE_REPORT;
return result;
}
void PlocSupervisorHandler::setNextReplyId() {
switch (getPendingCommand()) {
case supv::GET_HK_REPORT:
nextReplyId = supv::HK_REPORT;
break;
case supv::GET_BOOT_STATUS_REPORT:
nextReplyId = supv::BOOT_STATUS_REPORT;
break;
case supv::GET_LATCHUP_STATUS_REPORT:
nextReplyId = supv::LATCHUP_REPORT;
break;
case supv::FIRST_MRAM_DUMP:
nextReplyId = supv::FIRST_MRAM_DUMP;
break;
case supv::CONSECUTIVE_MRAM_DUMP:
nextReplyId = supv::CONSECUTIVE_MRAM_DUMP;
break;
case supv::LOGGING_REQUEST_COUNTERS:
nextReplyId = supv::LOGGING_REPORT;
break;
case supv::REQUEST_ADC_REPORT:
nextReplyId = supv::ADC_REPORT;
break;
default:
/* If no telemetry is expected the next reply is always the execution report */
nextReplyId = supv::EXE_REPORT;
break;
}
}
size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId) {
size_t replyLen = 0;
if (nextReplyId == supv::NONE) {
return replyLen;
}
if (nextReplyId == supv::FIRST_MRAM_DUMP || nextReplyId == supv::CONSECUTIVE_MRAM_DUMP) {
/**
* Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
* next doSendRead call. The command will be as long active as the packet with the sequence
* count indicating the last packet has not been received.
*/
replyLen = supv::MAX_PACKET_SIZE * 20;
return replyLen;
}
DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
if (iter != deviceReplyMap.end()) {
if ((iter->second.delayCycles == 0 && iter->second.countdown == nullptr) ||
(not iter->second.active && iter->second.countdown != nullptr)) {
/* Reply inactive */
return replyLen;
}
replyLen = iter->second.replyLen;
} else {
sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
}
return replyLen;
}
void PlocSupervisorHandler::doOffActivity() {}
void PlocSupervisorHandler::handleDeviceTm(const uint8_t* data, size_t dataSize,
DeviceCommandId_t replyId) {
ReturnValue_t result = returnvalue::OK;
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}
ReturnValue_t PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid, uint8_t serviceId) {
supv::NoPayloadPacket packet(spParams, apid, serviceId);
ReturnValue_t result = packet.buildPacket();
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t* commandData) {
supv::MPSoCBootSelect packet(spParams);
ReturnValue_t result =
packet.buildPacket(commandData[0], commandData[1], commandData[2], commandData[3]);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() {
Clock::TimeOfDay_t time;
ReturnValue_t result = Clock::getDateAndTime(&time);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::prepareSetTimeRefCmd: Failed to get current time"
<< std::endl;
return result::GET_TIME_FAILURE;
}
supv::SetTimeRef packet(spParams);
result = packet.buildPacket(&time);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareDisableHk() {
supv::DisablePeriodicHkTransmission packet(spParams);
ReturnValue_t result = packet.buildPacket();
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData) {
supv::SetBootTimeout packet(spParams);
uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
ReturnValue_t result = packet.buildPacket(timeout);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t* commandData) {
uint8_t restartTries = *(commandData);
supv::SetRestartTries packet(spParams);
ReturnValue_t result = packet.buildPacket(restartTries);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* commandData,
DeviceCommandId_t deviceCommand) {
ReturnValue_t result = returnvalue::OK;
uint8_t latchupId = *commandData;
if (latchupId > 6) {
return result::INVALID_LATCHUP_ID;
}
switch (deviceCommand) {
case (supv::ENABLE_LATCHUP_ALERT): {
supv::LatchupAlert packet(spParams);
result = packet.buildPacket(true, latchupId);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
break;
}
case (supv::DISABLE_LATCHUP_ALERT): {
supv::LatchupAlert packet(spParams);
result = packet.buildPacket(false, latchupId);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
break;
}
default: {
sif::debug << "PlocSupervisorHandler::prepareLatchupConfigCmd: Invalid command id"
<< std::endl;
result = returnvalue::FAILED;
break;
}
}
return result;
}
ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* commandData) {
uint8_t offset = 0;
uint8_t latchupId = *commandData;
offset += 1;
uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
*(commandData + offset + 2) << 8 | *(commandData + offset + 3);
if (latchupId > 6) {
return result::INVALID_LATCHUP_ID;
}
supv::SetAlertlimit packet(spParams);
ReturnValue_t result = packet.buildPacket(latchupId, dutycycle);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData) {
uint16_t ch = *(commandData) << 8 | *(commandData + 1);
supv::SetAdcEnabledChannels packet(spParams);
ReturnValue_t result = packet.buildPacket(ch);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData) {
uint8_t offset = 0;
uint16_t windowSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
offset += 2;
uint16_t stridingStepSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
supv::SetAdcWindowAndStride packet(spParams);
ReturnValue_t result = packet.buildPacket(windowSize, stridingStepSize);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
*(commandData + 3);
supv::SetAdcThreshold packet(spParams);
ReturnValue_t result = packet.buildPacket(threshold);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareRunAutoEmTest(const uint8_t* commandData) {
uint8_t test = *commandData;
if (test != 1 && test != 2) {
return result::INVALID_TEST_PARAM;
}
supv::RunAutoEmTests packet(spParams);
ReturnValue_t result = packet.buildPacket(test);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData) {
uint8_t port = *commandData;
uint8_t pin = *(commandData + 1);
uint8_t val = *(commandData + 2);
supv::SetGpio packet(spParams);
ReturnValue_t result = packet.buildPacket(port, pin, val);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandData) {
uint8_t port = *commandData;
uint8_t pin = *(commandData + 1);
supv::ReadGpio packet(spParams);
ReturnValue_t result = packet.buildPacket(port, pin);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareFactoryResetCmd(const uint8_t* commandData,
size_t len) {
FactoryReset resetCmd(spParams);
if (len < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
ReturnValue_t result = resetCmd.buildPacket(commandData[0]);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(resetCmd.getFullPacketLen());
return returnvalue::OK;
}
void PlocSupervisorHandler::finishTcPrep(size_t packetLen) {
nextReplyId = supv::ACK_REPORT;
rawPacket = commandBuffer;
rawPacketLen = packetLen;
}
ReturnValue_t PlocSupervisorHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData) {
uint32_t timeout = 0;
ReturnValue_t result = returnvalue::OK;
size_t size = sizeof(timeout);
result =
SerializeAdapter::deSerialize(&timeout, &commandData, &size, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::warning
<< "PlocSupervisorHandler::prepareSetShutdownTimeoutCmd: Failed to deserialize timeout"
<< std::endl;
}
supv::SetShutdownTimeout packet(spParams);
result = packet.buildPacket(timeout);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
void PlocSupervisorHandler::disableAllReplies() {
using namespace supv;
DeviceReplyMap::iterator iter;
/* Disable ack reply */
iter = deviceReplyMap.find(ACK_REPORT);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
DeviceCommandId_t commandId = getPendingCommand();
/* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
switch (commandId) {
case GET_HK_REPORT: {
disableReply(GET_HK_REPORT);
break;
}
case FIRST_MRAM_DUMP:
case CONSECUTIVE_MRAM_DUMP: {
disableReply(commandId);
break;
}
case REQUEST_ADC_REPORT: {
disableReply(ADC_REPORT);
break;
}
case GET_BOOT_STATUS_REPORT: {
disableReply(BOOT_STATUS_REPORT);
break;
}
case GET_LATCHUP_STATUS_REPORT: {
disableReply(LATCHUP_REPORT);
break;
}
case LOGGING_REQUEST_COUNTERS: {
disableReply(LOGGING_REPORT);
break;
}
default: {
break;
}
}
/* We must always disable the execution report reply here */
disableExeReportReply();
}
void PlocSupervisorHandler::disableReply(DeviceCommandId_t replyId) {
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->active = false;
info->command = deviceCommandMap.end();
}
void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
DeviceReplyIter iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply not in reply map" << std::endl;
return;
}
DeviceCommandInfo* info = &(iter->second.command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command"
<< std::endl;
return;
}
if (info->sendReplyTo != NO_COMMANDER) {
actionHelper.finish(false, info->sendReplyTo, iter->first, status);
}
info->isExecuting = false;
}
void PlocSupervisorHandler::disableExeReportReply() {
DeviceReplyIter iter = deviceReplyMap.find(supv::EXE_REPORT);
DeviceReplyInfo* info = &(iter->second);
info->delayCycles = 0;
info->command = deviceCommandMap.end();
info->active = false;
/* Expected replies is set to one here. The value will set to 0 in replyToReply() */
info->command->second.expectedReplies = 1;
}
ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket(DeviceCommandId_t id) {
ReturnValue_t result = returnvalue::FAILED;
// Prepare packet for downlink
if (packetInBuffer) {
uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
result = verifyPacket(spacePacketBuffer, ccsds::HEADER_LEN + packetLen + 1);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::handleMramDumpPacket: CRC failure" << std::endl;
return result;
}
result = handleMramDumpFile(id);
if (result != returnvalue::OK) {
DeviceCommandMap::iterator iter = deviceCommandMap.find(id);
actionHelper.finish(false, iter->second.sendReplyTo, id, result);
disableAllReplies();
nextReplyId = supv::NONE;
return result;
}
packetInBuffer = false;
receivedMramDumpPackets++;
if (expectedMramDumpPackets == receivedMramDumpPackets) {
nextReplyId = supv::EXE_REPORT;
}
increaseExpectedMramReplies(id);
return returnvalue::OK;
}
return result;
}
void PlocSupervisorHandler::increaseExpectedMramReplies(DeviceCommandId_t id) {
DeviceReplyMap::iterator mramDumpIter = deviceReplyMap.find(id);
DeviceReplyMap::iterator exeReportIter = deviceReplyMap.find(supv::EXE_REPORT);
if (mramDumpIter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::increaseExpectedMramReplies: Dump MRAM reply not "
<< "in reply map" << std::endl;
return;
}
if (exeReportIter == deviceReplyMap.end()) {
sif::debug << "PlocSupervisorHandler::increaseExpectedMramReplies: Execution report not "
<< "in reply map" << std::endl;
return;
}
DeviceReplyInfo* mramReplyInfo = &(mramDumpIter->second);
if (mramReplyInfo == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: MRAM reply info nullptr"
<< std::endl;
return;
}
DeviceReplyInfo* exeReplyInfo = &(exeReportIter->second);
if (exeReplyInfo == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Execution reply info"
<< " nullptr" << std::endl;
return;
}
DeviceCommandInfo* info = &(mramReplyInfo->command->second);
if (info == nullptr) {
sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Command info nullptr"
<< std::endl;
return;
}
uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
if (sequenceFlags != static_cast<uint8_t>(ccsds::SequenceFlags::LAST_SEGMENT) &&
(sequenceFlags != static_cast<uint8_t>(ccsds::SequenceFlags::UNSEGMENTED))) {
// Command expects at least one MRAM packet more and the execution report
info->expectedReplies = 2;
mramReplyInfo->countdown->resetTimer();
} else {
// Command expects the execution report
info->expectedReplies = 1;
mramReplyInfo->active = false;
}
exeReplyInfo->countdown->resetTimer();
return;
}
ReturnValue_t PlocSupervisorHandler::handleMramDumpFile(DeviceCommandId_t id) {
#ifdef XIPHOS_Q7S
if (not sdcMan->getActiveSdCard()) {
return HasFileSystemIF::FILESYSTEM_INACTIVE;
}
#endif
ReturnValue_t result = returnvalue::OK;
uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
if (id == supv::FIRST_MRAM_DUMP) {
if (sequenceFlags == static_cast<uint8_t>(ccsds::SequenceFlags::FIRST_SEGMENT) ||
(sequenceFlags == static_cast<uint8_t>(ccsds::SequenceFlags::UNSEGMENTED))) {
result = createMramDumpFile();
if (result != returnvalue::OK) {
return result;
}
}
}
if (not std::filesystem::exists(activeMramFile)) {
sif::warning << "PlocSupervisorHandler::handleMramDumpFile: MRAM file does not exist"
<< std::endl;
return result::MRAM_FILE_NOT_EXISTS;
}
std::ofstream file(activeMramFile, std::ios_base::app | std::ios_base::out);
file.write(reinterpret_cast<const char*>(spacePacketBuffer + ccsds::HEADER_LEN), packetLen - 1);
file.close();
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::prepareWipeMramCmd(const uint8_t* commandData) {
uint32_t start = 0;
uint32_t stop = 0;
size_t size = sizeof(start) + sizeof(stop);
SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
if ((stop - start) <= 0) {
return result::INVALID_MRAM_ADDRESSES;
}
supv::MramCmd packet(spParams);
ReturnValue_t result = packet.buildPacket(start, stop, supv::MramCmd::MramAction::WIPE);
if (result != returnvalue::OK) {
return result;
}
finishTcPrep(packet.getFullPacketLen());
return returnvalue::OK;
}
uint16_t PlocSupervisorHandler::readSpacePacketLength(uint8_t* spacePacket) {
return spacePacket[4] << 8 | spacePacket[5];
}
uint8_t PlocSupervisorHandler::readSequenceFlags(uint8_t* spacePacket) {
return spacePacketBuffer[2] >> 6;
}
ReturnValue_t PlocSupervisorHandler::createMramDumpFile() {
ReturnValue_t result = returnvalue::OK;
std::string timeStamp;
result = getTimeStampString(timeStamp);
if (result != returnvalue::OK) {
return result;
}
std::string filename = "mram-dump--" + timeStamp + ".bin";
#ifdef XIPHOS_Q7S
const char* currentMountPrefix = sdcMan->getCurrentMountPrefix();
#else
const char* currentMountPrefix = "/mnt/sd0";
#endif /* BOARD_TE0720 == 0 */
if (currentMountPrefix == nullptr) {
return returnvalue::FAILED;
}
// Check if path to PLOC directory exists
if (not std::filesystem::exists(std::string(currentMountPrefix) + "/" + supervisorFilePath)) {
sif::warning << "PlocSupervisorHandler::createMramDumpFile: Supervisor path does not exist"
<< std::endl;
return result::PATH_DOES_NOT_EXIST;
}
activeMramFile = std::string(currentMountPrefix) + "/" + supervisorFilePath + "/" + filename;
// Create new file
std::ofstream file(activeMramFile, std::ios_base::out);
file.close();
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp) {
Clock::TimeOfDay_t time;
ReturnValue_t result = Clock::getDateAndTime(&time);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::getTimeStampString: Failed to get current time"
<< std::endl;
return result::GET_TIME_FAILURE;
}
timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-" +
std::to_string(time.day) + "--" + std::to_string(time.hour) + "-" +
std::to_string(time.minute) + "-" + std::to_string(time.second);
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::extractUpdateCommand(const uint8_t* commandData, size_t size,
supv::UpdateParams& params) {
size_t remSize = size;
if (size > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE + sizeof(params.memId)) +
sizeof(params.startAddr) + sizeof(params.bytesWritten) + sizeof(params.seqCount) +
sizeof(uint8_t)) {
sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Data size too big" << std::endl;
return result::INVALID_LENGTH;
}
ReturnValue_t result = returnvalue::OK;
result = extractBaseParams(&commandData, size, params);
result = SerializeAdapter::deSerialize(&params.bytesWritten, &commandData, &remSize,
SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize bytes "
"already written"
<< std::endl;
return result;
}
result = SerializeAdapter::deSerialize(&params.seqCount, &commandData, &remSize,
SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::warning
<< "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize start sequence count"
<< std::endl;
return result;
}
uint8_t delMemRaw = 0;
result = SerializeAdapter::deSerialize(&delMemRaw, &commandData, &remSize,
SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::warning
<< "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize whether to delete "
"memory"
<< std::endl;
return result;
}
params.deleteMemory = delMemRaw;
return returnvalue::OK;
}
ReturnValue_t PlocSupervisorHandler::extractBaseParams(const uint8_t** commandData, size_t& remSize,
supv::UpdateParams& params) {
bool nullTermFound = false;
for (size_t idx = 0; idx < remSize; idx++) {
if ((*commandData)[idx] == '\0') {
nullTermFound = true;
break;
}
}
if (not nullTermFound) {
return returnvalue::FAILED;
}
params.file = std::string(reinterpret_cast<const char*>(*commandData));
if (params.file.size() > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE)) {
sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Filename too long" << std::endl;
return result::FILENAME_TOO_LONG;
}
*commandData += params.file.size() + SIZE_NULL_TERMINATOR;
remSize -= (params.file.size() + SIZE_NULL_TERMINATOR);
params.memId = **commandData;
*commandData += 1;
remSize -= 1;
ReturnValue_t result = SerializeAdapter::deSerialize(&params.startAddr, commandData, &remSize,
SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::extractBaseParams: Failed to deserialize start address"
<< std::endl;
return result;
}
return result;
}
ReturnValue_t PlocSupervisorHandler::eventSubscription() {
ReturnValue_t result = returnvalue::OK;
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "PlocSupervisorHandler::eventSubscritpion: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
;
}
result = manager->registerListener(eventQueue->getId());
if (result != returnvalue::OK) {
return result;
}
result = manager->subscribeToEventRange(
eventQueue->getId(), event::getEventId(PlocSupvUartManager::SUPV_UPDATE_FAILED),
event::getEventId(PlocSupvUartManager::SUPV_MEM_CHECK_FAIL));
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "PlocSupervisorHandler::eventSubscritpion: Failed to subscribe to events from "
" ploc supervisor helper"
<< std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return result;
}
ReturnValue_t PlocSupervisorHandler::handleExecutionSuccessReport(ExecutionReport& report) {
DeviceCommandId_t commandId = getPendingCommand();
ReturnValue_t result = OK;
switch (commandId) {
case supv::READ_GPIO: {
// TODO: Fix
uint16_t gpioState = report.getStatusCode();
#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
sif::info << "PlocSupervisorHandler: Read GPIO TM, State: " << gpioState << std::endl;
#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
DeviceCommandMap::iterator iter = deviceCommandMap.find(commandId);
if (iter->second.sendReplyTo == NO_COMMAND_ID) {
return returnvalue::OK;
}
uint8_t data[sizeof(gpioState)];
size_t size = 0;
result = SerializeAdapter::serialize(&gpioState, data, &size, sizeof(gpioState),
SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::debug << "PlocSupervisorHandler: Failed to deserialize GPIO state" << std::endl;
}
result = actionHelper.reportData(iter->second.sendReplyTo, commandId, data, sizeof(data));
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Read GPIO, failed to report data" << std::endl;
}
break;
}
case supv::SET_TIME_REF: {
// We could only allow proper bootup when the time was set successfully, but
// this makes debugging difficult.
if (startupState == StartupState::WAIT_FOR_TIME_REPLY) {
startupState = StartupState::TIME_WAS_SET;
}
break;
}
default:
break;
}
return returnvalue::OK;
}
void PlocSupervisorHandler::handleExecutionFailureReport(ExecutionReport& report) {
using namespace supv;
DeviceCommandId_t commandId = getPendingCommand();
report.printStatusInformation();
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_EXE_FAILURE, commandId, static_cast<uint32_t>(report.getStatusCode()));
}
sendFailureReport(EXE_REPORT, result::RECEIVED_EXE_FAILURE);
disableExeReportReply();
}
void PlocSupervisorHandler::handleBadApidServiceCombination(Event event, unsigned int apid,
unsigned int serviceId) {
const char* printString = "";
if (event == SUPV_UNKNOWN_TM) {
printString = "PlocSupervisorHandler: Unknown";
} else if (event == SUPV_UNINIMPLEMENTED_TM) {
printString = "PlocSupervisorHandler: Unimplemented";
}
triggerEvent(event, apid, tmReader.getServiceId());
sif::warning << printString << " APID service combination 0x" << std::setw(2) << std::setfill('0')
<< std::hex << apid << ", 0x" << std::setw(2) << serviceId << std::endl;
}
void PlocSupervisorHandler::printAckFailureInfo(uint16_t statusCode, DeviceCommandId_t commandId) {
switch (commandId) {
case (supv::SET_TIME_REF): {
sif::warning
<< "PlocSupervisoHandler: Setting time failed. Make sure the OBC has a valid time"
<< std::endl;
break;
}
default:
break;
}
}
ReturnValue_t PlocSupervisorHandler::getSwitches(const uint8_t** switches,
uint8_t* numberOfSwitches) {
if (powerSwitch == power::NO_SWITCH) {
return DeviceHandlerBase::NO_SWITCH;
}
*numberOfSwitches = 1;
*switches = &powerSwitch;
return returnvalue::OK;
}
uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 7000;
}
// ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
// uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & supv::APID_MASK;
// TODO: Fix
// if (apid != supv::APID_MRAM_DUMP_TM) {
// return result::NO_MRAM_PACKET;
// }
// return APERIODIC_REPLY;
//}
// ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t* packet, size_t
// remainingSize,
// size_t* foundLen) {
// ReturnValue_t result = IGNORE_FULL_PACKET;
// uint16_t packetLen = 0;
// *foundLen = 0;
//
// for (size_t idx = 0; idx < remainingSize; idx++) {
// std::memcpy(spacePacketBuffer + bufferTop, packet + idx, 1);
// bufferTop += 1;
// *foundLen += 1;
// if (bufferTop >= ccsds::HEADER_LEN) {
// packetLen = readSpacePacketLength(spacePacketBuffer);
// }
//
// if (bufferTop == ccsds::HEADER_LEN + packetLen + 1) {
// packetInBuffer = true;
// bufferTop = 0;
// return checkMramPacketApid();
// }
//
// if (bufferTop == supv::MAX_PACKET_SIZE) {
// *foundLen = remainingSize;
// disableAllReplies();
// bufferTop = 0;
// sif::info << "PlocSupervisorHandler::parseMramPackets: Can not find MRAM packet in space "
// "packet buffer"
// << std::endl;
// return result::MRAM_PACKET_PARSING_FAILURE;
// }
// }
//
// return result;
// }
// ReturnValue_t PlocSupervisorHandler::prepareDumpMramCmd(const uint8_t* commandData) {
// uint32_t start = 0;
// uint32_t stop = 0;
// size_t size = sizeof(start) + sizeof(stop);
// SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
// SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
// if ((stop - start) <= 0) {
// return SupvReturnValuesIF::INVALID_MRAM_ADDRESSES;
// }
// supv::MramCmd packet(spParams);
// ReturnValue_t result = packet.buildPacket(start, stop, supv::MramCmd::MramAction::DUMP);
// if (result != returnvalue::OK) {
// return result;
// }
// expectedMramDumpPackets = (stop - start) / supv::MAX_DATA_CAPACITY;
// if ((stop - start) % supv::MAX_DATA_CAPACITY) {
// expectedMramDumpPackets++;
// }
// receivedMramDumpPackets = 0;
//
// finishTcPrep(packet.getFullPacketLen());
// return returnvalue::OK;
// }
// ReturnValue_t PlocSupervisorHandler::prepareLoggingRequest(const uint8_t* commandData,
// size_t commandDataLen) {
// using namespace supv;
// RequestLoggingData::Sa sa = static_cast<RequestLoggingData::Sa>(*commandData);
// uint8_t tpc = *(commandData + 1);
// RequestLoggingData packet(spParams);
// ReturnValue_t result = packet.buildPacket(sa, tpc);
// if (result != returnvalue::OK) {
// return result;
// }
// finishTcPrep(packet.getFullPacketLen());
// return returnvalue::OK;
// }
// ReturnValue_t PlocSupervisorHandler::prepareEnableNvmsCommand(const uint8_t* commandData) {
// using namespace supv;
// uint8_t nvm01 = *(commandData);
// uint8_t nvm3 = *(commandData + 1);
// EnableNvms packet(spParams);
// ReturnValue_t result = packet.buildPacket(nvm01, nvm3);
// if (result != returnvalue::OK) {
// return result;
// }
// finishTcPrep(packet.getFullPacketLen());
// return returnvalue::OK;
// }
// ReturnValue_t PlocSupervisorHandler::handleLoggingReport(const uint8_t* data) {
// ReturnValue_t result = returnvalue::OK;
//
// result = verifyPacket(data, supv::SIZE_LOGGING_REPORT);
//
// if (result == SupvReturnValuesIF::CRC_FAILURE) {
// sif::warning << "PlocSupervisorHandler::handleLoggingReport: Logging report has "
// << "invalid crc" << std::endl;
// return result;
// }
//
// const uint8_t* dataField = data + supv::PAYLOAD_OFFSET + sizeof(supv::RequestLoggingData::Sa);
// result = loggingReport.read();
// if (result != returnvalue::OK) {
// return result;
// }
// loggingReport.setValidityBufferGeneration(false);
// size_t size = loggingReport.getSerializedSize();
// result = loggingReport.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
// if (result != returnvalue::OK) {
// sif::warning << "PlocSupervisorHandler::handleLoggingReport: Deserialization failed"
// << std::endl;
// }
// loggingReport.setValidityBufferGeneration(true);
// loggingReport.setValidity(true, true);
// result = loggingReport.commit();
// if (result != returnvalue::OK) {
// return result;
// }
//#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
// loggingReport.printSet();
//#endif
// nextReplyId = supv::EXE_REPORT;
// return result;
// }
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