1009 lines
33 KiB
C++
1009 lines
33 KiB
C++
#include "PlocMPSoCHandler.h"
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#include "OBSWConfig.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/globalfunctions/CRC.h"
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#include "linux/devices/devicedefinitions/PlocSupervisorDefinitions.h"
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PlocMPSoCHandler::PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid,
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CookieIF* comCookie, PlocMPSoCHelper* plocMPSoCHelper,
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Gpio uartIsolatorSwitch, object_id_t supervisorHandler)
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: DeviceHandlerBase(objectId, uartComIFid, comCookie),
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plocMPSoCHelper(plocMPSoCHelper),
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uartIsolatorSwitch(uartIsolatorSwitch),
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supervisorHandler(supervisorHandler),
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commandActionHelper(this) {
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if (comCookie == nullptr) {
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sif::error << "PlocMPSoCHandler: Invalid communication cookie" << std::endl;
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}
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eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
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commandActionHelperQueue =
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QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
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}
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PlocMPSoCHandler::~PlocMPSoCHandler() {}
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ReturnValue_t PlocMPSoCHandler::initialize() {
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ReturnValue_t result = RETURN_OK;
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result = DeviceHandlerBase::initialize();
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if (result != RETURN_OK) {
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return result;
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}
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uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
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if (uartComIf == nullptr) {
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sif::warning << "PlocMPSoCHandler::initialize: Invalid uart com if" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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;
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}
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result = manager->registerListener(eventQueue->getId());
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if (result != RETURN_OK) {
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return result;
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}
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result = manager->subscribeToEventRange(
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eventQueue->getId(), event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_FAILED),
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event::getEventId(PlocMPSoCHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
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if (result != RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "PlocMPSoCHandler::initialize: Failed to subscribe to events from "
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" ploc mpsoc helper"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = plocMPSoCHelper->setComIF(communicationInterface);
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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plocMPSoCHelper->setComCookie(comCookie);
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plocMPSoCHelper->setSequenceCount(&sequenceCount);
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result = commandActionHelper.initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return result;
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}
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void PlocMPSoCHandler::performOperationHook() {
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
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result = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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handleEvent(&event);
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break;
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default:
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sif::debug << "PlocMPSoCHandler::performOperationHook: Did not subscribe to this event"
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<< " message" << std::endl;
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break;
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}
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}
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CommandMessage message;
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for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message);
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result == RETURN_OK; result = commandActionHelperQueue->receiveMessage(&message)) {
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result = commandActionHelper.handleReply(&message);
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if (result == RETURN_OK) {
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continue;
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}
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}
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}
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ReturnValue_t PlocMPSoCHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result = RETURN_OK;
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switch(actionId) {
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case mpsoc::SET_UART_TX_TRISTATE: {
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uartIsolatorSwitch.pullLow();
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return EXECUTION_FINISHED;
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break;
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}
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case mpsoc::RELEASE_UART_TX: {
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uartIsolatorSwitch.pullHigh();
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return EXECUTION_FINISHED;
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break;
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default:
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break;
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}
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}
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if (plocMPSoCHelperExecuting) {
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return MPSoCReturnValuesIF::MPSOC_HELPER_EXECUTING;
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}
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switch (actionId) {
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case mpsoc::TC_FLASHWRITE: {
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if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
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return MPSoCReturnValuesIF::FILENAME_TOO_LONG;
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}
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mpsoc::FlashWritePusCmd flashWritePusCmd;
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result = flashWritePusCmd.extractFields(data, size);
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if (result != RETURN_OK) {
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return result;
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}
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result = plocMPSoCHelper->startFlashWrite(flashWritePusCmd.getObcFile(),
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flashWritePusCmd.getMPSoCFile());
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if (result != RETURN_OK) {
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return result;
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}
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plocMPSoCHelperExecuting = true;
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return EXECUTION_FINISHED;
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}
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case (mpsoc::OBSW_RESET_SEQ_COUNT): {
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sequenceCount = 0;
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return EXECUTION_FINISHED;
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}
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default:
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break;
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}
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return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
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}
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void PlocMPSoCHandler::doStartUp() {
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#ifdef XIPHOS_Q7S
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#if not OBSW_MPSOC_JTAG_BOOT == 1
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switch (powerState) {
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case PowerState::OFF:
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commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
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powerState = PowerState::BOOTING;
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break;
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case PowerState::ON:
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setMode(_MODE_TO_ON);
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uartIsolatorSwitch.pullHigh();
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break;
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default:
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break;
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}
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#else
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powerState = PowerState::ON;
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setMode(_MODE_TO_ON);
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uartIsolatorSwitch.pullHigh();
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#endif/* not MSPOC_JTAG_BOOT == 1 */
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#else
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powerState = PowerState::ON;
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setMode(_MODE_TO_ON);
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#endif /* XIPHOS_Q7S */
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}
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void PlocMPSoCHandler::doShutDown() {
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#ifdef XIPHOS_Q7S
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#if not OBSW_MPSOC_JTAG_BOOT == 1
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switch (powerState) {
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case PowerState::ON:
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uartIsolatorSwitch.pullLow();
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commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
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powerState = PowerState::SHUTDOWN;
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break;
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case PowerState::OFF:
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setMode(_MODE_POWER_DOWN);
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break;
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default:
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break;
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}
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#else
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uartIsolatorSwitch.pullLow();
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setMode(_MODE_POWER_DOWN);
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powerState = PowerState::OFF;
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#endif
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#endif
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}
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ReturnValue_t PlocMPSoCHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PlocMPSoCHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PlocMPSoCHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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switch (deviceCommand) {
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case (mpsoc::TC_MEM_WRITE): {
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result = prepareTcMemWrite(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_MEM_READ): {
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result = prepareTcMemRead(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_FLASHDELETE): {
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result = prepareTcFlashDelete(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_REPLAY_START): {
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result = prepareTcReplayStart(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_REPLAY_STOP): {
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result = prepareTcReplayStop();
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break;
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}
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case (mpsoc::TC_DOWNLINK_PWR_ON): {
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result = prepareTcDownlinkPwrOn(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_DOWNLINK_PWR_OFF): {
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result = prepareTcDownlinkPwrOff();
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break;
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}
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case (mpsoc::TC_REPLAY_WRITE_SEQUENCE): {
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result = prepareTcReplayWriteSequence(commandData, commandDataLen);
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break;
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}
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case (mpsoc::TC_MODE_REPLAY): {
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result = prepareTcModeReplay();
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break;
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}
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case (mpsoc::TC_MODE_IDLE): {
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result = prepareTcModeIdle();
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break;
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}
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case (mpsoc::TC_CAM_CMD_SEND): {
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result = prepareTcCamCmdSend(commandData, commandDataLen);
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break;
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}
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default:
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sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
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<< std::endl;
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result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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break;
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}
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if (result == RETURN_OK) {
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/**
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* Flushing the receive buffer to make sure there are no data left from a faulty reply.
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*/
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uartComIf->flushUartRxBuffer(comCookie);
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}
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return result;
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}
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void PlocMPSoCHandler::fillCommandAndReplyMap() {
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this->insertInCommandMap(mpsoc::TC_MEM_WRITE);
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this->insertInCommandMap(mpsoc::TC_MEM_READ);
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this->insertInCommandMap(mpsoc::TC_FLASHDELETE);
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this->insertInCommandMap(mpsoc::TC_REPLAY_START);
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this->insertInCommandMap(mpsoc::TC_REPLAY_STOP);
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this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_ON);
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this->insertInCommandMap(mpsoc::TC_DOWNLINK_PWR_OFF);
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this->insertInCommandMap(mpsoc::TC_REPLAY_WRITE_SEQUENCE);
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this->insertInCommandMap(mpsoc::TC_MODE_REPLAY);
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this->insertInCommandMap(mpsoc::TC_MODE_IDLE);
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this->insertInCommandMap(mpsoc::TC_CAM_CMD_SEND);
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this->insertInCommandMap(mpsoc::RELEASE_UART_TX);
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this->insertInCommandMap(mpsoc::SET_UART_TX_TRISTATE);
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this->insertInReplyMap(mpsoc::ACK_REPORT, 3, nullptr, mpsoc::SIZE_ACK_REPORT);
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this->insertInReplyMap(mpsoc::EXE_REPORT, 3, nullptr, mpsoc::SIZE_EXE_REPORT);
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this->insertInReplyMap(mpsoc::TM_MEMORY_READ_REPORT, 2, nullptr, mpsoc::SIZE_TM_MEM_READ_REPORT);
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this->insertInReplyMap(mpsoc::TM_CAM_CMD_RPT, 2, nullptr, SpacePacket::PACKET_MAX_SIZE);
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}
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ReturnValue_t PlocMPSoCHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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ReturnValue_t result = RETURN_OK;
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SpacePacket spacePacket;
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std::memcpy(spacePacket.getWholeData(), start, remainingSize);
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uint16_t apid = spacePacket.getAPID();
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switch (apid) {
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case (mpsoc::apid::ACK_SUCCESS):
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*foundLen = mpsoc::SIZE_ACK_REPORT;
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*foundId = mpsoc::ACK_REPORT;
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break;
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case (mpsoc::apid::ACK_FAILURE):
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*foundLen = mpsoc::SIZE_ACK_REPORT;
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*foundId = mpsoc::ACK_REPORT;
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break;
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case (mpsoc::apid::TM_MEMORY_READ_REPORT):
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*foundLen = tmMemReadReport.rememberRequestedSize;
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*foundId = mpsoc::TM_MEMORY_READ_REPORT;
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break;
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case (mpsoc::apid::TM_CAM_CMD_RPT):
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*foundLen = spacePacket.getFullSize();
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tmCamCmdRpt.rememberSpacePacketSize = *foundLen;
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*foundId = mpsoc::TM_CAM_CMD_RPT;
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break;
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case (mpsoc::apid::EXE_SUCCESS):
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*foundLen = mpsoc::SIZE_EXE_REPORT;
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*foundId = mpsoc::EXE_REPORT;
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break;
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case (mpsoc::apid::EXE_FAILURE):
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*foundLen = mpsoc::SIZE_EXE_REPORT;
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*foundId = mpsoc::EXE_REPORT;
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break;
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default: {
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sif::debug << "PlocMPSoCHandler::scanForReply: Reply has invalid apid" << std::endl;
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*foundLen = remainingSize;
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return MPSoCReturnValuesIF::INVALID_APID;
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}
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}
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sequenceCount++;
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uint16_t recvSeqCnt = (*(start + 2) << 8 | *(start + 3)) & PACKET_SEQUENCE_COUNT_MASK;
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if (recvSeqCnt != sequenceCount) {
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triggerEvent(MPSOC_HANDLER_SEQ_CNT_MISMATCH, sequenceCount, recvSeqCnt);
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sequenceCount = recvSeqCnt;
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
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ReturnValue_t result = RETURN_OK;
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switch (id) {
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case mpsoc::ACK_REPORT: {
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result = handleAckReport(packet);
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break;
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}
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case (mpsoc::TM_MEMORY_READ_REPORT): {
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result = handleMemoryReadReport(packet);
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break;
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}
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case (mpsoc::TM_CAM_CMD_RPT): {
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result = handleCamCmdRpt(packet);
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break;
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}
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case (mpsoc::EXE_REPORT): {
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result = handleExecutionReport(packet);
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break;
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}
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default: {
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sif::debug << "PlocMPSoCHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return result;
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}
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void PlocMPSoCHandler::setNormalDatapoolEntriesInvalid() {}
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uint32_t PlocMPSoCHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
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ReturnValue_t PlocMPSoCHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PlocMPSoCHandler::handleEvent(EventMessage* eventMessage) {
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object_id_t objectId = eventMessage->getReporter();
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switch (objectId) {
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case objects::PLOC_MPSOC_HELPER: {
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plocMPSoCHelperExecuting = false;
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break;
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}
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default:
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sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
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break;
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}
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcMemWrite(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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sequenceCount++;
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mpsoc::TcMemWrite tcMemWrite(sequenceCount);
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result = tcMemWrite.createPacket(commandData, commandDataLen);
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if (result != RETURN_OK) {
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sequenceCount--;
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return result;
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}
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copyToCommandBuffer(&tcMemWrite);
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcMemRead(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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sequenceCount++;
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mpsoc::TcMemRead tcMemRead(sequenceCount);
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result = tcMemRead.createPacket(commandData, commandDataLen);
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if (result != RETURN_OK) {
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sequenceCount--;
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return result;
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}
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copyToCommandBuffer(&tcMemRead);
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tmMemReadReport.rememberRequestedSize = tcMemRead.getMemLen() * 4 + TmMemReadReport::FIX_SIZE;
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcFlashDelete(const uint8_t* commandData,
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size_t commandDataLen) {
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if (commandDataLen > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
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return MPSoCReturnValuesIF::NAME_TOO_LONG;
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}
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ReturnValue_t result = RETURN_OK;
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sequenceCount++;
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mpsoc::TcFlashDelete tcFlashDelete(sequenceCount);
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result = tcFlashDelete.createPacket(
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std::string(reinterpret_cast<const char*>(commandData), commandDataLen));
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if (result != RETURN_OK) {
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sequenceCount--;
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return result;
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}
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copyToCommandBuffer(&tcFlashDelete);
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcReplayStart(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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sequenceCount++;
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mpsoc::TcReplayStart tcReplayStart(sequenceCount);
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result = tcReplayStart.createPacket(commandData, commandDataLen);
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if (result != RETURN_OK) {
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sequenceCount--;
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return result;
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}
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copyToCommandBuffer(&tcReplayStart);
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcReplayStop() {
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ReturnValue_t result = RETURN_OK;
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sequenceCount++;
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mpsoc::TcReplayStop tcReplayStop(sequenceCount);
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result = tcReplayStop.createPacket();
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if (result != RETURN_OK) {
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sequenceCount--;
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return result;
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}
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copyToCommandBuffer(&tcReplayStop);
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return RETURN_OK;
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}
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ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOn(const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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sequenceCount++;
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mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(sequenceCount);
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result = tcDownlinkPwrOn.createPacket(commandData, commandDataLen);
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if (result != RETURN_OK) {
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sequenceCount--;
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return result;
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}
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copyToCommandBuffer(&tcDownlinkPwrOn);
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return RETURN_OK;
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}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::prepareTcDownlinkPwrOff() {
|
|
ReturnValue_t result = RETURN_OK;
|
|
sequenceCount++;
|
|
mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(sequenceCount);
|
|
result = tcDownlinkPwrOff.createPacket();
|
|
if (result != RETURN_OK) {
|
|
sequenceCount--;
|
|
return result;
|
|
}
|
|
copyToCommandBuffer(&tcDownlinkPwrOff);
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::prepareTcReplayWriteSequence(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
sequenceCount++;
|
|
mpsoc::TcReplayWriteSeq tcReplayWriteSeq(sequenceCount);
|
|
result = tcReplayWriteSeq.createPacket(commandData, commandDataLen);
|
|
if (result != RETURN_OK) {
|
|
sequenceCount--;
|
|
return result;
|
|
}
|
|
copyToCommandBuffer(&tcReplayWriteSeq);
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::prepareTcModeReplay() {
|
|
ReturnValue_t result = RETURN_OK;
|
|
sequenceCount++;
|
|
mpsoc::TcModeReplay tcModeReplay(sequenceCount);
|
|
result = tcModeReplay.createPacket();
|
|
if (result != RETURN_OK) {
|
|
sequenceCount--;
|
|
return result;
|
|
}
|
|
memcpy(commandBuffer, tcModeReplay.getWholeData(), tcModeReplay.getFullSize());
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = tcModeReplay.getFullSize();
|
|
nextReplyId = mpsoc::ACK_REPORT;
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::prepareTcModeIdle() {
|
|
ReturnValue_t result = RETURN_OK;
|
|
sequenceCount++;
|
|
mpsoc::TcModeIdle tcModeIdle(sequenceCount);
|
|
result = tcModeIdle.createPacket();
|
|
if (result != RETURN_OK) {
|
|
sequenceCount--;
|
|
return result;
|
|
}
|
|
memcpy(commandBuffer, tcModeIdle.getWholeData(), tcModeIdle.getFullSize());
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = tcModeIdle.getFullSize();
|
|
nextReplyId = mpsoc::ACK_REPORT;
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::prepareTcCamCmdSend(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
sequenceCount++;
|
|
mpsoc::TcCamcmdSend tcCamCmdSend(sequenceCount);
|
|
result = tcCamCmdSend.createPacket(commandData, commandDataLen);
|
|
if (result != RETURN_OK) {
|
|
sequenceCount--;
|
|
return result;
|
|
}
|
|
copyToCommandBuffer(&tcCamCmdSend);
|
|
nextReplyId = mpsoc::TM_CAM_CMD_RPT;
|
|
return RETURN_OK;
|
|
}
|
|
|
|
void PlocMPSoCHandler::copyToCommandBuffer(mpsoc::TcBase* tc) {
|
|
if (tc == nullptr) {
|
|
sif::debug << "PlocMPSoCHandler::copyToCommandBuffer: Invalid TC" << std::endl;
|
|
}
|
|
memcpy(commandBuffer, tc->getWholeData(), tc->getFullSize());
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = tc->getFullSize();
|
|
nextReplyId = mpsoc::ACK_REPORT;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
|
|
uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);
|
|
uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);
|
|
if (receivedCrc != recalculatedCrc) {
|
|
return MPSoCReturnValuesIF::CRC_FAILURE;
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::handleAckReport(const uint8_t* data) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
|
|
result = verifyPacket(data, mpsoc::SIZE_ACK_REPORT);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleAckReport: CRC failure" << std::endl;
|
|
nextReplyId = mpsoc::NONE;
|
|
replyRawReplyIfnotWiretapped(data, mpsoc::SIZE_ACK_REPORT);
|
|
triggerEvent(MPSOC_HANDLER_CRC_FAILURE);
|
|
sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::CRC_FAILURE);
|
|
disableAllReplies();
|
|
return IGNORE_REPLY_DATA;
|
|
}
|
|
|
|
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
|
|
|
|
switch (apid) {
|
|
case mpsoc::apid::ACK_FAILURE: {
|
|
// TODO: Interpretation of status field in acknowledgment report
|
|
sif::debug << "PlocMPSoCHandler::handleAckReport: Received Ack failure report" << std::endl;
|
|
DeviceCommandId_t commandId = getPendingCommand();
|
|
uint16_t status = getStatus(data);
|
|
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
|
|
triggerEvent(ACK_FAILURE, commandId, status);
|
|
}
|
|
sendFailureReport(mpsoc::ACK_REPORT, MPSoCReturnValuesIF::RECEIVED_ACK_FAILURE);
|
|
disableAllReplies();
|
|
nextReplyId = mpsoc::NONE;
|
|
result = IGNORE_REPLY_DATA;
|
|
break;
|
|
}
|
|
case mpsoc::apid::ACK_SUCCESS: {
|
|
setNextReplyId();
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "PlocMPSoCHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
|
|
result = RETURN_FAILED;
|
|
break;
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::handleExecutionReport(const uint8_t* data) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
|
|
result = verifyPacket(data, mpsoc::SIZE_EXE_REPORT);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleExecutionReport: CRC failure" << std::endl;
|
|
nextReplyId = mpsoc::NONE;
|
|
return result;
|
|
}
|
|
|
|
uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;
|
|
|
|
switch (apid) {
|
|
case (mpsoc::apid::EXE_SUCCESS): {
|
|
break;
|
|
}
|
|
case (mpsoc::apid::EXE_FAILURE): {
|
|
// TODO: Interpretation of status field in execution report
|
|
sif::warning << "PlocMPSoCHandler::handleExecutionReport: Received execution failure report"
|
|
<< std::endl;
|
|
DeviceCommandId_t commandId = getPendingCommand();
|
|
if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
|
|
uint16_t status = getStatus(data);
|
|
triggerEvent(EXE_FAILURE, commandId, status);
|
|
} else {
|
|
sif::debug << "PlocMPSoCHandler::handleExecutionReport: Unknown command id" << std::endl;
|
|
}
|
|
printStatus(data);
|
|
sendFailureReport(mpsoc::EXE_REPORT, MPSoCReturnValuesIF::RECEIVED_EXE_FAILURE);
|
|
disableExeReportReply();
|
|
result = IGNORE_REPLY_DATA;
|
|
break;
|
|
}
|
|
default: {
|
|
sif::warning << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
|
|
result = RETURN_FAILED;
|
|
break;
|
|
}
|
|
}
|
|
nextReplyId = mpsoc::NONE;
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::handleMemoryReadReport(const uint8_t* data) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
result = verifyPacket(data, tmMemReadReport.rememberRequestedSize);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleMemoryReadReport: Memory read report has invalid crc"
|
|
<< std::endl;
|
|
}
|
|
uint16_t memLen =
|
|
*(data + mpsoc::MEM_READ_RPT_LEN_OFFSET) << 8 | *(data + mpsoc::MEM_READ_RPT_LEN_OFFSET + 1);
|
|
/** Send data to commanding queue */
|
|
handleDeviceTM(data + mpsoc::DATA_FIELD_OFFSET, mpsoc::SIZE_MEM_READ_RPT_FIX + memLen * 4,
|
|
mpsoc::TM_MEMORY_READ_REPORT);
|
|
nextReplyId = mpsoc::EXE_REPORT;
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::handleCamCmdRpt(const uint8_t* data) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
SpacePacket packet;
|
|
std::memcpy(packet.getWholeData(), data, tmCamCmdRpt.rememberSpacePacketSize);
|
|
result = verifyPacket(data, tmCamCmdRpt.rememberSpacePacketSize);
|
|
if (result == MPSoCReturnValuesIF::CRC_FAILURE) {
|
|
sif::warning << "PlocMPSoCHandler::handleCamCmdRpt: CRC failure" << std::endl;
|
|
}
|
|
const uint8_t* dataFieldPtr = data + mpsoc::SPACE_PACKET_HEADER_SIZE;
|
|
std::string camCmdRptMsg(
|
|
reinterpret_cast<const char*>(dataFieldPtr),
|
|
tmCamCmdRpt.rememberSpacePacketSize - mpsoc::SPACE_PACKET_HEADER_SIZE - 3);
|
|
uint8_t ackValue = *(packet.getPacketData() + packet.getPacketDataLength() - 2);
|
|
sif::info << "CamCmdRpt message: " << camCmdRptMsg << std::endl;
|
|
sif::info << "CamCmdRpt Ack value: 0x" << std::hex << static_cast<unsigned int>(ackValue)
|
|
<< std::endl;
|
|
handleDeviceTM(packet.getPacketData(), packet.getPacketDataLength() - 1, mpsoc::TM_CAM_CMD_RPT);
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
|
|
uint8_t expectedReplies, bool useAlternateId,
|
|
DeviceCommandId_t alternateReplyID) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
|
|
uint8_t enabledReplies = 0;
|
|
|
|
switch (command->first) {
|
|
case mpsoc::TC_MEM_WRITE:
|
|
case mpsoc::TC_FLASHDELETE:
|
|
case mpsoc::TC_REPLAY_START:
|
|
case mpsoc::TC_REPLAY_STOP:
|
|
case mpsoc::TC_DOWNLINK_PWR_ON:
|
|
case mpsoc::TC_DOWNLINK_PWR_OFF:
|
|
case mpsoc::TC_REPLAY_WRITE_SEQUENCE:
|
|
case mpsoc::TC_MODE_REPLAY:
|
|
case mpsoc::TC_MODE_IDLE:
|
|
enabledReplies = 2;
|
|
break;
|
|
case mpsoc::TC_MEM_READ: {
|
|
enabledReplies = 3;
|
|
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
|
|
mpsoc::TM_MEMORY_READ_REPORT);
|
|
if (result != RETURN_OK) {
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
|
|
<< mpsoc::TM_MEMORY_READ_REPORT << " not in replyMap" << std::endl;
|
|
return result;
|
|
}
|
|
break;
|
|
}
|
|
case mpsoc::TC_CAM_CMD_SEND: {
|
|
enabledReplies = 3;
|
|
result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
|
|
mpsoc::TM_CAM_CMD_RPT);
|
|
if (result != RETURN_OK) {
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id "
|
|
<< mpsoc::TM_CAM_CMD_RPT << " not in replyMap" << std::endl;
|
|
return result;
|
|
}
|
|
break;
|
|
}
|
|
case mpsoc::OBSW_RESET_SEQ_COUNT:
|
|
break;
|
|
default:
|
|
sif::debug << "PlocMPSoCHandler::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, mpsoc::ACK_REPORT);
|
|
if (result != RETURN_OK) {
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::ACK_REPORT
|
|
<< " not in replyMap" << std::endl;
|
|
}
|
|
|
|
result =
|
|
DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true, mpsoc::EXE_REPORT);
|
|
if (result != RETURN_OK) {
|
|
sif::debug << "PlocMPSoCHandler::enableReplyInReplyMap: Reply with id " << mpsoc::EXE_REPORT
|
|
<< " not in replyMap" << std::endl;
|
|
}
|
|
|
|
switch (command->first) {
|
|
case mpsoc::TC_REPLAY_WRITE_SEQUENCE: {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
// Overwrite delay cycles because replay write sequence command can required up to
|
|
// 30 seconds for execution
|
|
iter->second.delayCycles = mpsoc::TC_WRITE_SEQ_EXECUTION_DELAY;
|
|
break;
|
|
}
|
|
case mpsoc::TC_DOWNLINK_PWR_ON: {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
//
|
|
iter->second.delayCycles = mpsoc::TC_DOWNLINK_PWR_ON;
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
|
|
return RETURN_OK;
|
|
}
|
|
|
|
void PlocMPSoCHandler::setNextReplyId() {
|
|
switch (getPendingCommand()) {
|
|
case mpsoc::TC_MEM_READ:
|
|
nextReplyId = mpsoc::TM_MEMORY_READ_REPORT;
|
|
break;
|
|
default:
|
|
/* If no telemetry is expected the next reply is always the execution report */
|
|
nextReplyId = mpsoc::EXE_REPORT;
|
|
break;
|
|
}
|
|
}
|
|
size_t PlocMPSoCHandler::getNextReplyLength(DeviceCommandId_t commandId) {
|
|
size_t replyLen = 0;
|
|
|
|
if (nextReplyId == mpsoc::NONE) {
|
|
return replyLen;
|
|
}
|
|
|
|
DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
|
|
|
|
if (iter != deviceReplyMap.end()) {
|
|
if (iter->second.delayCycles == 0) {
|
|
/* Reply inactive */
|
|
return replyLen;
|
|
}
|
|
switch (nextReplyId) {
|
|
case mpsoc::TM_MEMORY_READ_REPORT: {
|
|
replyLen = tmMemReadReport.rememberRequestedSize;
|
|
break;
|
|
}
|
|
case mpsoc::TM_CAM_CMD_RPT:
|
|
// Read acknowledgment, camera and execution report in one go because length of camera
|
|
// report is not fixed
|
|
replyLen = SpacePacket::PACKET_MAX_SIZE;
|
|
break;
|
|
default: {
|
|
replyLen = iter->second.replyLen;
|
|
break;
|
|
}
|
|
}
|
|
} else {
|
|
sif::debug << "PlocMPSoCHandler::getNextReplyLength: No entry for reply with reply id "
|
|
<< std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
|
|
}
|
|
|
|
return replyLen;
|
|
}
|
|
|
|
MessageQueueIF* PlocMPSoCHandler::getCommandQueuePtr() { return commandActionHelperQueue; }
|
|
|
|
void PlocMPSoCHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }
|
|
|
|
void PlocMPSoCHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
|
|
ReturnValue_t returnCode) {
|
|
switch (actionId) {
|
|
case supv::START_MPSOC:
|
|
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
|
|
powerState = PowerState::OFF;
|
|
break;
|
|
case supv::SHUTDOWN_MPSOC:
|
|
triggerEvent(MPSOC_SHUTDOWN_FAILED);
|
|
sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
|
|
// TODO: Setting state to on or off here?
|
|
powerState = PowerState::ON;
|
|
break;
|
|
default:
|
|
sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
}
|
|
|
|
void PlocMPSoCHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
|
|
return;
|
|
}
|
|
|
|
void PlocMPSoCHandler::completionSuccessfulReceived(ActionId_t actionId) {
|
|
if (actionId != supv::EXE_REPORT) {
|
|
sif::debug << "PlocMPSoCHandler::completionSuccessfulReceived: Did not expect this action "
|
|
<< "ID" << std::endl;
|
|
return;
|
|
}
|
|
switch (powerState) {
|
|
case PowerState::BOOTING: {
|
|
powerState = PowerState::ON;
|
|
break;
|
|
}
|
|
case PowerState::SHUTDOWN: {
|
|
powerState = PowerState::OFF;
|
|
break;
|
|
}
|
|
default: {
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void PlocMPSoCHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
|
|
handleActionCommandFailure(actionId);
|
|
}
|
|
|
|
void PlocMPSoCHandler::handleDeviceTM(const uint8_t* data, size_t dataSize,
|
|
DeviceCommandId_t replyId) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
|
|
if (wiretappingMode == RAW) {
|
|
/* Data already sent in doGetRead() */
|
|
return;
|
|
}
|
|
|
|
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
|
|
if (iter == deviceReplyMap.end()) {
|
|
sif::debug << "PlocMPSoCHandler::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 != RETURN_OK) {
|
|
sif::debug << "PlocMPSoCHandler::handleDeviceTM: Failed to report data" << std::endl;
|
|
}
|
|
}
|
|
|
|
void PlocMPSoCHandler::disableAllReplies() {
|
|
DeviceReplyMap::iterator iter;
|
|
|
|
/* Disable ack reply */
|
|
iter = deviceReplyMap.find(mpsoc::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 mpsoc::TC_MEM_WRITE:
|
|
break;
|
|
case mpsoc::TC_MEM_READ: {
|
|
iter = deviceReplyMap.find(mpsoc::TM_MEMORY_READ_REPORT);
|
|
info = &(iter->second);
|
|
info->delayCycles = 0;
|
|
info->command = deviceCommandMap.end();
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "PlocMPSoCHandler::disableAllReplies: Unknown command id" << commandId
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
}
|
|
|
|
/* We always need to disable the execution report reply here */
|
|
disableExeReportReply();
|
|
nextReplyId = mpsoc::NONE;
|
|
}
|
|
|
|
void PlocMPSoCHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {
|
|
DeviceReplyIter iter = deviceReplyMap.find(replyId);
|
|
if (iter == deviceReplyMap.end()) {
|
|
sif::debug << "PlocMPSoCHandler::sendFailureReport: Reply not in reply map" << std::endl;
|
|
return;
|
|
}
|
|
DeviceCommandInfo* info = &(iter->second.command->second);
|
|
if (info == nullptr) {
|
|
sif::debug << "PlocMPSoCHandler::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 PlocMPSoCHandler::disableExeReportReply() {
|
|
DeviceReplyIter iter = deviceReplyMap.find(mpsoc::EXE_REPORT);
|
|
DeviceReplyInfo* info = &(iter->second);
|
|
info->delayCycles = 0;
|
|
info->command = deviceCommandMap.end();
|
|
/* Expected replies is set to one here. The value will be set to 0 in replyToReply() */
|
|
info->command->second.expectedReplies = 0;
|
|
}
|
|
|
|
void PlocMPSoCHandler::printStatus(const uint8_t* data) {
|
|
uint16_t status = *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
|
|
sif::info << "Verification report status: 0x" << std::hex << status << std::endl;
|
|
}
|
|
|
|
uint16_t PlocMPSoCHandler::getStatus(const uint8_t* data) {
|
|
return *(data + STATUS_OFFSET) << 8 | *(data + STATUS_OFFSET + 1);
|
|
}
|
|
|
|
void PlocMPSoCHandler::handleActionCommandFailure(ActionId_t actionId) {
|
|
switch (actionId) {
|
|
case supv::ACK_REPORT:
|
|
case supv::EXE_REPORT:
|
|
break;
|
|
default:
|
|
sif::debug << "PlocMPSoCHandler::handleActionCommandFailure: Did not expect this action ID "
|
|
<< std::endl;
|
|
return;
|
|
}
|
|
switch (powerState) {
|
|
case PowerState::BOOTING: {
|
|
sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to boot MPSoC"
|
|
<< std::endl;
|
|
powerState = PowerState::OFF;
|
|
break;
|
|
}
|
|
case PowerState::SHUTDOWN: {
|
|
sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
|
|
<< std::endl;
|
|
powerState = PowerState::ON;
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
return;
|
|
}
|