eive-obsw/mission/tmtc/CCSDSHandler.h
2022-08-18 16:33:53 +02:00

190 lines
6.9 KiB
C++

#ifndef CCSDSHANDLER_H_
#define CCSDSHANDLER_H_
#include <unordered_map>
#include "CCSDSActions.h"
#include "OBSWConfig.h"
#include "VirtualChannel.h"
#include "fsfw/action/ActionHelper.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/events/EventMessage.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/parameters/ParameterHelper.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/timemanager/Countdown.h"
#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h"
#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
#include "linux/obc/PtmeConfig.h"
/**
* @brief This class handles the data exchange with the CCSDS IP cores implemented in the
* programmable logic of the Q7S.
*
* @details After reboot default CADU bitrate is always set to 100 kbps (results in downlink rate
* of 200 kbps due to convolutional code added by syrlinks transceiver)
*
* @author J. Meier
*/
class CCSDSHandler : public SystemObject,
public ExecutableObjectIF,
public AcceptsTelemetryIF,
public AcceptsTelecommandsIF,
public HasReturnvaluesIF,
public ReceivesParameterMessagesIF,
public HasActionsIF {
public:
using VcId_t = uint8_t;
/**
* @brief Constructor
*
* @param objectId Object ID of the CCSDS handler
* @param ptmeId Object ID of the PTME object providing access to the PTME IP Core.
* @param tcDestination Object ID of object handling received TC space packets
* @param txRateSetter Object providing the functionality to switch the input bitrate of
* the S-Band transceiver.
* @param gpioIF Required to enable TX data and TX clock RS485 transceiver chips.
* @param enTxClock GPIO ID of RS485 tx clock enable
* @param enTxData GPIO ID of RS485 tx data enable
*/
CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t tcDestination,
PtmeConfig* ptmeConfig, GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
uint32_t transmitterTimeout = 900000);
~CCSDSHandler();
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t initialize();
MessageQueueId_t getCommandQueue() const;
/**
* @brief Function to add a virtual channel
*
* @param virtualChannelId ID of the virtual channel to add
* @param virtualChannel Pointer to virtual channel object
*/
void addVirtualChannel(VcId_t virtualChannelId, VirtualChannel* virtualChannel);
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0);
ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
uint16_t startAtIndex);
uint16_t getIdentifier() override;
MessageQueueId_t getRequestQueue() override;
virtual ActionHelper* getActionHelper() override;
virtual ReturnValue_t executeAction(Action* action);
ReturnValue_t handleAction(SetLowRateAction* action);
ReturnValue_t handleAction(SetHighRateAction* action);
ReturnValue_t handleAction(EnTransmitterAction* action);
ReturnValue_t handleAction(DisableTransmitterAction* action);
ReturnValue_t handleAction(ArbitraryRateAction* action);
ReturnValue_t handleAction(EnableTxClkManipulatorAction* action);
ReturnValue_t handleAction(DisableTxClkManipulatorAction* action);
ReturnValue_t handleAction(UpdateOnRisingEdgeAction* action);
ReturnValue_t handleAction(UpdateOnFallingEdgeAction* action);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::CCSDS_HANDLER;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
static const uint32_t QUEUE_SIZE = common::CCSDS_HANDLER_QUEUE_SIZE;
// Syrlinks supports two bitrates (200 kbps and 1000 kbps)
// Due to convolutional code added by the syrlinks the input frequency must be half the
// target frequency
static const uint32_t RATE_100KBPS = 100000;
static const uint32_t RATE_500KBPS = 500000;
//! [EXPORT] : [COMMENT] Received action message with unknown action id
static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
static const bool UP = true;
static const bool DOWN = false;
using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannel*>;
using VirtualChannelMapIter = VirtualChannelMap::iterator;
VirtualChannelMap virtualChannelMap;
// Object ID of PTME object
object_id_t ptmeId;
object_id_t tcDestination;
MessageQueueIF* commandQueue = nullptr;
MessageQueueIF* eventQueue = nullptr;
ParameterHelper parameterHelper;
ActionHelper actionHelper;
MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
PtmeConfig* ptmeConfig = nullptr;
GpioIF* gpioIF = nullptr;
gpioId_t enTxClock = gpio::NO_GPIO;
gpioId_t enTxData = gpio::NO_GPIO;
// Syrlinks must not be transmitting more than 15 minutes (according to datasheet)
// Value initialized by constructor argument
const uint32_t transmitterTimeout = 0;
// Countdown to disable transmitter after 15 minutes
Countdown transmitterCountdown;
// When true transmitting is started as soon as carrier lock has been detected
bool enableTxWhenCarrierLock = false;
bool linkState = DOWN;
// instances of the actions
SetLowRateAction setLowRateAction = SetLowRateAction(this);
SetHighRateAction setHighRateAction = SetHighRateAction(this);
EnTransmitterAction enTransmitterAction = EnTransmitterAction(this);
DisableTransmitterAction disableTransmitterAction = DisableTransmitterAction(this);
ArbitraryRateAction arbitraryRateAction = ArbitraryRateAction(this);
EnableTxClkManipulatorAction enableTxClkManipulatorAction = EnableTxClkManipulatorAction(this);
DisableTxClkManipulatorAction disableTxClkManipulatorAction = DisableTxClkManipulatorAction(this);
UpdateOnRisingEdgeAction updateOnRisingEdgeAction = UpdateOnRisingEdgeAction(this);
UpdateOnFallingEdgeAction updateOnFallingEdgeAction = UpdateOnFallingEdgeAction(this);
void readCommandQueue(void);
void handleTelemetry();
void handleTelecommands();
void checkEvents();
void handleEvent(EventMessage* eventMessage);
void handleBitLockEvent();
void handleCarrierLockEvent();
/**
* @brief Forward link state to virtual channels.
*/
void forwardLinkstate();
/**
* @brief Starts transmit timer and enables transmitter.
*/
void enableTransmit();
/**
* @brief Checks Tx timer for timeout and disables RS485 tx clock and tx data in case
* timer has expired.
*/
void checkTxTimer();
/**
* @brief Disables the transmitter by pulling the enable tx clock and tx data pin of the
* RS485 transceiver chips to high.
*/
void disableTransmit();
};
#endif /* CCSDSHANDLER_H_ */