eive-obsw/mission/devices/SyrlinksHkHandler.cpp

288 lines
10 KiB
C++

#include <mission/devices/SyrlinksHkHandler.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadHelper.h>
SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), rxDataset(this), txDataset(this) {
if (comCookie == NULL) {
sif::error << "SyrlinksHkHandler: Invalid com cookie" << std::endl;
}
}
SyrlinksHkHandler::~SyrlinksHkHandler() {
}
void SyrlinksHkHandler::doStartUp(){
if(mode == _MODE_START_UP){
setMode(MODE_ON);
}
}
void SyrlinksHkHandler::doShutDown(){
}
ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
*id = SYRLINKS::READ_RX_STATUS_REGISTERS;
return buildCommandFromCommand(*id, NULL, 0);
}
ReturnValue_t SyrlinksHkHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(SYRLINKS::RESET_UNIT): {
resetCommand.copy(reinterpret_cast<char*>(commandBuffer), resetCommand.size(), 0);
rawPacketLen = resetCommand.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case(SYRLINKS::SET_TX_MODE_STANDBY): {
setTxModeStandby.copy(reinterpret_cast<char*>(commandBuffer), setTxModeStandby.size(), 0);
rawPacketLen = setTxModeStandby.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case(SYRLINKS::SET_TX_MODE_MODULATION): {
setTxModeModulation.copy(reinterpret_cast<char*>(commandBuffer), setTxModeModulation.size(), 0);
rawPacketLen = setTxModeModulation.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case(SYRLINKS::SET_TX_MODE_CW): {
setTxModeCw.copy(reinterpret_cast<char*>(commandBuffer), setTxModeCw.size(), 0);
rawPacketLen = setTxModeCw.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case(SYRLINKS::READ_RX_STATUS_REGISTERS): {
readRxStatusRegCommand.copy(reinterpret_cast<char*>(commandBuffer), readRxStatusRegCommand.size(), 0);
rawPacketLen = readRxStatusRegCommand.size();
rawPacket = commandBuffer;
return RETURN_OK;
}
case(SYRLINKS::READ_TX_STATUS): {
readTxStatus.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
rawPacketLen = readTxStatus.size();
rememberCommandId = SYRLINKS::READ_TX_STATUS;
rawPacket = commandBuffer;
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void SyrlinksHkHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(SYRLINKS::RESET_UNIT, 1, nullptr, SYRLINKS::ACK_SIZE, false,
true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_STANDBY, 1, nullptr, SYRLINKS::ACK_SIZE,
false, true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_MODULATION, 1, nullptr,
SYRLINKS::ACK_SIZE, false, true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_CW, 1, nullptr, SYRLINKS::ACK_SIZE,
false, true, SYRLINKS::ACK_REPLY);
this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_STATUS, 1, &txDataset,
SYRLINKS::READ_TX_STATUS);
this->insertInCommandAndReplyMap(SYRLINKS::READ_RX_STATUS_REGISTERS, 1, &rxDataset,
SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
}
ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t result = RETURN_OK;
if(*start != '<') {
sif::error << "SyrlinksHkHandler::scanForReply: Missing start frame character" << std::endl;
return MISSING_START_FRAME_CHARACTER;
}
switch(*(start + 1)) {
case('A'):
*foundLen = SYRLINKS::ACK_SIZE;
*foundId = SYRLINKS::ACK_REPLY;
break;
case('E'):
*foundLen = SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE;
*foundId = SYRLINKS::READ_RX_STATUS_REGISTERS;
break;
case('R'):
if (rememberCommandId == SYRLINKS::READ_TX_STATUS) {
*foundLen = SYRLINKS::READ_TX_STATUS_REPLY_SIZE;
*foundId = SYRLINKS::READ_TX_STATUS;
rememberCommandId = SYRLINKS::NONE;
}
break;
default:
sif::error << "SyrlinksHkHandler::scanForReply: Unknown reply identifier" << std::endl;
result = IGNORE_REPLY_DATA;
break;
}
return result;
}
ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result;
switch (id) {
case (SYRLINKS::ACK_REPLY):
result = verifyReply(packet, SYRLINKS::ACK_SIZE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgement reply has "
"invalid crc" << std::endl;
return CRC_FAILURE;
}
result = parseReplyStatus(reinterpret_cast<const char*>(packet + SYRLINKS::MESSAGE_HEADER_SIZE));
if (result != RETURN_OK) {
return result;
}
break;
case(SYRLINKS::READ_RX_STATUS_REGISTERS):
result = verifyReply(packet, SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read rx status registers reply "
<< "has invalid crc" << std::endl;
return CRC_FAILURE;
}
parseRxStatusRegistersReply(packet);
break;
case(SYRLINKS::READ_TX_STATUS):
result = verifyReply(packet, SYRLINKS::READ_TX_STATUS_REPLY_SIZE);
if (result != RETURN_OK) {
sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx status reply "
<< "has invalid crc" << std::endl;
return CRC_FAILURE;
}
parseTxStatusReply(packet);
break;
default: {
sif::debug << "SyrlinksHkHandler::interpretDeviceReply: Unknown device reply id"
<< std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
}
std::string SyrlinksHkHandler::convertIntToHexString(uint16_t intValue) {
std::stringstream stream;
stream << std::hex << intValue;
return stream.str();
}
ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) {
switch (*status) {
case '0':
return RETURN_OK;
case '1':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Uart faming or parity error"
<< std::endl;
return UART_FRAMIN_OR_PARITY_ERROR_ACK;
case '2':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad character detected" << std::endl;
return BAD_CHARACTER_ACK;
case '3':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad parameter value (unexpected value "
<< "detected" << std::endl;
return BAD_PARAMETER_VALUE_ACK;
case '4':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad end of frame" << std::endl;
return BAD_END_OF_FRAME_ACK;
case '5':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Unknown command id or attempt to access"
<< " a protected register" << std::endl;
return UNKNOWN_COMMAND_ID_ACK;
case '6':
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad CRC" << std::endl;
return BAD_CRC_ACK;
default:
sif::debug << "SyrlinksHkHandler::parseReplyStatus: Status reply contains an invalid "
<< "status id" << std::endl;
return RETURN_FAILED;
}
}
ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size) {
int result = 0;
/* Calculate crc of received packet */
uint16_t crc = CRC::crc16ccitt(packet, size - SYRLINKS::SIZE_CRC_AND_TERMINATION,
CRC_INITIAL_VALUE);
std::string recalculatedCrc = convertIntToHexString(crc);
const char* replyCrc = reinterpret_cast<const char*>(packet) + size - SYRLINKS::SIZE_CRC_AND_TERMINATION;
size_t startPosition = 0;
result = recalculatedCrc.compare(startPosition, SYRLINKS::CRC_FIELD_SIZE, replyCrc);
if (result != 0) {
return RETURN_FAILED;
}
return RETURN_OK;
}
void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
PoolReadHelper readHelper(&rxDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
rxDataset.rxStatus = *(packet + offset);
packet += 1;
rxDataset.rxSensitivity = *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
packet += 3;
rxDataset.rxFrequencyShift = *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
packet += 3;
rxDataset.rxIqPower = *(packet + offset) << 8 | *(packet + offset + 1);
packet += 2;
rxDataset.rxAgcValue = *(packet + offset + 1) << 8 | *(packet + offset);
packet += 2;
packet += 1; // reserved register
rxDataset.rxDemodEb= *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
packet += 3;
rxDataset.rxDemodN0= *(packet + offset) << 16 | *(packet + offset + 1) << 8 | *(packet + offset + 2);
packet += 3;
rxDataset.rxDataRate = *(packet + offset);
}
void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
PoolReadHelper readHelper(&txDataset);
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
rxDataset.rxStatus = *(packet + offset);
}
void SyrlinksHkHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 500;
}
ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(SYRLINKS::RX_STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(SYRLINKS::RX_SENSITIVITY, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(SYRLINKS::RX_FREQUENCY_SHIFT, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(SYRLINKS::RX_IQ_POWER, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SYRLINKS::RX_AGC_VALUE, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_EB, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_N0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(SYRLINKS::RX_DATA_RATE, new PoolEntry<uint8_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}
void SyrlinksHkHandler::setModeNormal() {
mode = MODE_NORMAL;
}