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8103b2fa0d
eive-obsw/linux/payload/FreshSupvHandler.cpp
Robin Mueller aa2bfb7d0e
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Re-work MPSoC handler module
2024-04-30 15:14:22 +02:00

1600 lines
63 KiB
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#include "FreshSupvHandler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/filesystem.h>
#include <atomic>
#include <filesystem>
#include "eive/definitions.h"
#include "eive/objects.h"
#include "fsfw/action.h"
#include "fsfw/globalfunctions/arrayprinter.h"
#include "fsfw/ipc/CommandMessage.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/tasks/TaskFactory.h"
#include "linux/payload/plocSupvDefs.h"
using namespace supv;
using namespace returnvalue;
std::atomic_bool supv::SUPV_ON = false;
FreshSupvHandler::FreshSupvHandler(DhbConfig cfg, CookieIF* comCookie, Gpio uartIsolatorSwitch,
PowerSwitchIF& switchIF, power::Switch_t powerSwitch)
: FreshDeviceHandlerBase(cfg),
comCookie(comCookie),
switchIF(switchIF),
switchId(powerSwitch),
uartIsolatorSwitch(uartIsolatorSwitch),
hkSet(this),
bootStatusReport(this),
latchupStatusReport(this),
countersReport(this),
adcReport(this) {
spParams.buf = commandBuffer.data();
spParams.maxSize = commandBuffer.size();
eventQueue = QueueFactory::instance()->createMessageQueue(10);
}
void FreshSupvHandler::performDeviceOperation(uint8_t opCode) {
if (not transitionActive and mode == MODE_OFF) {
// Nothing to do for now.
return;
}
if (opCode == OpCode::DEFAULT_OPERATION) {
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;
}
}
if (transitionActive) {
if (targetMode == MODE_ON or targetMode == MODE_NORMAL) {
handleTransitionToOn();
} else if (targetMode == MODE_OFF) {
handleTransitionToOff();
} else {
// This should never happen.
sif::error << "FreshSupvHandler: Invalid transition mode: " << targetMode << std::endl;
targetMode = MODE_OFF;
targetSubmode = 0;
handleTransitionToOff();
}
} else {
// I think the SUPV is not able to process multiple commands consecutively, so only send
// normal command if no other command is pending. We handle the action queue first, which
// should ensure that these commands take precendence.
if (mode == MODE_NORMAL and not isCommandPending()) {
auto cmdIter = activeActionCmds.find(
buildActiveCmdKey(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT)));
if (cmdIter == activeActionCmds.end() or not cmdIter->second.isPending) {
spParams.buf = commandBuffer.data();
commandedByCached = MessageQueueIF::NO_QUEUE;
sendEmptyCmd(supv::GET_HK_REPORT, Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT),
true);
}
}
}
} else if (opCode == OpCode::PARSE_TM) {
for (auto& activeCmd : activeActionCmds) {
if (activeCmd.second.isPending and activeCmd.second.cmdCountdown.hasTimedOut()) {
if (activeCmd.second.commandedBy != MessageQueueIF::NO_QUEUE) {
actionHelper.finish(false, activeCmd.second.commandedBy, activeCmd.first,
DeviceHandlerIF::TIMEOUT);
}
activeCmd.second.isPending = false;
}
}
parseTmPackets();
}
}
ReturnValue_t FreshSupvHandler::performDeviceOperationPreQueueHandling(uint8_t opCode) {
if (opCode != OpCode::DEFAULT_OPERATION) {
return returnvalue::OK;
}
// We parse for TM packets shortly before handling the queue, this might complete some packets,
// which then allows the handling of new action commands.
return parseTmPackets();
}
ReturnValue_t FreshSupvHandler::handleCommandMessage(CommandMessage* message) {
// No custom messages.
return returnvalue::FAILED;
}
LocalPoolDataSetBase* FreshSupvHandler::getDataSetHandle(sid_t sid) {
if (sid == hkSet.getSid()) {
return &hkSet;
} else if (sid == bootStatusReport.getSid()) {
return &bootStatusReport;
} else if (sid == latchupStatusReport.getSid()) {
return &latchupStatusReport;
} else if (sid == countersReport.getSid()) {
return &countersReport;
} else if (sid == adcReport.getSid()) {
return &adcReport;
}
return nullptr;
}
ReturnValue_t FreshSupvHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
// TODO: Copy code from god handler here.
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_POOL_VAR_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::SIGNATURE, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNTS, &latchupCounters);
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::MPSOC_HEARTBEAT_RESETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::CPU_WDT_RESETS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::PS_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::PL_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::EB_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::BM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::LM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::AM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::TCTMM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::MM_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::HK_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::DL_TASK_LOST, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(supv::RWS_TASKS_LOST, new PoolEntry<uint32_t>(3));
localDataPoolMap.emplace(supv::ADC_RAW, &adcRawEntry);
localDataPoolMap.emplace(supv::ADC_ENG, &adcEngEntry);
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(hkSet.getSid(), false, 10.0));
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
using namespace supv;
// The SUPV does not have any action commands where there is no communication with the device
// involved.
if (mode != MODE_ON and mode != MODE_NORMAL) {
return HasModesIF::INVALID_MODE;
}
ReturnValue_t result;
if (uartManager->longerRequestActive()) {
return result::SUPV_HELPER_EXECUTING;
}
switch (actionId) {
case PERFORM_UPDATE: {
if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
return result::FILENAME_TOO_LONG;
}
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: {
uartManager->initiateUpdateContinuation();
return EXECUTION_FINISHED;
}
case MEMORY_CHECK_WITH_FILE: {
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;
}
// The PLOC SUPV is not able to process multiple commands consecutively.
if (isCommandPending()) {
return HasActionsIF::IS_BUSY;
}
if (isCommandAlreadyActive(actionId)) {
return HasActionsIF::IS_BUSY;
}
spParams.buf = commandBuffer.data();
this->commandedByCached = commandedBy;
switch (actionId) {
case GET_HK_REPORT: {
sendEmptyCmd(supv::GET_HK_REPORT, Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT), true);
result = returnvalue::OK;
break;
}
case START_MPSOC: {
sif::info << "PLOC SUPV: Starting MPSoC" << std::endl;
sendEmptyCmd(supv::START_MPSOC, Apid::BOOT_MAN,
static_cast<uint8_t>(tc::BootManId::START_MPSOC), false);
result = returnvalue::OK;
break;
}
case SHUTDOWN_MPSOC: {
sif::info << "PLOC SUPV: Shutting down MPSoC" << std::endl;
sendEmptyCmd(supv::SHUTDOWN_MPSOC, Apid::BOOT_MAN,
static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC), false);
result = returnvalue::OK;
break;
}
case SEL_MPSOC_BOOT_IMAGE: {
prepareSelBootImageCmd(data);
result = returnvalue::OK;
break;
}
case RESET_MPSOC: {
sif::info << "PLOC SUPV: Resetting MPSoC" << std::endl;
sendEmptyCmd(supv::RESET_MPSOC, Apid::BOOT_MAN,
static_cast<uint8_t>(tc::BootManId::RESET_MPSOC), false);
result = returnvalue::OK;
break;
}
case SET_TIME_REF: {
result = prepareSetTimeRefCmd();
break;
}
case SET_BOOT_TIMEOUT: {
prepareSetBootTimeoutCmd(data, size);
result = returnvalue::OK;
break;
}
case SET_MAX_RESTART_TRIES: {
prepareRestartTriesCmd(data, size);
result = returnvalue::OK;
break;
}
case DISABLE_PERIOIC_HK_TRANSMISSION: {
prepareDisableHk();
result = returnvalue::OK;
break;
}
case GET_BOOT_STATUS_REPORT: {
sendEmptyCmd(supv::GET_BOOT_STATUS_REPORT, Apid::BOOT_MAN,
static_cast<uint8_t>(tc::BootManId::GET_BOOT_STATUS_REPORT), true);
result = returnvalue::OK;
break;
}
case ENABLE_LATCHUP_ALERT: {
result = prepareLatchupConfigCmd(data, actionId, size);
break;
}
case DISABLE_LATCHUP_ALERT: {
result = prepareLatchupConfigCmd(data, actionId, size);
break;
}
case SET_ALERT_LIMIT: {
result = prepareSetAlertLimitCmd(data, size);
break;
}
case GET_LATCHUP_STATUS_REPORT: {
sendEmptyCmd(supv::GET_LATCHUP_STATUS_REPORT, Apid::LATCHUP_MON,
static_cast<uint8_t>(tc::LatchupMonId::GET_STATUS_REPORT), true);
result = returnvalue::OK;
break;
}
case SET_GPIO: {
result = prepareSetGpioCmd(data, size);
break;
}
case FACTORY_RESET: {
result = prepareFactoryResetCmd(data, size);
break;
}
case READ_GPIO: {
result = prepareReadGpioCmd(data, size);
break;
}
case SET_SHUTDOWN_TIMEOUT: {
prepareSetShutdownTimeoutCmd(data, size);
result = returnvalue::OK;
break;
}
case FACTORY_FLASH: {
sendEmptyCmd(supv::FACTORY_FLASH, Apid::BOOT_MAN,
static_cast<uint8_t>(tc::BootManId::FACTORY_FLASH), false);
result = returnvalue::OK;
break;
}
case RESET_PL: {
sendEmptyCmd(supv::RESET_PL, Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_PL),
false);
result = returnvalue::OK;
break;
}
case SET_ADC_ENABLED_CHANNELS: {
prepareSetAdcEnabledChannelsCmd(data);
result = returnvalue::OK;
break;
}
case SET_ADC_WINDOW_AND_STRIDE: {
prepareSetAdcWindowAndStrideCmd(data);
result = returnvalue::OK;
break;
}
case SET_ADC_THRESHOLD: {
prepareSetAdcThresholdCmd(data);
result = returnvalue::OK;
break;
}
case WIPE_MRAM: {
result = prepareWipeMramCmd(data, size);
break;
}
case REQUEST_ADC_REPORT: {
sendEmptyCmd(supv::REQUEST_ADC_REPORT, Apid::ADC_MON,
static_cast<uint8_t>(tc::AdcMonId::REQUEST_ADC_SAMPLE), true);
result = returnvalue::OK;
break;
}
case REQUEST_LOGGING_COUNTERS: {
sendEmptyCmd(supv::REQUEST_LOGGING_COUNTERS, Apid::DATA_LOGGER,
static_cast<uint8_t>(tc::DataLoggerServiceId::REQUEST_COUNTERS), true);
result = returnvalue::OK;
break;
}
default:
sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
<< std::endl;
result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
break;
}
return result;
}
ReturnValue_t FreshSupvHandler::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;
}
sendCommand(supv::SET_TIME_REF, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
uint32_t* msToReachTheMode) {
if (commandedMode != MODE_OFF) {
PoolReadGuard pg(&enablePl);
if (pg.getReadResult() == returnvalue::OK) {
if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
return NON_OP_STATE_OF_CHARGE;
}
}
}
if (commandedMode != HasModesIF::MODE_OFF and commandedMode != HasModesIF::MODE_ON and
commandedMode != MODE_NORMAL) {
return returnvalue::FAILED;
}
if (commandedMode != mode and msToReachTheMode != nullptr) {
if (commandedMode == MODE_OFF) {
*msToReachTheMode = supv::MAX_TRANSITION_TIME_TO_OFF_MS;
} else {
*msToReachTheMode = supv::MAX_TRANSITION_TIME_TO_ON_MS;
}
}
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::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;
}
sendCommand(supv::SEL_MPSOC_BOOT_IMAGE, packet, false);
return returnvalue::OK;
}
void FreshSupvHandler::startTransition(Mode_t newMode, Submode_t newSubmode) {
if (newMode == mode or (mode == MODE_ON and newMode == MODE_NORMAL) or
(newMode == MODE_ON and mode == MODE_NORMAL)) {
// Can finish immediately.
setMode(newMode, newSubmode);
return;
}
// Transition for both OFF to ON/NORMAL and ON/NORMAL to OFF require small state machine.
transitionActive = true;
targetMode = newMode;
targetSubmode = newSubmode;
if (targetMode == MODE_ON or targetMode == MODE_NORMAL) {
startupState = StartupState::IDLE;
} else if (targetMode == MODE_OFF) {
shutdownState = ShutdownState::IDLE;
}
}
void FreshSupvHandler::handleTransitionToOn() {
if (startupState == StartupState::IDLE) {
startupState = StartupState::POWER_SWITCHING;
switchIF.sendSwitchCommand(switchId, PowerSwitchIF::SWITCH_ON);
switchTimeout.resetTimer();
} else if (modeHelper.isTimedOut()) {
targetMode = MODE_OFF;
shutdownState = ShutdownState::IDLE;
handleTransitionToOff();
return;
}
if (startupState == StartupState::POWER_SWITCHING) {
if (switchIF.getSwitchState(switchId) == PowerSwitchIF::SWITCH_ON) {
startupState = StartupState::BOOTING;
bootTimeout.resetTimer();
} else if (switchTimeout.hasTimedOut()) {
targetMode = MODE_OFF;
shutdownState = ShutdownState::IDLE;
handleTransitionToOff();
return;
}
}
if (startupState == StartupState::BOOTING and bootTimeout.hasTimedOut()) {
uartIsolatorSwitch.pullHigh();
uartManager->start();
if (SET_TIME_DURING_BOOT) {
startupState = StartupState::SET_TIME;
} else {
startupState = StartupState::ON;
}
}
if (startupState == StartupState::SET_TIME) {
spParams.buf = commandBuffer.data();
ReturnValue_t result = prepareSetTimeRefCmd();
if (result != returnvalue::OK) {
sif::error << "FreshSupvHandler: Setting time command prepration failed" << std::endl;
startupState = StartupState::ON;
} else {
startupState = StartupState::WAIT_FOR_TIME_REPLY;
}
}
if (startupState == StartupState::TIME_WAS_SET) {
startupState = StartupState::ON;
}
if (startupState == StartupState::ON) {
hkSet.setReportingEnabled(true);
supv::SUPV_ON = true;
transitionActive = false;
setMode(targetMode);
}
}
void FreshSupvHandler::handleTransitionToOff() {
if (shutdownState == ShutdownState::IDLE) {
hkSet.setReportingEnabled(false);
hkSet.setValidity(false, true);
uartManager->stop();
activeActionCmds.clear();
uartIsolatorSwitch.pullLow();
switchIF.sendSwitchCommand(switchId, PowerSwitchIF::SWITCH_OFF);
shutdownState = ShutdownState::POWER_SWITCHING;
}
if (shutdownState == ShutdownState::POWER_SWITCHING) {
if (switchIF.getSwitchState(switchId) == PowerSwitchIF::SWITCH_OFF or modeHelper.isTimedOut()) {
supv::SUPV_ON = false;
transitionActive = false;
setMode(MODE_OFF);
}
}
}
ReturnValue_t FreshSupvHandler::sendCommand(DeviceCommandId_t commandId, TcBase& tc,
bool replyExpected, uint32_t cmdCountdownMs) {
if (supv::DEBUG_PLOC_SUPV) {
if (not(supv::REDUCE_NORMAL_MODE_PRINTOUT and mode == MODE_NORMAL and
commandId == supv::GET_HK_REPORT)) {
sif::debug << "PLOC SUPV: SEND PACKET Size " << tc.getFullPacketLen() << " Module APID "
<< (int)tc.getModuleApid() << " Service ID " << (int)tc.getServiceId()
<< std::endl;
}
}
ActiveCmdInfo info(commandId, cmdCountdownMs);
auto activeCmdIter =
activeActionCmds.find(buildActiveCmdKey(tc.getModuleApid(), tc.getServiceId()));
if (activeCmdIter == activeActionCmds.end()) {
info.isPending = true;
info.replyPacketExpected = replyExpected;
info.commandedBy = commandedByCached;
info.cmdCountdown.resetTimer();
activeActionCmds.emplace(buildActiveCmdKey(tc.getModuleApid(), tc.getServiceId()), info);
} else {
if (activeCmdIter->second.isPending) {
return HasActionsIF::IS_BUSY;
}
activeCmdIter->second.isPending = true;
activeCmdIter->second.commandId = commandId;
activeCmdIter->second.commandedBy = commandedByCached;
activeCmdIter->second.ackRecv = false;
activeCmdIter->second.ackExeRecv = false;
activeCmdIter->second.replyPacketExpected = replyExpected;
activeCmdIter->second.replyPacketReceived = false;
activeCmdIter->second.cmdCountdown.setTimeout(cmdCountdownMs);
activeCmdIter->second.cmdCountdown.resetTimer();
}
ReturnValue_t result =
uartManager->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
return result;
}
ReturnValue_t FreshSupvHandler::initialize() {
uartManager =
ObjectManager::instance()->get<PlocSupvUartManager>(objects::PLOC_SUPERVISOR_HELPER);
if (uartManager == nullptr) {
return returnvalue::FAILED;
}
uartManager->initializeInterface(comCookie);
ReturnValue_t result = eventSubscription();
if (result != returnvalue::OK) {
return result;
}
return FreshDeviceHandlerBase::initialize();
}
ReturnValue_t FreshSupvHandler::sendEmptyCmd(DeviceCommandId_t commandId, uint16_t apid,
uint8_t serviceId, bool replyExpected) {
supv::NoPayloadPacket packet(spParams, apid, serviceId);
ReturnValue_t result = packet.buildPacket();
if (result != returnvalue::OK) {
return result;
}
sendCommand(commandId, packet, replyExpected);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData,
size_t cmdDataLen) {
if (cmdDataLen < 4) {
return HasActionsIF::INVALID_PARAMETERS;
}
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;
}
sendCommand(supv::SET_BOOT_TIMEOUT, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareRestartTriesCmd(const uint8_t* commandData,
size_t cmdDataLen) {
if (cmdDataLen < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
uint8_t restartTries = *(commandData);
supv::SetRestartTries packet(spParams);
ReturnValue_t result = packet.buildPacket(restartTries);
if (result != returnvalue::OK) {
return result;
}
sendCommand(supv::ENABLE_AUTO_TM, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareDisableHk() {
supv::DisablePeriodicHkTransmission packet(spParams);
ReturnValue_t result = packet.buildPacket();
if (result != returnvalue::OK) {
return result;
}
sendCommand(supv::DISABLE_AUTO_TM, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareLatchupConfigCmd(const uint8_t* commandData,
DeviceCommandId_t deviceCommand,
size_t cmdDataLen) {
ReturnValue_t result = returnvalue::OK;
if (cmdDataLen < 1) {
return HasActionsIF::INVALID_PARAMETERS;
}
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;
}
sendCommand(deviceCommand, packet, false);
break;
}
case (supv::DISABLE_LATCHUP_ALERT): {
supv::LatchupAlert packet(spParams);
result = packet.buildPacket(false, latchupId);
if (result != returnvalue::OK) {
return result;
}
sendCommand(deviceCommand, packet, false);
break;
}
default: {
sif::debug << "PlocSupervisorHandler::prepareLatchupConfigCmd: Invalid command id"
<< std::endl;
result = returnvalue::FAILED;
break;
}
}
return result;
}
ReturnValue_t FreshSupvHandler::prepareSetAlertLimitCmd(const uint8_t* commandData,
size_t cmdDataLen) {
if (cmdDataLen < 5) {
return HasActionsIF::INVALID_PARAMETERS;
}
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;
}
sendCommand(supv::SET_ALERT_LIMIT, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData,
size_t cmdDataLen) {
if (cmdDataLen < 4) {
return HasActionsIF::INVALID_PARAMETERS;
}
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;
return result;
}
supv::SetShutdownTimeout packet(spParams);
result = packet.buildPacket(timeout);
if (result != returnvalue::OK) {
return result;
}
sendCommand(supv::SET_SHUTDOWN_TIMEOUT, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareSetGpioCmd(const uint8_t* commandData,
size_t commandDataLen) {
if (commandDataLen < 3) {
return HasActionsIF::INVALID_PARAMETERS;
}
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;
}
sendCommand(supv::SET_GPIO, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareReadGpioCmd(const uint8_t* commandData,
size_t commandDataLen) {
if (commandDataLen < 2) {
return HasActionsIF::INVALID_PARAMETERS;
}
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;
}
sendCommand(supv::READ_GPIO, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::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;
}
sendCommand(supv::FACTORY_RESET, resetCmd, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::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;
}
sendCommand(supv::SET_ADC_ENABLED_CHANNELS, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::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;
}
sendCommand(supv::SET_ADC_WINDOW_AND_STRIDE, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::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;
}
sendCommand(supv::SET_ADC_THRESHOLD, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, size_t cmdDataLen) {
if (cmdDataLen < 8) {
return HasActionsIF::INVALID_PARAMETERS;
}
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;
}
sendCommand(supv::WIPE_MRAM, packet, false);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::parseTmPackets() {
uint8_t* receivedData = nullptr;
size_t receivedSize = 0;
while (true) {
ReturnValue_t result =
uartManager->readReceivedMessage(comCookie, &receivedData, &receivedSize);
if (result != returnvalue::OK or receivedSize == 0) {
break;
}
tmReader.setReadOnlyData(receivedData, receivedSize);
if (tmReader.checkCrc() != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler::parseTmPackets: CRC failure for packet with size "
<< receivedSize << std::endl;
arrayprinter::print(receivedData, receivedSize);
continue;
}
if (supv::DEBUG_PLOC_SUPV) {
handlePacketPrint();
}
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)): {
handleAckReport(receivedData);
continue;
}
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)):
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)): {
handleExecutionReport(receivedData);
continue;
}
}
break;
}
case (Apid::HK): {
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::REPORT)) {
handleHkReport(receivedData);
continue;
} 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)) {
handleBootStatusReport(receivedData);
continue;
}
break;
}
case (Apid::LATCHUP_MON): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::LatchupMonId::LATCHUP_STATUS_REPORT)) {
handleLatchupStatusReport(receivedData);
continue;
}
break;
}
case (Apid::ADC_MON): {
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::AdcMonId::ADC_REPORT)) {
genericHandleTm("ADC", receivedData, adcReport, supv::Apid::ADC_MON,
static_cast<uint8_t>(supv::tc::AdcMonId::REQUEST_ADC_SAMPLE));
continue;
}
break;
}
case (Apid::MEM_MAN): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::MemManId::UPDATE_STATUS_REPORT)) {
sif::warning << "FreshSupvHandler: Update status report parsing not implemented"
<< std::endl;
// confirmReplyPacketReceived(supv::Apid::MEM_MAN,
// supv::tc::MemManId::UPDATE_STATUS_REPORT);
continue;
}
break;
}
case (Apid::DATA_LOGGER): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::DataLoggerId::COUNTERS_REPORT)) {
genericHandleTm("COUNTERS", receivedData, countersReport, supv::Apid::DATA_LOGGER,
static_cast<uint8_t>(supv::tc::DataLoggerServiceId::REQUEST_COUNTERS));
continue;
}
}
}
handleBadApidServiceCombination(SUPV_UNKNOWN_TM, apid, tmReader.getServiceId());
}
return returnvalue::OK;
}
void FreshSupvHandler::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 FreshSupvHandler::handlePacketPrint() {
if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) or
(tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK))) {
AcknowledgmentReport ack(tmReader);
ReturnValue_t result = ack.parse(false);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Parsing ACK failed. ";
if (result == result::INVALID_SERVICE_ID) {
sif::warning << "Invalid service ID" << std::endl;
} else if (result == result::CRC_FAILURE) {
sif::warning << "CRC check failed" << std::endl;
} else {
sif::warning << "Returncode 0x" << std::hex << std::setw(4) << result << std::dec
<< std::endl;
}
}
if (mode == MODE_NORMAL and supv::REDUCE_NORMAL_MODE_PRINTOUT and
ack.getRefModuleApid() == (uint8_t)supv::Apid::HK and
ack.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
return;
}
const char* printStr = "???";
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
printStr = "ACK";
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
printStr = "NAK";
}
sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
<< (int)ack.getRefModuleApid() << " Service ID " << (int)ack.getRefServiceId()
<< " Seq Count " << ack.getRefSequenceCount() << std::endl;
return;
} else if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) or
(tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK))) {
ExecutionReport exe(tmReader);
ReturnValue_t result = exe.parse(false);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Parsing EXE failed" << std::endl;
}
const char* printStr = "???";
if (mode == MODE_NORMAL and supv::REDUCE_NORMAL_MODE_PRINTOUT and
exe.getRefModuleApid() == (uint8_t)supv::Apid::HK and
exe.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
return;
}
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
printStr = "ACK EXE";
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
printStr = "NAK EXE";
}
sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
<< (int)exe.getRefModuleApid() << " Service ID " << (int)exe.getRefServiceId()
<< " Seq Count " << exe.getRefSequenceCount() << std::endl;
return;
}
}
if (mode == MODE_NORMAL and supv::REDUCE_NORMAL_MODE_PRINTOUT and
tmReader.getModuleApid() == supv::Apid::HK and
tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::REPORT)) {
return;
}
sif::debug << "PlocSupervisorHandler: RECV PACKET Size " << tmReader.getFullPacketLen()
<< " Module APID " << (int)tmReader.getModuleApid() << " Service ID "
<< (int)tmReader.getServiceId() << std::endl;
}
bool FreshSupvHandler::isCommandAlreadyActive(ActionId_t actionId) const {
// Not the most efficient implementation but who cares. It's not like this map is going
// to be huge in the nominal case..
for (const auto& info : activeActionCmds) {
if (info.second.commandId == actionId and info.second.isPending) {
return true;
}
}
return false;
}
ReturnValue_t FreshSupvHandler::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 FreshSupvHandler::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;
}
void FreshSupvHandler::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) {
if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) {
CommandMessage actionMsg;
ActionMessage::setCommand(&actionMsg, supv::SHUTDOWN_MPSOC, store_address_t::invalid());
result = messageQueue->sendMessageFrom(getCommandQueue(), &actionMsg,
MessageQueueIF::NO_QUEUE);
if (result != returnvalue::OK) {
triggerEvent(supv::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;
}
}
ReturnValue_t FreshSupvHandler::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 FreshSupvHandler::handleAckReport(const uint8_t* data) {
using namespace supv;
ReturnValue_t result = returnvalue::OK;
AcknowledgmentReport ack(tmReader);
result = ack.parse(false);
if (result != returnvalue::OK) {
return result;
}
auto infoIter =
activeActionCmds.find(buildActiveCmdKey(ack.getRefModuleApid(), ack.getRefServiceId()));
if (infoIter == activeActionCmds.end()) {
triggerEvent(SUPV_ACK_UNKNOWN_COMMAND, ack.getRefModuleApid(), ack.getRefServiceId());
return result;
}
ActiveCmdInfo& info = infoIter->second;
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
triggerEvent(SUPV_ACK_FAILURE, info.commandId, static_cast<uint32_t>(ack.getStatusCode()));
ack.printStatusInformationAck();
printAckFailureInfo(ack.getStatusCode(), info.commandId);
if (info.commandedBy != MessageQueueIF::NO_QUEUE) {
actionHelper.finish(false, info.commandedBy, info.commandId, result::RECEIVED_ACK_FAILURE);
}
info.isPending = false;
return returnvalue::OK;
}
info.ackRecv = true;
performCommandCompletionHandling(static_cast<supv::Apid>((infoIter->first >> 16) & 0xffff),
infoIter->first & 0xff, info);
return result;
}
void FreshSupvHandler::performCommandCompletionHandling(supv::Apid apid, uint8_t serviceId,
ActiveCmdInfo& info) {
if (info.ackRecv and info.ackExeRecv and
(not info.replyPacketExpected or info.replyPacketReceived)) {
if (info.commandedBy != MessageQueueIF::NO_QUEUE) {
actionHelper.finish(true, info.commandedBy, info.commandId, returnvalue::OK);
}
info.isPending = false;
}
}
void FreshSupvHandler::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;
}
}
uint32_t FreshSupvHandler::buildActiveCmdKey(uint16_t moduleApid, uint8_t serviceId) {
return (moduleApid << 16) | serviceId;
}
ReturnValue_t FreshSupvHandler::handleExecutionReport(const uint8_t* data) {
using namespace supv;
ReturnValue_t result = returnvalue::OK;
ExecutionReport exe(tmReader);
result = exe.parse(false);
if (result != OK) {
sif::warning << "FreshSupvHandler::handleExecutionReport: Parsing ACK EXE failed" << std::endl;
return result;
}
auto infoIter =
activeActionCmds.find(buildActiveCmdKey(exe.getRefModuleApid(), exe.getRefServiceId()));
if (infoIter == activeActionCmds.end()) {
triggerEvent(SUPV_EXE_ACK_UNKNOWN_COMMAND, exe.getRefModuleApid(), exe.getRefServiceId());
return result;
}
ActiveCmdInfo& info = infoIter->second;
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
result = handleExecutionSuccessReport(info, exe);
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
handleExecutionFailureReport(info, exe);
return returnvalue::OK;
}
info.ackExeRecv = true;
performCommandCompletionHandling(static_cast<supv::Apid>((infoIter->first >> 16) & 0xffff),
infoIter->first & 0xff, info);
return result;
}
ReturnValue_t FreshSupvHandler::handleExecutionSuccessReport(ActiveCmdInfo& info,
ExecutionReport& report) {
switch (info.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 */
uint8_t data[sizeof(gpioState)];
size_t size = 0;
ReturnValue_t 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(info.commandedBy, info.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: {
if (startupState == StartupState::WAIT_FOR_TIME_REPLY) {
startupState = StartupState::TIME_WAS_SET;
}
break;
}
default:
break;
}
return returnvalue::OK;
}
void FreshSupvHandler::handleExecutionFailureReport(ActiveCmdInfo& info, ExecutionReport& report) {
using namespace supv;
report.printStatusInformationExe();
if (info.commandId != DeviceHandlerIF::NO_COMMAND_ID) {
triggerEvent(SUPV_EXE_FAILURE, info.commandId, static_cast<uint32_t>(report.getStatusCode()));
}
if (info.commandedBy) {
actionHelper.finish(false, info.commandedBy, info.commandId, result::RECEIVED_EXE_FAILURE);
}
info.isPending = false;
}
void FreshSupvHandler::confirmReplyPacketReceived(supv::Apid apid, uint8_t serviceId) {
auto infoIter = activeActionCmds.find(buildActiveCmdKey(apid, serviceId));
if (infoIter != activeActionCmds.end()) {
ActiveCmdInfo& info = infoIter->second;
info.replyPacketReceived = true;
performCommandCompletionHandling(static_cast<supv::Apid>((infoIter->first >> 16) & 0xffff),
infoIter->first & 0xff, info);
}
}
ReturnValue_t FreshSupvHandler::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;
hkSet.setValidity(true, true);
confirmReplyPacketReceived(supv::Apid::HK, static_cast<uint8_t>(supv::tc::HkId::GET_REPORT));
#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 FreshSupvHandler::verifyPacket(const uint8_t* start, size_t foundLen) {
if (CRC::crc16ccitt(start, foundLen) != 0) {
return result::CRC_FAILURE;
}
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::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;
}
PoolReadGuard pg(&bootStatusReport);
if (pg.getReadResult() != returnvalue::OK) {
return pg.getReadResult();
}
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);
bootStatusReport.setValidity(true, true);
confirmReplyPacketReceived(supv::Apid::BOOT_MAN,
static_cast<uint8_t>(supv::tc::BootManId::GET_BOOT_STATUS_REPORT));
#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 FreshSupvHandler::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;
}
PoolReadGuard pg(&latchupStatusReport);
if (pg.getReadResult() != returnvalue::OK) {
return pg.getReadResult();
}
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 | *(payloadData + offset + 1);
offset += 2;
uint16_t msec = *(payloadData + offset) << 8 | *(payloadData + offset + 1);
latchupStatusReport.isSynced = 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);
latchupStatusReport.setValidity(true, true);
confirmReplyPacketReceived(supv::Apid::LATCHUP_MON,
static_cast<uint8_t>(supv::tc::LatchupMonId::GET_STATUS_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 FreshSupvHandler::genericHandleTm(const char* contextString, const uint8_t* data,
LocalPoolDataSetBase& set, supv::Apid apid,
uint8_t serviceId) {
ReturnValue_t result = returnvalue::OK;
result = verifyPacket(data, tmReader.getFullPacketLen());
if (result == result::CRC_FAILURE) {
sif::warning << "PlocSupervisorHandler: " << contextString << " report has "
<< "invalid CRC" << std::endl;
return result;
}
const uint8_t* dataField = data + supv::PAYLOAD_OFFSET;
PoolReadGuard pg(&set);
if (pg.getReadResult() != returnvalue::OK) {
return result;
}
set.setValidityBufferGeneration(false);
size_t size = set.getSerializedSize();
result = set.deSerialize(&dataField, &size, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Deserialization failed" << std::endl;
}
set.setValidityBufferGeneration(true);
set.setValidity(true, true);
confirmReplyPacketReceived(apid, serviceId);
return result;
}
bool FreshSupvHandler::isCommandPending() const {
for (const auto& info : activeActionCmds) {
if (info.second.isPending) {
return true;
}
}
return false;
}
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