eive-obsw/linux/payload/FreshSupvHandler.cpp
Robin Mueller 8714948788
Some checks failed
EIVE/eive-obsw/pipeline/pr-main There was a failure building this commit
this is what device handler writing should have been
2023-11-13 15:43:32 +01:00

1056 lines
38 KiB
C++

#include "FreshSupvHandler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/filesystem.h>
#include <atomic>
#include <filesystem>
#include "eive/definitions.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/returnvalues/returnvalue.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,
PlocSupvUartManager& supvHelper)
: FreshDeviceHandlerBase(cfg),
uartManager(supvHelper),
comCookie(comCookie),
switchIF(switchIF),
switchId(powerSwitch),
uartIsolatorSwitch(uartIsolatorSwitch),
hkSet(this),
bootStatusReport(this),
latchupStatusReport(this),
countersReport(this),
adcReport(this) {
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}
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 {
if (mode == MODE_NORMAL) {
if (hkRequestCmdInfo.isPending and hkRequestCmdInfo.cmdCountdown.hasTimedOut()) {
// trigger event? might lead to spam...
sif::warning << "FreshSupvHandler: No reply received for HK set request" << std::endl;
hkRequestCmdInfo.isPending = false;
}
// Normal mode handling. Request normal data sets and add them to command map.
if (not hkRequestCmdInfo.isPending) {
hkRequestCmdInfo.cmdCountdown.resetTimer();
hkRequestCmdInfo.ackExeRecv = false;
hkRequestCmdInfo.ackRecv = false;
sendEmptyCmd(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT));
}
}
}
} else if (opCode == OpCode::HANDLE_ACTIVE_CMDS) {
std::vector<ActionId_t> cmdsToRemove;
for (auto& activeCmd : activeActionCmds) {
if (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::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) {
// TODO: Handle all commands here. Need to add them to some command map. Send command immediately
// then.
using namespace supv;
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;
}
if (isCommandAlreadyActive(actionId)) {
return HasActionsIF::IS_BUSY;
}
spParams.buf = commandBuffer.data();
switch (actionId) {
case GET_HK_REPORT: {
sendEmptyCmd(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT));
result = returnvalue::OK;
break;
}
case START_MPSOC: {
sif::info << "PLOC SUPV: Starting MPSoC" << std::endl;
sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::START_MPSOC));
result = returnvalue::OK;
break;
}
case SHUTDOWN_MPSOC: {
sif::info << "PLOC SUPV: Shutting down MPSoC" << std::endl;
sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC));
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(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_MPSOC));
result = returnvalue::OK;
break;
}
case SET_TIME_REF: {
result = prepareSetTimeRefCmd();
break;
}
case SET_BOOT_TIMEOUT: {
prepareSetBootTimeoutCmd(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(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::GET_BOOT_STATUS_REPORT));
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(Apid::LATCHUP_MON, static_cast<uint8_t>(tc::LatchupMonId::GET_STATUS_REPORT));
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(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::FACTORY_FLASH));
result = returnvalue::OK;
break;
}
case RESET_PL: {
sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_PL));
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(Apid::ADC_MON, static_cast<uint8_t>(tc::AdcMonId::REQUEST_ADC_SAMPLE));
result = returnvalue::OK;
break;
}
case REQUEST_LOGGING_COUNTERS: {
sendEmptyCmd(Apid::DATA_LOGGER,
static_cast<uint8_t>(tc::DataLoggerServiceId::REQUEST_COUNTERS));
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(packet);
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(packet);
return returnvalue::OK;
}
void FreshSupvHandler::startTransition(Mode_t newMode, Submode_t newSubmode) {
if (newMode == mode) {
// 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) {
bootTimeout.resetTimer();
startupState = StartupState::POWER_SWITCHING;
switchIF.sendSwitchCommand(switchId, PowerSwitchIF::SWITCH_ON);
} 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;
}
}
if (startupState == StartupState::BOOTING) {
if (bootTimeout.hasTimedOut()) {
uartIsolatorSwitch.pullHigh();
uartManager.start();
if (SET_TIME_DURING_BOOT) {
// TODO: Send command ,add command to command map.
startupState = StartupState::SET_TIME;
} else {
startupState = StartupState::ON;
}
}
}
if (startupState == StartupState::TIME_WAS_SET) {
startupState = StartupState::ON;
}
if (startupState == StartupState::ON) {
hkSet.setReportingEnabled(true);
supv::SUPV_ON = true;
setMode(targetMode);
}
}
void FreshSupvHandler::handleTransitionToOff() {
if (shutdownState == ShutdownState::IDLE) {
hkSet.setReportingEnabled(false);
hkSet.setValidity(false, true);
uartManager.stop();
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;
setMode(MODE_OFF);
}
}
}
ReturnValue_t FreshSupvHandler::sendCommand(TcBase& tc) {
if (DEBUG_PLOC_SUPV) {
sif::debug << "PLOC SUPV: SEND PACKET Size " << tc.getFullPacketLen() << " Module APID "
<< (int)tc.getModuleApid() << " Service ID " << (int)tc.getServiceId() << std::endl;
}
return uartManager.sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
}
ReturnValue_t FreshSupvHandler::initialize() {
uartManager.initializeInterface(comCookie);
ReturnValue_t result = eventSubscription();
if (result != returnvalue::OK) {
return result;
}
return FreshDeviceHandlerBase::initialize();
}
ReturnValue_t FreshSupvHandler::sendEmptyCmd(uint16_t apid, uint8_t serviceId) {
supv::NoPayloadPacket packet(spParams, apid, serviceId);
ReturnValue_t result = packet.buildPacket();
if (result != returnvalue::OK) {
return result;
}
sendCommand(packet);
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(packet);
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(packet);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::prepareDisableHk() {
supv::DisablePeriodicHkTransmission packet(spParams);
ReturnValue_t result = packet.buildPacket();
if (result != returnvalue::OK) {
return result;
}
sendCommand(packet);
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(packet);
break;
}
case (supv::DISABLE_LATCHUP_ALERT): {
supv::LatchupAlert packet(spParams);
result = packet.buildPacket(false, latchupId);
if (result != returnvalue::OK) {
return result;
}
sendCommand(packet);
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(packet);
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(packet);
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(packet);
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(packet);
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(resetCmd);
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(packet);
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(packet);
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(packet);
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(packet);
return returnvalue::OK;
}
ReturnValue_t FreshSupvHandler::parseTmPackets() {
uint8_t* receivedData = nullptr;
size_t receivedSize = 0;
ReturnValue_t result;
while (true) {
result = uartManager.readReceivedMessage(comCookie, &receivedData, &receivedSize);
if (receivedSize == 0) {
break;
}
tmReader.setData(receivedData, receivedSize);
uint16_t apid = tmReader.getModuleApid();
if (DEBUG_PLOC_SUPV) {
handlePacketPrint();
}
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)): {
// TODO: Handle ACK report.
return OK;
}
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)):
case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)): {
// TODO: Hnadle Exe report.
return OK;
}
}
break;
}
case (Apid::HK): {
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::REPORT)) {
// TODO: Handle HK report.
return OK;
} else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::HARDFAULTS)) {
handleBadApidServiceCombination(SUPV_UNINIMPLEMENTED_TM, apid, tmReader.getServiceId());
return INVALID_DATA;
}
break;
}
case (Apid::BOOT_MAN): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::BootManId::BOOT_STATUS_REPORT)) {
// TODO: Handle boot status report.
continue;
}
break;
}
case (Apid::ADC_MON): {
if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::AdcMonId::ADC_REPORT)) {
// TODO: Handle ADC report.
continue;
}
break;
}
case (Apid::MEM_MAN): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::MemManId::UPDATE_STATUS_REPORT)) {
// TODO: Handle update status report.
continue;
}
break;
}
case (Apid::DATA_LOGGER): {
if (tmReader.getServiceId() ==
static_cast<uint8_t>(supv::tm::DataLoggerId::COUNTERS_REPORT)) {
// TODO: Handle counters report.
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();
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Parsing ACK failed" << std::endl;
}
if (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();
if (result != returnvalue::OK) {
sif::warning << "PlocSupervisorHandler: Parsing EXE failed" << std::endl;
}
const char* printStr = "???";
if (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;
}
}
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 {
auto iter = activeActionCmds.find(actionId);
if (iter == activeActionCmds.end()) {
return false;
}
if (iter->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) {
// Wait for a short period for the uart state machine to adjust
// TaskFactory::delayTask(5);
if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) {
result = this->executeAction(supv::SHUTDOWN_MPSOC, MessageQueueIF::NO_QUEUE, nullptr, 0);
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;
}