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eive-obsw/linux/payload/PlocMpsocSpecialComHelper.cpp

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#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/payload/PlocMpsocSpecialComHelper.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
#ifdef XIPHOS_Q7S
#include "bsp_q7s/fs/FilesystemHelper.h"
#endif
#include "mission/utility/Timestamp.h"
using namespace ploc;
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId)
: SystemObject(objectId) {
spParams.buf = commandBuffer;
spParams.maxSize = sizeof(commandBuffer);
}
PlocMpsocSpecialComHelper::~PlocMpsocSpecialComHelper() {}
ReturnValue_t PlocMpsocSpecialComHelper::initialize() {
#ifdef XIPHOS_Q7S
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = returnvalue::OK;
semaphore.acquire();
while (true) {
#if OBSW_THREAD_TRACING == 1
trace::threadTrace(opCounter, "PLOC MPSOC Helper");
#endif
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL, sequenceCount->get());
} else {
triggerEvent(MPSOC_FLASH_WRITE_FAILED, sequenceCount->get());
}
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == returnvalue::OK) {
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, sequenceCount->get());
} else {
triggerEvent(MPSOC_FLASH_READ_FAILED, sequenceCount->get());
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t PlocMpsocSpecialComHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
void PlocMpsocSpecialComHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
sequenceCount = sequenceCount_;
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashWrite(std::string obcFile,
std::string mpsocFile) {
if (internalState != InternalState::IDLE) {
return returnvalue::FAILED;
}
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
if (result != returnvalue::OK) {
return result;
}
internalState = InternalState::FLASH_WRITE;
return semaphore.release();
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashRead(std::string obcFile, std::string mpsocFile,
size_t readFileSize) {
if (internalState != InternalState::IDLE) {
return returnvalue::FAILED;
}
ReturnValue_t result = startFlashReadOrWriteBase(std::move(obcFile), std::move(mpsocFile));
if (result != returnvalue::OK) {
return result;
}
flashReadAndWrite.totalReadSize = readFileSize;
internalState = InternalState::FLASH_READ;
return semaphore.release();
}
void PlocMpsocSpecialComHelper::resetHelper() {
spParams.buf = commandBuffer;
terminate = false;
uartComIF->flushUartRxBuffer(comCookie);
}
void PlocMpsocSpecialComHelper::stopProcess() { terminate = true; }
ReturnValue_t PlocMpsocSpecialComHelper::performFlashWrite() {
ReturnValue_t result = returnvalue::OK;
std::ifstream file(flashReadAndWrite.obcFile, std::ifstream::binary);
if (file.bad()) {
return returnvalue::FAILED;
}
result = flashfopen(mpsoc::FileAccessMode::WRITE);
if (result != returnvalue::OK) {
return result;
}
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
size_t remainingSize = file.tellg();
size_t dataLength = 0;
size_t bytesRead = 0;
while (remainingSize > 0) {
if (terminate) {
flashfclose();
return returnvalue::OK;
}
if (remainingSize > mpsoc::SP_MAX_DATA_SIZE) {
dataLength = mpsoc::SP_MAX_DATA_SIZE;
} else {
dataLength = remainingSize;
}
if (file.bad() or not file.is_open()) {
flashfclose();
return FILE_WRITE_ERROR;
}
file.seekg(bytesRead, file.beg);
file.read(reinterpret_cast<char*>(fileBuf.data()), dataLength);
bytesRead += dataLength;
remainingSize -= dataLength;
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
result = tc.setPayload(fileBuf.data(), dataLength);
if (result != returnvalue::OK) {
flashfclose();
return result;
}
result = tc.finishPacket();
if (result != returnvalue::OK) {
flashfclose();
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(tc);
if (result != returnvalue::OK) {
flashfclose();
return result;
}
}
result = flashfclose();
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
sif::debug << "performing flash read" << std::endl;
std::error_code e;
std::ofstream ofile(flashReadAndWrite.obcFile, std::ios::trunc | std::ios::binary);
if (ofile.bad()) {
return returnvalue::FAILED;
}
ReturnValue_t result = flashfopen(mpsoc::FileAccessMode::READ);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
return result;
}
size_t readSoFar = 0;
size_t nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
while (readSoFar < flashReadAndWrite.totalReadSize) {
if (terminate) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
flashfclose();
return returnvalue::OK;
}
nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
}
sif::debug << "reading " << nextReadSize << " bytes from offset " << readSoFar << std::endl;
if (ofile.bad() or not ofile.is_open()) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
flashfclose();
return FILE_READ_ERROR;
}
mpsoc::TcFlashRead flashReadRequest(spParams, *sequenceCount);
result = flashReadRequest.setPayload(nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
flashfclose();
return result;
}
result = flashReadRequest.finishPacket();
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
flashfclose();
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
if (result != returnvalue::OK) {
std::filesystem::remove(flashReadAndWrite.obcFile, e);
sif::debug << "flash close" << std::endl;
flashfclose();
return result;
}
readSoFar += nextReadSize;
}
sif::debug << "read file done" << std::endl;
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(mpsoc::FileAccessMode mode) {
spParams.buf = commandBuffer;
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
if (result != returnvalue::OK) {
return result;
}
result = flashFopen.finishPacket();
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(flashFopen);
if (result != returnvalue::OK) {
return result;
}
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
spParams.buf = commandBuffer;
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
ReturnValue_t result = flashFclose.finishPacket();
if (result != returnvalue::OK) {
return result;
}
(*sequenceCount)++;
result = handlePacketTransmissionNoReply(flashFclose);
if (result != returnvalue::OK) {
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionFlashRead(mpsoc::TcFlashRead& tc,
std::ofstream& ofile,
size_t expectedReadLen) {
ReturnValue_t result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
// ccsds::HEADER_LEN + mpsoc::FLASH_READ_MIN_OVERHEAD + tc.readSize + mpsoc::CRC_SIZE
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
// We have the nominal case where the flash read report appears first, or the case where we
// get an EXE failure immediately.
if (spReader.getApid() == mpsoc::apid::TM_FLASH_READ_REPORT) {
result = handleFlashReadReply(ofile, expectedReadLen);
if (result != returnvalue::OK) {
return result;
}
return handleExe();
} else if (spReader.getApid() == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
} else {
triggerEvent(MPSOC_EXE_INVALID_APID, spReader.getApid(), static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << spReader.getApid()
<< std::endl;
}
return returnvalue::FAILED;
}
ReturnValue_t PlocMpsocSpecialComHelper::handlePacketTransmissionNoReply(ploc::SpTcBase& tc) {
ReturnValue_t result = sendCommand(tc);
if (result != returnvalue::OK) {
return result;
}
result = handleAck();
if (result != returnvalue::OK) {
return result;
}
return handleExe();
}
ReturnValue_t PlocMpsocSpecialComHelper::sendCommand(ploc::SpTcBase& tc) {
ReturnValue_t result = returnvalue::OK;
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
return result;
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handleAck() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = tmPacket.getApid();
if (apid != mpsoc::apid::ACK_SUCCESS) {
handleAckApidFailure(tmPacket);
return returnvalue::FAILED;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleAckApidFailure(const ploc::SpTmReader& reader) {
uint16_t apid = reader.getApid();
if (apid == mpsoc::apid::ACK_FAILURE) {
uint16_t status = mpsoc::getStatusFromRawData(reader.getFullData());
sif::warning << "PLOC MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState), status);
} else {
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
}
ReturnValue_t PlocMpsocSpecialComHelper::handleExe() {
ReturnValue_t result = returnvalue::OK;
result = handleTmReception();
if (result != returnvalue::OK) {
return result;
}
result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = spReader.getApid();
if (apid == mpsoc::apid::EXE_FAILURE) {
handleExeFailure();
return returnvalue::FAILED;
} else if (apid != mpsoc::apid::EXE_SUCCESS) {
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
sif::warning << "PLOC MPSoC: Expected execution report "
<< "but received space packet with apid " << std::hex << apid << std::endl;
}
return returnvalue::OK;
}
void PlocMpsocSpecialComHelper::handleExeFailure() {
uint16_t status = mpsoc::getStatusFromRawData(spReader.getFullData());
sif::warning << "PLOC MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
}
ReturnValue_t PlocMpsocSpecialComHelper::handleTmReception() {
ReturnValue_t result = returnvalue::OK;
tmCountdown.resetTimer();
size_t readBytes = 0;
size_t currentBytes = 0;
uint32_t usleepDelay = 5;
size_t fullPacketLen = 0;
while (true) {
if (tmCountdown.hasTimedOut()) {
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
return returnvalue::FAILED;
}
result = receive(tmBuf.data() + readBytes, 6, &currentBytes);
if (result != returnvalue::OK) {
return result;
}
spReader.setReadOnlyData(tmBuf.data(), tmBuf.size());
fullPacketLen = spReader.getFullPacketLen();
readBytes += currentBytes;
if (readBytes == 6) {
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
sif::debug << "recvd first 6 bytes" << std::endl;
while (true) {
if (tmCountdown.hasTimedOut()) {
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
return returnvalue::FAILED;
}
result = receive(tmBuf.data() + readBytes, fullPacketLen - readBytes, &currentBytes);
readBytes += currentBytes;
if (fullPacketLen == readBytes) {
sif::debug << "recvd full " << fullPacketLen << std::endl;
break;
}
usleep(usleepDelay);
if (usleepDelay < 200000) {
usleepDelay *= 4;
}
}
return result;
}
ReturnValue_t PlocMpsocSpecialComHelper::handleFlashReadReply(std::ofstream& ofile,
size_t expectedReadLen) {
ReturnValue_t result = checkReceivedTm();
if (result != returnvalue::OK) {
return result;
}
uint16_t apid = spReader.getApid();
if (apid != mpsoc::apid::TM_FLASH_READ_REPORT) {
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_APID_ERROR);
sif::warning << "PLOC MPSoC Flash Read: Unexpected APID" << std::endl;
return result;
}
const uint8_t* packetData = spReader.getPacketData();
size_t deserDummy = spReader.getPacketDataLen() - mpsoc::CRC_SIZE;
uint32_t receivedReadLen = 0;
std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 12)) {
sif::warning << "PLOC MPSoC Flash Read: Missmatch between request file name and "
"received file name"
<< std::endl;
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_FILENAME_ERROR);
return returnvalue::FAILED;
}
packetData += 12;
result = SerializeAdapter::deSerialize(&receivedReadLen, &packetData, &deserDummy,
SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
if (receivedReadLen != expectedReadLen) {
sif::warning << "PLOC MPSoC Flash Read: Missmatch between request read length and "
"received read length"
<< std::endl;
triggerEvent(MPSOC_FLASH_READ_PACKET_ERROR, FlashReadErrorType::FLASH_READ_READLEN_ERROR);
return returnvalue::FAILED;
}
ofile.write(reinterpret_cast<const char*>(packetData), receivedReadLen);
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::fileCheck(std::string obcFile) {
#ifdef XIPHOS_Q7S
ReturnValue_t result = FilesystemHelper::checkPath(obcFile);
if (result != returnvalue::OK) {
return result;
}
#elif defined(TE0720_1CFA)
if (not std::filesystem::exists(obcFile)) {
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
<< std::endl;
return returnvalue::FAILED;
}
#endif
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::startFlashReadOrWriteBase(std::string obcFile,
std::string mpsocFile) {
ReturnValue_t result = fileCheck(obcFile);
if (result != returnvalue::OK) {
return result;
}
flashReadAndWrite.obcFile = std::move(obcFile);
flashReadAndWrite.mpsocFile = std::move(mpsocFile);
resetHelper();
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::checkReceivedTm() {
ReturnValue_t result = spReader.checkSize();
if (result != returnvalue::OK) {
sif::error << "PLOC MPSoC: Size check on received TM failed" << std::endl;
triggerEvent(MPSOC_TM_SIZE_ERROR);
return result;
}
spReader.checkCrc();
if (result != returnvalue::OK) {
sif::warning << "PLOC MPSoC: CRC check failed" << std::endl;
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
return result;
}
uint16_t recvSeqCnt = spReader.getSequenceCount();
if (recvSeqCnt != *sequenceCount) {
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
*sequenceCount = recvSeqCnt;
}
// This sequence count ping pong does not make any sense but it is how the MPSoC expects it.
(*sequenceCount)++;
return returnvalue::OK;
}
ReturnValue_t PlocMpsocSpecialComHelper::receive(uint8_t* data, size_t requestBytes,
size_t* readBytes) {
ReturnValue_t result = returnvalue::OK;
uint8_t* buffer = nullptr;
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
return returnvalue::FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
if (result != returnvalue::OK) {
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
return returnvalue::FAILED;
}
if (*readBytes > 0) {
std::memcpy(data, buffer, *readBytes);
}
return result;
}
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