386 lines
11 KiB
C++
386 lines
11 KiB
C++
#include "PlocUpdater.h"
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#include <filesystem>
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#include <fstream>
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#include <string>
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#include "fsfw/ipc/QueueFactory.h"
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PlocUpdater::PlocUpdater(object_id_t objectId)
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: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
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auto mqArgs = MqArgs(this->getObjectId());
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commandQueue = QueueFactory::instance()->createMessageQueue(
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QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
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}
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PlocUpdater::~PlocUpdater() {}
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ReturnValue_t PlocUpdater::initialize() {
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#ifdef XIPHOS_Q7S
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sdcMan = SdCardManager::instance();
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#endif
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ReturnValue_t result = SystemObject::initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = commandActionHelper.initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = actionHelper.initialize(commandQueue);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PlocUpdater::performOperation(uint8_t operationCode) {
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readCommandQueue();
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doStateMachine();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PlocUpdater::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result = RETURN_FAILED;
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if (state != State::IDLE) {
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return IS_BUSY;
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}
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if (size > MAX_PLOC_UPDATE_PATH) {
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return NAME_TOO_LONG;
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}
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switch (actionId) {
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case UPDATE_A_UBOOT:
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image = Image::A;
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partition = Partition::UBOOT;
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break;
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case UPDATE_A_BITSTREAM:
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image = Image::A;
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partition = Partition::BITSTREAM;
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break;
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case UPDATE_A_LINUX:
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image = Image::A;
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partition = Partition::LINUX_OS;
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break;
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case UPDATE_A_APP_SW:
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image = Image::A;
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partition = Partition::APP_SW;
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break;
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case UPDATE_B_UBOOT:
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image = Image::B;
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partition = Partition::UBOOT;
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break;
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case UPDATE_B_BITSTREAM:
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image = Image::B;
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partition = Partition::BITSTREAM;
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break;
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case UPDATE_B_LINUX:
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image = Image::B;
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partition = Partition::LINUX_OS;
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break;
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case UPDATE_B_APP_SW:
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image = Image::B;
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partition = Partition::APP_SW;
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break;
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default:
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return INVALID_ACTION_ID;
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}
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result = getImageLocation(data, size);
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if (result != RETURN_OK) {
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return result;
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}
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state = State::UPDATE_AVAILABLE;
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return EXECUTION_FINISHED;
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}
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MessageQueueId_t PlocUpdater::getCommandQueue() const { return commandQueue->getId(); }
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MessageQueueIF* PlocUpdater::getCommandQueuePtr() { return commandQueue; }
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void PlocUpdater::readCommandQueue() {
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CommandMessage message;
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ReturnValue_t result;
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for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
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result = commandQueue->receiveMessage(&message)) {
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if (result != RETURN_OK) {
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continue;
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}
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result = actionHelper.handleActionMessage(&message);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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result = commandActionHelper.handleReply(&message);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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}
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}
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void PlocUpdater::doStateMachine() {
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switch (state) {
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case State::IDLE:
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break;
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case State::UPDATE_AVAILABLE:
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commandUpdateAvailable();
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break;
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case State::UPDATE_TRANSFER:
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commandUpdatePacket();
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break;
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case State::UPDATE_VERIFY:
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commandUpdateVerify();
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break;
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case State::COMMAND_EXECUTING:
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break;
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default:
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break;
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}
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}
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ReturnValue_t PlocUpdater::checkNameLength(size_t size) {
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if (size > MAX_PLOC_UPDATE_PATH) {
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return NAME_TOO_LONG;
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}
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return RETURN_OK;
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}
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ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
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ReturnValue_t result = checkNameLength(size);
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if (result != RETURN_OK) {
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return result;
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}
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#ifdef XIPHOS_Q7S
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// Check if file is stored on SD card and if associated SD card is mounted
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if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
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std::string(SdCardManager::SD_0_MOUNT_POINT)) {
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if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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} else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) ==
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std::string(SdCardManager::SD_1_MOUNT_POINT)) {
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if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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} else {
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// update image not stored on SD card
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}
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#endif /* BOARD_TE0720 == 0 */
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updateFile = std::string(reinterpret_cast<const char*>(data), size);
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// Check if file exists
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if (not std::filesystem::exists(updateFile)) {
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return FILE_NOT_EXISTS;
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}
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return RETURN_OK;
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}
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void PlocUpdater::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
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void PlocUpdater::stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) {}
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void PlocUpdater::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {}
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void PlocUpdater::completionSuccessfulReceived(ActionId_t actionId) {
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switch (pendingCommand) {
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case (supv::UPDATE_AVAILABLE):
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state = State::UPDATE_TRANSFER;
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break;
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case (supv::UPDATE_IMAGE_DATA):
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if (remainingPackets == 0) {
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packetsSent = 0; // Reset packets sent variable for next update sequence
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state = State::UPDATE_VERIFY;
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} else {
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state = State::UPDATE_TRANSFER;
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}
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break;
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case (supv::UPDATE_VERIFY):
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triggerEvent(UPDATE_FINISHED);
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state = State::IDLE;
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pendingCommand = supv::NONE;
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break;
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default:
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state = State::IDLE;
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break;
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}
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}
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void PlocUpdater::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
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switch (pendingCommand) {
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case (supv::UPDATE_AVAILABLE): {
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triggerEvent(UPDATE_AVAILABLE_FAILED);
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break;
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}
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case (supv::UPDATE_IMAGE_DATA): {
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triggerEvent(UPDATE_TRANSFER_FAILED, packetsSent);
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break;
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}
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case (supv::UPDATE_VERIFY): {
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triggerEvent(UPDATE_VERIFY_FAILED);
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break;
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}
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default:
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break;
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}
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state = State::IDLE;
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}
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void PlocUpdater::commandUpdateAvailable() {
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ReturnValue_t result = RETURN_OK;
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if (not std::filesystem::exists(updateFile)) {
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triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state));
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state = State::IDLE;
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return;
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}
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std::ifstream file(updateFile, std::ifstream::binary);
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file.seekg(0, file.end);
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imageSize = static_cast<size_t>(file.tellg());
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file.close();
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numOfUpdatePackets = imageSize / MAX_SP_DATA;
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if (imageSize % MAX_SP_DATA) {
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numOfUpdatePackets++;
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}
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remainingPackets = numOfUpdatePackets;
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packetsSent = 0;
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calcImageCrc();
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supv::UpdateInfo packet(supv::APID_UPDATE_AVAILABLE, static_cast<uint8_t>(image),
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static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
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result =
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commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_AVAILABLE,
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packet.getWholeData(), packet.getFullSize());
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if (result != RETURN_OK) {
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sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
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<< " packet to supervisor handler" << std::endl;
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triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_AVAILABLE);
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state = State::IDLE;
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pendingCommand = supv::NONE;
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return;
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}
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pendingCommand = supv::UPDATE_AVAILABLE;
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state = State::COMMAND_EXECUTING;
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return;
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}
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void PlocUpdater::commandUpdatePacket() {
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ReturnValue_t result = RETURN_OK;
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uint16_t payloadLength = 0;
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if (not std::filesystem::exists(updateFile)) {
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triggerEvent(UPDATE_FILE_NOT_EXISTS, static_cast<uint8_t>(state), packetsSent);
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state = State::IDLE;
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return;
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}
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std::ifstream file(updateFile, std::ifstream::binary);
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file.seekg(packetsSent * MAX_SP_DATA, file.beg);
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if (remainingPackets == 1) {
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payloadLength = imageSize - static_cast<uint16_t>(file.tellg());
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} else {
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payloadLength = MAX_SP_DATA;
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}
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supv::UpdatePacket packet(payloadLength);
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file.read(reinterpret_cast<char*>(packet.getDataFieldPointer()), payloadLength);
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file.close();
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// sequence count of first packet is 1
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packet.setPacketSequenceCount((packetsSent + 1) & supv::SEQUENCE_COUNT_MASK);
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if (numOfUpdatePackets > 1) {
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adjustSequenceFlags(packet);
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}
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packet.makeCrc();
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result =
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commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_IMAGE_DATA,
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packet.getWholeData(), packet.getFullSize());
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if (result != RETURN_OK) {
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sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update"
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<< " packet to supervisor handler" << std::endl;
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triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_IMAGE_DATA);
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state = State::IDLE;
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pendingCommand = supv::NONE;
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return;
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}
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remainingPackets--;
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packetsSent++;
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pendingCommand = supv::UPDATE_IMAGE_DATA;
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state = State::COMMAND_EXECUTING;
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}
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void PlocUpdater::commandUpdateVerify() {
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ReturnValue_t result = RETURN_OK;
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supv::UpdateInfo packet(supv::APID_UPDATE_VERIFY, static_cast<uint8_t>(image),
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static_cast<uint8_t>(partition), imageSize, imageCrc, numOfUpdatePackets);
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result = commandActionHelper.commandAction(objects::PLOC_SUPERVISOR_HANDLER, supv::UPDATE_VERIFY,
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packet.getWholeData(), packet.getFullSize());
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if (result != RETURN_OK) {
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sif::warning << "PlocUpdater::commandUpdateAvailable: Failed to send update available"
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<< " packet to supervisor handler" << std::endl;
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triggerEvent(ACTION_COMMANDING_FAILED, result, supv::UPDATE_VERIFY);
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state = State::IDLE;
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pendingCommand = supv::NONE;
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return;
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}
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state = State::COMMAND_EXECUTING;
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pendingCommand = supv::UPDATE_VERIFY;
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return;
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}
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void PlocUpdater::calcImageCrc() {
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std::ifstream file(updateFile, std::ifstream::binary);
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file.seekg(0, file.end);
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uint32_t count;
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uint32_t bit;
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uint32_t remainder = INITIAL_REMAINDER_32;
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char input;
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for (count = 0; count < imageSize; count++) {
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file.seekg(count, file.beg);
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file.read(&input, 1);
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remainder ^= (input << 16);
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for (bit = 8; bit > 0; --bit) {
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if (remainder & TOPBIT_32) {
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remainder = (remainder << 1) ^ POLYNOMIAL_32;
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} else {
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remainder = (remainder << 1);
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}
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}
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}
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file.close();
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imageCrc = (remainder ^ FINAL_XOR_VALUE_32);
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}
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void PlocUpdater::adjustSequenceFlags(supv::UpdatePacket& packet) {
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if (packetsSent == 0) {
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packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::FIRST_PKT));
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} else if (remainingPackets == 1) {
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packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::LAST_PKT));
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} else {
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packet.setSequenceFlags(static_cast<uint8_t>(supv::SequenceFlags::CONTINUED_PKT));
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}
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}
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