Robin Mueller
e6d8d24cd5
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213 lines
8.7 KiB
C++
213 lines
8.7 KiB
C++
#ifndef MISSION_DEVICES_PLOCMPSOCHANDLER_H_
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#define MISSION_DEVICES_PLOCMPSOCHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <mission/devices/devicedefinitions/PlocMPSoCDefinitions.h>
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#include <cstring>
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/**
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* @brief This is the device handler for the MPSoC which is programmed by the ILH of the
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* university of stuttgart.
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*
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* @details
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* The PLOC uses the space packet protocol for communication. To each command the PLOC
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* answers with at least one acknowledgment and one execution report.
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_Commands
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* ILH ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
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* Arbeitsdaten/08_Used%20Components/PLOC&fileid=940960
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* @author J. Meier
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*/
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class PlocMPSoCHandler : public DeviceHandlerBase {
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public:
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PlocMPSoCHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie);
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virtual ~PlocMPSoCHandler();
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/**
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* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
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*/
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void setModeNormal();
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protected:
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
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size_t* foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
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uint8_t expectedReplies = 1, bool useAlternateId = false,
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DeviceCommandId_t alternateReplyID = 0) override;
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size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HANDLER;
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static const ReturnValue_t CRC_FAILURE =
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MAKE_RETURN_CODE(0xA0); //!> Space Packet received from PLOC has invalid CRC
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static const ReturnValue_t RECEIVED_ACK_FAILURE =
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MAKE_RETURN_CODE(0xA1); //!> Received ACK failure reply from PLOC
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static const ReturnValue_t RECEIVED_EXE_FAILURE =
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MAKE_RETURN_CODE(0xA2); //!> Received execution failure reply from PLOC
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static const ReturnValue_t INVALID_APID =
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MAKE_RETURN_CODE(0xA3); //!> Received space packet with invalid APID from PLOC
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
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static const Event MEMORY_READ_RPT_CRC_FAILURE =
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MAKE_EVENT(1, severity::LOW); //!> PLOC crc failure in telemetry packet
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static const Event ACK_FAILURE =
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MAKE_EVENT(2, severity::LOW); //!> PLOC receive acknowledgment failure report
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static const Event EXE_FAILURE =
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MAKE_EVENT(3, severity::LOW); //!> PLOC receive execution failure report
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static const Event CRC_FAILURE_EVENT =
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MAKE_EVENT(4, severity::LOW); //!> PLOC reply has invalid crc
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static const uint16_t APID_MASK = 0x7FF;
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static const uint16_t PACKET_SEQUENCE_COUNT_MASK = 0x3FFF;
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uint8_t commandBuffer[PLOC_MPSOC::MAX_COMMAND_SIZE];
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/**
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* @brief This object is incremented each time a packet is sent or received. By checking the
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* packet sequence count of a received packet, no packets can be lost without noticing
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* it. Only the least significant 14 bits represent the packet sequence count in a
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* space packet. Thus the maximum value amounts to 16383 (0x3FFF).
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* @note Normally this should never happen because the PLOC replies are always sent in a
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* fixed order. However, the PLOC software checks this value and will return an ACK
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* failure report in case the sequence count is not incremented with each transferred
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* space packet.
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*/
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uint16_t packetSequenceCount = 0x3FFF;
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/**
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* This variable is used to store the id of the next reply to receive. This is necessary
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* because the PLOC sends as reply to each command at least one acknowledgment and execution
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* report.
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*/
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DeviceCommandId_t nextReplyId = PLOC_MPSOC::NONE;
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/**
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* @brief This function fills the commandBuffer to initiate the write memory command.
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*
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* @param commandData Pointer to action command data.
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* @param commanDataLen Size of command data in bytes.
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*
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* @return RETURN_OK if successful, else RETURN_FAILURE.
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*/
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ReturnValue_t prepareTcMemWriteCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief This function fills the commandBuffer to initiate the write reads command.
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*
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* @param commandData Pointer to action command data.
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* @param commanDataLen Size of command data in bytes.
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*
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* @return RETURN_OK if successful, else RETURN_FAILURE.
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*/
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ReturnValue_t prepareTcMemReadCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief This function checks the crc of the received PLOC reply.
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*
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* @param start Pointer to the first byte of the reply.
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* @param foundLen Pointer to the length of the whole packet.
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*
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* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
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*/
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ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
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/**
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* @brief This function handles the acknowledgment report.
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*
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* @param data Pointer to the data holding the acknowledgment report.
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*
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* @return RETURN_OK if successful, otherwise an error code.
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*/
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ReturnValue_t handleAckReport(const uint8_t* data);
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/**
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* @brief This function handles the data of a execution report.
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*
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* @param data Pointer to the received data packet.
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*
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* @return RETURN_OK if successful, otherwise an error code.
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*/
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ReturnValue_t handleExecutionReport(const uint8_t* data);
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/**
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* @brief This function handles the memory read report.
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*
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* @param data Pointer to the data buffer holding the memory read report.
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*
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* @return RETURN_OK if successful, otherwise an error code.
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*/
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ReturnValue_t handleMemoryReadReport(const uint8_t* data);
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/**
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* @brief Depending on the current active command, this function sets the reply id of the
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* next reply after a successful acknowledgment report has been received. This is
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* required by the function getNextReplyLength() to identify the length of the next
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* reply to read.
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*/
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void setNextReplyId();
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/**
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* @brief This function handles action message replies in case the telemetry has been
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* requested by another object.
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*
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* @param data Pointer to the telemetry data.
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* @param dataSize Size of telemetry in bytes.
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* @param replyId Id of the reply. This will be added to the ActionMessage.
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*/
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void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
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/**
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* @brief In case an acknowledgment failure reply has been received this function disables
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* all previously enabled commands and resets the exepected replies variable of an
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* active command.
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*/
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void disableAllReplies();
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/**
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* @brief This function sends a failure report if the active action was commanded by an other
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* object.
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*
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* @param replyId The id of the reply which signals a failure.
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* @param status A status byte which gives information about the failure type.
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*/
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void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
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/**
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* @brief This function disables the execution report reply. Within this function also the
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* the variable expectedReplies of an active command will be set to 0.
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*/
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void disableExeReportReply();
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/**
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* @brief This function checks and increments the packet sequence count of a received space
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* packet.
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*
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* @param data Pointer to a space packet.
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*
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* @return RETURN_OK if successful
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*
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* @details There should be never a case in which a wrong packet sequence count is received
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* because the communication scheme between PLOC and OBC always follows a strict
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* procedure. Thus this function mainly serves for debugging purposes to detected an
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* invalid handling of the packet sequence count.
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*/
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ReturnValue_t checkPacketSequenceCount(const uint8_t* data);
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};
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#endif /* MISSION_DEVICES_PLOCMPSOCHANDLER_H_ */
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