Robin Mueller
aa2bfb7d0e
All checks were successful
EIVE/eive-obsw/pipeline/pr-main This commit looks good
514 lines
18 KiB
C++
514 lines
18 KiB
C++
#include <fsfw/globalfunctions/arrayprinter.h>
|
|
#include <fsfw/tasks/TaskFactory.h>
|
|
#include <linux/payload/PlocMpsocSpecialComHelper.h>
|
|
#include <unistd.h>
|
|
|
|
#include <filesystem>
|
|
#include <fstream>
|
|
|
|
#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
|
|
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
|
|
#include "fsfw/tmtcpacket/ccsds/SpacePacketReader.h"
|
|
#include "linux/payload/MpsocCommunication.h"
|
|
#include "linux/payload/plocMpsocHelpers.h"
|
|
|
|
#ifdef XIPHOS_Q7S
|
|
#include "bsp_q7s/fs/FilesystemHelper.h"
|
|
#endif
|
|
|
|
using namespace ploc;
|
|
|
|
PlocMpsocSpecialComHelper::PlocMpsocSpecialComHelper(object_id_t objectId,
|
|
MpsocCommunication& comInterface)
|
|
: SystemObject(objectId), comInterface(comInterface) {
|
|
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, txSequenceCount.get());
|
|
} else {
|
|
triggerEvent(MPSOC_FLASH_WRITE_FAILED, txSequenceCount.get());
|
|
}
|
|
internalState = InternalState::IDLE;
|
|
break;
|
|
}
|
|
case InternalState::FLASH_READ: {
|
|
result = performFlashRead();
|
|
if (result == returnvalue::OK) {
|
|
triggerEvent(MPSOC_FLASH_READ_SUCCESSFUL, txSequenceCount.get());
|
|
} else {
|
|
sif::printWarning("PLOC MPSoC Helper: Flash read failed with code %04x\n", result);
|
|
triggerEvent(MPSOC_FLASH_READ_FAILED, txSequenceCount.get(), result);
|
|
}
|
|
internalState = InternalState::IDLE;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void PlocMpsocSpecialComHelper::setCommandSequenceCount(uint16_t sequenceCount_) {
|
|
txSequenceCount.set(sequenceCount_);
|
|
}
|
|
|
|
uint16_t PlocMpsocSpecialComHelper::getCommandSequenceCount() const {
|
|
return txSequenceCount.get();
|
|
}
|
|
|
|
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;
|
|
auto& helper = comInterface.getComHelper();
|
|
helper.flushUartRxBuffer();
|
|
}
|
|
|
|
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::FileAccessModes::WRITE | mpsoc::FileAccessModes::OPEN_ALWAYS);
|
|
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) {
|
|
return returnvalue::OK;
|
|
}
|
|
// The minus 4 is necessary for unknown reasons. Maybe some bug in the ILH software?
|
|
if (remainingSize > mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4) {
|
|
dataLength = mpsoc::MAX_FLASH_WRITE_DATA_SIZE - 4;
|
|
} else {
|
|
dataLength = remainingSize;
|
|
}
|
|
if (file.bad() or not file.is_open()) {
|
|
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, txSequenceCount);
|
|
result = tc.setPayload(fileBuf.data(), dataLength);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = tc.finishPacket();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
txSequenceCount.increment();
|
|
result = handlePacketTransmissionNoReply(tc);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
}
|
|
result = flashfclose();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocSpecialComHelper::performFlashRead() {
|
|
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::FileAccessModes::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);
|
|
return returnvalue::OK;
|
|
}
|
|
nextReadSize = mpsoc::MAX_FLASH_READ_DATA_SIZE;
|
|
if (flashReadAndWrite.totalReadSize - readSoFar < mpsoc::MAX_FLASH_READ_DATA_SIZE) {
|
|
nextReadSize = flashReadAndWrite.totalReadSize - readSoFar;
|
|
}
|
|
if (ofile.bad() or not ofile.is_open()) {
|
|
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
|
return FILE_READ_ERROR;
|
|
}
|
|
mpsoc::TcFlashRead flashReadRequest(spParams, txSequenceCount);
|
|
result = flashReadRequest.setPayload(nextReadSize);
|
|
if (result != returnvalue::OK) {
|
|
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
|
return result;
|
|
}
|
|
result = flashReadRequest.finishPacket();
|
|
if (result != returnvalue::OK) {
|
|
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
|
return result;
|
|
}
|
|
txSequenceCount.increment();
|
|
result = handlePacketTransmissionFlashRead(flashReadRequest, ofile, nextReadSize);
|
|
if (result != returnvalue::OK) {
|
|
std::filesystem::remove(flashReadAndWrite.obcFile, e);
|
|
return result;
|
|
}
|
|
readSoFar += nextReadSize;
|
|
}
|
|
result = flashfclose();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocSpecialComHelper::flashfopen(uint8_t mode) {
|
|
spParams.buf = commandBuffer;
|
|
mpsoc::TcFlashFopen flashFopen(spParams, txSequenceCount);
|
|
ReturnValue_t result = flashFopen.setPayload(flashReadAndWrite.mpsocFile, mode);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = flashFopen.finishPacket();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
txSequenceCount.increment();
|
|
result = handlePacketTransmissionNoReply(flashFopen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocSpecialComHelper::flashfclose() {
|
|
spParams.buf = commandBuffer;
|
|
mpsoc::TcFlashFclose flashFclose(spParams, txSequenceCount);
|
|
ReturnValue_t result = flashFclose.finishPacket();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
txSequenceCount.increment();
|
|
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;
|
|
}
|
|
result = handleTmReception();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
auto& spReader = comInterface.getSpReader();
|
|
|
|
// 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(spReader);
|
|
} 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 = comInterface.send(tc.getFullPacket(), tc.getFullPacketLen());
|
|
mpsoc::printTxPacket(tc);
|
|
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;
|
|
}
|
|
result = checkReceivedTm();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
const auto& spReader = comInterface.getSpReader();
|
|
|
|
uint16_t apid = spReader.getApid();
|
|
if (apid != mpsoc::apid::ACK_SUCCESS) {
|
|
handleAckApidFailure(spReader);
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void PlocMpsocSpecialComHelper::handleAckApidFailure(const SpacePacketReader& 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;
|
|
}
|
|
const auto& spReader = comInterface.getSpReader();
|
|
uint16_t apid = spReader.getApid();
|
|
if (apid == mpsoc::apid::EXE_FAILURE) {
|
|
handleExeFailure(spReader);
|
|
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(const SpacePacketReader& spReader) {
|
|
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();
|
|
uint32_t usleepDelay = 5;
|
|
while (true) {
|
|
if (tmCountdown.hasTimedOut()) {
|
|
triggerEvent(MPSOC_READ_TIMEOUT, tmCountdown.getTimeoutMs());
|
|
return returnvalue::FAILED;
|
|
}
|
|
result = tryReceiveNextReply();
|
|
if (result == MpsocCommunication::PACKET_RECEIVED) {
|
|
// Need to convert this, we are faking a synchronous API here.
|
|
result = returnvalue::OK;
|
|
break;
|
|
}
|
|
if (result != returnvalue::OK) {
|
|
if (result == MpsocCommunication::FAULTY_PACKET_SIZE) {
|
|
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: faulty packet size\n");
|
|
} else if (result == MpsocCommunication::CRC_CHECK_FAILED) {
|
|
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed: CRC check failed\n");
|
|
}
|
|
sif::printWarning("PLOC MPSoC Helper: retrieving next reply failed with code %d\n", result);
|
|
return result;
|
|
}
|
|
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;
|
|
}
|
|
auto& spReader = comInterface.getSpReader();
|
|
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;
|
|
// I think this is buggy, weird stuff in the short name field.
|
|
// std::string receivedShortName = std::string(reinterpret_cast<const char*>(packetData), 12);
|
|
// if (receivedShortName != flashReadAndWrite.mpsocFile.substr(0, 11)) {
|
|
// 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() {
|
|
const auto& spReader = comInterface.getSpReader();
|
|
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;
|
|
}
|
|
rxSequenceCount = spReader.getSequenceCount();
|
|
mpsoc::printRxPacket(spReader);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMpsocSpecialComHelper::tryReceiveNextReply() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = comInterface.readSerialInterface();
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
|
|
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
|
return returnvalue::FAILED;
|
|
}
|
|
return comInterface.parseAndRetrieveNextPacket();
|
|
}
|