eive-obsw/mission/devices/PlocHandler.cpp

#include "PlocHandler.h"

#include <fsfwconfig/OBSWConfig.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfwconfig/OBSWConfig.h>

PlocHandler::PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
        DeviceHandlerBase(objectId, comIF, comCookie) {
    if (comCookie == NULL) {
        sif::error << "PlocHandler: Invalid com cookie" << std::endl;
    }
}

PlocHandler::~PlocHandler() {
}


void PlocHandler::doStartUp(){
	if(mode == _MODE_START_UP){
		setMode(MODE_ON);
	}
}

void PlocHandler::doShutDown(){

}

ReturnValue_t PlocHandler::buildNormalDeviceCommand(
		DeviceCommandId_t * id) {
    return RETURN_OK;
}

ReturnValue_t PlocHandler::buildTransitionDeviceCommand(
		DeviceCommandId_t * id){
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PlocHandler::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
		size_t commandDataLen) {
	switch(deviceCommand) {
	case(PLOC::TC_MEM_WRITE): {
	    return prepareTcMemWriteCommand(commandData, commandDataLen);
	}
	case(PLOC::TC_MEM_READ): {
	    return prepareTcMemReadCommand(commandData, commandDataLen);
	}
	default:
	    sif::debug << "PlocHandler::buildCommandFromCommand: Command not implemented" << std::endl;
		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	return HasReturnvaluesIF::RETURN_FAILED;
}

ReturnValue_t PlocHandler::prepareTcMemWriteCommand(const uint8_t * commandData,
        size_t commandDataLen) {
    const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
            | *(commandData + 2) << 8 | *(commandData + 3);
    const uint32_t memoryData = *(commandData + 4) << 24 | *(commandData + 5) << 16
            | *(commandData + 6) << 8 | *(commandData + 7);
    PLOC::TcMemWrite tcMemWrite(memoryAddress, memoryData);
    if (tcMemWrite.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
        sif::debug << "PlocHandler::prepareTcMemWriteCommand: Command too big" << std::endl;
        return RETURN_FAILED;
    }
    memcpy(commandBuffer, tcMemWrite.getWholeData(), tcMemWrite.getFullSize());
    rawPacket = commandBuffer;
    rawPacketLen = tcMemWrite.getFullSize();
    rememberCommandId = PLOC::TC_MEM_WRITE;
    return RETURN_OK;
}

ReturnValue_t PlocHandler::prepareTcMemReadCommand(const uint8_t * commandData,
        size_t commandDataLen) {
    const uint32_t memoryAddress = *(commandData) << 24 | *(commandData + 1) << 16
            | *(commandData + 2) << 8 | *(commandData + 3);
    PLOC::TcMemRead tcMemRead(memoryAddress);
    if (tcMemRead.getFullSize() > PLOC::MAX_COMMAND_SIZE) {
        sif::debug << "PlocHandler::prepareTcMemReadCommand: Command too big" << std::endl;
        return RETURN_FAILED;
    }
    memcpy(commandBuffer, tcMemRead.getWholeData(), tcMemRead.getFullSize());
    rawPacket = commandBuffer;
    rawPacketLen = tcMemRead.getFullSize();
    rememberCommandId = PLOC::TC_MEM_READ;
    return RETURN_OK;
}

void PlocHandler::fillCommandAndReplyMap() {
    this->insertInCommandAndReplyMap(PLOC::TC_MEM_WRITE, 1, nullptr, PLOC::SIZE_ACK_REPORT);
    this->insertInCommandAndReplyMap(PLOC::TC_MEM_READ, 1, nullptr, PLOC::SIZE_TC_MEM_READ_REPLY);
}

ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
        size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {

    ReturnValue_t result = RETURN_OK;

    uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;

	switch(apid) {
	case(PLOC::APID_ACK_SUCCESS):
        *foundLen = PLOC::SIZE_ACK_REPORT;
	    *foundId = rememberCommandId;
		break;
	case(PLOC::APID_ACK_FAILURE):
        *foundLen = PLOC::SIZE_ACK_REPORT;
	    *foundId = rememberCommandId;
	    break;
	default:
        sif::debug << "PlocHandler::scanForReply: Reply has invalid apid" << std::endl;
        return IGNORE_REPLY_DATA;
		break;
	}

    return result;
}

ReturnValue_t PlocHandler::verifyPacket(const uint8_t* start, size_t foundLen) {

    uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);

    uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2, 0);

    if (receivedCrc != recalculatedCrc) {
        sif::debug << "PlocHandler::verifyPacket: CRC failure of ACK reply" << std::endl;
        return CRC_FAILURE;
    }

    return RETURN_OK;
}

ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
        const uint8_t *packet) {

    uint16_t apid = (*(packet) << 8 | *(packet + 1)) & APID_MASK;

    if (apid == PLOC::APID_ACK_FAILURE) {
        sif::error << "PlocHandler::interpretDeviceReply: Received ACK failure reply" << std::endl;
        triggerEvent(ACK_FAILURE, id);
        replyRawData(packet, PLOC::SIZE_ACK_REPORT, defaultRawReceiver);
        return RETURN_OK;
    }

    if (verifyPacket(packet, PLOC::SIZE_ACK_REPORT) == CRC_FAILURE) {
        sif::error << "PlocHandler::interpretDeviceReply: CRC failure in Ack reply" << std::endl;
        replyRawData(packet, PLOC::SIZE_ACK_REPORT, defaultRawReceiver);
        triggerEvent(CRC_FAILURE_IN_ACK_REPLY, id);
        return RETURN_OK;
    }

    switch (id) {
    case (PLOC::TC_MEM_WRITE):
        receiveExecutionReport();
        break;
    case (PLOC::TC_MEM_READ):
        receiveTmMemoryReadReport();
        receiveExecutionReport();
        break;
    default:
        sif::debug << "PlocHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
		return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
	}

    rememberCommandId = PLOC::NONE;
	return RETURN_OK;
}

ReturnValue_t PlocHandler::receiveExecutionReport() {

    size_t receivedDataLen = 0;
    uint8_t *receivedData = nullptr;

    ReturnValue_t result = RETURN_OK;

    result = communicationInterface->requestReceiveMessage(comCookie, PLOC::SIZE_EXE_REPORT);
    if (result != RETURN_OK) {
        sif::error << "PlocHandler::receiveExecutionReport: Failed to request execution report"
                << std::endl;
        return result;
    }
    result = communicationInterface->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
    if (result != RETURN_OK) {
        sif::error << "PlocHandler::receiveExecutionReport: Failed to read execution report"
                << std::endl;
        return result;
    }

    if(verifyPacket(receivedData, receivedDataLen) == CRC_FAILURE) {
        replyRawData(receivedData, receivedDataLen, defaultRawReceiver);
        triggerEvent(EXE_RPT_INVALID_CRC);
        sif::error << "PlocHandler::receiveExecutionReport: Execution report has invalid crc"
                << std::endl;
        return result;
    }

    result = handleExecutionReport(receivedData, receivedDataLen);
}

ReturnValue_t PlocHandler::handleExecutionReport(const uint8_t* receivedData, size_t receivedDataLen) {

    uint16_t apid = (*(receivedData) << 8 | *(receivedData + 1)) & APID_MASK;

    switch (apid) {
    case (PLOC::APID_EXE_SUCCESS): {
        return;
    }
    case (PLOC::APID_EXE_FAILURE): {
        //TODO: Interpretation of status field in execution report
        sif::error << "PlocHandler::handleExecutionReport: Received execution failure report"
                << std::endl;
        triggerEvent(EXE_FAILURE, rememberCommandId);
        return EXE_REPLY_CRC_FAILURE;
    }
    }
    return RETURN_OK;
}

void PlocHandler::receiveTmMemoryReadReport() {

    size_t receivedDataLen = 0;
    uint8_t *receivedData = nullptr;

    /* Receiving the telemetry packet */
    ReturnValue_t result = communicationInterface->requestReceiveMessage(comCookie,
            PLOC::SIZE_TM_MEM_READ_REPORT);
    if (result != RETURN_OK) {
        sif::error << "PlocHandler::receiveExecutionReport: Failed to request memory read telemetry "
                << std::endl;
        triggerEvent(REQUESTING_TM_READ_REPORT_FAILED, result);
        return;
    }
    result = communicationInterface->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
    if (result != RETURN_OK) {
        sif::error << "PlocHandler::receiveExecutionReport: Failed to request memory read telemetry "
                << std::endl;
        return;
    }

    uint16_t apid = (*(receivedData) << 8 | *(receivedData + 1)) & APID_MASK;
    if (apid != PLOC::APID_TM_READ_REPORT) {
        sif::error << "PlocHandler::receiveTmReadReport: Tm read report has invalid apid"
                << std::endl;
        return;
    }

    if(verifyPacket(receivedData, receivedDataLen) == CRC_FAILURE) {
        replyRawData(receivedData, receivedDataLen, defaultRawReceiver);
        triggerEvent(TM_READ_RPT_INVALID_CRC);
        sif::error << "PlocHandler::receiveTmReadReport: TM read report has invalid crc"
                << std::endl;
        return;
    }

    handleDeviceTM(receivedData, receivedDataLen, PLOC::TC_MEM_READ);

}

void PlocHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {

    ReturnValue_t result = RETURN_OK;

    DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
    if (iter == deviceReplyMap.end()) {
        sif::debug << "PlocHandler::handleDeviceTM: Unknown reply id" << std::endl;
        return;
    }
    MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;

    if (queueId == NO_COMMANDER) {
        return;
    }

    result = actionHelper.reportData(queueId, replyId, data, dataSize);
    if (result != RETURN_OK) {
        sif::debug << "PlocHandler::handleDeviceTM: Failed to report data" << std::endl;
    }
}

void PlocHandler::setNormalDatapoolEntriesInvalid(){

}

uint32_t PlocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
	return 500;
}

ReturnValue_t PlocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
        LocalDataPoolManager& poolManager) {

    return HasReturnvaluesIF::RETURN_OK;
}

void PlocHandler::setModeNormal() {
    mode = MODE_NORMAL;
}