eive-obsw/mission/devices/devicedefinitions/PlocDefinitions.h

#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_

#include <fsfw/tmtcpacket/SpacePacket.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serialize/SerializeAdapter.h>

namespace PLOC {

    static const DeviceCommandId_t NONE = 0x0;
    static const DeviceCommandId_t TC_MEM_WRITE = 0x714;
    static const DeviceCommandId_t TC_MEM_READ = 0x715;

    static const uint16_t SIZE_ACK_REPORT = 14;
    static const uint16_t SIZE_EXE_REPORT = 14;
    static const uint16_t SIZE_TM_MEM_READ_REPORT = 18;

    /** Reply comprises one ack report, the telemetry packet and the execution report */
    static const uint16_t SIZE_TC_MEM_READ_REPLY = 49;

    /**
     * SpacePacket apids of PLOC telecommands and telemetry.
     */
    static const uint16_t APID_TC_MEM_WRITE = 0x714;
    static const uint16_t APID_TC_MEM_READ = 0x715;
    static const uint16_t APID_TM_READ_REPORT = 0x404;
    static const uint16_t APID_ACK_SUCCESS = 0x400;
    static const uint16_t APID_ACK_FAILURE = 0x401;
    static const uint16_t APID_EXE_SUCCESS = 0x402;
    static const uint16_t APID_EXE_FAILURE = 0x403;

    /**
     * PLOC space packet length for fixed size packets. This is the size of the whole packet data
     * field. For the length field in the space packet this size will be substracted by one.
     */
    static const uint16_t LENGTH_TC_MEM_WRITE = 12;
    static const uint16_t LENGTH_TC_MEM_READ = 8;

    static const size_t MAX_REPLY_SIZE = SIZE_TC_MEM_READ_REPLY;
    static const size_t MAX_COMMAND_SIZE = 18;

    /**
     * @brief   This class helps to build the memory read command for the PLOC.
     *
     * @details The last two bytes of the packet data field contain a CRC calculated over the whole
     *          space packet. This is the CRC-16-CCITT as specified in
     *          ECSS-E-ST-70-41C – Telemetry and telecommand packet utilization.
     */
    class TcMemRead : public SpacePacket {
    public:

        /**
         * @brief   Constructor
         *
         * @param memAddr   The memory address to read from.
         */
        TcMemRead(const uint32_t memAddr) :
                SpacePacket(LENGTH_TC_MEM_READ - 1, true, APID_TC_MEM_READ) {
            fillPacketDataField(&memAddr);
        }

    private:

        /**
         * @brief   This function builds the packet data field for the mem read command.
         *
         * @param memAddrPtr    Pointer to the memory address to read from.
         */
        void fillPacketDataField(const uint32_t* memAddrPtr) {
            /* Add memAddr to packet data field */
            size_t serializedSize = 0;
            uint8_t* memoryAddressPos = this->localData.fields.buffer;
            SerializeAdapter::serialize<uint32_t>(memAddrPtr, &memoryAddressPos, &serializedSize,
                    sizeof(*memAddrPtr), SerializeIF::Endianness::BIG);

            /* Add memLen to packet data field */
            this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 0;
            this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 1;

            /* Calculate crc */
            uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
                    sizeof(CCSDSPrimaryHeader) + LENGTH_TC_MEM_READ - CRC_SIZE, 0);

            /* Add crc to packet data field of space packet */
            serializedSize = 0;
            uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
            SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize,
                    sizeof(crc), SerializeIF::Endianness::BIG);
            memcpy(this->localData.fields.buffer + CRC_OFFSET, &crc, sizeof(crc));
        }

        static const uint8_t OFFSET_MEM_LEN_FIELD = 4;
        static const uint8_t CRC_OFFSET = 6;

    };

    /**
     * @brief   This class helps to generate the space packet to write to a memory address within
     *          the PLOC.
     * @details The last two bytes of the packet data field contain a CRC calculated over the whole
     *          space packet. This is the CRC-16-CCITT as specified in
     *          ECSS-E-ST-70-41C – Telemetry and telecommand packet utilization.
     */
    class TcMemWrite : public SpacePacket {
    public:
        /**
         * @brief   Constructor
         *
         * @param memAddr   The PLOC memory address where to write to.
         * @param memoryData    The data to write to the specified memory address.
         */
        TcMemWrite(const uint32_t memAddr, const uint32_t memoryData) :
                SpacePacket(LENGTH_TC_MEM_WRITE - 1, true, APID_TC_MEM_WRITE) {
            fillPacketDataField(&memAddr, &memoryData);
        }

    private:

        /**
         * @brief   This function builds the packet data field for the mem write command.
         *
         * @param memAddrPtr    Pointer to the PLOC memory address where to write to.
         * @param memoryDataPtr    Pointer to the memoryData to write
         */
        void fillPacketDataField(const uint32_t* memAddrPtr, const uint32_t* memoryDataPtr) {

            /* Add memAddr to packet data field */
            size_t serializedSize = 0;
            uint8_t* memoryAddressPos = this->localData.fields.buffer;
            SerializeAdapter::serialize<uint32_t>(memAddrPtr, &memoryAddressPos, &serializedSize,
                    sizeof(*memAddrPtr), SerializeIF::Endianness::BIG);

            /* Add memLen to packet data field */
            this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD] = 0;
            this->localData.fields.buffer[OFFSET_MEM_LEN_FIELD + 1] = 1;

            /* Add memData to packet data field */
            serializedSize = 0;
            uint8_t* memoryDataPos = this->localData.fields.buffer + OFFSET_MEM_DATA_FIELD;
            SerializeAdapter::serialize<uint32_t>(memoryDataPtr, &memoryDataPos, &serializedSize,
                sizeof(*memoryDataPtr), SerializeIF::Endianness::BIG);

            /* Calculate crc */
            uint16_t crc = CRC::crc16ccitt(this->localData.byteStream,
                    sizeof(CCSDSPrimaryHeader) + LENGTH_TC_MEM_WRITE - CRC_SIZE, 0);

            serializedSize = 0;
            uint8_t* crcPos = this->localData.fields.buffer + CRC_OFFSET;
            /* Add crc to packet data field of space packet */
            SerializeAdapter::serialize<uint16_t>(&crc, &crcPos, &serializedSize,
                    sizeof(crc), SerializeIF::Endianness::BIG);
            memcpy(this->localData.fields.buffer + CRC_OFFSET, &crc, sizeof(crc));
        }

        /** Offsets from base address of packet data field */
        static const uint8_t OFFSET_MEM_LEN_FIELD = 4;
        static const uint8_t OFFSET_MEM_DATA_FIELD = 6;
        static const uint8_t CRC_OFFSET = 10;
    };

}


#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_PLOCDEFINITIONS_H_ */