956 lines
32 KiB
C++
956 lines
32 KiB
C++
#include "PlocSupvHelper.h"
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#include <etl/crc16_ccitt.h>
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#include <fcntl.h> // Contains file controls like O_RDWR
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#include <fsfw/filesystem/HasFileSystemIF.h>
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#include <fsfw/tasks/SemaphoreFactory.h>
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#include <unistd.h>
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#include <cmath>
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#include <filesystem>
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#include <fstream>
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#include "OBSWConfig.h"
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#include "tas/hdlc.h"
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#ifdef XIPHOS_Q7S
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#include "bsp_q7s/fs/FilesystemHelper.h"
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#include "bsp_q7s/fs/SdCardManager.h"
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#endif
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#include "fsfw/tasks/TaskFactory.h"
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#include "fsfw/timemanager/Countdown.h"
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#include "fsfw_hal/linux/uart/helper.h"
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#include "mission/utility/Filenaming.h"
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#include "mission/utility/ProgressPrinter.h"
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#include "mission/utility/Timestamp.h"
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using namespace returnvalue;
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PlocSupvHelper::PlocSupvHelper(object_id_t objectId)
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: SystemObject(objectId), recRingBuf(4096, true) {
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spParams.maxSize = sizeof(commandBuffer);
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resetSpParams();
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semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
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semaphore->acquire();
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lock = MutexFactory::instance()->createMutex();
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}
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PlocSupvHelper::~PlocSupvHelper() = default;
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ReturnValue_t PlocSupvHelper::initializeInterface(CookieIF* cookie) {
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UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
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if (uartCookie == nullptr) {
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return FAILED;
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}
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std::string devname = uartCookie->getDeviceFile();
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/* Get file descriptor */
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serialPort = open(devname.c_str(), O_RDWR);
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if (serialPort < 0) {
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sif::warning << "ScexUartReader::initializeInterface: open call failed with error [" << errno
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<< ", " << strerror(errno) << std::endl;
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return FAILED;
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}
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// Setting up UART parameters
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tty.c_cflag &= ~PARENB; // Clear parity bit
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uart::setParity(tty, uartCookie->getParity());
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uart::setStopbits(tty, uartCookie->getStopBits());
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uart::setBitsPerWord(tty, BitsPerWord::BITS_8);
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tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
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uart::enableRead(tty);
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uart::ignoreCtrlLines(tty);
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// Use non-canonical mode and clear echo flag
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tty.c_lflag &= ~(ICANON | ECHO);
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// Non-blocking mode, 0.5 seconds timeout
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tty.c_cc[VTIME] = 5;
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tty.c_cc[VMIN] = 0;
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uart::setBaudrate(tty, uartCookie->getBaudrate());
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if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
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sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
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<< errno << ", " << strerror(errno) << std::endl;
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}
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// Flush received and unread data
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tcflush(serialPort, TCIOFLUSH);
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return OK;
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}
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ReturnValue_t PlocSupvHelper::initialize() {
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#ifdef XIPHOS_Q7S
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sdcMan = SdCardManager::instance();
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if (sdcMan == nullptr) {
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sif::warning << "PlocSupvHelper::initialize: Invalid SD Card Manager" << std::endl;
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return returnvalue::FAILED;
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}
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#endif
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return returnvalue::OK;
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}
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ReturnValue_t PlocSupvHelper::performOperation(uint8_t operationCode) {
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ReturnValue_t result;
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lock->lockMutex();
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internalState = InternalState::IDLE;
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lock->unlockMutex();
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while (true) {
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semaphore->acquire();
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int bytesRead = 0;
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while (true) {
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bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
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static_cast<unsigned int>(recBuf.size()));
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if (bytesRead == 0) {
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{
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MutexGuard mg(lock);
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if (internalState == InternalState::FINISH) {
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// Flush received and unread data
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tcflush(serialPort, TCIOFLUSH);
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internalState = InternalState::IDLE;
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break;
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}
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}
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} else if (bytesRead < 0) {
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sif::warning << "ScexUartReader::performOperation: read call failed with error [" << errno
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<< ", " << strerror(errno) << "]" << std::endl;
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break;
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} else if (bytesRead >= static_cast<int>(recBuf.size())) {
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sif::error << "ScexUartReader::performOperation: Receive buffer too small for " << bytesRead
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<< " bytes" << std::endl;
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} else if (bytesRead > 0) {
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if (debugMode) {
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sif::info << "Received " << bytesRead
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<< " bytes from the Solar Cell Experiment:" << std::endl;
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}
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recRingBuf.writeData(recBuf.data(), bytesRead);
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// insert buffer into ring buffer here
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// ReturnValue_t result = dleParser.passData(recBuf.data(), bytesRead);
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// TODO: Parse ring buffer here
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}
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lock->lockMutex();
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InternalState currentState = internalState;
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lock->unlockMutex();
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switch (currentState) {
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case InternalState::IDLE: {
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break;
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}
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case InternalState::UPDATE: {
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result = executeUpdate();
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if (result == returnvalue::OK) {
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triggerEvent(SUPV_UPDATE_SUCCESSFUL, result);
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} else if (result == PROCESS_TERMINATED) {
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// Event already triggered
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} else {
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triggerEvent(SUPV_UPDATE_FAILED, result);
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}
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MutexGuard mg(lock);
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internalState = InternalState::IDLE;
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break;
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}
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case InternalState::CHECK_MEMORY: {
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executeFullCheckMemoryCommand();
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MutexGuard mg(lock);
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internalState = InternalState::IDLE;
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break;
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}
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case InternalState::CONTINUE_UPDATE: {
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result = continueUpdate();
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if (result == returnvalue::OK) {
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triggerEvent(SUPV_CONTINUE_UPDATE_SUCCESSFUL, result);
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} else if (result == PROCESS_TERMINATED) {
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// Event already triggered
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} else {
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triggerEvent(SUPV_CONTINUE_UPDATE_FAILED, result);
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}
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MutexGuard mg(lock);
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internalState = InternalState::IDLE;
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break;
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}
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case InternalState::REQUEST_EVENT_BUFFER: {
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result = performEventBufferRequest();
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if (result == returnvalue::OK) {
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triggerEvent(SUPV_EVENT_BUFFER_REQUEST_SUCCESSFUL, result);
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} else if (result == PROCESS_TERMINATED) {
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// Event already triggered
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break;
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} else {
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triggerEvent(SUPV_EVENT_BUFFER_REQUEST_FAILED, result);
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}
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MutexGuard mg(lock);
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internalState = InternalState::IDLE;
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break;
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}
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case InternalState::HANDLER_DRIVEN: {
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continue;
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}
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default:
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sif::debug << "PlocSupvHelper::performOperation: Invalid state" << std::endl;
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break;
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}
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}
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}
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}
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ReturnValue_t PlocSupvHelper::setComIF(UartComIF* uartComIF_) {
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if (uartComIF_ == nullptr) {
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sif::warning << "PlocSupvHelper::initialize: Provided invalid uart com if" << std::endl;
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return returnvalue::FAILED;
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}
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uartComIF = uartComIF_;
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return returnvalue::OK;
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}
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void PlocSupvHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
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ReturnValue_t PlocSupvHelper::startUpdate(std::string file, uint8_t memoryId,
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uint32_t startAddress) {
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supv::UpdateParams params;
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params.file = file;
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params.memId = memoryId;
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params.startAddr = startAddress;
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params.bytesWritten = 0;
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params.seqCount = 1;
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params.deleteMemory = true;
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return performUpdate(params);
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}
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ReturnValue_t PlocSupvHelper::performUpdate(const supv::UpdateParams& params) {
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ReturnValue_t result = returnvalue::OK;
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#ifdef XIPHOS_Q7S
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result = FilesystemHelper::checkPath(params.file);
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if (result != returnvalue::OK) {
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sif::warning << "PlocSupvHelper::startUpdate: File " << params.file << " does not exist"
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<< std::endl;
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return result;
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}
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result = FilesystemHelper::fileExists(params.file);
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if (result != returnvalue::OK) {
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sif::warning << "PlocSupvHelper::startUpdate: The file " << params.file << " does not exist"
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<< std::endl;
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return result;
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}
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#endif
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#ifdef TE0720_1CFA
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if (not std::filesystem::exists(file)) {
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sif::warning << "PlocSupvHelper::startUpdate: The file " << file << " does not exist"
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<< std::endl;
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return returnvalue::FAILED;
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}
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#endif
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update.file = params.file;
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update.fullFileSize = getFileSize(update.file);
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if (params.bytesWritten > update.fullFileSize) {
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sif::warning << "Invalid start bytes counter " << params.bytesWritten
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<< ", smaller than full file length" << update.fullFileSize << std::endl;
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return returnvalue::FAILED;
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}
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update.length = update.fullFileSize - params.bytesWritten;
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update.memoryId = params.memId;
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update.startAddress = params.startAddr;
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update.progressPercent = 0;
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update.bytesWritten = params.bytesWritten;
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update.crcShouldBeChecked = true;
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update.packetNum = 1;
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update.deleteMemory = params.deleteMemory;
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update.sequenceCount = params.seqCount;
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internalState = InternalState::UPDATE;
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uartComIF->flushUartTxAndRxBuf(comCookie);
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semaphore->release();
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return result;
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}
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ReturnValue_t PlocSupvHelper::performMemCheck(std::string file, uint8_t memoryId,
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uint32_t startAddress) {
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update.file = file;
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update.fullFileSize = getFileSize(file);
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return performMemCheck(memoryId, startAddress, getFileSize(update.file), true);
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}
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ReturnValue_t PlocSupvHelper::performMemCheck(uint8_t memoryId, uint32_t startAddress,
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size_t sizeToCheck, bool checkCrc) {
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update.memoryId = memoryId;
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update.startAddress = startAddress;
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update.length = sizeToCheck;
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update.crcShouldBeChecked = checkCrc;
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internalState = InternalState::CHECK_MEMORY;
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uartComIF->flushUartTxAndRxBuf(comCookie);
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semaphore->release();
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return returnvalue::OK;
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}
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void PlocSupvHelper::initiateUpdateContinuation() {
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internalState = InternalState::CONTINUE_UPDATE;
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semaphore->release();
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}
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ReturnValue_t PlocSupvHelper::startEventBufferRequest(std::string path) {
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = FilesystemHelper::checkPath(path);
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if (result != returnvalue::OK) {
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return result;
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}
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#endif
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if (not std::filesystem::exists(path)) {
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return PATH_NOT_EXISTS;
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}
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eventBufferReq.path = path;
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internalState = InternalState::REQUEST_EVENT_BUFFER;
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uartComIF->flushUartTxAndRxBuf(comCookie);
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semaphore->release();
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return returnvalue::OK;
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}
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void PlocSupvHelper::stopProcess() { terminate = true; }
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void PlocSupvHelper::executeFullCheckMemoryCommand() {
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ReturnValue_t result;
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if (update.crcShouldBeChecked) {
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sif::info << "PLOC SUPV Mem Check: Calculating Image CRC" << std::endl;
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result = calcImageCrc();
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if (result != returnvalue::OK) {
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triggerEvent(SUPV_MEM_CHECK_FAIL, result);
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return;
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}
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}
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sif::info << "PLOC SUPV Mem Check: Selecting Memory" << std::endl;
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result = selectMemory();
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if (result != returnvalue::OK) {
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triggerEvent(SUPV_MEM_CHECK_FAIL, result);
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return;
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}
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sif::info << "PLOC SUPV Mem Check: Preparing Update" << std::endl;
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result = prepareUpdate();
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if (result != returnvalue::OK) {
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triggerEvent(SUPV_MEM_CHECK_FAIL, result);
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return;
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}
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sif::info << "PLOC SUPV Mem Check: Memory Check" << std::endl;
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result = handleCheckMemoryCommand();
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if (result == returnvalue::OK) {
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triggerEvent(SUPV_MEM_CHECK_OK, result);
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} else {
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triggerEvent(SUPV_MEM_CHECK_FAIL, result);
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}
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}
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ReturnValue_t PlocSupvHelper::executeUpdate() {
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ReturnValue_t result = returnvalue::OK;
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sif::info << "PLOC SUPV Update MPSoC: Calculating Image CRC" << std::endl;
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result = calcImageCrc();
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if (result != returnvalue::OK) {
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return result;
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}
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sif::info << "PLOC SUPV Update MPSoC: Selecting Memory" << std::endl;
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result = selectMemory();
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if (result != returnvalue::OK) {
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return result;
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}
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sif::info << "PLOC SUPV Update MPSoC: Preparing Update" << std::endl;
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result = prepareUpdate();
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if (result != returnvalue::OK) {
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return result;
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}
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if (update.deleteMemory) {
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sif::info << "PLOC SUPV Update MPSoC: Erasing Memory" << std::endl;
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result = eraseMemory();
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if (result != returnvalue::OK) {
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return result;
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}
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}
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return updateOperation();
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}
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ReturnValue_t PlocSupvHelper::continueUpdate() {
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ReturnValue_t result = prepareUpdate();
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if (result != returnvalue::OK) {
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return result;
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}
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return updateOperation();
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}
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ReturnValue_t PlocSupvHelper::updateOperation() {
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sif::info << "PlocSupvHelper::performUpdate: Writing Update Packets" << std::endl;
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auto result = writeUpdatePackets();
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if (result != returnvalue::OK) {
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return result;
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}
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sif::info << "PlocSupvHelper::performUpdate: Memory Check" << std::endl;
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return handleCheckMemoryCommand();
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}
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ReturnValue_t PlocSupvHelper::writeUpdatePackets() {
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ReturnValue_t result = returnvalue::OK;
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#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
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ProgressPrinter progressPrinter("Supervisor update", update.fullFileSize,
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ProgressPrinter::HALF_PERCENT);
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#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
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uint8_t tempData[supv::WriteMemory::CHUNK_MAX + 1]{};
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std::ifstream file(update.file, std::ifstream::binary);
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uint16_t dataLength = 0;
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ccsds::SequenceFlags seqFlags;
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while (update.bytesWritten < update.fullFileSize) {
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if (terminate) {
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terminate = false;
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triggerEvent(TERMINATED_UPDATE_PROCEDURE);
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return PROCESS_TERMINATED;
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}
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size_t remainingSize = update.fullFileSize - update.bytesWritten;
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bool lastSegment = false;
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if (remainingSize > supv::WriteMemory::CHUNK_MAX) {
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dataLength = supv::WriteMemory::CHUNK_MAX;
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} else {
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lastSegment = true;
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dataLength = static_cast<uint16_t>(remainingSize);
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}
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if (file.is_open()) {
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file.seekg(update.bytesWritten, std::ios::beg);
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file.read(reinterpret_cast<char*>(tempData), dataLength);
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if (!file) {
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sif::warning << "PlocSupvHelper::performUpdate: Read only " << file.gcount() << " of "
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<< dataLength << " bytes" << std::endl;
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sif::info << "PlocSupvHelper::performUpdate: Failed when trying to read byte "
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<< update.bytesWritten << std::endl;
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}
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} else {
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return FILE_CLOSED_ACCIDENTALLY;
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}
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if (update.bytesWritten == 0) {
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seqFlags = ccsds::SequenceFlags::FIRST_SEGMENT;
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} else if (lastSegment) {
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seqFlags = ccsds::SequenceFlags::LAST_SEGMENT;
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} else {
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seqFlags = ccsds::SequenceFlags::CONTINUATION;
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}
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resetSpParams();
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float progress = static_cast<float>(update.bytesWritten) / update.fullFileSize;
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uint8_t progPercent = std::floor(progress * 100);
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if (progPercent > update.progressPercent) {
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update.progressPercent = progPercent;
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if (progPercent % 5 == 0) {
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// Useful to allow restarting the update
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triggerEvent(SUPV_UPDATE_PROGRESS, buildProgParams1(progPercent, update.sequenceCount),
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update.bytesWritten);
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}
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}
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supv::WriteMemory packet(spParams);
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result = packet.buildPacket(seqFlags, update.sequenceCount, update.memoryId,
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update.startAddress + update.bytesWritten, dataLength, tempData);
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if (result != returnvalue::OK) {
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triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
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update.bytesWritten);
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return result;
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}
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result = handlePacketTransmission(packet);
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if (result != returnvalue::OK) {
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triggerEvent(WRITE_MEMORY_FAILED, buildProgParams1(progPercent, update.sequenceCount),
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update.bytesWritten);
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return result;
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}
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update.sequenceCount++;
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update.packetNum += 1;
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update.bytesWritten += dataLength;
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#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
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progressPrinter.print(update.bytesWritten);
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#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
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}
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return result;
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}
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uint32_t PlocSupvHelper::buildProgParams1(uint8_t percent, uint16_t seqCount) {
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return (static_cast<uint32_t>(percent) << 24) | static_cast<uint32_t>(seqCount);
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}
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ReturnValue_t PlocSupvHelper::performEventBufferRequest() {
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using namespace supv;
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ReturnValue_t result = returnvalue::OK;
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resetSpParams();
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RequestLoggingData packet(spParams);
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result = packet.buildPacket(RequestLoggingData::Sa::REQUEST_EVENT_BUFFERS);
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if (result != returnvalue::OK) {
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return result;
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}
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result = sendCommand(packet);
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if (result != returnvalue::OK) {
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return result;
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}
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result = handleAck();
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if (result != returnvalue::OK) {
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return result;
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}
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result =
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handleTmReception(ccsds::HEADER_LEN, tmBuf.data(), supv::recv_timeout::UPDATE_STATUS_REPORT);
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if (result != returnvalue::OK) {
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return result;
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}
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ploc::SpTmReader spReader(tmBuf.data(), tmBuf.size());
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bool exeAlreadyReceived = false;
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if (spReader.getApid() == supv::APID_EXE_FAILURE) {
|
|
exeAlreadyReceived = true;
|
|
result = handleRemainingExeReport(spReader);
|
|
} else if (spReader.getApid() == supv::APID_MRAM_DUMP_TM) {
|
|
result = handleEventBufferReception(spReader);
|
|
}
|
|
|
|
if (not exeAlreadyReceived) {
|
|
result = handleExe();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::handleRemainingExeReport(ploc::SpTmReader& reader) {
|
|
size_t remBytes = reader.getPacketDataLen() + 1;
|
|
ReturnValue_t result = handleTmReception(remBytes, tmBuf.data() + ccsds::HEADER_LEN);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "Reading exe failure report failed" << std::endl;
|
|
}
|
|
result = exeReportHandling();
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "Handling exe report failed" << std::endl;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::selectMemory() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
resetSpParams();
|
|
supv::MPSoCBootSelect packet(spParams);
|
|
result = packet.buildPacket(update.memoryId);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmission(packet);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::prepareUpdate() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
resetSpParams();
|
|
supv::ApidOnlyPacket packet(spParams, supv::APID_PREPARE_UPDATE);
|
|
result = packet.buildPacket();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmission(packet, PREPARE_UPDATE_EXECUTION_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::eraseMemory() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
resetSpParams();
|
|
supv::EraseMemory eraseMemory(spParams);
|
|
result = eraseMemory.buildPacket(update.memoryId, update.startAddress + update.bytesWritten,
|
|
update.length);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmission(eraseMemory, supv::recv_timeout::ERASE_MEMORY);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::handlePacketTransmission(ploc::SpTcBase& packet,
|
|
uint32_t timeoutExecutionReport) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = sendCommand(packet);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handleAck();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handleExe(timeoutExecutionReport);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::sendCommand(ploc::SpTcBase& packet) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
rememberApid = packet.getApid();
|
|
result = uartComIF->sendMessage(comCookie, packet.getFullPacket(), packet.getFullPacketLen());
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocSupvHelper::sendCommand: Failed to send command" << std::endl;
|
|
triggerEvent(SUPV_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::handleAck() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
result = handleTmReception(supv::SIZE_ACK_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(ACK_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
|
|
sif::warning << "PlocSupvHelper::handleAck: Error in reception of acknowledgment report"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
supv::AcknowledgmentReport ackReport(tmBuf.data(), tmBuf.size());
|
|
result = checkReceivedTm(ackReport);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = ackReport.checkApid();
|
|
if (result != returnvalue::OK) {
|
|
if (result == SupvReturnValuesIF::RECEIVED_ACK_FAILURE) {
|
|
triggerEvent(SUPV_ACK_FAILURE_REPORT, static_cast<uint32_t>(ackReport.getRefApid()));
|
|
} else if (result == SupvReturnValuesIF::INVALID_APID) {
|
|
triggerEvent(SUPV_ACK_INVALID_APID, static_cast<uint32_t>(rememberApid));
|
|
}
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::handleExe(uint32_t timeout) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
result = handleTmReception(supv::SIZE_EXE_REPORT, tmBuf.data(), timeout);
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(EXE_RECEPTION_FAILURE, result, static_cast<uint32_t>(rememberApid));
|
|
sif::warning << "PlocSupvHelper::handleExe: Error in reception of execution report"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
|
|
return exeReportHandling();
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::exeReportHandling() {
|
|
supv::ExecutionReport exeReport(tmBuf.data(), tmBuf.size());
|
|
|
|
ReturnValue_t result = checkReceivedTm(exeReport);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = exeReport.checkApid();
|
|
if (result != returnvalue::OK) {
|
|
if (result == SupvReturnValuesIF::RECEIVED_EXE_FAILURE) {
|
|
triggerEvent(SUPV_EXE_FAILURE_REPORT, static_cast<uint32_t>(exeReport.getRefApid()));
|
|
} else if (result == SupvReturnValuesIF::INVALID_APID) {
|
|
triggerEvent(SUPV_EXE_INVALID_APID, static_cast<uint32_t>(rememberApid));
|
|
}
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::handleTmReception(size_t remainingBytes, uint8_t* readBuf,
|
|
uint32_t timeout) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
size_t readBytes = 0;
|
|
size_t currentBytes = 0;
|
|
Countdown countdown(timeout);
|
|
if (readBuf == nullptr) {
|
|
readBuf = tmBuf.data();
|
|
}
|
|
while (!countdown.hasTimedOut()) {
|
|
result = receive(readBuf + readBytes, ¤tBytes, remainingBytes);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
readBytes += currentBytes;
|
|
remainingBytes = remainingBytes - currentBytes;
|
|
if (remainingBytes == 0) {
|
|
break;
|
|
}
|
|
}
|
|
if (remainingBytes != 0) {
|
|
sif::warning << "PlocSupvHelper::handleTmReception: Failed to read " << std::dec
|
|
<< remainingBytes << " remaining bytes" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::checkReceivedTm(ploc::SpTmReader& reader) {
|
|
ReturnValue_t result = reader.checkSize();
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid);
|
|
return result;
|
|
}
|
|
result = reader.checkCrc();
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
uint8_t* buffer = nullptr;
|
|
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocSupvHelper::receive: Failed to request reply" << std::endl;
|
|
triggerEvent(SUPV_HELPER_REQUESTING_REPLY_FAILED, result,
|
|
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
|
return returnvalue::FAILED;
|
|
}
|
|
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocSupvHelper::receive: Failed to read received message" << std::endl;
|
|
triggerEvent(SUPV_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
|
|
return returnvalue::FAILED;
|
|
}
|
|
if (*readBytes > 0) {
|
|
std::memcpy(data, buffer, *readBytes);
|
|
} else {
|
|
TaskFactory::delayTask(40);
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::calcImageCrc() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
if (update.fullFileSize == 0) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
#ifdef XIPHOS_Q7S
|
|
result = FilesystemHelper::checkPath(update.file);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocSupvHelper::calcImageCrc: File " << update.file << " does not exist"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
#endif
|
|
|
|
auto crc16Calcer = etl::crc16_ccitt();
|
|
std::ifstream file(update.file, std::ifstream::binary);
|
|
std::array<uint8_t, 1025> crcBuf{};
|
|
#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
|
|
ProgressPrinter progress("Supervisor update crc calculation", update.fullFileSize,
|
|
ProgressPrinter::ONE_PERCENT);
|
|
#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
|
|
uint32_t byteCount = 0;
|
|
size_t bytesToRead = 1024;
|
|
while (byteCount < update.fullFileSize) {
|
|
size_t remLen = update.fullFileSize - byteCount;
|
|
if (remLen < 1024) {
|
|
bytesToRead = remLen;
|
|
} else {
|
|
bytesToRead = 1024;
|
|
}
|
|
file.seekg(byteCount, file.beg);
|
|
file.read(reinterpret_cast<char*>(crcBuf.data()), bytesToRead);
|
|
crc16Calcer.add(crcBuf.begin(), crcBuf.begin() + bytesToRead);
|
|
|
|
#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
|
|
progress.print(byteCount);
|
|
#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
|
|
byteCount += bytesToRead;
|
|
}
|
|
#if OBSW_DEBUG_PLOC_SUPERVISOR == 1
|
|
progress.print(byteCount);
|
|
#endif /* OBSW_DEBUG_PLOC_SUPERVISOR == 1 */
|
|
update.crc = crc16Calcer.value();
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::handleCheckMemoryCommand() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
resetSpParams();
|
|
// Will hold status report for later processing
|
|
std::array<uint8_t, 32> statusReportBuf{};
|
|
supv::UpdateStatusReport updateStatusReport(tmBuf.data(), tmBuf.size());
|
|
// Verification of update write procedure
|
|
supv::CheckMemory packet(spParams);
|
|
result = packet.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = sendCommand(packet);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handleAck();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
bool exeAlreadyHandled = false;
|
|
uint32_t timeout = std::max(CRC_EXECUTION_TIMEOUT, supv::recv_timeout::UPDATE_STATUS_REPORT);
|
|
result = handleTmReception(ccsds::HEADER_LEN, tmBuf.data(), timeout);
|
|
ploc::SpTmReader spReader(tmBuf.data(), tmBuf.size());
|
|
if (spReader.getApid() == supv::APID_EXE_FAILURE) {
|
|
exeAlreadyHandled = true;
|
|
result = handleRemainingExeReport(spReader);
|
|
} else if (spReader.getApid() == supv::APID_UPDATE_STATUS_REPORT) {
|
|
size_t remBytes = spReader.getPacketDataLen() + 1;
|
|
result = handleTmReception(remBytes, tmBuf.data() + ccsds::HEADER_LEN,
|
|
supv::recv_timeout::UPDATE_STATUS_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning
|
|
<< "PlocSupvHelper::handleCheckMemoryCommand: Failed to receive update status report"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
result = updateStatusReport.checkCrc();
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC check failed" << std::endl;
|
|
return result;
|
|
}
|
|
// Copy into other buffer because data will be overwritten when reading execution report
|
|
std::memcpy(statusReportBuf.data(), tmBuf.data(), updateStatusReport.getNominalSize());
|
|
}
|
|
|
|
if (not exeAlreadyHandled) {
|
|
result = handleExe(CRC_EXECUTION_TIMEOUT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
}
|
|
|
|
// Now process the status report
|
|
updateStatusReport.setData(statusReportBuf.data(), statusReportBuf.size());
|
|
result = updateStatusReport.parseDataField();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
if (update.crcShouldBeChecked) {
|
|
result = updateStatusReport.verifycrc(update.crc);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocSupvHelper::handleCheckMemoryCommand: CRC failure. Expected CRC 0x"
|
|
<< std::setfill('0') << std::hex << std::setw(4)
|
|
<< static_cast<uint16_t>(update.crc) << " but received CRC 0x" << std::setw(4)
|
|
<< updateStatusReport.getCrc() << std::dec << std::endl;
|
|
return result;
|
|
}
|
|
}
|
|
return result;
|
|
}
|
|
|
|
uint32_t PlocSupvHelper::getFileSize(std::string filename) {
|
|
std::ifstream file(filename, std::ifstream::binary);
|
|
file.seekg(0, file.end);
|
|
uint32_t size = file.tellg();
|
|
file.close();
|
|
return size;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::handleEventBufferReception(ploc::SpTmReader& reader) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
#ifdef XIPHOS_Q7S
|
|
if (not sdcMan->getActiveSdCard()) {
|
|
return HasFileSystemIF::FILESYSTEM_INACTIVE;
|
|
}
|
|
#endif
|
|
std::string filename = Filenaming::generateAbsoluteFilename(
|
|
eventBufferReq.path, eventBufferReq.filename, timestamping);
|
|
std::ofstream file(filename, std::ios_base::app | std::ios_base::out);
|
|
uint32_t packetsRead = 0;
|
|
size_t requestLen = 0;
|
|
bool firstPacket = true;
|
|
for (packetsRead = 0; packetsRead < NUM_EVENT_BUFFER_PACKETS; packetsRead++) {
|
|
if (terminate) {
|
|
triggerEvent(SUPV_EVENT_BUFFER_REQUEST_TERMINATED, packetsRead - 1);
|
|
file.close();
|
|
return PROCESS_TERMINATED;
|
|
}
|
|
if (packetsRead == NUM_EVENT_BUFFER_PACKETS - 1) {
|
|
requestLen = SIZE_EVENT_BUFFER_LAST_PACKET;
|
|
} else {
|
|
requestLen = SIZE_EVENT_BUFFER_FULL_PACKET;
|
|
}
|
|
if (firstPacket) {
|
|
firstPacket = false;
|
|
requestLen -= 6;
|
|
}
|
|
result = handleTmReception(requestLen);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "PlocSupvHelper::handleEventBufferReception: Failed while trying to read packet"
|
|
<< " " << packetsRead + 1 << std::endl;
|
|
file.close();
|
|
return result;
|
|
}
|
|
ReturnValue_t result = reader.checkCrc();
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
|
|
return result;
|
|
}
|
|
uint16_t apid = reader.getApid();
|
|
if (apid != supv::APID_MRAM_DUMP_TM) {
|
|
sif::warning << "PlocSupvHelper::handleEventBufferReception: Did not expect space packet "
|
|
<< "with APID 0x" << std::hex << apid << std::endl;
|
|
file.close();
|
|
return EVENT_BUFFER_REPLY_INVALID_APID;
|
|
}
|
|
file.write(reinterpret_cast<const char*>(reader.getPacketData()),
|
|
reader.getPayloadDataLength());
|
|
}
|
|
return result;
|
|
}
|
|
|
|
void PlocSupvHelper::resetSpParams() { spParams.buf = commandBuffer; }
|
|
|
|
ReturnValue_t PlocSupvHelper::sendMessage(CookieIF* cookie, const uint8_t* sendData,
|
|
size_t sendLen) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
|
|
|
|
ReturnValue_t PlocSupvHelper::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
|
|
size_t* size) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvHelper::parseRecRingBufForHdlc(size_t& readSize) {
|
|
size_t availableData = recRingBuf.getAvailableReadData();
|
|
if (availableData == 0) {
|
|
return NO_PACKET_FOUND;
|
|
}
|
|
if (availableData > encodedBuf.size()) {
|
|
return DECODE_BUF_TOO_SMALL;
|
|
}
|
|
ReturnValue_t result = recRingBuf.readData(encodedBuf.data(), availableData);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
bool startMarkerFound = false;
|
|
size_t startIdx = 0;
|
|
return returnvalue::OK;
|
|
for (size_t idx = 0; idx < availableData; idx++) {
|
|
// handle start marker
|
|
if (encodedBuf[idx] == HDLC_START_MARKER) {
|
|
if (not startMarkerFound) {
|
|
startMarkerFound = true;
|
|
startIdx = idx;
|
|
} else {
|
|
readSize = idx;
|
|
return POSSIBLE_PACKET_LOSS_CONSECUTIVE_START;
|
|
}
|
|
}
|
|
if (encodedBuf[idx] == HDLC_END_MARKER) {
|
|
if (startMarkerFound) {
|
|
// Probably a packet, so decode it
|
|
size_t decodedLen = 0;
|
|
hdlc_remove_framing(encodedBuf.data() + startIdx, idx + 1, decodedBuf.data(), &decodedLen);
|
|
readSize = decodedLen;
|
|
return returnvalue::OK;
|
|
} else {
|
|
readSize = ++idx;
|
|
return POSSIBLE_PACKET_LOSS_CONSECUTIVE_END;
|
|
}
|
|
}
|
|
}
|
|
return NO_PACKET_FOUND;
|
|
}
|