223 lines
9.2 KiB
C++
223 lines
9.2 KiB
C++
#ifndef BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
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#define BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_
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#include <string>
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw_hal/linux/uart/UartComIF.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/tmtcservices/SourceSequenceCounter.h"
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#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
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#include "PlocMPSoCHelper.h"
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/**
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* @brief This is the device handler for the MPSoC of the payload computer.
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*
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* @details The PLOC uses the space packet protocol for communication. On each command the PLOC
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* answers with at least one acknowledgment and one execution report.
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* Flight manual: https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/PLOC_MPSoC
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* ICD: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_TAS-ILH-IRS/ICD-PLOC/ILH&fileid=1030263
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*
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* @note The sequence count in the space packets must be incremented with each received and sent
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* packet.
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*
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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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static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_MPSOC_HANDLER;
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//! [EXPORT] : [COMMENT] Space Packet received from PLOC has invalid CRC
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Received ACK failure reply from PLOC
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static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Received execution failure reply from PLOC
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static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2);
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//! [EXPORT] : [COMMENT] Received space packet with invalid APID from PLOC
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static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3);
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//! [EXPORT] : [COMMENT] Received command with invalid length
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static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xA4);
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//! [EXPORT] : [COMMENT] Received command with invalid filename
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static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA5);
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//! [EXPORT] : [COMMENT] MPSoC helper is currently executing a command
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static const ReturnValue_t MPSOC_HELPER_EXECUTING = MAKE_RETURN_CODE(0xA6);
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PlocMPSoCHandler(object_id_t objectId, object_id_t uartComIFid, CookieIF * comCookie,
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PlocMPSoCHelper* plocMPSoCHelper);
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virtual ~PlocMPSoCHandler();
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virtual ReturnValue_t initialize() override;
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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void performOperationHook() override;
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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,
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const uint8_t * commandData,size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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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 SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_MPSOC_HANDLER;
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//! [EXPORT] : [COMMENT] PLOC crc failure in telemetry packet
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static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC receive acknowledgment failure report
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static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC receive execution failure report
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static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
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//! [EXPORT] : [COMMENT] PLOC reply has invalid crc
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static const Event MPSOC_HANDLER_CRC_FAILURE = MAKE_EVENT(4, severity::LOW);
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//! [EXPORT] : [COMMENT] Packet sequence count in received space packet does not match expected count
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//! P1: Expected sequence count
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//! P2: Received sequence count
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static const Event MPSOC_HANDLER_SEQ_CNT_MISMATCH = MAKE_EVENT(5, severity::LOW);
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//! [EXPORT] : [COMMENT] Received command has file string with invalid length
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static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xD0);
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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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MessageQueueIF* eventQueue = nullptr;
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SourceSequenceCounter sequenceCount;
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uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
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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 = mpsoc::NONE;
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UartComIF* uartComIf = nullptr;
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PlocMPSoCHelper* plocMPSoCHelper = nullptr;
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// Used to block incoming commands when MPSoC helper class is currently executing a command
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bool plocMPSoCHelperExecuting = false;
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class TmMemReadReport {
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public:
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static const uint8_t FIX_SIZE = 14;
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size_t rememberRequestedSize = 0;
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};
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TmMemReadReport tmMemReadReport;
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/**
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* @brief Handles events received from the PLOC MPSoC helper
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*/
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void handleEvent(EventMessage* eventMessage);
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ReturnValue_t prepareTcMemWrite(const uint8_t * commandData, size_t commandDataLen);
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ReturnValue_t prepareTcMemRead(const uint8_t * commandData, size_t commandDataLen);
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ReturnValue_t prepareTcFlashDelete(const uint8_t * commandData, size_t commandDataLen);
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ReturnValue_t prepareTcReplayStart(const uint8_t * commandData, size_t commandDataLen);
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ReturnValue_t prepareTcReplayStop();
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ReturnValue_t prepareTcDownlinkPwrOn(const uint8_t * commandData, size_t commandDataLen);
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ReturnValue_t prepareTcDownlinkPwrOff();
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ReturnValue_t prepareTcReplayWriteSequence(const uint8_t * commandData, size_t commandDataLen);
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/**
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* @brief Copies space packet into command buffer
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*/
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void copyToCommandBuffer(mpsoc::TcBase* tc);
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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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#endif /* BSP_Q7S_DEVICES_PLOC_PLOCMPSOCHANDLER_H_ */
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