839 lines
26 KiB
C++
839 lines
26 KiB
C++
#include "StrComHandler.h"
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#include <fcntl.h>
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#include <fsfw/filesystem/HasFileSystemIF.h>
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#include <fsfw/globalfunctions/arrayprinter.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw/timemanager/Stopwatch.h>
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#include <mission/acs/str/strHelpers.h>
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#include <unistd.h>
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#include <filesystem>
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#include <fstream>
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#include "OBSWConfig.h"
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#include "eive/definitions.h"
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#include "fsfw/timemanager/Countdown.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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extern "C" {
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#include <sagitta/client/actionreq.h>
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}
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using namespace returnvalue;
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static constexpr bool PACKET_WIRETAPPING = false;
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StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
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lock = MutexFactory::instance()->createMutex();
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semaphore.acquire();
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}
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StrComHandler::~StrComHandler() {}
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ReturnValue_t StrComHandler::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 << "StrHelper::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 StrComHandler::performOperation(uint8_t operationCode) {
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ReturnValue_t result = returnvalue::OK;
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while (true) {
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lock->lockMutex();
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state = InternalState::SLEEPING;
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lock->unlockMutex();
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semaphore.acquire();
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switch (state) {
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case InternalState::POLL_ONE_REPLY: {
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// Stopwatch watch;
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replyTimeout.setTimeout(400);
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readOneReply(static_cast<uint32_t>(state));
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{
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MutexGuard mg(lock);
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replyWasReceived = true;
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}
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break;
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}
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case InternalState::UPLOAD_IMAGE: {
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replyTimeout.setTimeout(200);
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resetReplyHandlingState();
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result = performImageUpload();
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if (result == returnvalue::OK) {
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triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
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} else {
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triggerEvent(IMAGE_UPLOAD_FAILED);
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}
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break;
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}
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case InternalState::DOWNLOAD_IMAGE: {
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replyTimeout.setTimeout(200);
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resetReplyHandlingState();
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result = performImageDownload();
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if (result == returnvalue::OK) {
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triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
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} else {
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triggerEvent(IMAGE_DOWNLOAD_FAILED);
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}
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break;
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}
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case InternalState::FLASH_READ: {
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replyTimeout.setTimeout(200);
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resetReplyHandlingState();
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result = performFlashRead();
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if (result == returnvalue::OK) {
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triggerEvent(FLASH_READ_SUCCESSFUL);
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} else {
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triggerEvent(FLASH_READ_FAILED);
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}
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break;
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}
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case InternalState::FIRMWARE_UPDATE: {
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replyTimeout.setTimeout(2000);
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resetReplyHandlingState();
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result = performFirmwareUpdate();
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if (result == returnvalue::OK) {
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triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
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} else {
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triggerEvent(FIRMWARE_UPDATE_FAILED);
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}
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break;
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}
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default:
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sif::debug << "StrHelper::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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ReturnValue_t StrComHandler::startImageUpload(std::string fullname) {
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{
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MutexGuard mg(lock);
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if (state != InternalState::SLEEPING) {
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return BUSY;
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}
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}
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = checkPath(fullname);
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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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uploadImage.uploadFile = fullname;
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if (not std::filesystem::exists(fullname)) {
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return FILE_NOT_EXISTS;
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}
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{
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MutexGuard mg(lock);
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replyWasReceived = false;
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state = InternalState::UPLOAD_IMAGE;
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}
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semaphore.release();
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terminate = false;
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return returnvalue::OK;
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}
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ReturnValue_t StrComHandler::startImageDownload(std::string path) {
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{
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MutexGuard mg(lock);
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if (state != InternalState::SLEEPING) {
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return BUSY;
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}
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}
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = 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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downloadImage.path = path;
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{
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MutexGuard mg(lock);
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replyWasReceived = false;
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state = InternalState::DOWNLOAD_IMAGE;
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}
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terminate = false;
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semaphore.release();
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return returnvalue::OK;
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}
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void StrComHandler::stopProcess() { terminate = true; }
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void StrComHandler::setDownloadImageName(std::string filename) {
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downloadImage.filename = filename;
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}
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void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
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ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname,
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startracker::FirmwareTarget target) {
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{
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MutexGuard mg(lock);
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if (state != InternalState::SLEEPING) {
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return BUSY;
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}
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}
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = checkPath(fullname);
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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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flashWrite.fullname = fullname;
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if (not std::filesystem::exists(flashWrite.fullname)) {
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return FILE_NOT_EXISTS;
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}
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if (target == startracker::FirmwareTarget::MAIN) {
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flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST_MAIN);
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flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST_MAIN);
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} else if (target == startracker::FirmwareTarget::BACKUP) {
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flashWrite.firstRegion = static_cast<uint8_t>(startracker::FirmwareRegions::FIRST_BACKUP);
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flashWrite.lastRegion = static_cast<uint8_t>(startracker::FirmwareRegions::LAST_BACKUP);
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}
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{
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MutexGuard mg(lock);
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replyWasReceived = false;
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state = InternalState::FIRMWARE_UPDATE;
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}
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semaphore.release();
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terminate = false;
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return returnvalue::OK;
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}
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ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion,
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uint32_t length) {
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{
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MutexGuard mg(lock);
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if (state != InternalState::SLEEPING) {
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return BUSY;
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}
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}
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = 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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flashRead.path = path;
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if (not std::filesystem::exists(flashRead.path)) {
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return FILE_NOT_EXISTS;
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}
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flashRead.startRegion = startRegion;
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flashRead.size = length;
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{
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MutexGuard mg(lock);
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replyWasReceived = false;
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state = InternalState::FLASH_READ;
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}
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semaphore.release();
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terminate = false;
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return returnvalue::OK;
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}
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void StrComHandler::disableTimestamping() { timestamping = false; }
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void StrComHandler::enableTimestamping() { timestamping = true; }
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ReturnValue_t StrComHandler::performImageDownload() {
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#ifdef XIPHOS_Q7S
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if (not sdcMan->getActiveSdCard()) {
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return HasFileSystemIF::FILESYSTEM_INACTIVE;
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}
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#endif
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ReturnValue_t result;
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#if OBSW_DEBUG_STARTRACKER == 1
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ProgressPrinter progressPrinter("Image download", ImageDownload::LAST_POSITION);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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struct DownloadActionRequest downloadReq;
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uint32_t size = 0;
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uint32_t retries = 0;
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size_t replySize = 0;
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std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path,
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downloadImage.filename, timestamping);
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std::ofstream file(image, std::ios_base::out);
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if (not std::filesystem::exists(image)) {
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return FILE_CREATION_FAILED;
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}
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downloadReq.position = 0;
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while (downloadReq.position < ImageDownload::LAST_POSITION) {
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if (terminate) {
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file.close();
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return returnvalue::OK;
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}
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prv_arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size);
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result = sendAndRead(size, downloadReq.position);
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if (result != returnvalue::OK) {
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if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
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serial::flushRxBuf(serialPort);
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retries++;
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continue;
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}
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file.close();
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return result;
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}
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result = checkActionReply(replySize, "downloading image");
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if (result != returnvalue::OK) {
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if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
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serial::flushRxBuf(serialPort);
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retries++;
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continue;
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}
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file.close();
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return result;
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}
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result = checkReplyPosition(downloadReq.position);
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if (result != returnvalue::OK) {
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if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
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serial::flushRxBuf(serialPort);
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retries++;
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continue;
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}
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file.close();
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return result;
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}
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file.write(reinterpret_cast<const char*>(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE);
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#if OBSW_DEBUG_STARTRACKER == 1
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progressPrinter.print(downloadReq.position);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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downloadReq.position++;
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retries = 0;
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}
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file.close();
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return returnvalue::OK;
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}
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ReturnValue_t StrComHandler::performImageUpload() {
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ReturnValue_t result = returnvalue::OK;
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uint32_t size = 0;
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uint32_t imageSize = 0;
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struct UploadActionRequest uploadReq;
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uploadReq.position = 0;
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size_t writtenBytes = 0;
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#ifdef XIPHOS_Q7S
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if (not sdcMan->getActiveSdCard()) {
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return HasFileSystemIF::FILESYSTEM_INACTIVE;
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}
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#endif
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std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
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if (not std::filesystem::exists(uploadImage.uploadFile)) {
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triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
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return returnvalue::FAILED;
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}
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std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
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if (file.bad()) {
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return HasFileSystemIF::GENERIC_FILE_ERROR;
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}
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// Set position of next character to end of file input stream
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file.seekg(0, file.end);
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// tellg returns position of character in input stream
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imageSize = file.tellg();
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#if OBSW_DEBUG_STARTRACKER == 1
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ProgressPrinter progressPrinter("Image upload", imageSize);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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size_t fullChunks = imageSize / SIZE_IMAGE_PART;
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size_t remainder = imageSize % SIZE_IMAGE_PART;
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for (size_t idx = 0; idx < fullChunks; idx++) {
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if (terminate) {
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return returnvalue::OK;
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}
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file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
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file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
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prv_arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
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result = sendAndRead(size, uploadReq.position);
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if (result != returnvalue::OK) {
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return returnvalue::FAILED;
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}
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result = checkActionReply(replyLen, "sky image upload");
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if (result != returnvalue::OK) {
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return result;
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}
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#if OBSW_DEBUG_STARTRACKER == 1
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progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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uploadReq.position++;
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writtenBytes += SIZE_IMAGE_PART;
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// This does a bit of delaying roughly every second
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if (uploadReq.position % 50 == 0) {
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// Some grace time for other tasks
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TaskFactory::delayTask(2);
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}
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}
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if (remainder > 0) {
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std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
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file.seekg(fullChunks * SIZE_IMAGE_PART, file.beg);
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file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
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file.close();
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prv_arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
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result = sendAndRead(size, uploadReq.position);
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if (result != returnvalue::OK) {
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return returnvalue::FAILED;
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}
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result = checkActionReply(replyLen, "sky image upload");
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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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#if OBSW_DEBUG_STARTRACKER == 1
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progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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return returnvalue::OK;
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}
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ReturnValue_t StrComHandler::performFirmwareUpdate() {
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using namespace startracker;
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ReturnValue_t result = returnvalue::OK;
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result = unlockAndEraseRegions(flashWrite.firstRegion, flashWrite.lastRegion);
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if (result != returnvalue::OK) {
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return result;
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}
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result = performFlashWrite();
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return result;
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}
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ReturnValue_t StrComHandler::performFlashWrite() {
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#ifdef XIPHOS_Q7S
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if (not sdcMan->getActiveSdCard()) {
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return HasFileSystemIF::FILESYSTEM_INACTIVE;
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}
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#endif
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ReturnValue_t result = returnvalue::OK;
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uint32_t size = 0;
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uint32_t bytesWrittenInRegion = 0;
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size_t totalBytesWritten = 0;
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uint32_t fileSize = 0;
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struct WriteActionRequest req;
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if (not std::filesystem::exists(flashWrite.fullname)) {
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triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(state));
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return returnvalue::FAILED;
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}
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std::ifstream file(flashWrite.fullname, std::ifstream::binary);
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if (file.bad()) {
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return returnvalue::FAILED;
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}
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file.seekg(0, file.end);
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fileSize = file.tellg();
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if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) {
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sif::warning << "StrHelper::performFlashWrite: Invalid file" << std::endl;
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return returnvalue::FAILED;
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}
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#if OBSW_DEBUG_STARTRACKER == 1
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ProgressPrinter progressPrinter("Flash write", fileSize);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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uint32_t fileChunks = fileSize / CHUNK_SIZE;
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bytesWrittenInRegion = 0;
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req.region = flashWrite.firstRegion;
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req.length = CHUNK_SIZE;
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auto writeNextSegment = [&](uint32_t chunkIdx) {
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file.seekg(chunkIdx * CHUNK_SIZE, file.beg);
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file.read(reinterpret_cast<char*>(req.data), CHUNK_SIZE);
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if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
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req.region++;
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bytesWrittenInRegion = 0;
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}
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req.address = bytesWrittenInRegion;
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prv_arc_pack_write_action_req(&req, cmdBuf.data(), &size);
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result = sendAndRead(size, req.address);
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if (result != returnvalue::OK) {
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return result;
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}
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result = checkActionReply(replyLen, "firmware image upload");
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if (result != returnvalue::OK) {
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return result;
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}
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totalBytesWritten += CHUNK_SIZE;
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bytesWrittenInRegion += CHUNK_SIZE;
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#if OBSW_DEBUG_STARTRACKER == 1
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progressPrinter.print(chunkIdx * CHUNK_SIZE);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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return result;
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};
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for (uint32_t idx = 0; idx < fileChunks; idx++) {
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if (terminate) {
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return returnvalue::OK;
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}
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result = writeNextSegment(idx);
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if (result != returnvalue::OK) {
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return result;
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}
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if (idx % 50 == 0) {
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// Some grace time for other tasks
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TaskFactory::delayTask(2);
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}
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}
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uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE;
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if (remainingBytes > 0) {
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file.seekg(fileChunks * CHUNK_SIZE, file.beg);
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file.read(reinterpret_cast<char*>(req.data), remainingBytes);
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file.close();
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if (bytesWrittenInRegion + CHUNK_SIZE > FLASH_REGION_SIZE) {
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req.region++;
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bytesWrittenInRegion = 0;
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}
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req.address = bytesWrittenInRegion;
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req.length = remainingBytes;
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totalBytesWritten += CHUNK_SIZE;
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bytesWrittenInRegion += remainingBytes;
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prv_arc_pack_write_action_req(&req, cmdBuf.data(), &size);
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result = sendAndRead(size, req.address);
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if (result != returnvalue::OK) {
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return result;
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}
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result = checkActionReply(replyLen, "flash write");
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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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#if OBSW_DEBUG_STARTRACKER == 1
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progressPrinter.print(fileSize);
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#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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return returnvalue::OK;
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}
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ReturnValue_t StrComHandler::performFlashRead() {
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#ifdef XIPHOS_Q7S
|
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if (not sdcMan->getActiveSdCard()) {
|
|
return HasFileSystemIF::FILESYSTEM_INACTIVE;
|
|
}
|
|
#endif
|
|
ReturnValue_t result;
|
|
#if OBSW_DEBUG_STARTRACKER == 1
|
|
ProgressPrinter progressPrinter("Flash read", flashRead.size);
|
|
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
|
|
struct ReadActionRequest req;
|
|
uint32_t bytesRead = 0;
|
|
uint32_t size = 0;
|
|
uint32_t retries = 0;
|
|
Timestamp timestamp;
|
|
std::string fullname =
|
|
Filenaming::generateAbsoluteFilename(flashRead.path, flashRead.filename, timestamping);
|
|
std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
|
|
if (not std::filesystem::exists(fullname)) {
|
|
return FILE_CREATION_FAILED;
|
|
}
|
|
req.region = flashRead.startRegion;
|
|
req.address = 0;
|
|
while (bytesRead < flashRead.size) {
|
|
if (terminate) {
|
|
return returnvalue::OK;
|
|
}
|
|
if ((flashRead.size - bytesRead) < CHUNK_SIZE) {
|
|
req.length = flashRead.size - bytesRead;
|
|
} else {
|
|
req.length = CHUNK_SIZE;
|
|
}
|
|
prv_arc_pack_read_action_req(&req, cmdBuf.data(), &size);
|
|
result = sendAndRead(size, req.address);
|
|
if (result != returnvalue::OK) {
|
|
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
|
|
serial::flushRxBuf(serialPort);
|
|
retries++;
|
|
continue;
|
|
}
|
|
file.close();
|
|
return result;
|
|
}
|
|
result = checkActionReply(replyLen, "flash read");
|
|
if (result != returnvalue::OK) {
|
|
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
|
|
serial::flushRxBuf(serialPort);
|
|
retries++;
|
|
continue;
|
|
}
|
|
file.close();
|
|
return result;
|
|
}
|
|
file.write(reinterpret_cast<const char*>(replyPtr + FLASH_READ_DATA_OFFSET), req.length);
|
|
bytesRead += req.length;
|
|
req.address += req.length;
|
|
if (req.address >= FLASH_REGION_SIZE) {
|
|
req.address = 0;
|
|
req.region++;
|
|
}
|
|
retries = 0;
|
|
#if OBSW_DEBUG_STARTRACKER == 1
|
|
progressPrinter.print(bytesRead);
|
|
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
|
|
}
|
|
file.close();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
const uint8_t* sendData;
|
|
size_t txFrameLen = 0;
|
|
datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen);
|
|
int writeResult = write(serialPort, sendData, txFrameLen);
|
|
if (writeResult < 0) {
|
|
sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
|
|
triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter);
|
|
return returnvalue::FAILED;
|
|
}
|
|
|
|
return readOneReply(failParameter);
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::checkActionReply(size_t replySize, const char* context) {
|
|
uint8_t type = startracker::getReplyFrameType(replyPtr);
|
|
if (type != TMTC_ACTIONREPLY) {
|
|
sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
|
|
return INVALID_TYPE_ID;
|
|
}
|
|
uint8_t status = startracker::getStatusField(replyPtr);
|
|
if (status != ArcsecDatalinkLayer::STATUS_OK) {
|
|
sif::warning << "StrHelper::checkActionReply: Status failure for " << context << ": "
|
|
<< static_cast<unsigned int>(status) << std::endl;
|
|
return STATUS_ERROR;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) {
|
|
uint32_t receivedPosition = 0;
|
|
std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition));
|
|
if (receivedPosition != expectedPosition) {
|
|
triggerEvent(POSITION_MISMATCH, receivedPosition);
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
#ifdef XIPHOS_Q7S
|
|
ReturnValue_t StrComHandler::checkPath(std::string name) {
|
|
if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) {
|
|
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
|
|
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
|
|
return SD_NOT_MOUNTED;
|
|
}
|
|
} else if (name.substr(0, sizeof(config::SD_1_MOUNT_POINT)) ==
|
|
std::string(config::SD_1_MOUNT_POINT)) {
|
|
if (!sdcMan->isSdCardUsable(sd::SLOT_0)) {
|
|
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
|
|
return SD_NOT_MOUNTED;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
#endif
|
|
|
|
ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) {
|
|
if (cookie == nullptr) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
SerialCookie* serCookie = dynamic_cast<SerialCookie*>(cookie);
|
|
if (serCookie == nullptr) {
|
|
return DeviceCommunicationIF::INVALID_COOKIE_TYPE;
|
|
}
|
|
// comCookie = serCookie;
|
|
std::string devname = serCookie->getDeviceFile();
|
|
/* Get file descriptor */
|
|
serialPort = open(devname.c_str(), O_RDWR);
|
|
if (serialPort < 0) {
|
|
sif::warning << "StrComHandler: open call failed with error [" << errno << ", "
|
|
<< strerror(errno) << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
// Setting up UART parameters
|
|
tty.c_cflag &= ~PARENB; // Clear parity bit
|
|
serial::setStopbits(tty, serCookie->getStopBits());
|
|
serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
|
|
tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
|
|
serial::enableRead(tty);
|
|
serial::ignoreCtrlLines(tty);
|
|
|
|
// Use non-canonical mode and clear echo flag
|
|
tty.c_lflag &= ~(ICANON | ECHO);
|
|
|
|
// Non-blocking mode, use polling
|
|
tty.c_cc[VTIME] = 0;
|
|
tty.c_cc[VMIN] = 0;
|
|
|
|
serial::setBaudrate(tty, serCookie->getBaudrate());
|
|
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
|
|
sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error ["
|
|
<< errno << ", " << strerror(errno) << std::endl;
|
|
}
|
|
// Flush received and unread data
|
|
tcflush(serialPort, TCIOFLUSH);
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData,
|
|
size_t sendLen) {
|
|
{
|
|
MutexGuard mg(lock);
|
|
if (state != InternalState::SLEEPING) {
|
|
return BUSY;
|
|
}
|
|
}
|
|
// Ensure consistent state.
|
|
resetReplyHandlingState();
|
|
|
|
const uint8_t* txFrame;
|
|
size_t frameLen;
|
|
datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
|
|
if (PACKET_WIRETAPPING) {
|
|
sif::debug << "Sending STR frame" << std::endl;
|
|
arrayprinter::print(txFrame, frameLen);
|
|
}
|
|
ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
|
|
if (bytesWritten != static_cast<ssize_t>(frameLen)) {
|
|
sif::warning << "StrComHandler: Sending packet failed" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
// Hacky, but the alternatives look bleak. The raw data contains the information we need
|
|
// and there are not too many special cases.
|
|
if (sendData[0] == TMTC_ACTIONREQ) {
|
|
// 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected.
|
|
if (sendData[1] == 7 or sendData[1] == 1) {
|
|
return returnvalue::OK;
|
|
}
|
|
}
|
|
{
|
|
MutexGuard mg(lock);
|
|
state = InternalState::POLL_ONE_REPLY;
|
|
}
|
|
// Unlock task to perform reply reading.
|
|
semaphore.release();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
|
|
|
|
ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
|
|
bool replyWasReceived = false;
|
|
{
|
|
MutexGuard mg(lock);
|
|
if (state != InternalState::SLEEPING) {
|
|
return BUSY;
|
|
}
|
|
replyWasReceived = this->replyWasReceived;
|
|
}
|
|
if (not replyWasReceived) {
|
|
*size = 0;
|
|
return returnvalue::OK;
|
|
}
|
|
if (replyResult == returnvalue::OK) {
|
|
*buffer = const_cast<uint8_t*>(replyPtr);
|
|
*size = replyLen;
|
|
}
|
|
replyLen = 0;
|
|
return replyResult;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
#if OBSW_DEBUG_STARTRACKER == 1
|
|
ProgressPrinter progressPrinter("Unlock and erase", to - from);
|
|
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
|
|
struct UnlockActionRequest unlockReq;
|
|
struct EraseActionRequest eraseReq;
|
|
uint32_t size = 0;
|
|
for (uint32_t idx = from; idx < to; idx++) {
|
|
unlockReq.region = idx;
|
|
unlockReq.code = startracker::region_secrets::SECRETS[idx];
|
|
prv_arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size);
|
|
result = sendAndRead(size, unlockReq.region);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = checkActionReply(replyLen, "unlocking region");
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id "
|
|
<< static_cast<unsigned int>(unlockReq.region) << std::endl;
|
|
return result;
|
|
}
|
|
eraseReq.region = idx;
|
|
prv_arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size);
|
|
result = sendAndRead(size, eraseReq.region);
|
|
if (result != returnvalue::OK) {
|
|
}
|
|
result = checkActionReply(replyLen, "erasing region");
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id "
|
|
<< static_cast<unsigned int>(eraseReq.region) << std::endl;
|
|
return result;
|
|
}
|
|
#if OBSW_DEBUG_STARTRACKER == 1
|
|
progressPrinter.print(idx - from);
|
|
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::handleSerialReception() {
|
|
ssize_t bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
|
|
static_cast<unsigned int>(recBuf.size()));
|
|
if (bytesRead == 0) {
|
|
return NO_SERIAL_DATA_READ;
|
|
} else if (bytesRead < 0) {
|
|
sif::warning << "StrComHandler: read call failed with error [" << errno << ", "
|
|
<< strerror(errno) << "]" << std::endl;
|
|
return FAILED;
|
|
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
|
|
sif::error << "StrComHandler: Receive buffer too small for " << bytesRead << " bytes"
|
|
<< std::endl;
|
|
return FAILED;
|
|
} else if (bytesRead > 0) {
|
|
if (PACKET_WIRETAPPING) {
|
|
sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
|
|
arrayprinter::print(recBuf.data(), bytesRead);
|
|
}
|
|
datalinkLayer.feedData(recBuf.data(), bytesRead);
|
|
}
|
|
return OK;
|
|
}
|
|
|
|
ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
|
|
ReturnValue_t result;
|
|
uint32_t nextDelayMs = 1;
|
|
replyTimeout.resetTimer();
|
|
while (true) {
|
|
handleSerialReception();
|
|
result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
|
|
if (result == returnvalue::OK) {
|
|
if (PACKET_WIRETAPPING) {
|
|
sif::debug << "Received STR reply frame" << std::endl;
|
|
arrayprinter::print(replyPtr, replyLen);
|
|
}
|
|
return returnvalue::OK;
|
|
} else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
|
|
triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);
|
|
return DECODING_ERROR;
|
|
}
|
|
if (replyTimeout.hasTimedOut()) {
|
|
triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs());
|
|
return RECEPTION_TIMEOUT;
|
|
}
|
|
TaskFactory::delayTask(nextDelayMs);
|
|
if (nextDelayMs < 32) {
|
|
nextDelayMs *= 2;
|
|
}
|
|
}
|
|
}
|
|
|
|
void StrComHandler::resetReplyHandlingState() {
|
|
serial::flushRxBuf(serialPort);
|
|
datalinkLayer.reset();
|
|
}
|