1168 lines
37 KiB
C++
1168 lines
37 KiB
C++
#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/globalfunctions/arrayprinter.h>
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#include <fsfw/tasks/SemaphoreFactory.h>
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#include <linux/payload/PlocSupvUartMan.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_hal/linux/serial/helper.h>
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#include "fsfw/tasks/TaskFactory.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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#include "tas/crc.h"
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using namespace returnvalue;
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using namespace supv;
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PlocSupvUartManager::PlocSupvUartManager(object_id_t objectId)
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: SystemObject(objectId),
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recRingBuf(4096, true),
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decodedRingBuf(1200 * MAX_STORED_DECODED_PACKETS, true),
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ipcRingBuf(1200 * MAX_STORED_DECODED_PACKETS, true) {
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resetSpParams();
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spParams.maxSize = cmdBuf.size();
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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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ipcLock = MutexFactory::instance()->createMutex();
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}
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PlocSupvUartManager::~PlocSupvUartManager() = default;
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ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) {
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auto* uartCookie = dynamic_cast<SerialCookie*>(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 << "PlocSupvUartManager::initializeInterface: open call failed with error ["
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<< errno << ", " << 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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serial::setParity(tty, uartCookie->getParity());
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serial::setStopbits(tty, uartCookie->getStopBits());
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serial::setBitsPerWord(tty, BitsPerWord::BITS_8);
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tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control
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serial::enableRead(tty);
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serial::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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// Blocking mode, 0.2 seconds timeout
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tty.c_cc[VTIME] = 2;
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tty.c_cc[VMIN] = 0;
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serial::setBaudrate(tty, uartCookie->getBaudrate());
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if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
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sif::warning << "PlocSupvUartManager::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 PlocSupvUartManager::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 PlocSupvUartManager::performOperation(uint8_t operationCode) {
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bool putTaskToSleep = false;
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while (true) {
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{
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MutexGuard mg(lock);
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state = InternalState::SLEEPING;
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}
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semaphore->acquire();
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putTaskToSleep = false;
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#if OBSW_THREAD_TRACING == 1
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trace::threadTrace(opCounter, "PLOC SUPV Helper PST");
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#endif
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while (true) {
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if (putTaskToSleep) {
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performUartShutdown();
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break;
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}
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handleUartReception();
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InternalState currentState;
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{
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MutexGuard mg(lock);
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currentState = state;
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}
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switch (currentState) {
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case InternalState::SLEEPING:
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case InternalState::GO_TO_SLEEP: {
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putTaskToSleep = true;
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break;
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}
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case InternalState::DEDICATED_REQUEST: {
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updateVtime(1);
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handleRunningLongerRequest();
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updateVtime(2);
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MutexGuard mg(lock);
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state = InternalState::DEFAULT;
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break;
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}
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case InternalState::DEFAULT: {
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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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}
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ReturnValue_t PlocSupvUartManager::handleUartReception() {
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ReturnValue_t result = OK;
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ReturnValue_t status = OK;
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ssize_t 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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while (result != NO_PACKET_FOUND) {
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result = tryHdlcParsing();
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if (result != NO_PACKET_FOUND and result != OK) {
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status = result;
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}
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}
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} else if (bytesRead < 0) {
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sif::warning << "PlocSupvHelper::performOperation: read call failed with error [" << errno
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<< ", " << strerror(errno) << "]" << std::endl;
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return FAILED;
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} else if (bytesRead >= static_cast<int>(recBuf.size())) {
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sif::error << "PlocSupvHelper::performOperation: Receive buffer too small for " << bytesRead
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<< " bytes" << std::endl;
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return FAILED;
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} else if (bytesRead > 0) {
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if (DEBUG_MODE) {
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sif::info << "Received " << bytesRead << " bytes from the PLOC Supervisor:" << std::endl;
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arrayprinter::print(recBuf.data(), bytesRead);
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}
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recRingBuf.writeData(recBuf.data(), bytesRead);
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status = tryHdlcParsing();
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}
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return status;
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}
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ReturnValue_t PlocSupvUartManager::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 PlocSupvUartManager::performUpdate(const supv::UpdateParams& params) {
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lock->lockMutex();
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InternalState current = state;
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lock->unlockMutex();
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if (current != InternalState::DEFAULT) {
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return HasActionsIF::IS_BUSY;
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}
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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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{
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MutexGuard mg(lock);
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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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state = InternalState::DEDICATED_REQUEST;
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request = Request::UPDATE;
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}
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return result;
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}
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ReturnValue_t PlocSupvUartManager::performMemCheck(std::string file, uint8_t memoryId,
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uint32_t startAddress) {
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lock->lockMutex();
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InternalState current = state;
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lock->unlockMutex();
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if (current != InternalState::DEFAULT) {
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return HasActionsIF::IS_BUSY;
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}
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return performMemCheck(file, memoryId, startAddress, getFileSize(update.file), true);
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}
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ReturnValue_t PlocSupvUartManager::performMemCheck(std::string file, uint8_t memoryId,
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uint32_t startAddress, size_t sizeToCheck,
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bool checkCrc) {
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{
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MutexGuard mg(lock);
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update.file = file;
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update.fullFileSize = getFileSize(file);
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state = InternalState::DEDICATED_REQUEST;
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request = Request::CHECK_MEMORY;
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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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}
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return returnvalue::OK;
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}
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ReturnValue_t PlocSupvUartManager::initiateUpdateContinuation() {
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lock->lockMutex();
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InternalState current = state;
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lock->unlockMutex();
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if (current != InternalState::DEFAULT) {
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return HasActionsIF::IS_BUSY;
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}
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MutexGuard mg(lock);
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state = InternalState::DEDICATED_REQUEST;
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request = Request::CONTINUE_UPDATE;
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return returnvalue::OK;
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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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// request = Request::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 PlocSupvUartManager::stop() {
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MutexGuard mg(lock);
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if (state == InternalState::SLEEPING or state == InternalState::GO_TO_SLEEP) {
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return;
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}
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state = InternalState::GO_TO_SLEEP;
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}
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void PlocSupvUartManager::start() {
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{
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MutexGuard mg(lock);
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if (state != InternalState::SLEEPING and state != InternalState::GO_TO_SLEEP) {
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return;
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}
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state = InternalState::DEFAULT;
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}
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semaphore->release();
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}
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void PlocSupvUartManager::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, 1);
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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, 2);
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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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handleCheckMemoryCommand(3);
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}
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ReturnValue_t PlocSupvUartManager::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 PlocSupvUartManager::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 PlocSupvUartManager::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(0);
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}
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ReturnValue_t PlocSupvUartManager::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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if (not std::filesystem::exists(update.file)) {
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sif::error << "PlocSupvUartManager::writeUpdatePackets: File " << update.file
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<< " does not exist" << std::endl;
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return HasFileSystemIF::FILE_DOES_NOT_EXIST;
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}
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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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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 = handlePacketTransmissionNoReply(packet, 5000);
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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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// TaskFactory::delayTask(1);
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}
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return result;
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}
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uint32_t PlocSupvUartManager::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();
|
|
// if (result != returnvalue::OK) {
|
|
// return result;
|
|
// }
|
|
// result =
|
|
// handleTmReception(ccsds::HEADER_LEN, tmBuf.data(),
|
|
// supv::recv_timeout::UPDATE_STATUS_REPORT);
|
|
// if (result != returnvalue::OK) {
|
|
// return result;
|
|
// }
|
|
// ploc::SpTmReader spReader(tmBuf.data(), tmBuf.size());
|
|
// bool exeAlreadyReceived = false;
|
|
// 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 PlocSupvUartManager::selectMemory() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
resetSpParams();
|
|
supv::MPSoCBootSelect packet(spParams);
|
|
result = packet.buildPacket(update.memoryId);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmissionNoReply(packet, 2000);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::prepareUpdate() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
resetSpParams();
|
|
supv::NoPayloadPacket packet(spParams, Apid::BOOT_MAN,
|
|
static_cast<uint8_t>(tc::BootManId::PREPARE_UPDATE));
|
|
result = packet.buildPacket();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmissionNoReply(packet, PREPARE_UPDATE_EXECUTION_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::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 = handlePacketTransmissionNoReply(eraseMemory, supv::timeout::ERASE_MEMORY);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::handlePacketTransmissionNoReply(
|
|
supv::TcBase& packet, uint32_t timeoutExecutionReport) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = encodeAndSendPacket(packet.getFullPacket(), packet.getFullPacketLen());
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
Countdown countdown(timeoutExecutionReport);
|
|
dur_millis_t currentDelay = 5;
|
|
bool ackReceived = false;
|
|
bool packetWasHandled = false;
|
|
while (true) {
|
|
handleUartReception();
|
|
if (not decodedQueue.empty()) {
|
|
size_t packetLen = 0;
|
|
decodedQueue.retrieve(&packetLen);
|
|
decodedRingBuf.readData(decodedBuf.data(), packetLen, true);
|
|
tmReader.setReadOnlyData(decodedBuf.data(), packetLen);
|
|
result = checkReceivedTm();
|
|
if (result != returnvalue::OK) {
|
|
continue;
|
|
}
|
|
if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
|
|
int retval = 0;
|
|
if (not ackReceived) {
|
|
retval = handleAckReception(packet, packetLen);
|
|
if (retval == 1) {
|
|
ackReceived = true;
|
|
packetWasHandled = true;
|
|
} else if (retval == -1) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
} else {
|
|
retval = handleExeAckReception(packet, packetLen);
|
|
if (retval == 1) {
|
|
break;
|
|
} else if (retval == -1) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
}
|
|
if (not packetWasHandled) {
|
|
pushIpcData(decodedBuf.data(), packetLen);
|
|
decodedRingBuf.deleteData(packetLen);
|
|
}
|
|
} else {
|
|
TaskFactory::delayTask(currentDelay);
|
|
if (currentDelay < 80) {
|
|
currentDelay *= 2;
|
|
}
|
|
}
|
|
if (countdown.hasTimedOut()) {
|
|
return result::NO_REPLY_TIMEOUT;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
int PlocSupvUartManager::handleAckReception(supv::TcBase& tc, size_t packetLen) {
|
|
uint8_t serviceId = tmReader.getServiceId();
|
|
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::ACK) or
|
|
serviceId == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
|
|
AcknowledgmentReport ackReport(tmReader);
|
|
ReturnValue_t result = ackReport.parse(false);
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(ACK_RECEPTION_FAILURE);
|
|
return -1;
|
|
}
|
|
if (ackReport.getRefModuleApid() == tc.getModuleApid() and
|
|
ackReport.getRefServiceId() == tc.getServiceId()) {
|
|
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
|
|
return 1;
|
|
} else if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
|
|
ackReport.printStatusInformationAck();
|
|
triggerEvent(
|
|
SUPV_ACK_FAILURE_REPORT,
|
|
buildApidServiceParam1(ackReport.getRefModuleApid(), ackReport.getRefServiceId()),
|
|
ackReport.getStatusCode());
|
|
return -1;
|
|
}
|
|
// Should never happen
|
|
return -1;
|
|
} else {
|
|
pushIpcData(decodedBuf.data(), packetLen);
|
|
decodedRingBuf.deleteData(packetLen);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
int PlocSupvUartManager::handleExeAckReception(supv::TcBase& tc, size_t packetLen) {
|
|
uint8_t serviceId = tmReader.getServiceId();
|
|
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK) or
|
|
serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
|
|
ExecutionReport exeReport(tmReader);
|
|
ReturnValue_t result = exeReport.parse(false);
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(EXE_RECEPTION_FAILURE);
|
|
return -1;
|
|
}
|
|
if (exeReport.getRefModuleApid() == tc.getModuleApid() and
|
|
exeReport.getRefServiceId() == tc.getServiceId()) {
|
|
if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
|
|
return 1;
|
|
} else if (serviceId == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
|
|
exeReport.printStatusInformationExe();
|
|
triggerEvent(
|
|
SUPV_EXE_FAILURE_REPORT,
|
|
buildApidServiceParam1(exeReport.getRefModuleApid(), exeReport.getRefServiceId()),
|
|
exeReport.getStatusCode());
|
|
return -1;
|
|
}
|
|
// Should never happen
|
|
return -1;
|
|
} else {
|
|
pushIpcData(decodedBuf.data(), packetLen);
|
|
decodedRingBuf.deleteData(packetLen);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::checkReceivedTm() {
|
|
ReturnValue_t result = tmReader.checkSize();
|
|
if (result != returnvalue::OK) {
|
|
triggerEvent(SUPV_REPLY_SIZE_MISSMATCH, rememberApid);
|
|
return result;
|
|
}
|
|
if (tmReader.checkCrc() != returnvalue::OK) {
|
|
triggerEvent(SUPV_REPLY_CRC_MISSMATCH, rememberApid);
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::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 PlocSupvUartManager::handleCheckMemoryCommand(uint8_t failStep) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
resetSpParams();
|
|
supv::CheckMemory tcPacket(spParams);
|
|
result = tcPacket.buildPacket(update.memoryId, update.startAddress, update.fullFileSize);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = encodeAndSendPacket(tcPacket.getFullPacket(), tcPacket.getFullPacketLen());
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
Countdown countdown(timeout::CRC_EXECUTION_TIMEOUT);
|
|
bool ackReceived = false;
|
|
bool checkReplyReceived = false;
|
|
bool packetWasHandled = false;
|
|
bool exeReceived = false;
|
|
while (true) {
|
|
handleUartReception();
|
|
if (not decodedQueue.empty()) {
|
|
size_t packetLen = 0;
|
|
decodedQueue.retrieve(&packetLen);
|
|
decodedRingBuf.readData(decodedBuf.data(), packetLen, true);
|
|
tmReader.setReadOnlyData(decodedBuf.data(), packetLen);
|
|
result = checkReceivedTm();
|
|
if (result != returnvalue::OK) {
|
|
continue;
|
|
}
|
|
packetWasHandled = false;
|
|
if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
|
|
int retval = 0;
|
|
if (not ackReceived) {
|
|
retval = handleAckReception(tcPacket, packetLen);
|
|
if (retval == 1) {
|
|
packetWasHandled = true;
|
|
ackReceived = true;
|
|
} else if (retval == -1) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
} else {
|
|
retval = handleExeAckReception(tcPacket, packetLen);
|
|
if (retval == 1) {
|
|
packetWasHandled = true;
|
|
exeReceived = true;
|
|
} else if (retval == -1) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
}
|
|
} else if (tmReader.getModuleApid() == Apid::MEM_MAN) {
|
|
if (ackReceived) {
|
|
supv::UpdateStatusReport report(tmReader);
|
|
result = report.parse(false);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
packetWasHandled = true;
|
|
checkReplyReceived = true;
|
|
if (update.crcShouldBeChecked) {
|
|
result = report.verifyCrc(update.crc);
|
|
if (result == returnvalue::OK) {
|
|
triggerEvent(SUPV_MEM_CHECK_OK, result);
|
|
} else {
|
|
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)
|
|
<< report.getCrc() << std::dec << std::endl;
|
|
triggerEvent(SUPV_MEM_CHECK_FAIL, result, failStep);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (not packetWasHandled) {
|
|
pushIpcData(decodedBuf.data(), packetLen);
|
|
decodedRingBuf.deleteData(packetLen);
|
|
}
|
|
} else {
|
|
TaskFactory::delayTask(20);
|
|
}
|
|
if (ackReceived and exeReceived and checkReplyReceived) {
|
|
break;
|
|
}
|
|
if (countdown.hasTimedOut()) {
|
|
return result::NO_REPLY_TIMEOUT;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
uint32_t PlocSupvUartManager::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 PlocSupvUartManager::handleEventBufferReception(ploc::SpTmReader& reader) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
// TODO: Fix
|
|
// #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;
|
|
// }
|
|
// // TODO: Fix
|
|
// // file.write(reinterpret_cast<const char*>(reader.getPacketData()),
|
|
// // reader.getPayloadDataLength());
|
|
// }
|
|
return result;
|
|
}
|
|
|
|
void PlocSupvUartManager::resetSpParams() { spParams.buf = cmdBuf.data(); }
|
|
|
|
ReturnValue_t PlocSupvUartManager::sendMessage(CookieIF* cookie, const uint8_t* sendData,
|
|
size_t sendLen) {
|
|
if (sendData == nullptr or sendLen == 0) {
|
|
return FAILED;
|
|
}
|
|
{
|
|
MutexGuard mg(lock);
|
|
if (state == InternalState::SLEEPING or state == InternalState::DEDICATED_REQUEST) {
|
|
return FAILED;
|
|
}
|
|
}
|
|
return encodeAndSendPacket(sendData, sendLen);
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
|
|
|
|
ReturnValue_t PlocSupvUartManager::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::handleRunningLongerRequest() {
|
|
ReturnValue_t result = OK;
|
|
switch (request) {
|
|
case Request::UPDATE: {
|
|
result = executeUpdate();
|
|
if (result == returnvalue::OK) {
|
|
triggerEvent(SUPV_UPDATE_SUCCESSFUL, result);
|
|
} else if (result == PROCESS_TERMINATED) {
|
|
// Event already triggered
|
|
} else {
|
|
triggerEvent(SUPV_UPDATE_FAILED, result);
|
|
}
|
|
break;
|
|
}
|
|
case Request::CHECK_MEMORY: {
|
|
executeFullCheckMemoryCommand();
|
|
break;
|
|
}
|
|
case Request::CONTINUE_UPDATE: {
|
|
result = continueUpdate();
|
|
if (result == returnvalue::OK) {
|
|
triggerEvent(SUPV_CONTINUE_UPDATE_SUCCESSFUL, result);
|
|
} else if (result == PROCESS_TERMINATED) {
|
|
// Event already triggered
|
|
} else {
|
|
triggerEvent(SUPV_CONTINUE_UPDATE_FAILED, result);
|
|
}
|
|
break;
|
|
}
|
|
case Request::REQUEST_EVENT_BUFFER: {
|
|
sif::error << "Requesting event buffer is not implemented" << std::endl;
|
|
break;
|
|
}
|
|
case Request::DEFAULT: {
|
|
break;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::encodeAndSendPacket(const uint8_t* sendData, size_t sendLen) {
|
|
size_t encodedLen = 0;
|
|
addHdlcFraming(sendData, sendLen, encodedSendBuf.data(), &encodedLen, encodedSendBuf.size());
|
|
if (PRINT_TC) {
|
|
sif::debug << "Sending TC" << std::endl;
|
|
arrayprinter::print(encodedSendBuf.data(), encodedLen);
|
|
}
|
|
size_t bytesWritten = write(serialPort, encodedSendBuf.data(), encodedLen);
|
|
if (bytesWritten != encodedLen) {
|
|
sif::warning
|
|
<< "PlocSupvUartManager::sendMessage: Sending ping command to solar experiment failed"
|
|
<< std::endl;
|
|
return FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
|
|
size_t* size) {
|
|
MutexGuard mg(ipcLock);
|
|
if (ipcQueue.empty()) {
|
|
*size = 0;
|
|
return OK;
|
|
}
|
|
ipcQueue.retrieve(size);
|
|
if (*size > ipcBuffer.size()) {
|
|
return FAILED;
|
|
}
|
|
*buffer = ipcBuffer.data();
|
|
ReturnValue_t result = ipcRingBuf.readData(ipcBuffer.data(), *size, true);
|
|
if (result != OK) {
|
|
sif::warning << "PlocSupvHelper::readReceivedMessage: Reading RingBuffer failed" << std::endl;
|
|
}
|
|
return OK;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::tryHdlcParsing() {
|
|
size_t bytesRead = 0;
|
|
size_t decodedLen = 0;
|
|
ReturnValue_t result = parseRecRingBufForHdlc(bytesRead, decodedLen);
|
|
if (result == returnvalue::OK) {
|
|
// Packet found, advance read pointer.
|
|
if (state == InternalState::DEDICATED_REQUEST) {
|
|
decodedRingBuf.writeData(decodedBuf.data(), decodedLen);
|
|
decodedQueue.insert(decodedLen);
|
|
} else {
|
|
MutexGuard mg(ipcLock);
|
|
ipcRingBuf.writeData(decodedBuf.data(), decodedLen);
|
|
ipcQueue.insert(decodedLen);
|
|
}
|
|
recRingBuf.deleteData(bytesRead);
|
|
} else if (result != NO_PACKET_FOUND) {
|
|
sif::warning << "PlocSupvUartMan::performOperation: Possible packet loss" << std::endl;
|
|
// Markers found at wrong place
|
|
// which might be a hint for a possibly lost packet.
|
|
// Maybe trigger event?
|
|
recRingBuf.deleteData(bytesRead);
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocSupvUartManager::parseRecRingBufForHdlc(size_t& readSize, size_t& decodedLen) {
|
|
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;
|
|
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
|
|
int retval = removeHdlcFramingWithCrcCheck(encodedBuf.data() + startIdx, idx + 1 - startIdx,
|
|
decodedBuf.data(), &decodedLen);
|
|
readSize = idx + 1;
|
|
if (retval == -1 or retval == -2) {
|
|
triggerEvent(HDLC_FRAME_REMOVAL_ERROR, retval);
|
|
} else if (retval == 1) {
|
|
triggerEvent(HDLC_CRC_ERROR);
|
|
}
|
|
if (retval != 0) {
|
|
readSize = ++idx;
|
|
return HDLC_ERROR;
|
|
}
|
|
return returnvalue::OK;
|
|
} else {
|
|
readSize = ++idx;
|
|
return POSSIBLE_PACKET_LOSS_CONSECUTIVE_END;
|
|
}
|
|
}
|
|
}
|
|
return NO_PACKET_FOUND;
|
|
}
|
|
|
|
void PlocSupvUartManager::pushIpcData(const uint8_t* data, size_t len) {
|
|
MutexGuard mg(ipcLock);
|
|
ipcRingBuf.writeData(data, len);
|
|
ipcQueue.insert(len);
|
|
}
|
|
|
|
uint32_t PlocSupvUartManager::buildApidServiceParam1(uint8_t apid, uint8_t serviceId) {
|
|
return (apid << 8) | serviceId;
|
|
}
|
|
|
|
void PlocSupvUartManager::performUartShutdown() {
|
|
tcflush(serialPort, TCIOFLUSH);
|
|
// Clear ring buffers
|
|
recRingBuf.clear();
|
|
decodedRingBuf.clear();
|
|
while (not decodedQueue.empty()) {
|
|
decodedQueue.pop();
|
|
}
|
|
{
|
|
MutexGuard mg0(ipcLock);
|
|
ipcRingBuf.clear();
|
|
while (not ipcQueue.empty()) {
|
|
ipcQueue.pop();
|
|
}
|
|
}
|
|
MutexGuard mg1(lock);
|
|
state = InternalState::GO_TO_SLEEP;
|
|
}
|
|
|
|
void PlocSupvUartManager::addHdlcFraming(const uint8_t* src, size_t slen, uint8_t* dst,
|
|
size_t* dlen, size_t maxDest) {
|
|
size_t tlen = 0;
|
|
uint16_t ii;
|
|
uint8_t bt;
|
|
|
|
// calc crc16
|
|
uint16_t crc16 = calc_crc16_buff_reflected(src, slen);
|
|
|
|
dst[tlen++] = 0x7E;
|
|
for (ii = 0; ii < slen; ii++) {
|
|
bt = *src++;
|
|
hdlc_add_byte(bt, dst, &tlen);
|
|
}
|
|
|
|
size_t dummy = 0;
|
|
uint8_t crcRaw[2];
|
|
// hdlc crc16 is in little endian format
|
|
SerializeAdapter::serialize(&crc16, crcRaw, &dummy, maxDest, SerializeIF::Endianness::LITTLE);
|
|
hdlc_add_byte(crcRaw[0], dst, &tlen);
|
|
hdlc_add_byte(crcRaw[1], dst, &tlen);
|
|
|
|
dst[tlen++] = 0x7C;
|
|
*dlen = tlen;
|
|
}
|
|
|
|
int PlocSupvUartManager::removeHdlcFramingWithCrcCheck(const uint8_t* src, size_t slen,
|
|
uint8_t* dst, size_t* dlen) {
|
|
uint16_t tlen = 0;
|
|
uint16_t ii;
|
|
uint8_t bt;
|
|
|
|
*dlen = 0;
|
|
if (slen < 4) return -1;
|
|
if ((src[tlen] != 0x7E) && (src[slen - 1] != 0x7C)) return -2;
|
|
src++;
|
|
for (ii = 1; ii < slen - 1; ii++) {
|
|
bt = *src++;
|
|
|
|
if (bt == 0x7D) {
|
|
bt = *src++ ^ 0x20;
|
|
ii++;
|
|
}
|
|
dst[tlen++] = bt;
|
|
}
|
|
// calc crc16
|
|
uint16_t calcCrc = calc_crc16_buff_reflected(dst, tlen - 2);
|
|
uint16_t crc = 0;
|
|
size_t dummy;
|
|
SerializeAdapter::deSerialize(&crc, dst + tlen - 2, &dummy, SerializeIF::Endianness::LITTLE);
|
|
if (calcCrc != crc) {
|
|
return 1;
|
|
}
|
|
// if(calc_crc16_buff_reflected(dst, tlen) != 0) {
|
|
// return 1;
|
|
// }
|
|
*dlen = tlen - 2;
|
|
return 0;
|
|
}
|
|
|
|
bool PlocSupvUartManager::longerRequestActive() const {
|
|
MutexGuard mg(lock);
|
|
return state == InternalState::DEDICATED_REQUEST;
|
|
}
|
|
|
|
void PlocSupvUartManager::updateVtime(uint8_t vtime) {
|
|
tcgetattr(serialPort, &tty);
|
|
tty.c_cc[VTIME] = vtime;
|
|
tcsetattr(serialPort, TCSANOW, &tty);
|
|
}
|