174 lines
6.8 KiB
C++
174 lines
6.8 KiB
C++
#ifndef MISSION_DEVICES_PLOCHANDLER_H_
|
|
#define MISSION_DEVICES_PLOCHANDLER_H_
|
|
|
|
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
|
#include <mission/devices/devicedefinitions/PlocDefinitions.h>
|
|
#include <string.h>
|
|
|
|
/**
|
|
* @brief This is the device handler for the PLOC.
|
|
*
|
|
* @details The PLOC uses the space packet protocol for communication. On each command the PLOC
|
|
* answers at least with one acknowledgment and one execution report.
|
|
*
|
|
* @author J. Meier
|
|
*/
|
|
class PlocHandler: public DeviceHandlerBase {
|
|
public:
|
|
|
|
PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
|
|
virtual ~PlocHandler();
|
|
|
|
/**
|
|
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
|
|
*/
|
|
void setModeNormal();
|
|
|
|
protected:
|
|
void doStartUp() override;
|
|
void doShutDown() override;
|
|
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
|
|
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
|
|
void fillCommandAndReplyMap() override;
|
|
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
|
const uint8_t * commandData,size_t commandDataLen) override;
|
|
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
|
|
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
|
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
|
const uint8_t *packet) override;
|
|
void setNormalDatapoolEntriesInvalid() override;
|
|
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
|
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) override;
|
|
ReturnValue_t enableReplyInReplyMap(DeviceCommandMap::iterator command,
|
|
uint8_t expectedReplies = 1, bool useAlternateId = false,
|
|
DeviceCommandId_t alternateReplyID = 0) override;
|
|
size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
|
|
|
|
private:
|
|
|
|
static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_HANDLER;
|
|
|
|
static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0); //!> Space Packet received from PLOC has invalid CRC
|
|
static const ReturnValue_t RECEIVED_ACK_FAILURE = MAKE_RETURN_CODE(0xA1); //!> Received ACK failure reply from PLOC
|
|
static const ReturnValue_t RECEIVED_EXE_FAILURE = MAKE_RETURN_CODE(0xA2); //!> Received execution failure reply from PLOC
|
|
static const ReturnValue_t INVALID_APID = MAKE_RETURN_CODE(0xA3); //!> Received space packet with invalid APID from PLOC
|
|
|
|
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_HANDLER;
|
|
|
|
static const Event MEMORY_READ_RPT_CRC_FAILURE = MAKE_EVENT(1, severity::LOW); //!> PLOC crc failure in telemetry packet
|
|
static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW); //!> PLOC receive acknowledgment failure report
|
|
static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW); //!> PLOC receive execution failure report
|
|
static const Event CRC_FAILURE_EVENT = MAKE_EVENT(4, severity::LOW); //!> PLOC reply has invalid crc
|
|
|
|
static const uint16_t APID_MASK = 0x7FF;
|
|
|
|
uint8_t commandBuffer[PLOC::MAX_COMMAND_SIZE];
|
|
|
|
/**
|
|
* This variable is used to store the id of the next reply to receive. This is necessary
|
|
* because the PLOC sends as reply to each command at least one acknowledgment and execution
|
|
* report.
|
|
*/
|
|
DeviceCommandId_t nextReplyId = PLOC::NONE;
|
|
|
|
/**
|
|
* @brief This function fills the commandBuffer to initiate the write memory command.
|
|
*
|
|
* @param commandData Pointer to action command data.
|
|
* @param commanDataLen Size of command data in bytes.
|
|
*
|
|
* @return RETURN_OK if successful, else RETURN_FAILURE.
|
|
*/
|
|
ReturnValue_t prepareTcMemWriteCommand(const uint8_t * commandData, size_t commandDataLen);
|
|
|
|
/**
|
|
* @brief This function fills the commandBuffer to initiate the write reads command.
|
|
*
|
|
* @param commandData Pointer to action command data.
|
|
* @param commanDataLen Size of command data in bytes.
|
|
*
|
|
* @return RETURN_OK if successful, else RETURN_FAILURE.
|
|
*/
|
|
ReturnValue_t prepareTcMemReadCommand(const uint8_t * commandData, size_t commandDataLen);
|
|
|
|
/**
|
|
* @brief This function checks the crc of the received PLOC reply.
|
|
*
|
|
* @param start Pointer to the first byte of the reply.
|
|
* @param foundLen Pointer to the length of the whole packet.
|
|
*
|
|
* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
|
|
*/
|
|
ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);
|
|
|
|
/**
|
|
* @brief This function handles the acknowledgment report.
|
|
*
|
|
* @param data Pointer to the data holding the acknowledgment report.
|
|
*
|
|
* @return RETURN_OK if successful, otherwise an error code.
|
|
*/
|
|
ReturnValue_t handleAckReport(const uint8_t* data);
|
|
|
|
/**
|
|
* @brief This function handles the data of a execution report.
|
|
*
|
|
* @param data Pointer to the received data packet.
|
|
*
|
|
* @return RETURN_OK if successful, otherwise an error code.
|
|
*/
|
|
ReturnValue_t handleExecutionReport(const uint8_t* data);
|
|
|
|
/**
|
|
* @brief This function handles the memory read report.
|
|
*
|
|
* @param data Pointer to the data buffer holding the memory read report.
|
|
*
|
|
* @return RETURN_OK if successful, otherwise an error code.
|
|
*/
|
|
ReturnValue_t handleMemoryReadReport(const uint8_t* data);
|
|
|
|
/**
|
|
* @brief Depending on the current active command, this function sets the reply id of the
|
|
* next reply after a successful acknowledgment report has been received. This is
|
|
* required by the function getNextReplyLength() to identify the length of the next
|
|
* reply to read.
|
|
*/
|
|
void setNextReplyId();
|
|
|
|
/**
|
|
* @brief This function handles action message replies in case the telemetry has been
|
|
* requested by another object.
|
|
*
|
|
* @param data Pointer to the telemetry data.
|
|
* @param dataSize Size of telemetry in bytes.
|
|
* @param replyId Id of the reply. This will be added to the ActionMessage.
|
|
*/
|
|
void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
|
|
|
|
/**
|
|
* @brief In case an acknowledgment failure reply has been received this function disables
|
|
* all previously enabled commands and resets the exepected replies variable of an
|
|
* active command.
|
|
*/
|
|
void disableAllReplies();
|
|
|
|
/**
|
|
* @brief This function sends a failure report if the active action was commanded by an other
|
|
* object.
|
|
*
|
|
* @param replyId The id of the reply which signals a failure.
|
|
* @param status A status byte which gives information about the failure type.
|
|
*/
|
|
void sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status);
|
|
|
|
/**
|
|
* @brief This function disables the execution report reply. Within this function also the
|
|
* the variable expectedReplies of an active command will be set to 0.
|
|
*/
|
|
void disableExeReportReply();
|
|
};
|
|
|
|
#endif /* MISSION_DEVICES_PLOCHANDLER_H_ */
|