319 lines
9.8 KiB
C++
319 lines
9.8 KiB
C++
#include "CcsdsIpCoreHandler.h"
|
|
|
|
#include <fsfw/subsystem/helper.h>
|
|
#include <linux/ipcore/PtmeConfig.h>
|
|
#include <mission/config/comCfg.h>
|
|
#include <unistd.h>
|
|
|
|
#include "eive/definitions.h"
|
|
#include "fsfw/ipc/QueueFactory.h"
|
|
#include "fsfw/objectmanager/ObjectManager.h"
|
|
#include "fsfw/serialize/SerializeAdapter.h"
|
|
#include "fsfw/serviceinterface/ServiceInterface.h"
|
|
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
|
|
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
|
|
|
|
CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
|
|
PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
|
|
GpioIF* gpioIF, PtmeGpios gpioIds)
|
|
: SystemObject(objectId),
|
|
linkState(linkState),
|
|
tcDestination(tcDestination),
|
|
parameterHelper(this),
|
|
actionHelper(this, nullptr),
|
|
modeHelper(this),
|
|
ptmeConfig(ptmeConfig),
|
|
ptmeGpios(gpioIds),
|
|
gpioIF(gpioIF) {
|
|
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
|
|
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
|
|
eventQueue =
|
|
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
|
|
}
|
|
|
|
CcsdsIpCoreHandler::~CcsdsIpCoreHandler() = default;
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
|
|
readCommandQueue();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::initialize() {
|
|
|
|
AcceptsTelecommandsIF* tcDistributor =
|
|
ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
|
|
if (tcDistributor == nullptr) {
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
sif::error << "CcsdsHandler::initialize: Invalid TC Distributor object" << std::endl;
|
|
#endif
|
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
}
|
|
|
|
tcDistributorQueueId = tcDistributor->getRequestQueue();
|
|
|
|
ReturnValue_t result = parameterHelper.initialize();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
result = actionHelper.initialize(commandQueue);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
result = modeHelper.initialize();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
result = ptmeConfig.initialize();
|
|
if (result != returnvalue::OK) {
|
|
return ObjectManagerIF::CHILD_INIT_FAILED;
|
|
}
|
|
|
|
// This also pulls the PTME out of reset state.
|
|
if (batPriorityParam == 0) {
|
|
disablePrioritySelectMode();
|
|
} else {
|
|
enablePrioritySelectMode();
|
|
}
|
|
|
|
#if OBSW_SYRLINKS_SIMULATED == 1
|
|
// Update data on rising edge
|
|
ptmeConfig.invertTxClock(false);
|
|
linkState = LINK_UP;
|
|
#endif /* OBSW_SYRLINKS_SIMULATED == 1*/
|
|
|
|
return result;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::readCommandQueue(void) {
|
|
CommandMessage commandMessage;
|
|
ReturnValue_t result = returnvalue::FAILED;
|
|
|
|
result = commandQueue->receiveMessage(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
result = parameterHelper.handleParameterMessage(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
return;
|
|
}
|
|
result = actionHelper.handleActionMessage(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
return;
|
|
}
|
|
result = modeHelper.handleModeCommand(&commandMessage);
|
|
if (result == returnvalue::OK) {
|
|
return;
|
|
}
|
|
CommandMessage reply;
|
|
reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
|
|
commandQueue->reply(&reply);
|
|
return;
|
|
}
|
|
}
|
|
|
|
MessageQueueId_t CcsdsIpCoreHandler::getCommandQueue() const { return commandQueue->getId(); }
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
|
|
ParameterWrapper* parameterWrapper,
|
|
const ParameterWrapper* newValues,
|
|
uint16_t startAtIndex) {
|
|
if ((domainId == 0) and (uniqueIdentifier == ParamId::BAT_PRIORITY)) {
|
|
uint8_t newVal = 0;
|
|
ReturnValue_t result = newValues->getElement(&newVal);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
if (newVal > 1) {
|
|
return HasParametersIF::INVALID_VALUE;
|
|
}
|
|
parameterWrapper->set(batPriorityParam);
|
|
if (mode == MODE_ON) {
|
|
updateBatPriorityOnTxOff = true;
|
|
} else if (mode == MODE_OFF) {
|
|
updateBatPriorityFromParam();
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
return HasParametersIF::INVALID_IDENTIFIER_ID;
|
|
}
|
|
|
|
uint32_t CcsdsIpCoreHandler::getIdentifier() const { return 0; }
|
|
|
|
MessageQueueId_t CcsdsIpCoreHandler::getRequestQueue() const {
|
|
// Forward packets directly to the CCSDS TC distributor
|
|
return tcDistributorQueueId;
|
|
}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
|
const uint8_t* data, size_t size) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
switch (actionId) {
|
|
case SET_LOW_RATE: {
|
|
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
|
|
result = ptmeConfig.setRate(RATE_100KBPS);
|
|
break;
|
|
}
|
|
case SET_HIGH_RATE: {
|
|
submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
|
|
result = ptmeConfig.setRate(RATE_500KBPS);
|
|
break;
|
|
}
|
|
case ARBITRARY_RATE: {
|
|
uint32_t bitrate = 0;
|
|
SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
|
|
result = ptmeConfig.setRate(bitrate);
|
|
break;
|
|
}
|
|
case EN_TRANSMITTER: {
|
|
enableTransmit();
|
|
if (mode == HasModesIF::MODE_OFF) {
|
|
mode = HasModesIF::MODE_ON;
|
|
}
|
|
return EXECUTION_FINISHED;
|
|
}
|
|
case DISABLE_TRANSMITTER: {
|
|
disableTransmit();
|
|
if (mode == HasModesIF::MODE_ON) {
|
|
mode = HasModesIF::MODE_OFF;
|
|
}
|
|
return EXECUTION_FINISHED;
|
|
}
|
|
case ENABLE_TX_CLK_MANIPULATOR: {
|
|
result = ptmeConfig.configTxManipulator(true);
|
|
break;
|
|
}
|
|
case DISABLE_TX_CLK_MANIPULATOR: {
|
|
result = ptmeConfig.configTxManipulator(false);
|
|
break;
|
|
}
|
|
case UPDATE_ON_RISING_EDGE: {
|
|
result = ptmeConfig.invertTxClock(false);
|
|
break;
|
|
}
|
|
case UPDATE_ON_FALLING_EDGE: {
|
|
result = ptmeConfig.invertTxClock(true);
|
|
break;
|
|
}
|
|
default:
|
|
return COMMAND_NOT_IMPLEMENTED;
|
|
}
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return EXECUTION_FINISHED;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
|
|
|
|
void CcsdsIpCoreHandler::enableTransmit() {
|
|
#ifndef TE0720_1CFA
|
|
gpioIF->pullHigh(ptmeGpios.enableTxClock);
|
|
gpioIF->pullHigh(ptmeGpios.enableTxData);
|
|
#endif
|
|
linkState = LINK_UP;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
|
|
*mode = this->mode;
|
|
*submode = this->submode;
|
|
}
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submode,
|
|
uint32_t* msToReachTheMode) {
|
|
if (mode == HasModesIF::MODE_ON) {
|
|
if (submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
|
|
submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW) and
|
|
submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
|
|
return HasModesIF::INVALID_SUBMODE;
|
|
}
|
|
} else if (mode != HasModesIF::MODE_OFF) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
*msToReachTheMode = 2000;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
|
|
auto rateSet = [&](uint32_t rate) {
|
|
ReturnValue_t result = ptmeConfig.setRate(rate);
|
|
if (result == returnvalue::OK) {
|
|
this->mode = HasModesIF::MODE_ON;
|
|
}
|
|
};
|
|
if (mode == HasModesIF::MODE_ON) {
|
|
enableTransmit();
|
|
if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
|
|
com::Datarate currentDatarate = com::getCurrentDatarate();
|
|
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
|
|
rateSet(RATE_100KBPS);
|
|
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
|
|
rateSet(RATE_500KBPS);
|
|
}
|
|
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
|
|
rateSet(RATE_500KBPS);
|
|
} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
|
|
rateSet(RATE_100KBPS);
|
|
}
|
|
|
|
} else if (mode == HasModesIF::MODE_OFF) {
|
|
disableTransmit();
|
|
this->mode = HasModesIF::MODE_OFF;
|
|
}
|
|
this->submode = submode;
|
|
modeHelper.modeChanged(mode, submode);
|
|
announceMode(false);
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
|
|
|
|
void CcsdsIpCoreHandler::disableTransmit() {
|
|
#ifndef TE0720_1CFA
|
|
gpioIF->pullLow(ptmeGpios.enableTxClock);
|
|
gpioIF->pullLow(ptmeGpios.enableTxData);
|
|
#endif
|
|
linkState = LINK_DOWN;
|
|
if (updateBatPriorityOnTxOff) {
|
|
updateBatPriorityFromParam();
|
|
updateBatPriorityOnTxOff = false;
|
|
}
|
|
}
|
|
|
|
const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
|
|
|
|
const HasHealthIF* CcsdsIpCoreHandler::getOptHealthIF() const { return nullptr; }
|
|
|
|
const HasModesIF& CcsdsIpCoreHandler::getModeIF() const { return *this; }
|
|
|
|
ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
|
|
return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
|
|
}
|
|
|
|
ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
|
|
|
|
object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
|
|
|
|
void CcsdsIpCoreHandler::enablePrioritySelectMode() {
|
|
ptmeConfig.enableBatPriorityBit(true);
|
|
// Reset the PTME
|
|
gpioIF->pullLow(ptmeGpios.ptmeResetn);
|
|
usleep(10);
|
|
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::disablePrioritySelectMode() {
|
|
ptmeConfig.enableBatPriorityBit(false);
|
|
// Reset the PTME
|
|
gpioIF->pullLow(ptmeGpios.ptmeResetn);
|
|
usleep(10);
|
|
gpioIF->pullHigh(ptmeGpios.ptmeResetn);
|
|
}
|
|
|
|
void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
|
|
if (batPriorityParam == 0) {
|
|
disablePrioritySelectMode();
|
|
} else {
|
|
enablePrioritySelectMode();
|
|
}
|
|
}
|