326 lines
12 KiB
C++
326 lines
12 KiB
C++
#include "CspComIF.h"
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#include <csp/drivers/can_socketcan.h>
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#include <fsfw/serialize/SerializeAdapter.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <p60acu.h>
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#include <p60dock.h>
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#include <p60pdu.h>
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#include <param/param_string.h>
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#include <param/rparam_client.h>
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#include "mission/csp/CspCookie.h"
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using namespace GOMSPACE;
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CspComIF::CspComIF(object_id_t objectId) : SystemObject(objectId) {}
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CspComIF::~CspComIF() {}
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ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) {
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if (cookie == nullptr) {
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return NULLPOINTER;
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}
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CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
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if (cspCookie == nullptr) {
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return NULLPOINTER;
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}
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/* Perform CAN and CSP initialization only once */
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if (cspDeviceMap.empty()) {
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sif::info << "Performing " << canInterface << " initialization.." << std::endl;
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/* Define the memory to allocate for the CSP stack */
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int buf_count = 10;
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int buf_size = 300;
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/* Init CSP and CSP buffer system */
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if (csp_init(cspOwnAddress) != CSP_ERR_NONE ||
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csp_buffer_init(buf_count, buf_size) != CSP_ERR_NONE) {
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sif::error << "Failed to init CSP\r\n" << std::endl;
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return returnvalue::FAILED;
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}
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int promisc = 0; // Set filter mode on
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csp_iface_t* csp_if_ptr = &csp_if;
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csp_if_ptr = csp_can_socketcan_init(canInterface, bitrate, promisc);
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/* Set default route and start router */
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uint8_t address = CSP_DEFAULT_ROUTE;
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uint8_t netmask = 0;
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uint8_t mac = CSP_NODE_MAC;
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int result = csp_rtable_set(address, netmask, csp_if_ptr, mac);
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if (result != CSP_ERR_NONE) {
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sif::error << "Failed to add can interface to router table" << std::endl;
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return returnvalue::FAILED;
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}
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/* Start the route task */
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unsigned int task_stack_size = 500;
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unsigned int priority = 0;
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result = csp_route_start_task(task_stack_size, priority);
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if (result != CSP_ERR_NONE) {
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sif::error << "Failed to start csp route task" << std::endl;
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return returnvalue::FAILED;
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}
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sif::info << canInterface << " initialized successfully" << std::endl;
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}
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uint8_t cspAddress = cspCookie->getCspAddress();
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uint16_t maxReplyLength = cspCookie->getMaxReplyLength();
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if (cspDeviceMap.find(cspAddress) == cspDeviceMap.end()) {
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/* Insert device information in CSP map */
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cspDeviceMap.emplace(cspAddress, ReplyInfo(maxReplyLength));
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}
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return returnvalue::OK;
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}
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ReturnValue_t CspComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
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int result;
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if (cookie == nullptr) {
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return returnvalue::FAILED;
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}
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CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
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if (cspCookie == nullptr) {
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return returnvalue::FAILED;
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}
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uint8_t cspPort;
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uint16_t querySize = 0;
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if (cspCookie->getRequest() == GOMSPACE::SpecialRequestTypes::DEFAULT_COM_IF) {
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/* Extract csp port and bytes to query from command buffer */
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result = getPortAndQuerySize(&sendData, &sendLen, &cspPort, &querySize);
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if (result != returnvalue::OK) {
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return result;
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}
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} else {
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cspPort = cspCookie->getCspPort();
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querySize = cspCookie->getReplyLen();
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}
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if (querySize > cspCookie->getMaxReplyLength()) {
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sif::error << "Query size " << querySize << " is larger than maximum allowed "
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<< cspCookie->getMaxReplyLength() << std::endl;
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return returnvalue::FAILED;
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}
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uint8_t cspAddress = cspCookie->getCspAddress();
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auto iter = cspDeviceMap.find(cspAddress);
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if (iter == cspDeviceMap.end()) {
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return returnvalue::FAILED;
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}
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switch (cspPort) {
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case (CspPorts::CSP_PING): {
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initiatePingRequest(cspAddress, querySize);
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break;
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}
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case (CspPorts::CSP_REBOOT): {
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csp_reboot(cspAddress);
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break;
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}
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case (CspPorts::P60_PORT_GNDWDT_RESET_ENUM):
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case (CspPorts::P60_PORT_RPARAM_ENUM): {
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if (cspCookie->getRequest() != SpecialRequestTypes::DEFAULT_COM_IF) {
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param_index_t requestStruct{};
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requestStruct.physaddr = iter->second.replyBuf.data();
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auto req = cspCookie->getRequest();
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if (req == GOMSPACE::SpecialRequestTypes::GET_PDU_HK) {
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if (!p60pdu_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
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return returnvalue::FAILED;
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}
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} else if (req == GOMSPACE::SpecialRequestTypes::GET_ACU_HK) {
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if (!p60acu_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
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return returnvalue::FAILED;
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}
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} else if (req == GOMSPACE::SpecialRequestTypes::GET_P60DOCK_HK) {
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if (!p60dock_get_hk(&requestStruct, cspAddress, cspCookie->getTimeout())) {
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return returnvalue::FAILED;
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}
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} else if (req == GOMSPACE::SpecialRequestTypes::GET_PDU_CONFIG) {
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requestStruct.table = p60pdu_config;
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requestStruct.mem_id = P60PDU_PARAM;
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requestStruct.count = p60pdu_config_count;
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requestStruct.size = P60PDU_PARAM_SIZE;
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int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
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requestStruct.mem_id, cspCookie->getTimeout());
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if (result != 0) {
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return returnvalue::FAILED;
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}
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} else if (req == GOMSPACE::SpecialRequestTypes::GET_ACU_CONFIG) {
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requestStruct.table = p60acu_config;
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requestStruct.mem_id = P60ACU_PARAM;
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requestStruct.count = p60acu_config_count;
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requestStruct.size = P60ACU_PARAM_SIZE;
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int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
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requestStruct.mem_id, cspCookie->getTimeout());
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if (result != 0) {
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return returnvalue::FAILED;
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}
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} else if (req == GOMSPACE::SpecialRequestTypes::GET_P60DOCK_CONFIG) {
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requestStruct.table = p60dock_config;
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requestStruct.mem_id = P60DOCK_PARAM;
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requestStruct.count = p60dock_config_count;
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requestStruct.size = P60DOCK_PARAM_SIZE;
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int result = rparam_get_full_table(&requestStruct, cspAddress, P60_PORT_RPARAM,
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requestStruct.mem_id, cspCookie->getTimeout());
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if (result != 0) {
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return returnvalue::FAILED;
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}
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}
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} else {
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/* No CSP fixed port was selected. Send data to the specified port and
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* wait for querySize number of bytes */
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result = cspTransfer(cspAddress, cspPort, sendData, sendLen, querySize);
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if (result != returnvalue::OK) {
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return returnvalue::FAILED;
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}
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}
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iter->second.replyLen = querySize;
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break;
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}
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default:
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sif::error << "CspComIF: Invalid port specified" << std::endl;
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break;
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}
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return returnvalue::OK;
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}
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ReturnValue_t CspComIF::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
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ReturnValue_t CspComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
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return returnvalue::OK;
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}
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ReturnValue_t CspComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
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if (cookie == NULL) {
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return returnvalue::FAILED;
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}
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CspCookie* cspCookie = dynamic_cast<CspCookie*>(cookie);
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if (cspCookie == NULL) {
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return returnvalue::FAILED;
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}
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uint8_t cspAddress = cspCookie->getCspAddress();
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auto iter = cspDeviceMap.find(cspAddress);
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if (iter == cspDeviceMap.end()) {
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return returnvalue::FAILED;
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}
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*buffer = iter->second.replyBuf.data();
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*size = iter->second.replyLen;
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return returnvalue::OK;
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}
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ReturnValue_t CspComIF::cspTransfer(uint8_t cspAddress, uint8_t cspPort, const uint8_t* cmdBuffer,
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int cmdLen, uint16_t querySize) {
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uint32_t timeout_ms = 1000;
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uint16_t bytesRead = 0;
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int32_t expectedSize = static_cast<int32_t>(querySize);
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auto iter = cspDeviceMap.find(cspAddress);
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if (iter == cspDeviceMap.end()) {
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sif::error << "CSP device with address " << cspAddress << " no found in"
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<< " device map" << std::endl;
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return returnvalue::FAILED;
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}
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uint8_t* replyBuffer = iter->second.replyBuf.data();
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csp_conn_t* conn = csp_connect(CSP_PRIO_HIGH, cspAddress, cspPort, 0, CSP_O_NONE);
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csp_packet_t* commandPacket = (csp_packet_t*)csp_buffer_get(cmdLen);
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if (commandPacket == NULL) {
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sif::error << "CspComIF::cspTransfer: Failed to get memory for a csp packet from the csp "
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<< "stack" << std::endl;
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csp_close(conn);
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return returnvalue::FAILED;
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}
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memcpy(commandPacket->data, cmdBuffer, cmdLen);
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commandPacket->length = cmdLen;
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if (!csp_send(conn, commandPacket, timeout_ms)) {
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csp_buffer_free(commandPacket);
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sif::error << "CspComIF::cspTransfer: Failed to send csp packet" << std::endl;
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csp_close(conn);
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return returnvalue::FAILED;
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}
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/* Return when no reply is expected */
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if (expectedSize == 0) {
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return returnvalue::OK;
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}
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csp_packet_t* reply;
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reply = csp_read(conn, timeout_ms);
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if (reply == NULL) {
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sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
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csp_close(conn);
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return returnvalue::FAILED;
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}
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memcpy(replyBuffer, reply->data, reply->length);
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expectedSize = expectedSize - reply->length;
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bytesRead += reply->length;
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csp_buffer_free(reply);
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while (expectedSize > 0) {
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reply = csp_read(conn, timeout_ms);
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if (reply == NULL) {
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sif::error << "CspComIF::cspTransfer: Failed to read csp packet" << std::endl;
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csp_close(conn);
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return returnvalue::FAILED;
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}
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if ((reply->length + bytesRead) > iter->second.replyBuf.size()) {
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sif::error << "CspComIF::cspTransfer: Reply buffer to short" << std::endl;
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csp_buffer_free(reply);
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csp_close(conn);
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return returnvalue::FAILED;
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}
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memcpy(replyBuffer + bytesRead, reply->data, reply->length);
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expectedSize = expectedSize - reply->length;
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bytesRead += reply->length;
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csp_buffer_free(reply);
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}
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if (expectedSize != 0) {
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sif::error << "CspComIF::cspTransfer: Received more bytes than requested" << std::endl;
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sif::debug << "CspComIF::cspTransfer: Received bytes: " << bytesRead << std::endl;
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csp_close(conn);
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return returnvalue::FAILED;
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}
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csp_close(conn);
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return returnvalue::OK;
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}
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ReturnValue_t CspComIF::getPortAndQuerySize(const uint8_t** sendData, size_t* sendLen,
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uint8_t* cspPort, uint16_t* querySize) {
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ReturnValue_t result =
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SerializeAdapter::deSerialize(cspPort, sendData, sendLen, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::error << "CspComIF: Failed to deserialize CSP port from command "
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<< "buffer" << std::endl;
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return returnvalue::FAILED;
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}
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SerializeAdapter::deSerialize(querySize, sendData, sendLen, SerializeIF::Endianness::BIG);
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if (result != returnvalue::OK) {
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sif::error << "CspComIF: Failed to deserialize querySize from command "
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<< "buffer" << std::endl;
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize) {
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uint32_t timeout_ms = 500;
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uint32_t replyTime = csp_ping(cspAddress, timeout_ms, querySize, CSP_O_NONE);
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sif::info << "Ping address: " << cspAddress << ", reply after " << replyTime << " ms"
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<< std::endl;
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auto iter = cspDeviceMap.find(cspAddress);
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if (iter == cspDeviceMap.end()) {
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return;
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}
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/* Store reply time in reply buffer * */
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uint8_t* replyBuffer = iter->second.replyBuf.data();
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memcpy(replyBuffer, &replyTime, sizeof(replyTime));
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iter->second.replyLen = sizeof(replyTime);
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}
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