Robin Mueller
ceba3b9dca
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
354 lines
11 KiB
C++
354 lines
11 KiB
C++
#include "PlocMPSoCHelper.h"
|
|
|
|
#include <filesystem>
|
|
#include <fstream>
|
|
|
|
#include "OBSWConfig.h"
|
|
#ifdef XIPHOS_Q7S
|
|
#include "bsp_q7s/fs/FilesystemHelper.h"
|
|
#endif
|
|
|
|
#include "mission/utility/Timestamp.h"
|
|
|
|
using namespace ploc;
|
|
|
|
PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {
|
|
spParams.buf = commandBuffer;
|
|
spParams.maxSize = sizeof(commandBuffer);
|
|
}
|
|
|
|
PlocMPSoCHelper::~PlocMPSoCHelper() {}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::initialize() {
|
|
#ifdef XIPHOS_Q7S
|
|
sdcMan = SdCardManager::instance();
|
|
if (sdcMan == nullptr) {
|
|
sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
#endif
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
semaphore.acquire();
|
|
while (true) {
|
|
switch (internalState) {
|
|
case InternalState::IDLE: {
|
|
semaphore.acquire();
|
|
break;
|
|
}
|
|
case InternalState::FLASH_WRITE: {
|
|
result = performFlashWrite();
|
|
if (result == returnvalue::OK) {
|
|
triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
|
|
} else {
|
|
triggerEvent(MPSOC_FLASH_WRITE_FAILED);
|
|
}
|
|
internalState = InternalState::IDLE;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
|
|
uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
|
|
if (uartComIF == nullptr) {
|
|
sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
|
|
|
|
void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
|
|
sequenceCount = sequenceCount_;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
#ifdef XIPHOS_Q7S
|
|
result = FilesystemHelper::checkPath(obcFile);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = FilesystemHelper::fileExists(mpsocFile);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
#endif
|
|
#ifdef TE0720_1CFA
|
|
if (not std::filesystem::exists(obcFile)) {
|
|
sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
|
|
<< std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
#endif
|
|
|
|
flashWrite.obcFile = obcFile;
|
|
flashWrite.mpsocFile = mpsocFile;
|
|
internalState = InternalState::FLASH_WRITE;
|
|
result = resetHelper();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::resetHelper() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
semaphore.release();
|
|
spParams.buf = commandBuffer;
|
|
terminate = false;
|
|
result = uartComIF->flushUartRxBuffer(comCookie);
|
|
return result;
|
|
}
|
|
|
|
void PlocMPSoCHelper::stopProcess() { terminate = true; }
|
|
|
|
ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = flashfopen();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
uint8_t tempData[mpsoc::MAX_DATA_SIZE];
|
|
std::ifstream file(flashWrite.obcFile, std::ifstream::binary);
|
|
// Set position of next character to end of file input stream
|
|
file.seekg(0, file.end);
|
|
// tellg returns position of character in input stream
|
|
size_t remainingSize = file.tellg();
|
|
size_t dataLength = 0;
|
|
size_t bytesRead = 0;
|
|
while (remainingSize > 0) {
|
|
if (terminate) {
|
|
return returnvalue::OK;
|
|
}
|
|
if (remainingSize > mpsoc::MAX_DATA_SIZE) {
|
|
dataLength = mpsoc::MAX_DATA_SIZE;
|
|
} else {
|
|
dataLength = remainingSize;
|
|
}
|
|
if (file.is_open()) {
|
|
file.seekg(bytesRead, file.beg);
|
|
file.read(reinterpret_cast<char*>(tempData), dataLength);
|
|
bytesRead += dataLength;
|
|
remainingSize -= dataLength;
|
|
} else {
|
|
return FILE_CLOSED_ACCIDENTALLY;
|
|
}
|
|
(*sequenceCount)++;
|
|
mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
|
|
result = tc.buildPacket(tempData, dataLength);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmission(tc);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
}
|
|
result = flashfclose();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::flashfopen() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
spParams.buf = commandBuffer;
|
|
(*sequenceCount)++;
|
|
mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
|
|
result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmission(flashFopen);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::flashfclose() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
spParams.buf = commandBuffer;
|
|
(*sequenceCount)++;
|
|
mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
|
|
result = flashFclose.createPacket(flashWrite.mpsocFile);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handlePacketTransmission(flashFclose);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = sendCommand(tc);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handleAck();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = handleExe();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::sendCommand(ploc::SpTcBase& tc) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
|
|
triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::handleAck() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = handleTmReception(mpsoc::SIZE_ACK_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
|
|
result = checkReceivedTm(tmPacket);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
uint16_t apid = tmPacket.getApid();
|
|
if (apid != mpsoc::apid::ACK_SUCCESS) {
|
|
handleAckApidFailure(apid);
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
|
|
if (apid == mpsoc::apid::ACK_FAILURE) {
|
|
triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
|
|
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
|
|
<< "report" << std::endl;
|
|
} else {
|
|
triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
|
sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
|
|
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::handleExe() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
result = handleTmReception(mpsoc::SIZE_EXE_REPORT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
ploc::SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
|
|
result = checkReceivedTm(tmPacket);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
uint16_t apid = tmPacket.getApid();
|
|
if (apid != mpsoc::apid::EXE_SUCCESS) {
|
|
handleExeApidFailure(apid);
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
|
|
if (apid == mpsoc::apid::EXE_FAILURE) {
|
|
triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
|
|
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
|
|
<< "report" << std::endl;
|
|
} else {
|
|
triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
|
|
sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
|
|
<< "but received space packet with apid " << std::hex << apid << std::endl;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::handleTmReception(size_t remainingBytes) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
size_t readBytes = 0;
|
|
size_t currentBytes = 0;
|
|
for (int retries = 0; retries < RETRIES; retries++) {
|
|
result = receive(tmBuf.data() + readBytes, ¤tBytes, remainingBytes);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
readBytes += currentBytes;
|
|
remainingBytes = remainingBytes - currentBytes;
|
|
if (remainingBytes == 0) {
|
|
break;
|
|
}
|
|
}
|
|
if (remainingBytes != 0) {
|
|
sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
|
|
triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
|
|
return returnvalue::FAILED;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::checkReceivedTm(SpTmReader& reader) {
|
|
ReturnValue_t result = reader.checkSize();
|
|
if (result != returnvalue::OK) {
|
|
sif::error << "PlocMPSoCHelper::handleTmReception: Size check on received TM failed"
|
|
<< std::endl;
|
|
triggerEvent(MPSOC_TM_SIZE_ERROR);
|
|
return result;
|
|
}
|
|
reader.checkCrc();
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
|
|
triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
|
|
return result;
|
|
}
|
|
(*sequenceCount)++;
|
|
uint16_t recvSeqCnt = reader.getSequenceCount();
|
|
if (recvSeqCnt != *sequenceCount) {
|
|
triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
|
|
*sequenceCount = recvSeqCnt;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
uint8_t* buffer = nullptr;
|
|
result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
|
|
triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
|
|
static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
|
|
return returnvalue::FAILED;
|
|
}
|
|
result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
|
|
triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
|
|
return returnvalue::FAILED;
|
|
}
|
|
if (*readBytes > 0) {
|
|
std::memcpy(data, buffer, *readBytes);
|
|
}
|
|
return result;
|
|
}
|