diff --git a/src/fsfw/cfdp.h b/src/fsfw/cfdp.h index b2645978..f6c01ad0 100644 --- a/src/fsfw/cfdp.h +++ b/src/fsfw/cfdp.h @@ -2,6 +2,7 @@ #define FSFW_CFDP_H #include "cfdp/definitions.h" +#include "cfdp/handler/CfdpHandler.h" #include "cfdp/handler/DestHandler.h" #include "cfdp/handler/FaultHandlerBase.h" #include "cfdp/helpers.h" diff --git a/src/fsfw/cfdp/handler/CMakeLists.txt b/src/fsfw/cfdp/handler/CMakeLists.txt index 7ad995c0..2e7dceef 100644 --- a/src/fsfw/cfdp/handler/CMakeLists.txt +++ b/src/fsfw/cfdp/handler/CMakeLists.txt @@ -1,2 +1,2 @@ target_sources(${LIB_FSFW_NAME} PRIVATE SourceHandler.cpp DestHandler.cpp - FaultHandlerBase.cpp UserBase.cpp) + FaultHandlerBase.cpp UserBase.cpp CfdpHandler.cpp) diff --git a/src/fsfw/cfdp/handler/CfdpHandler.cpp b/src/fsfw/cfdp/handler/CfdpHandler.cpp new file mode 100644 index 00000000..904f06b2 --- /dev/null +++ b/src/fsfw/cfdp/handler/CfdpHandler.cpp @@ -0,0 +1,135 @@ +#include "CfdpHandler.h" + +#include "fsfw/cfdp/pdu/AckPduReader.h" +#include "fsfw/cfdp/pdu/PduHeaderReader.h" +#include "fsfw/globalfunctions/arrayprinter.h" +#include "fsfw/ipc/QueueFactory.h" +#include "fsfw/tmtcservices/TmTcMessage.h" + +using namespace returnvalue; +using namespace cfdp; + +CfdpHandler::CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg) + : SystemObject(fsfwParams.objectId), + destHandler( + DestHandlerParams(LocalEntityCfg(cfdpCfg.id, cfdpCfg.indicCfg, cfdpCfg.faultHandler), + cfdpCfg.userHandler, cfdpCfg.remoteCfgProvider, cfdpCfg.packetInfoList, + cfdpCfg.lostSegmentsList), + FsfwParams(fsfwParams.packetDest, nullptr, this, fsfwParams.tcStore, + fsfwParams.tmStore)) { + // TODO: Make queue params configurable, or better yet, expect it to be passed externally + msgQueue = QueueFactory::instance()->createMessageQueue(); + destHandler.setMsgQueue(*msgQueue); +} + +[[nodiscard]] const char* CfdpHandler::getName() const { return "CFDP Handler"; } + +[[nodiscard]] uint32_t CfdpHandler::getIdentifier() const { + return destHandler.getDestHandlerParams().cfg.localId.getValue(); +} + +[[nodiscard]] MessageQueueId_t CfdpHandler::getRequestQueue() const { return msgQueue->getId(); } + +ReturnValue_t CfdpHandler::initialize() { + ReturnValue_t result = destHandler.initialize(); + if (result != OK) { + return result; + } + tcStore = destHandler.getTcStore(); + tmStore = destHandler.getTmStore(); + + return SystemObject::initialize(); +} + +ReturnValue_t CfdpHandler::performOperation(uint8_t operationCode) { + // TODO: Receive TC packets and route them to source and dest handler, depending on which is + // correct or more appropriate + ReturnValue_t status; + ReturnValue_t result = OK; + TmTcMessage tmtcMsg; + for (status = msgQueue->receiveMessage(&tmtcMsg); status == returnvalue::OK; + status = msgQueue->receiveMessage(&tmtcMsg)) { + result = handleCfdpPacket(tmtcMsg); + if (result != OK) { + status = result; + } + } + auto& fsmRes = destHandler.performStateMachine(); + // TODO: Error handling? + while (fsmRes.callStatus == CallStatus::CALL_AGAIN) { + destHandler.performStateMachine(); + // TODO: Error handling? + } + return status; +} + +ReturnValue_t CfdpHandler::handleCfdpPacket(TmTcMessage& msg) { + auto accessorPair = tcStore->getData(msg.getStorageId()); + if (accessorPair.first != OK) { + return accessorPair.first; + } + PduHeaderReader reader(accessorPair.second.data(), accessorPair.second.size()); + ReturnValue_t result = reader.parseData(); + if (result != returnvalue::OK) { + return INVALID_PDU_FORMAT; + } + // The CFDP distributor should have taken care of ensuring the destination ID is correct + PduTypes type = reader.getPduType(); + // Only the destination handler can process these PDUs + if (type == PduTypes::FILE_DATA) { + // Disable auto-deletion of packet + accessorPair.second.release(); + PacketInfo info(type, msg.getStorageId()); + result = destHandler.passPacket(info); + } else { + // Route depending on PDU type and directive type if applicable. It retrieves directive type + // from the raw stream for better performance (with sanity and directive code check). + // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding + // procedure. + + // PDU header only. Invalid supplied data. A directive packet should have a valid data field + // with at least one byte being the directive code + const uint8_t* pduDataField = reader.getPduDataField(); + if (pduDataField == nullptr) { + return INVALID_PDU_FORMAT; + } + if (not FileDirectiveReader::checkFileDirective(pduDataField[0])) { + return INVALID_DIRECTIVE_FIELD; + } + auto directive = static_cast(pduDataField[0]); + + auto passToDestHandler = [&]() { + accessorPair.second.release(); + PacketInfo info(type, msg.getStorageId(), directive); + result = destHandler.passPacket(info); + }; + auto passToSourceHandler = [&]() { + + }; + if (directive == FileDirectives::METADATA or directive == FileDirectives::EOF_DIRECTIVE or + directive == FileDirectives::PROMPT) { + // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a. + // the destination handler + passToDestHandler(); + } else if (directive == FileDirectives::FINISH or directive == FileDirectives::NAK or + directive == FileDirectives::KEEP_ALIVE) { + // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a. + // the source handler + passToSourceHandler(); + } else if (directive == FileDirectives::ACK) { + // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply + // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to + // the source handler, for a Finished PDU, it is passed to the destination handler. + FileDirectives ackedDirective; + if (not AckPduReader::checkAckedDirectiveField(pduDataField[1], ackedDirective)) { + return INVALID_ACK_DIRECTIVE_FIELDS; + } + if (ackedDirective == FileDirectives::EOF_DIRECTIVE) { + passToSourceHandler(); + } else if (ackedDirective == FileDirectives::FINISH) { + passToDestHandler(); + } + } + } + return result; +} diff --git a/src/fsfw/cfdp/handler/CfdpHandler.h b/src/fsfw/cfdp/handler/CfdpHandler.h new file mode 100644 index 00000000..d7472905 --- /dev/null +++ b/src/fsfw/cfdp/handler/CfdpHandler.h @@ -0,0 +1,65 @@ +#ifndef FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H +#define FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H + +#include + +#include "fsfw/cfdp/handler/DestHandler.h" +#include "fsfw/objectmanager/SystemObject.h" +#include "fsfw/tasks/ExecutableObjectIF.h" +#include "fsfw/tmtcservices/AcceptsTelecommandsIF.h" +#include "fsfw/tmtcservices/TmTcMessage.h" + +struct FsfwHandlerParams { + FsfwHandlerParams(object_id_t objectId, HasFileSystemIF& vfs, AcceptsTelemetryIF& packetDest, + StorageManagerIF& tcStore, StorageManagerIF& tmStore) + : objectId(objectId), vfs(vfs), packetDest(packetDest), tcStore(tcStore), tmStore(tmStore) {} + object_id_t objectId{}; + HasFileSystemIF& vfs; + AcceptsTelemetryIF& packetDest; + StorageManagerIF& tcStore; + StorageManagerIF& tmStore; +}; + +struct CfdpHandlerCfg { + CfdpHandlerCfg(cfdp::EntityId localId, cfdp::IndicationCfg indicationCfg, + cfdp::UserBase& userHandler, cfdp::FaultHandlerBase& userFaultHandler, + cfdp::PacketInfoListBase& packetInfo, cfdp::LostSegmentsListBase& lostSegmentsList, + cfdp::RemoteConfigTableIF& remoteCfgProvider) + : id(std::move(localId)), + indicCfg(indicationCfg), + packetInfoList(packetInfo), + lostSegmentsList(lostSegmentsList), + remoteCfgProvider(remoteCfgProvider), + userHandler(userHandler), + faultHandler(userFaultHandler) {} + + cfdp::EntityId id; + cfdp::IndicationCfg indicCfg; + cfdp::PacketInfoListBase& packetInfoList; + cfdp::LostSegmentsListBase& lostSegmentsList; + cfdp::RemoteConfigTableIF& remoteCfgProvider; + cfdp::UserBase& userHandler; + cfdp::FaultHandlerBase& faultHandler; +}; + +class CfdpHandler : public SystemObject, public ExecutableObjectIF, public AcceptsTelecommandsIF { + public: + explicit CfdpHandler(const FsfwHandlerParams& fsfwParams, const CfdpHandlerCfg& cfdpCfg); + + [[nodiscard]] const char* getName() const override; + [[nodiscard]] uint32_t getIdentifier() const override; + [[nodiscard]] MessageQueueId_t getRequestQueue() const override; + + ReturnValue_t initialize() override; + ReturnValue_t performOperation(uint8_t operationCode) override; + + private: + MessageQueueIF* msgQueue = nullptr; + cfdp::DestHandler destHandler; + StorageManagerIF* tcStore = nullptr; + StorageManagerIF* tmStore = nullptr; + + ReturnValue_t handleCfdpPacket(TmTcMessage& msg); +}; + +#endif // FSFW_EXAMPLE_HOSTED_CFDPHANDLER_H