| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // ====================================================================== | ||
| 2 | // \title Framer.cpp | ||
| 3 | // \author tumbar | ||
| 4 | // \brief cpp file for Framer component implementation class | ||
| 5 | // ====================================================================== | ||
| 6 | |||
| 7 | #include "fprime-samd/Svc/Framer/Framer.hpp" | ||
| 8 | #include "Drv/ByteStreamDriverModel/ByteStreamStatusEnumAc.hpp" | ||
| 9 | #include "Fw/Com/ComBuffer.hpp" | ||
| 10 | #include "Fw/Types/Assert.hpp" | ||
| 11 | #include "Svc/FprimeProtocol/FrameHeaderSerializableAc.hpp" | ||
| 12 | #include "Svc/FprimeProtocol/FrameTrailerSerializableAc.hpp" | ||
| 13 | #include "Utils/Hash/Hash.hpp" | ||
| 14 | #include "samd-config/FramerConfig.hpp" | ||
| 15 | |||
| 16 | namespace Samd21 { | ||
| 17 | |||
| 18 | // ---------------------------------------------------------------------- | ||
| 19 | // Component construction and destruction | ||
| 20 | // ---------------------------------------------------------------------- | ||
| 21 | |||
| 22 | ✗ | Framer ::Framer(const char* const compName) | |
| 23 | ✗ | : FramerComponentBase(compName), m_driverConnected(false), m_activeBufferIdx(0), m_droppedPackets(0) { | |
| 24 | // Initialize both buffers to IDLE state with space reserved for header | ||
| 25 | ✗ | for (FwIndexType i = 0; i < 2; i++) { | |
| 26 | ✗ | m_buffers[i].size = 0; | |
| 27 | ✗ | m_buffers[i].state = IDLE; | |
| 28 | } | ||
| 29 | ✗ | } | |
| 30 | |||
| 31 | ✗ | Framer ::~Framer() {} | |
| 32 | |||
| 33 | // ---------------------------------------------------------------------- | ||
| 34 | // Handler implementations for typed input ports | ||
| 35 | // ---------------------------------------------------------------------- | ||
| 36 | |||
| 37 | ✗ | void Framer ::comPacketQueueIn_handler(FwIndexType portNum, Fw::ComBuffer& data, U32 context) { | |
| 38 | ✗ | TxBuffer* activeBuf = &m_buffers[m_activeBufferIdx]; | |
| 39 | |||
| 40 | // Calculate space needed: frame header + ComBuffer data + trailer | ||
| 41 | ✗ | FwSizeType spaceNeeded = Svc::FprimeProtocol::FrameHeader::SERIALIZED_SIZE + data.getSize() + | |
| 42 | ✗ | Svc::FprimeProtocol::FrameTrailer::SERIALIZED_SIZE; | |
| 43 | |||
| 44 | // If both buffers are in flight (backpressure), drop this packet | ||
| 45 | ✗ | if (activeBuf->state == TRANSMITTING) { | |
| 46 | ✗ | this->m_droppedPackets++; | |
| 47 | ✗ | return; | |
| 48 | } | ||
| 49 | |||
| 50 | // If adding this ComBuffer would overflow, flush first | ||
| 51 | ✗ | if (activeBuf->size + spaceNeeded > FramerConfig::FRAMER_TX_BUFFER_SIZE) { | |
| 52 | ✗ | flushActiveBuffer(); | |
| 53 | |||
| 54 | // flushActiveBuffer() swapped the active buffer -- re-acquire it | ||
| 55 | ✗ | activeBuf = &m_buffers[m_activeBufferIdx]; | |
| 56 | |||
| 57 | // If both buffers are in flight (backpressure), drop this packet | ||
| 58 | ✗ | if (activeBuf->state == TRANSMITTING) { | |
| 59 | ✗ | this->m_droppedPackets++; | |
| 60 | ✗ | return; | |
| 61 | } | ||
| 62 | |||
| 63 | // After flush, the swapped-in buffer should be idle and empty | ||
| 64 | ✗ | FW_ASSERT(activeBuf->state == IDLE); | |
| 65 | ✗ | FW_ASSERT(activeBuf->size == 0); | |
| 66 | } | ||
| 67 | |||
| 68 | // Mark buffer as active if it's idle | ||
| 69 | ✗ | if (activeBuf->state == IDLE) { | |
| 70 | ✗ | activeBuf->state = ACTIVE; | |
| 71 | } | ||
| 72 | |||
| 73 | // Append ComBuffer data directly to the buffer (after existing data) | ||
| 74 | ✗ | Fw::Buffer bufWrapper(activeBuf->data + activeBuf->size, FramerConfig::FRAMER_TX_BUFFER_SIZE - activeBuf->size); | |
| 75 | ✗ | Fw::ExternalSerializeBuffer serializer(bufWrapper.getData(), bufWrapper.getSize()); | |
| 76 | |||
| 77 | // Write the packet header | ||
| 78 | ✗ | FW_ASSERT(data.getSize() <= std::numeric_limits<Svc::FprimeProtocol::TokenType>::max(), | |
| 79 | static_cast<FwAssertArgType>(data.getSize())); | ||
| 80 | |||
| 81 | ✗ | Svc::FprimeProtocol::FrameHeader header; | |
| 82 | ✗ | header.set_lengthField(static_cast<Svc::FprimeProtocol::TokenType>(data.getSize())); | |
| 83 | |||
| 84 | ✗ | Fw::SerializeStatus status = serializer.serializeFrom(header); | |
| 85 | ✗ | FW_ASSERT(status == Fw::FW_SERIALIZE_OK, status); | |
| 86 | |||
| 87 | // Write the packet data | ||
| 88 | ✗ | status = serializer.serializeFrom(data.getBuffAddr(), data.getSize(), Fw::Serialization::OMIT_LENGTH); | |
| 89 | ✗ | FW_ASSERT(status == Fw::FW_SERIALIZE_OK, status, data.getSize(), portNum); | |
| 90 | |||
| 91 | // Compute the CRC of the packet (header + data) | ||
| 92 | ✗ | Utils::HashBuffer hashBuffer; | |
| 93 | ✗ | Utils::Hash::hash(activeBuf->data + activeBuf->size, | |
| 94 | ✗ | data.getSize() + Svc::FprimeProtocol::FrameHeader::SERIALIZED_SIZE, hashBuffer); | |
| 95 | |||
| 96 | // Write trailer with CRC | ||
| 97 | ✗ | Svc::FprimeProtocol::FrameTrailer trailer; | |
| 98 | ✗ | trailer.set_crcField(hashBuffer.asBigEndianU32()); | |
| 99 | |||
| 100 | ✗ | status = serializer.serializeFrom(trailer); | |
| 101 | ✗ | FW_ASSERT(status == Fw::FW_SERIALIZE_OK, status); | |
| 102 | |||
| 103 | // Update buffer size to include the packet frame | ||
| 104 | ✗ | activeBuf->size += serializer.getSize(); | |
| 105 | ✗ | FW_ASSERT(activeBuf->size <= FramerConfig::FRAMER_TX_BUFFER_SIZE); | |
| 106 | ✗ | } | |
| 107 | |||
| 108 | ✗ | void Framer ::drvConnected_handler(FwIndexType portNum) { | |
| 109 | ✗ | this->m_driverConnected = true; | |
| 110 | ✗ | } | |
| 111 | |||
| 112 | ✗ | void Framer ::drvReturnIn_handler(FwIndexType portNum, Fw::Buffer& fwBuffer, const Drv::ByteStreamStatus& status) { | |
| 113 | // Find which buffer was returned | ||
| 114 | ✗ | for (FwIndexType i = 0; i < 2; i++) { | |
| 115 | ✗ | if (m_buffers[i].state == TRANSMITTING && fwBuffer.getData() == m_buffers[i].data) { | |
| 116 | // Mark buffer as idle and ready for reuse, reset the size | ||
| 117 | ✗ | m_buffers[i].state = IDLE; | |
| 118 | ✗ | m_buffers[i].size = 0; | |
| 119 | ✗ | return; | |
| 120 | } | ||
| 121 | } | ||
| 122 | ✗ | FW_ASSERT(false); // Buffer returned that we didn't send | |
| 123 | } | ||
| 124 | |||
| 125 | ✗ | void Framer ::flushActiveBuffer() { | |
| 126 | ✗ | FW_ASSERT(this->m_driverConnected); | |
| 127 | |||
| 128 | ✗ | TxBuffer& activeBuf = m_buffers[m_activeBufferIdx]; | |
| 129 | |||
| 130 | // Nothing to flush if buffer is idle or contains no data | ||
| 131 | ✗ | if (activeBuf.state == IDLE || activeBuf.size == 0) { | |
| 132 | ✗ | return; | |
| 133 | } | ||
| 134 | |||
| 135 | // Buffer must not already be in flight | ||
| 136 | ✗ | FW_ASSERT(activeBuf.state == ACTIVE); | |
| 137 | |||
| 138 | // Mark buffer as in-flight | ||
| 139 | ✗ | activeBuf.state = TRANSMITTING; | |
| 140 | |||
| 141 | // Switch to the next buffer | ||
| 142 | ✗ | m_activeBufferIdx = (m_activeBufferIdx + 1) % 2; | |
| 143 | |||
| 144 | // Send the complete frame to the driver | ||
| 145 | ✗ | Fw::Buffer txBuffer(activeBuf.data, activeBuf.size); | |
| 146 | ✗ | drvSendOut_out(0, txBuffer); | |
| 147 | ✗ | } | |
| 148 | |||
| 149 | ✗ | void Framer ::schedIn_handler(FwIndexType portNum, U32 context) { | |
| 150 | ✗ | if (this->m_driverConnected) { | |
| 151 | // Only flush if the other buffer is not transmitting | ||
| 152 | ✗ | FwIndexType nextBufferIdx = (m_activeBufferIdx + 1) % 2; | |
| 153 | ✗ | TxBuffer& nextBuf = m_buffers[nextBufferIdx]; | |
| 154 | |||
| 155 | ✗ | this->tlmWrite_DroppedPackets(this->m_droppedPackets); | |
| 156 | |||
| 157 | ✗ | if (nextBuf.state == TRANSMITTING) { | |
| 158 | // Can't flush because both buffers would be in flight | ||
| 159 | // Wait for next schedule cycle | ||
| 160 | ✗ | return; | |
| 161 | } | ||
| 162 | |||
| 163 | ✗ | flushActiveBuffer(); | |
| 164 | } | ||
| 165 | } | ||
| 166 | |||
| 167 | } // namespace Samd21 | ||
| 168 |