fprime/Svc/FprimeRouter/FprimeRouter.cpp

// ======================================================================
// \title  FprimeRouter.cpp
// \author thomas-bc
// \brief  cpp file for FprimeRouter component implementation class
// ======================================================================

#include "Svc/FprimeRouter/FprimeRouter.hpp"
#include "Fw/FPrimeBasicTypes.hpp"
#include "Fw/Com/ComPacket.hpp"
#include "Fw/Logger/Logger.hpp"

namespace Svc {

// ----------------------------------------------------------------------
// Component construction and destruction
// ----------------------------------------------------------------------

FprimeRouter ::FprimeRouter(const char* const compName) : FprimeRouterComponentBase(compName) {}

FprimeRouter ::~FprimeRouter() {}

// ----------------------------------------------------------------------
// Handler implementations for user-defined typed input ports
// ----------------------------------------------------------------------

void FprimeRouter ::dataIn_handler(FwIndexType portNum, Fw::Buffer& packetBuffer, const ComCfg::FrameContext& context) {
    // Read the packet type from the packet buffer
    FwPacketDescriptorType packetType = Fw::ComPacket::FW_PACKET_UNKNOWN;
    Fw::SerializeStatus status = Fw::FW_SERIALIZE_OK;
    {
        auto esb = packetBuffer.getDeserializer();
        status = esb.deserialize(packetType);
    }

    // Process the packet
    if (status == Fw::FW_SERIALIZE_OK) {
        U8* const packetData = packetBuffer.getData();
        const FwSizeType packetSize = packetBuffer.getSize();
        switch (packetType) {
            // Handle a command packet
            case Fw::ComPacket::FW_PACKET_COMMAND: {
                // Allocate a com buffer on the stack
                Fw::ComBuffer com;
                // Copy the contents of the packet buffer into the com buffer
                status = com.setBuff(packetData, packetSize);
                if (status == Fw::FW_SERIALIZE_OK) {
                    // Send the com buffer - critical functionality so it is considered an error not to
                    // have the port connected. This is why we don't check isConnected() before sending.
                    this->commandOut_out(0, com, 0);
                } else {
                    this->log_WARNING_HI_SerializationError(status);
                }
                break;
            }
            // Handle a file packet
            case Fw::ComPacket::FW_PACKET_FILE: {
                // If the file uplink output port is connected, send the file packet. Otherwise take no action.
                if (this->isConnected_fileOut_OutputPort(0)) {
                    // Copy buffer into a new allocated buffer. This lets us return the original buffer with dataReturnOut,
                    // and FprimeRouter can handle the deallocation of the file buffer when it returns on fileBufferReturnIn
                    Fw::Buffer packetBufferCopy = this->bufferAllocate_out(0, packetBuffer.getSize());
                    auto copySerializer = packetBufferCopy.getSerializer();
                    status = copySerializer.serialize(packetBuffer.getData(), packetBuffer.getSize(), Fw::Serialization::OMIT_LENGTH);
                    FW_ASSERT(status == Fw::FW_SERIALIZE_OK, status);
                    // Send the copied buffer out. It will come back on fileBufferReturnIn once the receiver is done with it
                    this->fileOut_out(0, packetBufferCopy);
                }
                break;
            }
            default: {
                // Packet type is not known to the F Prime protocol. If the unknownDataOut port is
                // connected, forward packet and context for further processing
                if (this->isConnected_unknownDataOut_OutputPort(0)) {
                    // Copy buffer into a new allocated buffer. This lets us return the original buffer with dataReturnOut,
                    // and FprimeRouter can handle the deallocation of the unknown buffer when it returns on bufferReturnIn
                    Fw::Buffer packetBufferCopy = this->bufferAllocate_out(0, packetBuffer.getSize());
                    auto copySerializer = packetBufferCopy.getSerializer();
                    status = copySerializer.serialize(packetBuffer.getData(), packetBuffer.getSize(), Fw::Serialization::OMIT_LENGTH);
                    FW_ASSERT(status == Fw::FW_SERIALIZE_OK, status);
                    // Send the copied buffer out. It will come back on fileBufferReturnIn once the receiver is done with it
                    this->unknownDataOut_out(0, packetBufferCopy, context);
                }
            }
        }
    } else {
        this->log_WARNING_HI_DeserializationError(status);
    }

    // Return ownership of the incoming packetBuffer
    this->dataReturnOut_out(0, packetBuffer, context);
}

void FprimeRouter ::cmdResponseIn_handler(FwIndexType portNum,
                                          FwOpcodeType opcode,
                                          U32 cmdSeq,
                                          const Fw::CmdResponse& response) {
    // Nothing to do
}

void FprimeRouter ::fileBufferReturnIn_handler(FwIndexType portNum, Fw::Buffer& fwBuffer) {
    this->bufferDeallocate_out(0, fwBuffer);
}

}  // namespace Svc