SystemCommands.cpp

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/*
 * SystemCommands.cpp
 *
 *  Created on: 30.11.2021
 *      Author: Yannick
 */
 
#include "SystemCommands.h"
#include "PersistentStorage.h"
#include "FFBoardMain.h"
#include "voltagesense.h"
#include <malloc.h>
#include "constants.h"
#include "task.h"
#include "FreeRTOSConfig.h"
extern ClassChooser<FFBoardMain> mainchooser;
extern FFBoardMain* mainclass;
//extern static const uint8_t SW_VERSION_INT[3];
 
 
bool SystemCommands::debugMode = false;
bool SystemCommands::errorPrintingEnabled = true;
SystemCommands* SystemCommands::systemCommandsInstance = nullptr;
 
ClassIdentifier SystemCommands::info = {
         .name = "System Commands" ,
         .id = CLSID_SYSTEM,
         .visibility = ClassVisibility::hidden
 };
 
const ClassIdentifier SystemCommands::getInfo(){
    return info;
}
 
SystemCommands::SystemCommands() : CommandHandler(CMDCLSTR_SYS, CMDCLSID_SYS) {
    registerCommands();
    //CommandHandler::registerCommands();
    systemCommandsInstance = this;
 
}
 
SystemCommands::~SystemCommands() {
    systemCommandsInstance = nullptr;
}
 
 
void SystemCommands::registerCommands(){
    CommandHandler::registerCommand("help", FFBoardMain_commands::help, "Print system help",CMDFLAG_STR_ONLY);
    CommandHandler::registerCommand("save", FFBoardMain_commands::save, "Write all settings to flash",CMDFLAG_GET);
    CommandHandler::registerCommand("reboot", FFBoardMain_commands::reboot, "Reset chip",CMDFLAG_GET);
    CommandHandler::registerCommand("dfu", FFBoardMain_commands::dfu, "reboot into DFU bootloader",CMDFLAG_GET);
    CommandHandler::registerCommand("lsmain", FFBoardMain_commands::lsmain, "List available mainclasses",CMDFLAG_GET);
    CommandHandler::registerCommand("lsactive", FFBoardMain_commands::lsactive, "List active classes (Fullname:clsname:inst:clsid:idx)",CMDFLAG_GET);
    CommandHandler::registerCommand("vint", FFBoardMain_commands::vint, "Internal voltage(mV)",CMDFLAG_GET);
    CommandHandler::registerCommand("vext", FFBoardMain_commands::vext, "External voltage(mV)",CMDFLAG_GET);
    CommandHandler::registerCommand("main", FFBoardMain_commands::main, "Query or change mainclass",CMDFLAG_GET | CMDFLAG_SET);
    CommandHandler::registerCommand("swver", FFBoardMain_commands::swver, "Firmware version",CMDFLAG_GET);
    CommandHandler::registerCommand("hwtype", FFBoardMain_commands::hwtype, "Hardware type",CMDFLAG_GET);
    CommandHandler::registerCommand("flashraw", FFBoardMain_commands::flashraw, "Write value to flash address",CMDFLAG_SETADR | CMDFLAG_GETADR);
    CommandHandler::registerCommand("flashdump", FFBoardMain_commands::flashdump, "Read all flash variables (val:adr)",CMDFLAG_GET);
    CommandHandler::registerCommand("errors", FFBoardMain_commands::errors, "Read error states",CMDFLAG_GET);
    CommandHandler::registerCommand("errorsclr", FFBoardMain_commands::errorsclr, "Reset errors",CMDFLAG_GET);
    CommandHandler::registerCommand("heapfree", FFBoardMain_commands::heapfree, "Memory info",CMDFLAG_GET);
#if configUSE_STATS_FORMATTING_FUNCTIONS> 0
    CommandHandler::registerCommand("taskstats", FFBoardMain_commands::taskstats, "Task stats",CMDFLAG_GET);
#endif
    CommandHandler::registerCommand("format", FFBoardMain_commands::format, "set format=1 to erase all stored values",CMDFLAG_SET);
    CommandHandler::registerCommand("debug", FFBoardMain_commands::debug, "Enable or disable debug commands",CMDFLAG_SET | CMDFLAG_GET);
    CommandHandler::registerCommand("devid", FFBoardMain_commands::devid, "Get chip dev id and rev id",CMDFLAG_GET);
    CommandHandler::registerCommand("name", CommandHandlerCommands::name, "name of class",CMDFLAG_GET|CMDFLAG_STR_ONLY);
    CommandHandler::registerCommand("cmdinfo", CommandHandlerCommands::cmdinfo, "Flags of a command id (adr). -1 if cmd id invalid",CMDFLAG_GETADR);
    CommandHandler::registerCommand("uid", FFBoardMain_commands::uid, "Get 96b chip uid. Adr0-2 sel blk",CMDFLAG_GET | CMDFLAG_GETADR);
    CommandHandler::registerCommand("temp", FFBoardMain_commands::temp, "Chip temperature in C",CMDFLAG_GET);
}
 
// Choose lower optimize level because the compiler likes to blow up this function
__attribute__((optimize("-O1")))
CommandStatus SystemCommands::internalCommand(const ParsedCommand& cmd,std::vector<CommandReply>& replies){
    CommandStatus flag = CommandHandler::internalCommand(cmd, replies);
 
    if(flag != CommandStatus::NOT_FOUND){
        return flag;
    }else{
        flag = CommandStatus::OK;
    }
 
    switch(static_cast<FFBoardMain_commands>(cmd.cmdId))
    {
        case FFBoardMain_commands::help:
        {// help
            if(cmd.type == CMDtype::info){
                replies.emplace_back(this->getCsvHelpstring());
            }else{
                std::string itfHelp = "";
                if(cmd.originalInterface){
                    itfHelp = cmd.originalInterface->getHelpstring() + "\n";
                }
                std::string reply = itfHelp + "Available classes (use cls.0.help for more info):\n";
                //std::string reply = "";
                for(CommandHandler* handler : CommandHandler::getCommandHandlers()){
                    CmdHandlerInfo* info = handler->getCommandHandlerInfo();
                    reply += std::string(info->clsname) + "." + std::to_string(info->instance)+"\n";
                }
                reply +=  "\n"+this->getCommandsHelpstring();
                replies.emplace_back(reply);
            }
 
            break;
        }
 
        case FFBoardMain_commands::save:
            for(PersistentStorage* handler : PersistentStorage::getFlashHandlers()){
                handler->saveFlash();
            }
            break;
 
        case FFBoardMain_commands::reboot:
            NVIC_SystemReset();
            break;
 
        case FFBoardMain_commands::dfu:
            RebootDFU();
            break;
        case FFBoardMain_commands::lsmain:
            mainchooser.replyAvailableClasses(replies,mainclass->getSelectionID());
            break;
 
        case FFBoardMain_commands::vint:
        {
            replies.emplace_back(getIntV());
            break;
        }
 
        case FFBoardMain_commands::debug:
            return handleGetSet(cmd, replies, SystemCommands::debugMode);
 
        case FFBoardMain_commands::vext:
        {
            replies.emplace_back(getExtV());
            break;
        }
 
        case FFBoardMain_commands::main:
        {
            if(cmd.type == CMDtype::get){
                uint16_t buf=mainclass->getInfo().id;
                Flash_Read(ADR_CURRENT_CONFIG, &buf);
                replies.emplace_back(buf);
            }else if(cmd.type == CMDtype::set){
                if(mainchooser.isValidClassId(cmd.val)){
                    Flash_Write(ADR_CURRENT_CONFIG, (uint16_t)cmd.val);
                    if(cmd.val != mainclass->getInfo().id){
                        NVIC_SystemReset(); // Reboot
                    }
                }
            }
            break;
        }
        case FFBoardMain_commands::errors:
        {
            replyErrors(replies);
            break;
        }
        case FFBoardMain_commands::flashdump:
            replyFlashDump(replies);
            break;
 
        case FFBoardMain_commands::flashraw:
        {
            if(cmd.type == CMDtype::setat){
                Flash_Write(cmd.adr, cmd.val);
 
            }else if(cmd.type == CMDtype::getat){
                CommandReply reply;
                reply.type = CommandReplyType::INT;
                uint16_t val;
                if(Flash_Read(cmd.adr,&val)){
                    reply.val=val;
                }
                replies.push_back(reply);
            }
            break;
        }
 
        case FFBoardMain_commands::errorsclr:
            ErrorHandler::clearAll();
            break;
 
        case FFBoardMain_commands::swver:
        {
            CommandReply reply;
            reply.type = CommandReplyType::STRING_OR_INT;
 
            extern const uint8_t SW_VERSION_INT[3];
            reply.reply += std::to_string(SW_VERSION_INT[0]) + "." + std::to_string(SW_VERSION_INT[1]) + "." + std::to_string(SW_VERSION_INT[2]);
 
            reply.val = (SW_VERSION_INT[0]<<16) | (SW_VERSION_INT[1] << 8) | (SW_VERSION_INT[2]);
            replies.push_back(reply);
            break;
        }
 
        case FFBoardMain_commands::hwtype:
        {
            replies.emplace_back(HW_TYPE,HW_TYPE_INT);
            //replies.emplace_back(HAL_GetDEVID());
            break;
        }
        case FFBoardMain_commands::devid:
            {
                replies.emplace_back(HAL_GetDEVID(),HAL_GetREVID());
                break;
            }
 
 
        case FFBoardMain_commands::mallinfo: // UNUSED since freertos
        {
            CommandReply reply;
            struct mallinfo info = mallinfo();
            reply.adr = info.uordblks;
            reply.val = info.uordblks;
            reply.reply +="Usage: ";
            reply.reply += std::to_string(info.uordblks);
            reply.reply +=" Size: ";
            reply.reply +=std::to_string(info.arena);
            reply.type = CommandReplyType::STRING_OR_DOUBLEINT;
            replies.push_back(reply);
            break;
        }
 
        case FFBoardMain_commands::heapfree:
        {
            replies.emplace_back(xPortGetFreeHeapSize(),xPortGetMinimumEverFreeHeapSize());
            break;
        }
#if configUSE_STATS_FORMATTING_FUNCTIONS>0
        case FFBoardMain_commands::taskstats:
        {
            char repl[800];
            vTaskGetRunTimeStats(repl);
            replies.emplace_back("\n"+std::string(repl));
            break;
        }
#endif
        case FFBoardMain_commands::lsactive:
        {
            for(CommandHandler* handler : CommandHandler::getCommandHandlers()){
 
                ClassIdentifier i = handler->getInfo();
                CmdHandlerInfo* hi = handler->getCommandHandlerInfo();
                CommandReply reply;
                reply.type = CommandReplyType::STRING_OR_DOUBLEINT;
                reply.adr = hi->instance;
                reply.val = hi->clsTypeid;
                reply.reply += std::string(i.name)+ ":" + hi->clsname + ":" + std::to_string(hi->instance) + ":" + std::to_string(i.id) + ":" + std::to_string(hi->commandHandlerID);
                replies.push_back(reply);
 
            }
            break;
        }
        case FFBoardMain_commands::format:
            if(cmd.type == CMDtype::set && cmd.val==1){
 
                if(Flash_Format()){
                    flag = CommandStatus::OK;
                }else{
                    flag = CommandStatus::ERR;
                }
 
            }
        break;
        case FFBoardMain_commands::uid:
            if(cmd.type == CMDtype::get){
                replies.emplace_back((uint64_t)HAL_GetUIDw0() | (uint64_t)HAL_GetUIDw1() << 32,HAL_GetUIDw2());
            }else if(cmd.type == CMDtype::getat){
                if(cmd.adr == 0){
                    replies.emplace_back(HAL_GetUIDw0());
                }else if(cmd.adr == 1){
                    replies.emplace_back(HAL_GetUIDw1());
                }else if(cmd.adr == 2){
                    replies.emplace_back(HAL_GetUIDw2());
                }
            }
            break;
        case FFBoardMain_commands::temp:
            {
                replies.emplace_back(getChipTemp());
                break;
            }
 
 
        default:
            flag = CommandStatus::NOT_FOUND;
            break;
    }
    return flag;
}
 
/*
 * Prints a formatted flash dump to the reply string
 */
void SystemCommands::replyFlashDump(std::vector<CommandReply>& replies){
    std::vector<std::tuple<uint16_t,uint16_t>> result;
    Flash_Dump(&result,false);
 
    for(auto entry : result){
        CommandReply reply;
        uint16_t adr;
        uint16_t val;
        std::tie(adr,val) = entry;
        //reply.reply += std::to_string(adr) + ":" + std::to_string(val) + "\n";
        reply.adr = adr;
        reply.val = val;
        reply.type = CommandReplyType::DOUBLEINTS;
        replies.push_back(reply);
    }
}
 
/*
 * Prints a formatted list of error conditions
 */
void SystemCommands::replyErrors(std::vector<CommandReply>& replies){
    std::span<Error> errors = ErrorHandler::getErrors();
    if(errors.size() == 0){
        CommandReply reply;
        reply.reply += "None";
        reply.type = CommandReplyType::STRING_OR_INT;
        replies.push_back(reply);
        return;
    }
 
    for(Error error : errors){
        CommandReply reply;
        reply.reply += error.toString() + "\n";
        reply.val = (uint32_t)error.code;
        reply.type = CommandReplyType::STRING_OR_INT;
        replies.push_back(reply);
    }
 
    ErrorHandler::clearTemp();
}