TlmPacketizer.cpp

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// ======================================================================
// \title  TlmPacketizerImpl.cpp
// \author tcanham
// \brief  cpp file for TlmPacketizer component implementation class
//
// \copyright
// Copyright 2009-2015, by the California Institute of Technology.
// ALL RIGHTS RESERVED.  United States Government Sponsorship
// acknowledged.

#include <Fw/Com/ComPacket.hpp>
#include <Fw/FPrimeBasicTypes.hpp>
#include <Fw/Prm/ParamValid.hpp>
#include <Svc/TlmPacketizer/TlmPacketizer.hpp>
#include <TlmPacketizerConfig/FppConstantsAc.hpp>
#include <cstring>

namespace Svc {

const TlmPacketizer_TelemetrySendPortMap TlmPacketizer::TELEMETRY_SEND_PORT_MAP = {};

static_assert(Svc::TelemetrySection::NUM_SECTIONS >= 1, "At least one telemetry section is required");

// ----------------------------------------------------------------------
// Construction, initialization, and destruction
// ----------------------------------------------------------------------

TlmPacketizer ::TlmPacketizer(const char* const compName)
    : TlmPacketizerComponentBase(compName), m_numPackets(0), m_configured(false), m_numChannels(0) {
    // Register self as parameter delegate
    this->registerExternalParameters(this);
    // clear missing tlm channel check
    for (FwChanIdType entry = 0; entry < TLMPACKETIZER_MAX_MISSING_TLM_CHECK; entry++) {
        this->m_missTlmCheck[entry].checked = false;
        this->m_missTlmCheck[entry].id = 0;
    }

    // clear packet buffers
    for (FwChanIdType buffer = 0; buffer < MAX_PACKETIZER_PACKETS; buffer++) {
        this->m_fillBuffers[buffer].updated = false;
    }

    static_assert(NUM_CONFIGURABLE_TLMPACKETIZER_GROUPS == MAX_CONFIGURABLE_TLMPACKETIZER_GROUP + 1,
                  "NUM_CONFIGURABLE_TLMPACKETIZER_GROUPS MUST BE MAX_CONFIGURABLE_TLMPACKETIZER_GROUP + 1");
}

TlmPacketizer ::~TlmPacketizer() {}

void TlmPacketizer::setPacketList(const TlmPacketizerPacketList& packetList,
                                  const Svc::TlmPacketizerPacket& ignoreList,
                                  const FwChanIdType startLevel) {
    // Ignore list may be nullptr as long as numEntries is 0. Providing an ignore list with numEntries 0 disables
    // functionality for two reasons:
    //     1. There are no ignored channels as configured by FPP.
    //     2. Ignore functionality is intentionally disabled by project where nullptr was intentionally supplied.
    FW_ASSERT(ignoreList.list || ignoreList.numEntries == 0);
    FW_ASSERT(packetList.numEntries <= MAX_PACKETIZER_PACKETS, static_cast<FwAssertArgType>(packetList.numEntries));

    // Reset key data members incase of reentrant calls
    this->m_numChannels = 0;
    this->m_channelIndices.clear();
    this->m_configured = false;

    // validate packet sizes against maximum com buffer size and populate hash
    // table
    FwChanIdType maxLevel = 0;
    for (FwChanIdType pktEntry = 0; pktEntry < packetList.numEntries; pktEntry++) {
        // Initial size is packetized telemetry descriptor + size of time tag + sizeof packet ID
        FwSizeType packetLen =
            sizeof(FwPacketDescriptorType) + Fw::Time::SERIALIZED_SIZE + sizeof(FwTlmPacketizeIdType);
        // A packet with no channels is autocoded with a nullptr list and is permitted
        FW_ASSERT(packetList.list[pktEntry]->list != nullptr || packetList.list[pktEntry]->numEntries == 0,
                  static_cast<FwAssertArgType>(pktEntry));
        // add up entries for each defined packet
        for (FwChanIdType tlmEntry = 0; tlmEntry < packetList.list[pktEntry]->numEntries; tlmEntry++) {
            FwChanIdType id = packetList.list[pktEntry]->list[tlmEntry].id;
            const FwSizeType channelSize = packetList.list[pktEntry]->list[tlmEntry].size;
            FwSizeType entryIndex = 0;
            if (this->m_channelIndices.find(id, entryIndex) != Fw::Success::SUCCESS) {
                // New channel - allocate a slot and initialize offsets to -1 (not in any packet)
                entryIndex = this->m_numChannels++;
                this->m_channels[entryIndex].id = id;
                this->m_channels[entryIndex].hasValue = false;
                this->m_channels[entryIndex].channelSize = channelSize;
                for (FwChanIdType pktOffsetEntry = 0; pktOffsetEntry < MAX_PACKETIZER_PACKETS; pktOffsetEntry++) {
                    this->m_channels[entryIndex].packetOffset[pktOffsetEntry] = -1;
                }
                const Fw::Success insertStatus = this->m_channelIndices.insert(id, entryIndex);
                FW_ASSERT(insertStatus == Fw::Success::SUCCESS, static_cast<FwAssertArgType>(insertStatus));
            } else {
                // Existing channel - a channel ID may repeat across packets, but its definition (size) must match.
                // A conflicting size would corrupt the packet offsets computed from the earlier definition and
                // overflow the fill buffer during TlmRecv/TlmGet copies, so reject the misconfiguration here.
                FW_ASSERT(this->m_channels[entryIndex].channelSize == channelSize, static_cast<FwAssertArgType>(id),
                          static_cast<FwAssertArgType>(channelSize),
                          static_cast<FwAssertArgType>(this->m_channels[entryIndex].channelSize));
            }
            // not ignored channel - update entry in place via reference
            TlmEntry& entry = this->m_channels[entryIndex];
            entry.ignored = false;
            entry.channelSize = channelSize;
            // the offset into the buffer will be the current packet length
            // the offset must fit within FwSignedSizeType to allow for negative values
            FW_ASSERT(packetLen <= static_cast<FwSizeType>(std::numeric_limits<FwSignedSizeType>::max()),
                      static_cast<FwAssertArgType>(packetLen));
            entry.packetOffset[pktEntry] = static_cast<FwSignedSizeType>(packetLen);

            packetLen += entry.channelSize;

        }  // end channel in packet
        FW_ASSERT(packetLen <= FW_COM_BUFFER_MAX_SIZE, static_cast<FwAssertArgType>(packetLen),
                  static_cast<FwAssertArgType>(pktEntry));
        // clear contents
        (void)memset(this->m_fillBuffers[pktEntry].buffer.getBuffAddr(), 0, static_cast<size_t>(packetLen));
        // serialize packet descriptor and packet ID now since it will always be the same
        Fw::SerializeStatus stat = this->m_fillBuffers[pktEntry].buffer.serializeFrom(
            static_cast<FwPacketDescriptorType>(Fw::ComPacketType::FW_PACKET_PACKETIZED_TLM));
        FW_ASSERT(Fw::FW_SERIALIZE_OK == stat, stat);
        stat = this->m_fillBuffers[pktEntry].buffer.serializeFrom(packetList.list[pktEntry]->id);
        FW_ASSERT(Fw::FW_SERIALIZE_OK == stat, stat);
        // set packet buffer length
        stat = this->m_fillBuffers[pktEntry].buffer.setBuffLen(packetLen);
        FW_ASSERT(Fw::FW_SERIALIZE_OK == stat, stat);
        // save ID
        this->m_fillBuffers[pktEntry].id = packetList.list[pktEntry]->id;
        // save level
        this->m_fillBuffers[pktEntry].level = packetList.list[pktEntry]->level;
        // store max level
        if (packetList.list[pktEntry]->level > maxLevel) {
            maxLevel = packetList.list[pktEntry]->level;
        }

    }  // end packet list
    FW_ASSERT(maxLevel <= MAX_CONFIGURABLE_TLMPACKETIZER_GROUP, static_cast<FwAssertArgType>(maxLevel));

    // This section adds entries in the map for channels that are intended to be ignored. When the user supplies
    // a list with no length, this loop is skipped. To turn-off ignoring of channels, the user can provide a null
    // list with 0 length.
    for (FwChanIdType channelEntry = 0; channelEntry < ignoreList.numEntries; channelEntry++) {
        FwChanIdType id = ignoreList.list[channelEntry].id;
        FwSizeType entryIndex = 0;
        if (this->m_channelIndices.find(id, entryIndex) != Fw::Success::SUCCESS) {
            // New channel - allocate a slot and initialize offsets to -1 (not in any packet)
            entryIndex = this->m_numChannels++;
            this->m_channels[entryIndex].id = id;
            this->m_channels[entryIndex].hasValue = false;
            for (FwChanIdType pktOffsetEntry = 0; pktOffsetEntry < MAX_PACKETIZER_PACKETS; pktOffsetEntry++) {
                this->m_channels[entryIndex].packetOffset[pktOffsetEntry] = -1;
            }
            const Fw::Success insertStatus = this->m_channelIndices.insert(id, entryIndex);
            FW_ASSERT(insertStatus == Fw::Success::SUCCESS, static_cast<FwAssertArgType>(insertStatus));
        } else {
            // Ensure it is a duplicate in the ignore list, not a duplicate of a valid channel
            FW_ASSERT(this->m_channels[entryIndex].ignored, static_cast<FwAssertArgType>(id));
        }
        // is ignored channel - update entry in place via reference
        TlmEntry& entry = this->m_channels[entryIndex];
        entry.ignored = true;
        entry.channelSize = ignoreList.list[channelEntry].size;
    }  // end ignore list

    // store number of packets
    this->m_numPackets = packetList.numEntries;

    // indicate configured
    this->m_configured = true;
}

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

void TlmPacketizer ::TlmRecv_handler(const FwIndexType portNum,
                                     FwChanIdType id,
                                     Fw::Time& timeTag,
                                     Fw::TlmBuffer& val) {
    FW_ASSERT(this->m_configured);
    FwSizeType entryIndex = 0;

    // Search to see if the channel is being tracked
    if (this->m_channelIndices.find(id, entryIndex) != Fw::Success::SUCCESS) {
        // channel not part of a packet and not ignored
        this->missingChannel(id);
        return;
    }

    TlmEntry& entry = this->m_channels[entryIndex];

    // check to see if the channel is ignored. If so, just return.
    if (entry.ignored) {
        return;
    }

    // An update larger than the configured channel size would overrun the packet
    // fill buffer. Values may arrive from external sources (e.g. a hub bridging
    // another address space), so reject rather than assert.
    if (val.getSize() > entry.channelSize) {
        this->log_WARNING_HI_OversizedChannel(id, val.getSize(), entry.channelSize);
        return;
    }

    // copy telemetry value into active buffers; hasValue written in-place via reference
    for (FwChanIdType pkt = 0; pkt < MAX_PACKETIZER_PACKETS; pkt++) {
        // check if current packet has this channel
        if (entry.packetOffset[pkt] != -1) {
            // get destination address
            this->m_lock.lock();
            this->m_fillBuffers[pkt].updated = true;
            this->m_fillBuffers[pkt].latestTime = timeTag;
            U8* ptr = &this->m_fillBuffers[pkt].buffer.getBuffAddr()[entry.packetOffset[pkt]];

            (void)memcpy(ptr, val.getBuffAddr(), static_cast<size_t>(val.getSize()));
            // set under the lock, after the copy, so TlmGet cannot see a value-less VALID entry
            entry.hasValue = true;
            this->m_lock.unLock();
        }
    }
}

void TlmPacketizer ::configureSectionGroupRate_handler(FwIndexType portNum,
                                                       const Svc::TelemetrySection& section,
                                                       FwChanIdType tlmGroup,
                                                       const Svc::RateLogic& rateLogic,
                                                       U32 minDelta,
                                                       U32 maxDelta) {
    this->configureSectionGroupRate(section, tlmGroup, rateLogic, minDelta, maxDelta);
}

Fw::TlmValid TlmPacketizer ::TlmGet_handler(FwIndexType portNum,  
                                            FwChanIdType id,      
                                            Fw::Time& timeTag,    
                                            Fw::TlmBuffer& val    
) {
    FW_ASSERT(this->m_configured);
    FwSizeType entryIndex = 0;

    // Search to see if the channel is being tracked
    if (this->m_channelIndices.find(id, entryIndex) != Fw::Success::SUCCESS) {
        // channel not part of a packet and not ignored
        this->missingChannel(id);
        val.resetSer();
        return Fw::TlmValid::INVALID;
    }
    const TlmEntry& entry = this->m_channels[entryIndex];

    // check to see if the channel is ignored. If so, just return, as
    // we don't store the bytes of ignored channels
    if (entry.ignored) {
        val.resetSer();
        return Fw::TlmValid::INVALID;
    }

    if (!entry.hasValue) {
        // haven't received a value yet for this entry.
        val.resetSer();
        return Fw::TlmValid::INVALID;
    }

    // make sure we have enough space to store this entry in our buf
    FW_ASSERT(entry.channelSize <= val.getCapacity(), static_cast<FwAssertArgType>(entry.channelSize),
              static_cast<FwAssertArgType>(val.getCapacity()));

    // okay, we have the matching entry.
    // go over each packet and find the first one which stores this channel

    for (FwChanIdType pkt = 0; pkt < MAX_PACKETIZER_PACKETS; pkt++) {
        // check if current packet has this channel
        if (entry.packetOffset[pkt] != -1) {
            // okay, it has the channel. copy chan val into the tlm buf
            this->m_lock.lock();
            timeTag = this->m_fillBuffers[pkt].latestTime;
            U8* ptr = &this->m_fillBuffers[pkt].buffer.getBuffAddr()[entry.packetOffset[pkt]];
            (void)memcpy(val.getBuffAddr(), ptr, static_cast<size_t>(entry.channelSize));
            // set buf len to the channelSize. keep in mind, this is the MAX serialized size of the channel.
            // so we may actually be filling val with some junk after the value of the channel.
            const Fw::SerializeStatus setStatus = val.setBuffLen(entry.channelSize);
            FW_ASSERT(setStatus == Fw::SerializeStatus::FW_SERIALIZE_OK, static_cast<FwAssertArgType>(setStatus));
            this->m_lock.unLock();
            return Fw::TlmValid::VALID;
        }
    }

    // did not find a packet which stores this channel.
    // coding error, this was not an ignored channel so it must be in a packet somewhere
    FW_ASSERT(false, static_cast<FwAssertArgType>(entry.id));
    // TPP (tim paranoia principle)
    val.resetSer();
    return Fw::TlmValid::INVALID;
}

void TlmPacketizer ::Run_handler(const FwIndexType portNum, U32 context) {
    FW_ASSERT(this->m_configured);

    for (FwChanIdType pkt = 0; pkt < this->m_numPackets; pkt++) {
        // Local flags to track which sections require a packet dispatch
        bool sectionNeedsSend[TelemetrySection::NUM_SECTIONS] = {false};
        bool anySectionNeedsSend = false;

        // Lock only to capture the update status and reset the fill buffer flag.
        this->m_lock.lock();
        bool isNewData = this->m_fillBuffers[pkt].updated;
        FwChanIdType entryGroup = this->m_fillBuffers[pkt].level;
        this->m_fillBuffers[pkt].updated = false;
        this->m_lock.unLock();

        for (FwIndexType section = 0; section < TelemetrySection::NUM_SECTIONS; section++) {
            PktSendCounters& pktEntryFlags = this->m_packetFlags[static_cast<FwSizeType>(section)][pkt];
            TlmPacketizer_GroupConfig& entryGroupConfig =
                this->m_groupConfigs[static_cast<FwSizeType>(section)][entryGroup];

            // Packet is updated and not REQUESTED (Keep REQUESTED marking to bypass disable checks)
            if (isNewData && pktEntryFlags.updateFlag != UpdateFlag::REQUESTED) {
                pktEntryFlags.updateFlag = UpdateFlag::NEW;
            }

            /* Base conditions for sending
            1. Output port is connected
            2. The packet was requested (Override Checks).

            If the packet wasn't requested:
            3. The Section and Group in Section is enabled OR the Group in Section is force enabled
            4. The rate logic is not SILENCED.
            5. The packet has data (marked updated in the past or new)
            */
            if (!this->isConnected_PktSend_OutputPort(this->sectionGroupToPort(section, entryGroup))) {
                continue;
            }

            if (pktEntryFlags.updateFlag == UpdateFlag::REQUESTED) {
                sectionNeedsSend[section] = true;
            } else {
                if (not((entryGroupConfig.get_enabled() and
                         this->m_sectionEnabled[static_cast<FwSizeType>(section)] == Fw::Enabled::ENABLED) or
                        entryGroupConfig.get_forceEnabled() == Fw::Enabled::ENABLED)) {
                    continue;
                }
                if (entryGroupConfig.get_rateLogic() == Svc::RateLogic::SILENCED) {
                    continue;
                }
                if (pktEntryFlags.updateFlag == UpdateFlag::NEVER_UPDATED) {
                    continue;  // Avoid No Data
                }
            }

            // Update Counter, prevent overflow.
            if (pktEntryFlags.prevSentCounter < std::numeric_limits<U32>::max()) {
                pktEntryFlags.prevSentCounter++;
            }

            /*
            1. Packet has been updated
            2. Group Logic includes checking MIN
            3. Packet sent counter at MIN
            */
            if (pktEntryFlags.updateFlag == UpdateFlag::NEW and
                entryGroupConfig.get_rateLogic() != Svc::RateLogic::EVERY_MAX and
                pktEntryFlags.prevSentCounter >= entryGroupConfig.get_min()) {
                sectionNeedsSend[section] = true;
            }

            /*
            1. Group Logic includes checking MAX
            2. Packet set counter is at MAX
            */
            if (entryGroupConfig.get_rateLogic() != Svc::RateLogic::ON_CHANGE_MIN and
                pktEntryFlags.prevSentCounter >= entryGroupConfig.get_max()) {
                sectionNeedsSend[section] = true;
            }

            if (sectionNeedsSend[section]) {
                anySectionNeedsSend = true;
            }
        }

        // Only perform the buffer copy if at least one section needs to send.
        if (anySectionNeedsSend) {
            this->m_lock.lock();
            BufferEntry sendBuffer = this->m_fillBuffers[pkt];
            this->m_lock.unLock();

            // serialize time into time offset in packet
            Fw::ExternalSerializeBuffer buff(
                &sendBuffer.buffer.getBuffAddr()[sizeof(FwPacketDescriptorType) + sizeof(FwTlmPacketizeIdType)],
                Fw::Time::SERIALIZED_SIZE);
            (void)buff.serializeFrom(sendBuffer.latestTime);

            for (FwIndexType section = 0; section < TelemetrySection::NUM_SECTIONS; section++) {
                if (sectionNeedsSend[section]) {
                    PktSendCounters& pktEntryFlags = this->m_packetFlags[section][pkt];
                    FwIndexType outIndex = this->sectionGroupToPort(section, entryGroup);

                    this->PktSend_out(outIndex, sendBuffer.buffer, pktEntryFlags.prevSentCounter);

                    pktEntryFlags.prevSentCounter = 0;
                    pktEntryFlags.updateFlag = UpdateFlag::PAST;
                }
            }
        }
    }
}

void TlmPacketizer ::controlIn_handler(FwIndexType portNum,
                                       const Svc::TelemetrySection& section,
                                       const Fw::Enabled& enabled) {
    // NUM_SECTIONS is an enum constant (not a standalone constant), so isValid() accepts it.
    // The explicit bounds check prevents an out-of-bounds write to m_sectionEnabled.
    if (section.isValid() && section < TelemetrySection::NUM_SECTIONS && enabled.isValid()) {
        (void)(this->m_sectionEnabled[static_cast<FwSizeType>(section)] = enabled);
    } else {
        this->log_WARNING_LO_SectionUnconfigurable(section, enabled);
    }
}

void TlmPacketizer ::pingIn_handler(const FwIndexType portNum, U32 key) {
    // return key
    this->pingOut_out(0, key);
}

// ----------------------------------------------------------------------
// Command handler implementations
// ----------------------------------------------------------------------

void TlmPacketizer ::SET_LEVEL_cmdHandler(const FwOpcodeType opCode, const U32 cmdSeq, FwChanIdType level) {
    if (level > MAX_CONFIGURABLE_TLMPACKETIZER_GROUP) {
        this->log_WARNING_LO_MaxLevelExceed(level, MAX_CONFIGURABLE_TLMPACKETIZER_GROUP);
        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::VALIDATION_ERROR);
        return;
    }
    for (FwIndexType section = 0; section < TelemetrySection::NUM_SECTIONS; section++) {
        for (FwChanIdType group = 0; group < NUM_CONFIGURABLE_TLMPACKETIZER_GROUPS; group++) {
            this->m_groupConfigs[static_cast<FwSizeType>(section)][group].set_enabled(
                group <= level ? Fw::Enabled::ENABLED : Fw::Enabled::DISABLED);
        }
    }
    this->tlmWrite_GroupConfigs(this->m_groupConfigs);
    this->log_ACTIVITY_HI_LevelSet(level);
    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void TlmPacketizer ::SEND_PKT_cmdHandler(const FwOpcodeType opCode,
                                         const U32 cmdSeq,
                                         const U32 id,
                                         const Svc::TelemetrySection& section) {
    FW_ASSERT(section.isValid());
    if (section < 0 or section >= TelemetrySection::NUM_SECTIONS) {
        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::VALIDATION_ERROR);
        return;
    }
    FwChanIdType pkt = 0;
    for (pkt = 0; pkt < this->m_numPackets; pkt++) {
        if (this->m_fillBuffers[pkt].id == id) {
            this->m_lock.lock();
            this->m_fillBuffers[pkt].updated = true;
            this->m_fillBuffers[pkt].latestTime = this->getTime();
            this->m_lock.unLock();

            this->m_packetFlags[section][pkt].updateFlag = UpdateFlag::REQUESTED;

            this->log_ACTIVITY_LO_PacketSent(id);
            break;
        }
    }

    // couldn't find it
    if (pkt == this->m_numPackets) {
        log_WARNING_LO_PacketNotFound(id);
        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::VALIDATION_ERROR);
        return;
    }

    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void TlmPacketizer ::ENABLE_SECTION_cmdHandler(FwOpcodeType opCode,
                                               U32 cmdSeq,
                                               const Svc::TelemetrySection& section,
                                               const Fw::Enabled& enable) {
    FW_ASSERT(section.isValid());
    FW_ASSERT(enable.isValid());
    if (section < 0 or section >= TelemetrySection::NUM_SECTIONS) {
        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::VALIDATION_ERROR);
        return;
    }
    (void)(this->m_sectionEnabled[section] = enable);
    this->tlmWrite_SectionEnabled(this->m_sectionEnabled);
    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void TlmPacketizer ::ENABLE_GROUP_cmdHandler(FwOpcodeType opCode,
                                             U32 cmdSeq,
                                             const Svc::TelemetrySection& section,
                                             FwChanIdType tlmGroup,
                                             const Fw::Enabled& enable) {
    FW_ASSERT(section.isValid());
    FW_ASSERT(enable.isValid());
    if (section < 0 or section >= TelemetrySection::NUM_SECTIONS or tlmGroup > MAX_CONFIGURABLE_TLMPACKETIZER_GROUP) {
        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::VALIDATION_ERROR);
        return;
    }
    this->m_groupConfigs[section][tlmGroup].set_enabled(enable);
    this->tlmWrite_GroupConfigs(this->m_groupConfigs);
    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void TlmPacketizer ::FORCE_GROUP_cmdHandler(FwOpcodeType opCode,
                                            U32 cmdSeq,
                                            const Svc::TelemetrySection& section,
                                            FwChanIdType tlmGroup,
                                            const Fw::Enabled& enable) {
    FW_ASSERT(section.isValid());
    FW_ASSERT(enable.isValid());
    if (section < 0 or section >= TelemetrySection::NUM_SECTIONS or tlmGroup > MAX_CONFIGURABLE_TLMPACKETIZER_GROUP) {
        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::VALIDATION_ERROR);
        return;
    }
    this->m_groupConfigs[section][tlmGroup].set_forceEnabled(enable);
    this->tlmWrite_GroupConfigs(this->m_groupConfigs);
    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void TlmPacketizer ::CONFIGURE_GROUP_RATES_cmdHandler(FwOpcodeType opCode,
                                                      U32 cmdSeq,
                                                      const Svc::TelemetrySection& section,
                                                      FwChanIdType tlmGroup,
                                                      const Svc::RateLogic& rateLogic,
                                                      U32 minDelta,
                                                      U32 maxDelta) {
    FW_ASSERT(section.isValid());
    FW_ASSERT(rateLogic.isValid());
    if (section < 0 or section >= TelemetrySection::NUM_SECTIONS or tlmGroup > MAX_CONFIGURABLE_TLMPACKETIZER_GROUP) {
        this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::VALIDATION_ERROR);
        return;
    }
    this->configureSectionGroupRate(section, tlmGroup, rateLogic, minDelta, maxDelta);
    this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
}

void TlmPacketizer::configureSectionGroupRate(
    const Svc::TelemetrySection& section,  
    FwChanIdType tlmGroup,                 
    const Svc::RateLogic& rateLogic,       
    U32 minDelta,  
    U32 maxDelta   
) {
    FW_ASSERT(section.isValid());
    FW_ASSERT(rateLogic.isValid());
    // These two asserts are an "if" statement in a command so they will no assert on bad user data
    FW_ASSERT(section >= 0 and section < TelemetrySection::NUM_SECTIONS);
    FW_ASSERT(tlmGroup <= MAX_CONFIGURABLE_TLMPACKETIZER_GROUP);

    TlmPacketizer_GroupConfig& groupConfig = this->m_groupConfigs[section][tlmGroup];
    groupConfig.set_rateLogic(rateLogic);
    groupConfig.set_min(minDelta);
    groupConfig.set_max(maxDelta);
    this->tlmWrite_GroupConfigs(this->m_groupConfigs);
}

FwIndexType TlmPacketizer::sectionGroupToPort(const FwIndexType section, const FwSizeType group) {
    // Confirm the indices will not overflow the size of the array
    FW_ASSERT(group < TlmPacketizer_TelemetrySendSection::SIZE, static_cast<FwAssertArgType>(group));
    FW_ASSERT(section < TlmPacketizer_TelemetrySendPortMap::SIZE, static_cast<FwAssertArgType>(section));

    const FwIndexType outIndex = TlmPacketizer::TELEMETRY_SEND_PORT_MAP[static_cast<FwSizeType>(section)][group];

    // Confirm the output port index is within the valid number of telemetry send ports
    FW_ASSERT(outIndex < TELEMETRY_SEND_PORTS, static_cast<FwAssertArgType>(outIndex));
    return outIndex;
}

void TlmPacketizer::missingChannel(FwChanIdType id) {
    // search to see if missing channel has already been sent
    for (FwChanIdType slot = 0; slot < TLMPACKETIZER_MAX_MISSING_TLM_CHECK; slot++) {
        // if it's been checked, return
        if (this->m_missTlmCheck[slot].checked and (this->m_missTlmCheck[slot].id == id)) {
            return;
        } else if (not this->m_missTlmCheck[slot].checked) {
            this->m_missTlmCheck[slot].checked = true;
            this->m_missTlmCheck[slot].id = id;
            this->log_WARNING_LO_NoChan(id);
            return;
        }
    }
}

Fw::SerializeStatus TlmPacketizer::deserializeParam(const FwPrmIdType base_id,
                                                    const FwPrmIdType local_id,
                                                    const Fw::ParamValid prmStat,
                                                    Fw::SerialBufferBase& buff) {
    if (FW_PARAM_OK(prmStat)) {
        switch (local_id) {
            case PARAMID_SECTION_ENABLED:
                return buff.deserializeTo(this->m_sectionEnabled);
            case PARAMID_SECTION_CONFIGS:
                return buff.deserializeTo(this->m_groupConfigs);
            default:
                FW_ASSERT(false, static_cast<FwAssertArgType>(local_id));
        }
    }
    return Fw::SerializeStatus::FW_DESERIALIZE_TYPE_MISMATCH;
}

Fw::SerializeStatus TlmPacketizer::serializeParam(const FwPrmIdType base_id,
                                                  const FwPrmIdType local_id,
                                                  Fw::SerialBufferBase& buff) const {
    switch (local_id) {
        case PARAMID_SECTION_ENABLED:
            return buff.serializeFrom(this->m_sectionEnabled);
        case PARAMID_SECTION_CONFIGS:
            return buff.serializeFrom(this->m_groupConfigs);
        default:
            FW_ASSERT(false, static_cast<FwAssertArgType>(local_id));
    }
    return Fw::SerializeStatus::FW_SERIALIZE_FORMAT_ERROR;
}

}  // end namespace Svc