FpySequencer.hpp

// ======================================================================
// \title  FpySequencer.hpp
// \author zimri.leisher
// \brief  hpp file for FpySequencer component implementation class
// ======================================================================

#ifndef FpySequencer_HPP
#define FpySequencer_HPP

#include "Fw/Types/MemAllocator.hpp"
#include "Fw/Types/StringBase.hpp"
#include "Fw/Types/SuccessEnumAc.hpp"
#include "Fw/Types/WaitEnumAc.hpp"
#include "Os/File.hpp"
#include "Svc/FpySequencer/DirectiveIdEnumAc.hpp"
#include "Svc/FpySequencer/FlagIdEnumAc.hpp"
#include "Svc/FpySequencer/FooterSerializableAc.hpp"
#include "Svc/FpySequencer/FppConstantsAc.hpp"
#include "Svc/FpySequencer/FpySequencerComponentAc.hpp"
#include "Svc/FpySequencer/FpySequencer_GoalStateEnumAc.hpp"
#include "Svc/FpySequencer/HeaderSerializableAc.hpp"
#include "Svc/FpySequencer/SequenceSerializableAc.hpp"
#include "Svc/FpySequencer/StatementSerializableAc.hpp"
#include "config/FppConstantsAc.hpp"
#include <random>

static_assert(Svc::Fpy::MAX_SEQUENCE_ARG_COUNT <= std::numeric_limits<U8>::max(),
              "Sequence arg count must be below U8 max");
static_assert(Svc::Fpy::MAX_SEQUENCE_STATEMENT_COUNT <= std::numeric_limits<U16>::max(),
              "Sequence statement count must be below U16 max");
static_assert(Svc::Fpy::MAX_STACK_SIZE <= std::numeric_limits<Svc::Fpy::StackSizeType>::max(),
              "Max stack size must be below Svc::Fpy::StackSizeType max");
static_assert(Svc::Fpy::MAX_STACK_SIZE >= static_cast<FwSizeType>(FW_TLM_BUFFER_MAX_SIZE),
              "Max stack size must be greater than max tlm buffer size");
static_assert(Svc::Fpy::MAX_STACK_SIZE >= static_cast<FwSizeType>(FW_PARAM_BUFFER_MAX_SIZE),
              "Max stack size must be greater than max prm buffer size");
static_assert(Svc::Fpy::FLAG_COUNT < std::numeric_limits<U8>::max(), "Flag count must be less than U8 max");

namespace Svc {

using Signal = FpySequencer_SequencerStateMachineStateMachineBase::Signal;
using State = FpySequencer_SequencerStateMachineStateMachineBase::State;
using DirectiveError = Fpy::DirectiveErrorCode;

class FpySequencer : public FpySequencerComponentBase {
    friend class FpySequencerTester;

  public:
    union DirectiveUnion {
        FpySequencer_WaitRelDirective waitRel;
        FpySequencer_WaitAbsDirective waitAbs;
        FpySequencer_GotoDirective gotoDirective;
        FpySequencer_IfDirective ifDirective;
        FpySequencer_NoOpDirective noOp;
        FpySequencer_PushTlmValDirective pushTlmVal;
        FpySequencer_PushTlmValAndTimeDirective pushTlmValAndTime;
        FpySequencer_PushPrmDirective pushPrm;
        FpySequencer_ConstCmdDirective constCmd;
        FpySequencer_StackOpDirective stackOp;
        FpySequencer_ExitDirective exit;
        FpySequencer_AllocateDirective allocate;
        FpySequencer_StoreRelConstOffsetDirective storeRelConstOffset;
        FpySequencer_LoadRelDirective loadRel;
        FpySequencer_PushValDirective pushVal;
        FpySequencer_DiscardDirective discard;
        FpySequencer_MemCmpDirective memCmp;
        FpySequencer_StackCmdDirective stackCmd;
        FpySequencer_PushTimeDirective pushTime;
        FpySequencer_SetSeedDirective setSeed;
        FpySequencer_PushRandDirective pushRand;
        FpySequencer_SetFlagDirective setFlag;
        FpySequencer_GetFlagDirective getFlag;
        FpySequencer_GetFieldDirective getField;
        FpySequencer_PeekDirective peek;
        FpySequencer_StoreRelDirective storeRel;
        FpySequencer_CallDirective call;
        FpySequencer_ReturnDirective returnDirective;
        FpySequencer_LoadAbsDirective loadAbs;
        FpySequencer_StoreAbsDirective storeAbs;
        FpySequencer_StoreAbsConstOffsetDirective storeAbsConstOffset;

        DirectiveUnion() {}
        ~DirectiveUnion() {}
    };

    class Stack {
      public:
        // the byte array of the program stack, storing lvars, operands and function calls
        U8 bytes[Fpy::MAX_STACK_SIZE] = {0};
        // how many bytes high the stack is
        Fpy::StackSizeType size = 0;
        // the byte offset from the start of the stack where the current function's local variables begin.
        // analogous to a 'frame pointer'.
        Fpy::StackSizeType currentFrameStart = 0;

        // pops a value off of the top of the stack
        // converts it from big endian
        template <typename T>
        T pop();

        // pushes a value onto the top of the stack
        // converts it to big endian
        template <typename T>
        void push(T val);

        // pops a byte array from the top of the stack into the destination array
        // does not convert endianness
        void pop(U8* dest, Fpy::StackSizeType size);

        // pushes a byte array to the top of the stack from the source array
        // leaves the source array unmodified
        // does not convert endianness
        void push(U8* src, Fpy::StackSizeType size);

        // pushes zero bytes to the stack
        void pushZeroes(Fpy::StackSizeType byteCount);

        // returns a pointer to the next unused byte at the top of the stack
        U8* top();

        // Copies data from one region of the stack to another
        // Asserts that both regions are within bounds and do not overlap
        // Does not modify stack size
        void copy(Fpy::StackSizeType destOffset, Fpy::StackSizeType srcOffset, Fpy::StackSizeType copySize);

        // Moves data within the stack (handles overlapping regions)
        // Asserts that both source and destination are within bounds
        // Does not modify stack size
        void move(Fpy::StackSizeType destOffset, Fpy::StackSizeType srcOffset, Fpy::StackSizeType moveSize);
    };

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

    //! Construct object FpySequencer
    //!
    FpySequencer(const char* const compName /*!< The component name*/
    );

    //! Destroy object FpySequencer
    //!
    ~FpySequencer();

  private:
    //! Handler for command RUN
    //!
    //! Loads, validates and runs a sequence
    void RUN_cmdHandler(FwOpcodeType opCode,               //!< The opcode
                        U32 cmdSeq,                        //!< The command sequence number
                        const Fw::CmdStringArg& fileName,  //!< The name of the sequence file
                        FpySequencer_BlockState block      //!< Return command status when complete or not
                        ) override;

    //! Handler for command VALIDATE
    //!
    //! Loads and validates a sequence
    void VALIDATE_cmdHandler(FwOpcodeType opCode,              //!< The opcode
                             U32 cmdSeq,                       //!< The command sequence number
                             const Fw::CmdStringArg& fileName  //!< The name of the sequence file
                             ) override;

    //! Handler for command RUN_VALIDATED
    //!
    //! Runs a previously validated sequence
    void RUN_VALIDATED_cmdHandler(FwOpcodeType opCode,           //!< The opcode
                                  U32 cmdSeq,                    //!< The command sequence number
                                  FpySequencer_BlockState block  //!< Return command status when complete or not
                                  ) override;

    //! Handler for command CANCEL
    //!
    //! Cancels a running or validated sequence
    void CANCEL_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                           U32 cmdSeq            //!< The command sequence number
                           ) override;

    //! Handler for command SET_BREAKPOINT
    //!
    //! Sets the breakpoint which will pause the execution of the sequencer when
    //! reached, until unpaused by the CONTINUE command. Will pause just before
    //! dispatching the specified statement. This command is valid in all states. Breakpoint
    //! settings are cleared after a sequence ends execution.
    void SET_BREAKPOINT_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                                   U32 cmdSeq,           //!< The command sequence number
                                   U32 stmtIdx,          //!< The statement index to pause execution before.
                                   bool breakOnce        //!< Whether or not to break only once at this breakpoint
                                   ) override;

    //! Handler for command BREAK
    //!
    //! Pauses the execution of the sequencer, just before it is about to dispatch the next statement,
    //! until unpaused by the CONTINUE command, or stepped by the STEP command. This command is only valid in the
    //! RUNNING state.
    void BREAK_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                          U32 cmdSeq            //!< The command sequence number
                          ) override;

    //! Handler for command CONTINUE
    //!
    //! Continues the automatic execution of the sequence after it has been paused. If a breakpoint is still
    //! set, it may pause again on that breakpoint. This command is only valid in the RUNNING.PAUSED state.
    void CONTINUE_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                             U32 cmdSeq            //!< The command sequence number
                             ) override;

    //! Handler for command CLEAR_BREAKPOINT
    //!
    //! Clears the breakpoint, but does not continue executing the sequence. This command
    //! is valid in all states. This happens automatically when a sequence ends execution.
    void CLEAR_BREAKPOINT_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                                     U32 cmdSeq            //!< The command sequence number
                                     ) override;

    //! Handler for command STEP
    //!
    //! Dispatches and awaits the result of the next directive, or ends the sequence if no more directives remain.
    //! Returns to the RUNNING.PAUSED state if the directive executes successfully. This command is only valid in the
    //! RUNNING.PAUSED state.
    void STEP_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                         U32 cmdSeq            //!< The command sequence number
                         ) override;

    //! Handler for command SET_FLAG
    //!
    //! Sets the value of a flag. See Fpy.FlagId docstrings for info on each flag.
    //! This command is only valid in the RUNNING state.
    void SET_FLAG_cmdHandler(FwOpcodeType opCode,  //!< The opcode
                             U32 cmdSeq,           //!< The command sequence number
                             Svc::Fpy::FlagId flag,
                             bool value) override;
    //! Handler for command DUMP_STACK_TO_FILE
    //!
    //! Writes the contents of the stack to a file. This command is only valid in the RUNNING.PAUSED state.
    void DUMP_STACK_TO_FILE_cmdHandler(FwOpcodeType opCode,              //!< The opcode
                                       U32 cmdSeq,                       //!< The command sequence number
                                       const Fw::CmdStringArg& fileName  //!< The name of the output file
                                       ) override;

    // ----------------------------------------------------------------------
    // Functions to implement for internal state machine actions
    // ----------------------------------------------------------------------

    //! Implementation for action signalEntered of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! simply raises the "entered" signal
    void Svc_FpySequencer_SequencerStateMachine_action_signalEntered(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action setSequenceFilePath of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the current sequence file path member var
    void Svc_FpySequencer_SequencerStateMachine_action_setSequenceFilePath(
        SmId smId,                                              //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal,  //!< The signal
        const Svc::FpySequencer_SequenceExecutionArgs& value    //!< The value
        ) override;

    //! Implementation for action setSequenceBlockState of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the block state of the sequence to be run
    void Svc_FpySequencer_SequencerStateMachine_action_setSequenceBlockState(
        SmId smId,                                              //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal,  //!< The signal
        const Svc::FpySequencer_SequenceExecutionArgs& value    //!< The value
        ) override;

    //! Implementation for action validate of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! performs all steps necessary for sequence validation, and raises a signal result_success or result_failure
    void Svc_FpySequencer_SequencerStateMachine_action_validate(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action report_seqSucceeded of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! reports that a sequence succeeded
    void Svc_FpySequencer_SequencerStateMachine_action_report_seqSucceeded(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action report_seqCancelled of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! reports that a sequence was cancelled
    void Svc_FpySequencer_SequencerStateMachine_action_report_seqCancelled(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action setGoalState_RUNNING of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the goal state to RUNNING
    void Svc_FpySequencer_SequencerStateMachine_action_setGoalState_RUNNING(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action setGoalState_VALID of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the goal state to VALID
    void Svc_FpySequencer_SequencerStateMachine_action_setGoalState_VALID(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action setGoalState_IDLE of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the goal state to IDLE
    void Svc_FpySequencer_SequencerStateMachine_action_setGoalState_IDLE(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action sendCmdResponse_OK of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! responds to the calling command with OK
    void Svc_FpySequencer_SequencerStateMachine_action_sendCmdResponse_OK(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action sendCmdResponse_EXECUTION_ERROR of state machine
    //! Svc_FpySequencer_SequencerStateMachine
    //!
    //! responds to the calling command with EXECUTION_ERROR
    void Svc_FpySequencer_SequencerStateMachine_action_sendCmdResponse_EXECUTION_ERROR(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action dispatchStatement of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! iterates to the next statement and dispatches it
    void Svc_FpySequencer_SequencerStateMachine_action_dispatchStatement(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action clearSequenceFile of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! clears all variables related to the loading/validating of the sequence file
    void Svc_FpySequencer_SequencerStateMachine_action_clearSequenceFile(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action checkShouldWake of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! checks if sequencer should wake from sleep
    void Svc_FpySequencer_SequencerStateMachine_action_checkShouldWake(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action resetRuntime of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! resets the sequence runtime
    void Svc_FpySequencer_SequencerStateMachine_action_resetRuntime(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action checkStatementTimeout of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! checks if the current statement has timed out
    void Svc_FpySequencer_SequencerStateMachine_action_checkStatementTimeout(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action incrementSequenceCounter of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! increments the m_sequencesStarted counter
    void Svc_FpySequencer_SequencerStateMachine_action_incrementSequenceCounter(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action clearBreakpoint of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! clears the breakpoint, allowing execution of the sequence to continue
    void Svc_FpySequencer_SequencerStateMachine_action_clearBreakpoint(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action report_seqBroken of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! reports that a breakpoint was hit
    void Svc_FpySequencer_SequencerStateMachine_action_report_seqBroken(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action setBreakpoint of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the breakpoint to the provided args
    void Svc_FpySequencer_SequencerStateMachine_action_setBreakpoint(
        SmId smId,                                              //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal,  //!< The signal
        const Svc::FpySequencer_BreakpointArgs& value           //!< The value
        ) override;

    //! Implementation for action setBreakBeforeNextLine of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the "break on next line" flag to true
    void Svc_FpySequencer_SequencerStateMachine_action_setBreakBeforeNextLine(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action clearBreakBeforeNextLine of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! sets the "break on next line" flag to false
    void Svc_FpySequencer_SequencerStateMachine_action_clearBreakBeforeNextLine(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action report_seqFailed of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! called when a sequence failed to execute successfully
    void Svc_FpySequencer_SequencerStateMachine_action_report_seqFailed(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

    //! Implementation for action report_seqStarted of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! reports that a sequence was started
    void Svc_FpySequencer_SequencerStateMachine_action_report_seqStarted(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
        ) override;

  protected:
    // ----------------------------------------------------------------------
    // Functions to implement for internal state machine guards
    // ----------------------------------------------------------------------

    //! Implementation for guard goalStateIs_RUNNING of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! return true if the goal state is RUNNING
    bool Svc_FpySequencer_SequencerStateMachine_guard_goalStateIs_RUNNING(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
    ) const override;

    //! Implementation for guard shouldBreak of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! return true if should break at this point in execution, before dispatching
    //! next stmt
    bool Svc_FpySequencer_SequencerStateMachine_guard_shouldBreak(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
    ) const override;

    //! Implementation for guard breakOnce of state machine Svc_FpySequencer_SequencerStateMachine
    //!
    //! return true if this breakpoint should only happen once
    bool Svc_FpySequencer_SequencerStateMachine_guard_breakOnce(
        SmId smId,                                             //!< The state machine id
        Svc_FpySequencer_SequencerStateMachine::Signal signal  //!< The signal
    ) const override;

    // ----------------------------------------------------------------------
    // Handlers to implement for typed input ports
    // ----------------------------------------------------------------------

    //! Handler for input port checkTimers
    void checkTimers_handler(FwIndexType portNum,  //!< The port number
                             U32 context           //!< The call order
                             ) override;

    //! Handler for input port cmdResponseIn
    void cmdResponseIn_handler(FwIndexType portNum,             //!< The port number
                               FwOpcodeType opCode,             //!< Command Op Code
                               U32 cmdSeq,                      //!< Command Sequence
                               const Fw::CmdResponse& response  //!< The command response argument
                               ) override;

    //! Handler for input port seqRunIn
    void seqRunIn_handler(FwIndexType portNum, const Fw::StringBase& filename) override;

    //! Handler for input port pingIn
    void pingIn_handler(FwIndexType portNum,  //!< The port number
                        U32 key               //!< Value to return to pinger
                        ) override;

    //! Handler for input port tlmWrite
    void tlmWrite_handler(FwIndexType portNum,  //!< The port number
                          U32 context           //!< The call order
                          ) override;

    //! Internal interface handler for directive_waitAbs
    void directive_waitAbs_internalInterfaceHandler(const FpySequencer_WaitAbsDirective& directive) override;

    //! Internal interface handler for directive_waitRel
    void directive_waitRel_internalInterfaceHandler(const FpySequencer_WaitRelDirective& directive) override;

    //! Internal interface handler for directive_goto
    void directive_goto_internalInterfaceHandler(const Svc::FpySequencer_GotoDirective& directive) override;

    //! Internal interface handler for directive_if
    void directive_if_internalInterfaceHandler(const Svc::FpySequencer_IfDirective& directive) override;

    //! Internal interface handler for directive_noOp
    void directive_noOp_internalInterfaceHandler(const Svc::FpySequencer_NoOpDirective& directive) override;

    //! Internal interface handler for directive_pushTlmVal
    void directive_pushTlmVal_internalInterfaceHandler(const Svc::FpySequencer_PushTlmValDirective& directive) override;

    //! Internal interface handler for directive_pushTlmValAndTime
    void directive_pushTlmValAndTime_internalInterfaceHandler(
        const Svc::FpySequencer_PushTlmValAndTimeDirective& directive) override;

    //! Internal interface handler for directive_pushPrm
    void directive_pushPrm_internalInterfaceHandler(const Svc::FpySequencer_PushPrmDirective& directive) override;

    //! Internal interface handler for directive_constCmd
    void directive_constCmd_internalInterfaceHandler(const Svc::FpySequencer_ConstCmdDirective& directive) override;

    //! Internal interface handler for directive_stackOp
    void directive_stackOp_internalInterfaceHandler(const Svc::FpySequencer_StackOpDirective& directive) override;

    //! Internal interface handler for directive_exit
    void directive_exit_internalInterfaceHandler(const Svc::FpySequencer_ExitDirective& directive) override;

    //! Internal interface handler for directive_allocate
    void directive_allocate_internalInterfaceHandler(const Svc::FpySequencer_AllocateDirective& directive) override;

    //! Internal interface handler for directive_storeRelConstOffset
    void directive_storeRelConstOffset_internalInterfaceHandler(
        const Svc::FpySequencer_StoreRelConstOffsetDirective& directive) override;

    //! Internal interface handler for directive_loadRel
    void directive_loadRel_internalInterfaceHandler(const Svc::FpySequencer_LoadRelDirective& directive) override;

    //! Internal interface handler for directive_pushVal
    void directive_pushVal_internalInterfaceHandler(const Svc::FpySequencer_PushValDirective& directive) override;

    //! Internal interface handler for directive_discard
    void directive_discard_internalInterfaceHandler(const Svc::FpySequencer_DiscardDirective& directive) override;

    //! Internal interface handler for directive_memCmp
    void directive_memCmp_internalInterfaceHandler(const Svc::FpySequencer_MemCmpDirective& directive) override;

    //! Internal interface handler for directive_stackCmd
    void directive_stackCmd_internalInterfaceHandler(const Svc::FpySequencer_StackCmdDirective& directive) override;

    //! Internal interface handler for directive_pushTime
    void directive_pushTime_internalInterfaceHandler(const Svc::FpySequencer_PushTimeDirective& directive) override;

    //! Internal interface handler for directive_setSeed
    void directive_setSeed_internalInterfaceHandler(const Svc::FpySequencer_SetSeedDirective& directive) override;

    //! Internal interface handler for directive_pushRand
    void directive_pushRand_internalInterfaceHandler(const Svc::FpySequencer_PushRandDirective& directive) override;

    //! Internal interface handler for directive_setFlag
    void directive_setFlag_internalInterfaceHandler(const Svc::FpySequencer_SetFlagDirective& directive) override;

    //! Internal interface handler for directive_getFlag
    void directive_getFlag_internalInterfaceHandler(const Svc::FpySequencer_GetFlagDirective& directive) override;

    //! Internal interface handler for directive_getField
    void directive_getField_internalInterfaceHandler(const Svc::FpySequencer_GetFieldDirective& directive) override;

    //! Internal interface handler for directive_peek
    void directive_peek_internalInterfaceHandler(const Svc::FpySequencer_PeekDirective& directive) override;

    //! Internal interface handler for directive_storeRel
    void directive_storeRel_internalInterfaceHandler(const Svc::FpySequencer_StoreRelDirective& directive) override;

    //! Internal interface handler for directive_call
    void directive_call_internalInterfaceHandler(const Svc::FpySequencer_CallDirective& directive) override;

    //! Internal interface handler for directive_return
    void directive_return_internalInterfaceHandler(const Svc::FpySequencer_ReturnDirective& directive) override;

    //! Internal interface handler for directive_loadAbs
    void directive_loadAbs_internalInterfaceHandler(const Svc::FpySequencer_LoadAbsDirective& directive) override;

    //! Internal interface handler for directive_storeAbs
    void directive_storeAbs_internalInterfaceHandler(const Svc::FpySequencer_StoreAbsDirective& directive) override;

    //! Internal interface handler for directive_storeAbsConstOffset
    void directive_storeAbsConstOffset_internalInterfaceHandler(
        const Svc::FpySequencer_StoreAbsConstOffsetDirective& directive) override;

    void parametersLoaded() override;
    void parameterUpdated(FwPrmIdType id) override;

  public:
    void allocateBuffer(FwEnumStoreType identifier, Fw::MemAllocator& allocator, FwSizeType bytes);

    void deallocateBuffer(Fw::MemAllocator& allocator);

  private:
    static constexpr U32 CRC_INITIAL_VALUE = 0xFFFFFFFFU;

    // allocated at startup
    Fw::ExternalSerializeBuffer m_sequenceBuffer;
    // id of allocator that gave us m_sequenceBuffer
    FwEnumStoreType m_allocatorId;

    // assigned by the user via cmd
    Fw::String m_sequenceFilePath;
    // the sequence, loaded in memory
    Fpy::Sequence m_sequenceObj;
    // live running computation of CRC (updated as we read)
    U32 m_computedCRC;

    // whether or not the sequence we're about to run should return immediately or
    // block on completion
    FpySequencer_BlockState m_sequenceBlockState;
    // if we are to block on completion, save the opCode and cmdSeq we should
    // return
    FwOpcodeType m_savedOpCode;
    U32 m_savedCmdSeq;

    // the goal state is the state that we're trying to reach in the sequencer
    // if it's RUNNING, then we should promptly go to RUNNING once we validate the
    // sequence. if it's VALID, we should wait after VALIDATING
    FpySequencer_GoalState m_goalState;

    // the total number of sequences this sequencer has started since construction
    U64 m_sequencesStarted;
    // the total number of statements this sequencer has dispatched, successfully or
    // otherwise, since construction
    U64 m_statementsDispatched;

    // per-component RNG state used by PUSH_RAND and later SET_SEED-style directives
    std::mt19937 m_rng;
    bool m_rngSeeded = false;

    // the runtime state of the sequence. encapsulates all state
    // needed to run the sequence.
    // this is distinct from the state of the sequencer. the
    // sequencer and all its state is really just a shell to load
    // and execute this runtime.
    struct Runtime {
        // the index of the next statement to be executed
        U32 nextStatementIndex = 0;

        // the opcode of the statement that is currently executing
        U8 currentStatementOpcode = Fpy::DirectiveId::INVALID;
        // the opcode of the command that we are currently awaiting, or 0 if we are executing a directive
        FwOpcodeType currentCmdOpcode = 0;
        // the time we dispatched the statement that is currently executing
        Fw::Time currentStatementDispatchTime = Fw::Time();

        // the absolute time we should wait for until returning
        // a statement response
        Fw::Time wakeupTime = Fw::Time();

        Stack stack = Stack();

        // the sequencer runtime flags. these are modifiable by the sequence and control
        // various aspects of the sequencer.
        // these get set to a default value from FpySequencerCfg
        bool flags[Fpy::FLAG_COUNT] = {0};
    } m_runtime;

    // the state of the debugger. debugger is separate from runtime
    // because it can be set up before running the sequence.
    struct BreakpointInfo {
        // whether or not to break at the debug breakpoint index
        bool breakpointInUse = false;
        // whether or not to remove the breakpoint after breaking on it
        bool breakOnlyOnceOnBreakpoint = false;
        // the statement index at which to break, before dispatching
        U32 breakpointIndex = 0;
        // whether or not to break before dispatching the next line,
        // independent of what line it is.
        // can be used in combination with breakpointIndex
        bool breakBeforeNextLine = false;
    } m_breakpoint;

    // debug information about the sequence. only valid in the PAUSED state
    // which you can access via BREAK or SET_BREAKPOINT cmds
    struct DebugInfo {
        // true if there are no statements remaining in the sequence file
        bool reachedEndOfFile = false;
        // true if we were able to deserialize the next statement successfully
        bool nextStatementReadSuccess = false;
        // the opcode of the next statement to dispatch.
        U8 nextStatementOpcode = 0;
        // if the next statement is a cmd directive, the opcode of that cmd
        FwOpcodeType nextCmdOpcode = 0;
        // the index of the next statement we're going to execute
        U32 nextStatementIndex = 0;
        // the size of the stack. store this separately from the real stack size
        // so we can avoid changing this during runtime, only modify it during
        // debug
        Fpy::StackSizeType stackSize = 0;
    } m_debug;

    struct Telemetry {
        // the number of statements that failed to execute
        U64 statementsFailed = 0;
        // the number of sequences successfully completed
        U64 sequencesSucceeded = 0;
        // the number of sequences that failed to validate or execute
        U64 sequencesFailed = 0;
        // the number of sequences that have been cancelled
        U64 sequencesCancelled = 0;

        // the error code of the last directive that ran
        DirectiveError lastDirectiveError = DirectiveError::NO_ERROR;
        // the index of the last directive that errored
        U64 directiveErrorIndex = 0;
        // the opcode of the last directive that errored
        Fpy::DirectiveId directiveErrorId = Fpy::DirectiveId::INVALID;
    } m_tlm;

    // ----------------------------------------------------------------------
    // Validation state
    // ----------------------------------------------------------------------

    static void updateCrc(U32& crc,              //!< The CRC to update
                          const U8* buffer,      //!< The buffer
                          FwSizeType bufferSize  //!< The buffer size
    );

    // loads the sequence in memory, and does header/crc/integrity checks.
    // return SUCCESS if sequence is valid, FAILURE otherwise
    Fw::Success validate();
    // reads and validates the header from the m_sequenceBuffer
    // return SUCCESS if sequence is valid, FAILURE otherwise
    Fw::Success readHeader();
    // reads and validates the body from the m_sequenceBuffer
    // return SUCCESS if sequence is valid, FAILURE otherwise
    Fw::Success readBody();
    // reads and validates the footer from the m_sequenceBuffer
    // return SUCCESS if sequence is valid, FAILURE otherwise
    Fw::Success readFooter();

    // reads some bytes from the open file into the m_sequenceBuffer.
    // updates the CRC by default, but can be turned off if the contents
    // aren't included in CRC.
    // return success if successful
    Fw::Success readBytes(Os::File& file,
                          FwSizeType readLen,
                          const FpySequencer_FileReadStage& readStage,
                          bool updateCrc = true);

    // ----------------------------------------------------------------------
    // Run state
    // ----------------------------------------------------------------------

    // utility method for updating telemetry based on a directive error code
    void handleDirectiveErrorCode(Fpy::DirectiveId id, DirectiveError err);

    // dispatches the next statement
    Signal dispatchStatement();

    // deserializes a directive from bytes into the Fpy type
    // returns success if able to deserialize, and returns the Fpy type object
    // as a reference, in a union of all the possible directive type objects
    Fw::Success deserializeDirective(const Fpy::Statement& stmt, DirectiveUnion& deserializedDirective);

    // dispatches a deserialized sequencer directive to the right handler.
    void dispatchDirective(const DirectiveUnion& directive, const Fpy::DirectiveId& id);

    // checks whether the currently executing statement timed out
    Signal checkStatementTimeout();

    // checks whether the sequencer should wake from sleeping
    Signal checkShouldWake();

    // return true if state is a substate of RUNNING
    bool isRunningState(State state);

    // update a struct containing debug telemetry, or defaults if not in debug break
    void updateDebugTelemetryStruct();

    // ----------------------------------------------------------------------
    // Directives
    // ----------------------------------------------------------------------

    // sends a signal based on a signal id
    void sendSignal(Signal signal);

    // dispatches a command, returns whether successful or not
    Fw::Success sendCmd(FwOpcodeType opcode, const U8* argBuf, FwSizeType argBufSize);

    // returns the index of the current statement
    U32 currentStatementIdx();

    // we split these functions up into the internalInterfaceInvoke and these custom member funcs
    // so that we can unit test them easier
    Signal waitRel_directiveHandler(const FpySequencer_WaitRelDirective& directive, DirectiveError& error);
    Signal waitAbs_directiveHandler(const FpySequencer_WaitAbsDirective& directive, DirectiveError& error);
    Signal goto_directiveHandler(const FpySequencer_GotoDirective& directive, DirectiveError& error);
    Signal if_directiveHandler(const FpySequencer_IfDirective& directive, DirectiveError& error);
    Signal noOp_directiveHandler(const FpySequencer_NoOpDirective& directive, DirectiveError& error);
    Signal pushTlmVal_directiveHandler(const FpySequencer_PushTlmValDirective& directive, DirectiveError& error);
    Signal pushTlmValAndTime_directiveHandler(const FpySequencer_PushTlmValAndTimeDirective& directive,
                                              DirectiveError& error);
    Signal pushPrm_directiveHandler(const FpySequencer_PushPrmDirective& directive, DirectiveError& error);
    Signal constCmd_directiveHandler(const FpySequencer_ConstCmdDirective& directive, DirectiveError& error);
    Signal stackOp_directiveHandler(const FpySequencer_StackOpDirective& directive, DirectiveError& error);

    DirectiveError op_or();
    DirectiveError op_and();
    DirectiveError op_ieq();
    DirectiveError op_ine();
    DirectiveError op_ult();
    DirectiveError op_ule();
    DirectiveError op_ugt();
    DirectiveError op_uge();
    DirectiveError op_slt();
    DirectiveError op_sle();
    DirectiveError op_sgt();
    DirectiveError op_sge();
    DirectiveError op_feq();
    DirectiveError op_fne();
    DirectiveError op_flt();
    DirectiveError op_fle();
    DirectiveError op_fgt();
    DirectiveError op_fge();
    DirectiveError op_not();
    DirectiveError op_fpext();
    DirectiveError op_fptrunc();
    DirectiveError op_fptoui();
    DirectiveError op_fptosi();
    DirectiveError op_sitofp();
    DirectiveError op_uitofp();
    DirectiveError op_add();
    DirectiveError op_sub();
    DirectiveError op_mul();
    DirectiveError op_udiv();
    DirectiveError op_sdiv();
    DirectiveError op_umod();
    DirectiveError op_smod();
    DirectiveError op_fadd();
    DirectiveError op_fsub();
    DirectiveError op_fmul();
    DirectiveError op_fdiv();
    DirectiveError op_float_floor_div();
    DirectiveError op_fpow();
    DirectiveError op_flog();
    DirectiveError op_fmod();
    DirectiveError op_siext_8_64();
    DirectiveError op_siext_16_64();
    DirectiveError op_siext_32_64();
    DirectiveError op_ziext_8_64();
    DirectiveError op_ziext_16_64();
    DirectiveError op_ziext_32_64();
    DirectiveError op_itrunc_64_8();
    DirectiveError op_itrunc_64_16();
    DirectiveError op_itrunc_64_32();

    Signal exit_directiveHandler(const FpySequencer_ExitDirective& directive, DirectiveError& error);
    Signal allocate_directiveHandler(const FpySequencer_AllocateDirective& directive, DirectiveError& error);
    //! Helper to pop value from stack top and store at destOffset
    Signal storeHelper(Fpy::StackSizeType destOffset, Fpy::StackSizeType size, DirectiveError& error);
    //! Helper to load value from srcOffset and push to stack top
    Signal loadHelper(Fpy::StackSizeType srcOffset, Fpy::StackSizeType size, DirectiveError& error);
    Signal storeRelConstOffset_directiveHandler(const FpySequencer_StoreRelConstOffsetDirective& directive,
                                                DirectiveError& error);
    Signal loadRel_directiveHandler(const FpySequencer_LoadRelDirective& directive, DirectiveError& error);
    Signal pushVal_directiveHandler(const FpySequencer_PushValDirective& directive, DirectiveError& error);
    Signal discard_directiveHandler(const FpySequencer_DiscardDirective& directive, DirectiveError& error);
    Signal memCmp_directiveHandler(const FpySequencer_MemCmpDirective& directive, DirectiveError& error);
    Signal stackCmd_directiveHandler(const FpySequencer_StackCmdDirective& directive, DirectiveError& error);
    Signal pushTime_directiveHandler(const FpySequencer_PushTimeDirective& directive, DirectiveError& error);
    Signal setSeed_directiveHandler(const FpySequencer_SetSeedDirective& directive, DirectiveError& error);
    Signal pushRand_directiveHandler(const FpySequencer_PushRandDirective& directive, DirectiveError& error);
    Signal setFlag_directiveHandler(const FpySequencer_SetFlagDirective& directive, DirectiveError& error);
    Signal getFlag_directiveHandler(const FpySequencer_GetFlagDirective& directive, DirectiveError& error);
    Signal getField_directiveHandler(const FpySequencer_GetFieldDirective& directive, DirectiveError& error);
    Signal peek_directiveHandler(const FpySequencer_PeekDirective& directive, DirectiveError& error);
    Signal storeRel_directiveHandler(const FpySequencer_StoreRelDirective& directive, DirectiveError& error);
    Signal call_directiveHandler(const FpySequencer_CallDirective& directive, DirectiveError& error);
    Signal return_directiveHandler(const FpySequencer_ReturnDirective& directive, DirectiveError& error);
    Signal loadAbs_directiveHandler(const FpySequencer_LoadAbsDirective& directive, DirectiveError& error);
    Signal storeAbs_directiveHandler(const FpySequencer_StoreAbsDirective& directive, DirectiveError& error);
    Signal storeAbsConstOffset_directiveHandler(const FpySequencer_StoreAbsConstOffsetDirective& directive,
                                                DirectiveError& error);
};

}  // namespace Svc

#endif