Merge branch 'develop' into chore/improve-dev-environment

Author: msanlli

backend/cmd/config.go

@@ -18,10 +18,17 @@ type Transport struct {
 	PropagateFault bool
 }
 
+type Blcu struct {
+	IP              string
+	DownloadOrderId uint16
+	UploadOrderId   uint16
+}
+
 type Config struct {
 	Vehicle   vehicle.Config
 	Server    server.Config
 	Adj       Adj
 	Network   Network
 	Transport Transport
+	Blcu      Blcu
 }

backend/cmd/config.toml

@@ -1,27 +1,48 @@
+# Hyperloop UPV Backend Configuration
+# Configuration file for the H10 Control Station backend server
+
+# Vehicle Configuration
 [vehicle]
-boards = ["HVSCU", "PCU"]
+boards = ["HVSCU", "PCU", "BLCU"]
+
+# BLCU (Boot Loader Control Unit) Configuration
+[blcu]
+ip = "127.0.0.1"      # TFTP server IP address
+download_order_id = 1 # Packet ID for download orders (0 = use default)
+upload_order_id = 2   # Packet ID for upload orders (0 = use default)
+
+# Server Configuration
 [server.ethernet-view]
 address = "127.0.0.1:4040"
 static = "./ethernet-view"
+
 [server.ethernet-view.endpoints]
 pod_data = "/podDataStructure"
 order_data = "/orderStructures"
 programable_boards = "/uploadableBoards"
 connections = "/backend"
 files = "/"
+
 [server.control-station]
 address = "127.0.0.1:4000"
 static = "./control-station"
+
 [server.control-station.endpoints]
 pod_data = "/podDataStructure"
 order_data = "/orderStructures"
 programable_boards = "/uploadableBoards"
 connections = "/backend"
 files = "/"
+
+# ADJ (Architecture Description JSON) Configuration
 [adj]
-branch = "main" # Leave blank when using ADJ as a submodule (like this: "")
-test = true
+branch = "software" # Leave blank when using ADJ as a submodule (like this: "")
+test = true         # Enable test mode
+
+# Network Configuration
 [network]
-manual = false
+manual = true # Manual network device selection
+
+# Transport Configuration
 [transport]
-propagate_fault = true
+propagate_fault = true # Propagate fault messages like VCU

backend/cmd/main.go

@@ -221,13 +221,20 @@ func main() {
 	vehicle.SetTransport(transp)
 
 	// <--- BLCU Board --->
-	// Register BLCU board for handling bootloader operations
-	if blcuIP, exists := adj.Info.Addresses[BLCU]; exists {
+	// Register BLCU board for handling bootloader operations if configured
+	if common.Contains(config.Vehicle.Boards, "BLCU") {
+		// Use BLCU address from config, ADJ, or default localhost
+		blcuIP := config.Blcu.IP
+		if blcuIP == "" {
+			if adjBlcuIP, exists := adj.Info.Addresses[BLCU]; exists {
+				blcuIP = adjBlcuIP
+			} else {
+				blcuIP = "127.0.0.1"  // Default TFTP server address
+			}
+		}
 		blcuBoard := boards.New(blcuIP)
 		vehicle.AddBoard(blcuBoard)
 		trace.Info().Str("ip", blcuIP).Msg("BLCU board registered")
-	} else {
-		trace.Warn().Msg("BLCU address not found in ADJ")
 	}
 
 	// <--- transport --->
@@ -243,6 +250,33 @@ func main() {
 		transp.SetTargetIp(adj.Info.Addresses[board.Name], abstraction.TransportTarget(board.Name))
 	}
 
+	// Set BLCU packet ID mappings if BLCU is configured
+	if common.Contains(config.Vehicle.Boards, "BLCU") {
+		// Use configurable packet IDs or defaults
+		downloadOrderId := config.Blcu.DownloadOrderId
+		uploadOrderId := config.Blcu.UploadOrderId
+		if downloadOrderId == 0 {
+			downloadOrderId = boards.BlcuDownloadOrderId
+		}
+		if uploadOrderId == 0 {
+			uploadOrderId = boards.BlcuUploadOrderId
+		}
+		
+		transp.SetIdTarget(abstraction.PacketId(downloadOrderId), abstraction.TransportTarget("BLCU"))
+		transp.SetIdTarget(abstraction.PacketId(uploadOrderId), abstraction.TransportTarget("BLCU"))
+		
+		// Use BLCU address from config, ADJ, or default
+		blcuIP := config.Blcu.IP
+		if blcuIP == "" {
+			if adjBlcuIP, exists := adj.Info.Addresses[BLCU]; exists {
+				blcuIP = adjBlcuIP
+			} else {
+				blcuIP = "127.0.0.1"
+			}
+		}
+		transp.SetTargetIp(blcuIP, abstraction.TransportTarget("BLCU"))
+	}
+
 	// Start handling TCP client connections
 	i := 0
 	serverTargets := make(map[string]abstraction.TransportTarget)

backend/pkg/broker/topics/blcu/download.go

@@ -87,7 +87,7 @@ func (download *Download) handleDownload(message *websocket.Message) error {
 		return err
 	}
 
-	pushErr := download.api.UserPush(downloadRequest)
+	pushErr := download.api.UserPush(&downloadRequest)
 	return pushErr
 }