eive-obsw/bsp_q7s/devices/startracker/StarTrackerHandler.h

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#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
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#include "fsfw/timemanager/Countdown.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
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#include <fsfw/datapool/PoolReadGuard.h>
#include "StrImageLoader.h"
#include "ArcsecDataLinkLayer.h"
#include "StarTrackerDefinitions.h"
#include "ArcsecJsonParamBase.h"
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/**
* @brief This is the device handler for the star tracker from arcsec.
*
* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
* Sagitta%201.0%20Datapack&fileid=659181
* @author J. Meier
*/
class StarTrackerHandler: public DeviceHandlerBase {
public:
/**
* @brief Constructor
*
* @param objectId
* @param comIF
* @param comCookie
* @param gpioComIF Pointer to gpio communication interface
* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
* to high to enable the device.
*/
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StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
StrImageLoader* strImageLoader);
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virtual ~StarTrackerHandler();
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ReturnValue_t initialize() override;
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/**
* @brief Overwrite this function from DHB to handle commands executed by the str image
* loader task.
*/
ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) override;
void performOperationHook() override;
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protected:
void doStartUp() override;
void doShutDown() override;
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void doOffActivity() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData,size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
/**
* @brief Overwritten here to always read all available data from the UartComIF.
*/
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
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virtual ReturnValue_t doSendReadHook() override;
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private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
//! [EXPORT] : [COMMENT] Received reply is too short
static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Received reply with invalid CRC
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Image loader executing
static const ReturnValue_t IMAGE_LOADER_EXECUTING = MAKE_RETURN_CODE(0xB2);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] Status in temperature reply signals error
static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Ping command failed
static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Status in version reply signals error
static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Status in interface reply signals error
static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Status in power reply signals error
static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Status of reply to action command signals error
static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid length
static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Received upload image command with invalid position field
static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
//! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
//! [EXPORT] : [COMMENT] Received upload image command with invalid length
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static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xAA);
//! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xAB);
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//! [EXPORT] : [COMMENT] Name of file received with command is too long
static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
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//! [EXPORT] : [COMMENT] Received version reply with invalid program ID
static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
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static const size_t MAX_PATH_SIZE = 50;
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static const size_t MAX_FILE_NAME = 30;
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// position (uint32) + 1024 image data
static const size_t UPLOAD_COMMAND_LEN = 1028;
// Max valid position value in upload image command
static const uint16_t MAX_POSITION= 4095;
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static const uint8_t STATUS_OFFSET = 1;
static const uint8_t TICKS_OFFSET = 2;
static const uint8_t TIME_OFFSET = 6;
static const uint8_t TM_DATA_FIELD_OFFSET = 14;
static const uint8_t PARAMETER_ID_OFFSET = 0;
static const uint8_t ACTION_ID_OFFSET = 0;
static const uint8_t ACTION_DATA_OFFSET = 2;
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// Ping request will reply ping with this ID (data field)
static const uint32_t PING_ID = 0x55;
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static const uint32_t BOOT_REGION_ID = 1;
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static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static const uint32_t MUTEX_TIMEOUT = 20;
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static const uint32_t BOOT_TIMEOUT = 1000;
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MessageQueueIF* eventQueue = nullptr;
ArcsecDatalinkLayer dataLinkLayer;
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StarTracker::TemperatureSet temperatureSet;
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StarTracker::VersionSet versionSet;
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StarTracker::PowerSet powerSet;
StarTracker::InterfaceSet interfaceSet;
StarTracker::TimeSet timeSet;
StarTracker::SolutionSet solutionSet;
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// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrImageLoader* strImageLoader = nullptr;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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// Countdown to insert delay for star tracker to switch from bootloader to firmware program
Countdown bootCountdown;
std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
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enum class InternalState {
TEMPERATURE_REQUEST
};
InternalState internalState = InternalState::TEMPERATURE_REQUEST;
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enum class StartupState {
IDLE,
CHECK_BOOT_STATE,
BOOT,
BOOT_DELAY,
LIMITS,
TRACKING,
MOUNTING,
CAMERA,
BLOB,
CENTROIDING,
LISA,
MATCHING,
VALIDATION,
ALGO,
WAIT_FOR_EXECUTION,
DONE
};
StartupState startupState = StartupState::IDLE;
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bool imageLoaderExecuting = false;
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/**
* @brief Handles internal state
*/
void handleInternalState();
/**
* @brief Checks mode for commands requiring MODE_ON of MODE_NORMAL for execution.
*
* @param actionId Action id of command to execute
*/
ReturnValue_t checkMode(ActionId_t actionId);
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/**
* @brief This function initializes the serial link ip protocol struct slipInfo.
*/
void slipInit();
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ReturnValue_t scanForActionReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForParameterReply(DeviceCommandId_t *foundId);
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ReturnValue_t scanForTmReply(DeviceCommandId_t *foundId);
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/**
* @brief Fills command buffer with data to ping the star tracker
*/
void preparePingRequest();
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/**
* @brief Fills command buffer with data to request the time telemetry.
*/
void prepareTimeRequest();
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/**
* @brief Handles all received event messages
*/
void handleEvent(EventMessage* eventMessage);
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/**
* @brief Fills command buffer with data to boot image (works only when star tracker is
* in bootloader mode).
*/
void prepareBootCommand();
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/**
* @brief Fills the command buffer with the command to take an image.
*/
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void prepareTakeImageCommand(const uint8_t* commandData);
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/**
* @brief Fills command buffer with data to request the version telemetry packet
*/
void prepareVersionRequest();
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/**
* @brief Fills the command buffer with data to request the interface telemetry packet.
*/
void prepareInterfaceRequest();
/**
* @brief Fills the command buffer with data to request the power telemetry packet.
*/
void preparePowerRequest();
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/**
* @brief Fills command buffer with data to reboot star tracker.
*/
void prepareRebootCommand();
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/**
* @brief Fills command buffer with data to subscribe to a telemetry packet.
*
* @param tmId The ID of the telemetry packet to subscribe to
*/
void prepareSubscriptionCommand(const uint8_t* tmId);
/**
* @brief Fills command buffer with data to request solution telemtry packet (contains
* attitude information)
*/
void prepareSolutionRequest();
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/**
* @brief Fills command buffer with data to request temperature from star tracker
*/
void prepareTemperatureRequest();
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/**
* @brief Fills command buffer with command to reset the error signal of the star tracker
*/
void prepareErrorResetRequest();
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/**
* @brief Reads parameters from json file specified by string in commandData and
* prepares the command to apply the parameter set to the star tracker
*
* @param commandData Contains string with file name
* @param commandDataLen Length of command
* @param paramSet The object defining the command generation
*
* @return RETURN_OK if successful, otherwise error return Value
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*/
ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
ArcsecJsonParamBase& paramSet);
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/**
* @brief Default function to handle action replies
*/
ReturnValue_t handleActionReply();
/**
* @brief Handles all set parameter replies
*/
ReturnValue_t handleSetParamReply();
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ReturnValue_t handlePingReply();
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/**
* @brief Fills the time set with the data of the time request reply.
*/
ReturnValue_t handleTimeTm();
/**
* @brief Handles reply data of solution request.
*/
ReturnValue_t handleSolutionTm();
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/**
* @brief This function handles the telemetry reply of a temperature request.
*/
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ReturnValue_t handleTemperatureTm();
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/**
* @brief This function handles the telemetry reply of a version request.
*/
ReturnValue_t handleVersionTm();
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/**
* @brief Checks the loaded program by means of the version set
*/
ReturnValue_t checkProgram();
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/**
* @brief Handles reply to request interface telemetry command.
*/
ReturnValue_t handleInterfaceTm();
/**
* @brief Handles reply to request power telemetry command.
*/
ReturnValue_t handlePowerTm();
/**
* @brief Extracts the header data of a received telemetry frame
*/
void getTmHeaderData(uint8_t* status, uint32_t* ticks, uint64_t* time);
/**
* @brief This function deserializes 8 bytes into a 32 bit unsigned integer.
*
* @param buffer Pointer to buffer holding the data to deserialize
*
* @return The 32-bit unsigned integer.
*
* @note Deserialization will be performed in little endian byte order
*/
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uint32_t deserializeUint32(const uint8_t* buffer);
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/**
* @brief This function deserializes 8 bytes into a 64 bit unsigned integer.
*
* @param buffer Pointer to buffer holding the data to deserialize
*
* @return The 64-bit unsigned integer.
*
* @note Deserialization will be performed in little endian byte order
*/
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uint64_t deserializeUint64(const uint8_t* buffer);
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/**
* @brief Handles the startup state machine
*/
void handleStartup(const uint8_t* parameterId);
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};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */