eive-obsw/linux/devices/startracker/StrHelper.cpp

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#include "StrHelper.h"
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#include "OBSWConfig.h"
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#include <filesystem>
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#include <fstream>
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#include "mission/utility/Timestamp.h"
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StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {}
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StrHelper::~StrHelper() {}
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ReturnValue_t StrHelper::initialize() {
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#ifdef XIPHOS_Q7S
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sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "StrHelper::initialize: Invalid SD Card Manager" << std::endl;
return RETURN_FAILED;
}
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#endif
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return RETURN_OK;
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}
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ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
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ReturnValue_t result = RETURN_OK;
semaphore.acquire();
while (true) {
switch (internalState) {
case InternalState::IDLE: {
semaphore.acquire();
break;
}
case InternalState::UPLOAD_IMAGE: {
result = performImageUpload();
if (result == RETURN_OK) {
triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_UPLOAD_FAILED);
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}
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internalState = InternalState::IDLE;
break;
}
case InternalState::DOWNLOAD_IMAGE: {
result = performImageDownload();
if (result == RETURN_OK) {
triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
} else {
triggerEvent(IMAGE_DOWNLOAD_FAILED);
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}
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internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == RETURN_OK) {
triggerEvent(FLASH_WRITE_SUCCESSFUL);
} else {
triggerEvent(FLASH_WRITE_FAILED);
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}
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internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_READ: {
result = performFlashRead();
if (result == RETURN_OK) {
triggerEvent(FLASH_READ_SUCCESSFUL);
} else {
triggerEvent(FLASH_READ_FAILED);
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}
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internalState = InternalState::IDLE;
break;
}
case InternalState::DOWNLOAD_FPGA_IMAGE: {
result = performFpgaDownload();
if (result == RETURN_OK) {
triggerEvent(FPGA_DOWNLOAD_SUCCESSFUL);
} else {
triggerEvent(FPGA_DOWNLOAD_FAILED);
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}
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internalState = InternalState::IDLE;
break;
}
case InternalState::UPLOAD_FPGA_IMAGE: {
result = performFpgaUpload();
if (result == RETURN_OK) {
triggerEvent(FPGA_UPLOAD_SUCCESSFUL);
} else {
triggerEvent(FPGA_UPLOAD_FAILED);
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}
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internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "StrHelper::performOperation: Invalid state" << std::endl;
break;
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}
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}
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}
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ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
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uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
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}
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void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
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ReturnValue_t StrHelper::startImageUpload(std::string fullname) {
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = checkPath(fullname);
if (result != RETURN_OK) {
return result;
}
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#endif
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uploadImage.uploadFile = fullname;
if (not std::filesystem::exists(fullname)) {
return FILE_NOT_EXISTS;
}
internalState = InternalState::UPLOAD_IMAGE;
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semaphore.release();
terminate = false;
return RETURN_OK;
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}
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ReturnValue_t StrHelper::startImageDownload(std::string path) {
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = checkPath(path);
if (result != RETURN_OK) {
return result;
}
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#endif
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if (not std::filesystem::exists(path)) {
return PATH_NOT_EXISTS;
}
downloadImage.path = path;
internalState = InternalState::DOWNLOAD_IMAGE;
terminate = false;
semaphore.release();
return RETURN_OK;
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}
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void StrHelper::stopProcess() { terminate = true; }
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void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; }
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void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; }
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void StrHelper::setDownloadFpgaImage(std::string filename) { fpgaDownload.fileName = filename; }
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ReturnValue_t StrHelper::startFlashWrite(std::string fullname, uint8_t region, uint32_t address) {
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = checkPath(fullname);
if (result != RETURN_OK) {
return result;
}
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#endif
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flashWrite.fullname = fullname;
if (not std::filesystem::exists(flashWrite.fullname)) {
return FILE_NOT_EXISTS;
}
flashWrite.address = address;
flashWrite.region = region;
internalState = InternalState::FLASH_WRITE;
semaphore.release();
terminate = false;
return RETURN_OK;
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}
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ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t region, uint32_t address,
uint32_t length) {
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#ifdef XIPHOS_Q7S
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ReturnValue_t result = checkPath(path);
if (result != RETURN_OK) {
return result;
}
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#endif
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flashRead.path = path;
if (not std::filesystem::exists(flashRead.path)) {
return FILE_NOT_EXISTS;
}
flashRead.address = address;
flashRead.region = region;
flashRead.size = length;
internalState = InternalState::FLASH_READ;
semaphore.release();
terminate = false;
return RETURN_OK;
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}
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ReturnValue_t StrHelper::startFpgaDownload(std::string path, uint32_t startPosition,
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uint32_t length) {
fpgaDownload.path = path;
fpgaDownload.startPosition = startPosition;
fpgaDownload.length = length;
internalState = InternalState::DOWNLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
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}
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ReturnValue_t StrHelper::startFpgaUpload(std::string uploadFile) {
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fpgaUpload.uploadFile = uploadFile;
internalState = InternalState::UPLOAD_FPGA_IMAGE;
semaphore.release();
terminate = false;
return RETURN_OK;
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}
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ReturnValue_t StrHelper::performImageDownload() {
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ReturnValue_t result;
struct DownloadActionRequest downloadReq;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string image = downloadImage.path + "/" + timestamp.str() + downloadImage.filename;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
downloadReq.position = 0;
while (downloadReq.position < ImageDownload::LAST_POSITION) {
if (terminate) {
return RETURN_OK;
}
arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
result = sendAndRead(size, downloadReq.position);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
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}
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result = checkActionReply();
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkReplyPosition(downloadReq.position);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
IMAGE_DATA_SIZE);
downloadReq.position++;
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#if OBSW_DEBUG_STARTRACKER == 1
printProgress(downloadReq.position, ImageDownload::LAST_POSITION);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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retries = 0;
}
file.close();
return RETURN_OK;
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}
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ReturnValue_t StrHelper::performImageUpload() {
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ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t imageSize = 0;
struct UploadActionRequest uploadReq;
uploadReq.position = 0;
std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
if (not std::filesystem::exists(uploadImage.uploadFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(uploadImage.uploadFile, std::ifstream::binary);
// Set position of next character to end of file input stream
file.seekg(0, file.end);
// tellg returns position of character in input stream
imageSize = file.tellg();
while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
if (terminate) {
return RETURN_OK;
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}
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file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
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file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
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arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
result = sendAndRead(size, uploadReq.position);
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if (result != RETURN_OK) {
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return RETURN_FAILED;
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}
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result = checkActionReply();
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if (result != RETURN_OK) {
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return result;
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}
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#if OBSW_DEBUG_STARTRACKER == 1
printProgress((uploadReq.position + 1) * SIZE_IMAGE_PART, imageSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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uploadReq.position++;
}
std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
file.close();
uploadReq.position++;
arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
result = sendAndRead(size, uploadReq.position);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
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#if OBSW_DEBUG_STARTRACKER == 1
printProgress((uploadReq.position + 1) * SIZE_IMAGE_PART, imageSize);
#endif /* OBSW_DEBUG_STARTRACKER == 1 */
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return RETURN_OK;
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}
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ReturnValue_t StrHelper::performFlashWrite() {
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ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t remainingBytes = 0;
uint32_t fileSize = 0;
struct WriteActionRequest req;
if (not std::filesystem::exists(flashWrite.fullname)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(flashWrite.fullname, std::ifstream::binary);
file.seekg(0, file.end);
fileSize = file.tellg();
remainingBytes = fileSize;
req.region = flashWrite.region;
req.address = flashWrite.address;
req.length = MAX_FLASH_DATA;
while (remainingBytes >= MAX_FLASH_DATA) {
if (terminate) {
return RETURN_OK;
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}
file.seekg(fileSize - remainingBytes, file.beg);
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file.read(reinterpret_cast<char*>(req.data), MAX_FLASH_DATA);
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arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
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return RETURN_FAILED;
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}
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result = checkFlashActionReply(req.region, req.address, req.length);
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if (result != RETURN_OK) {
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return result;
}
remainingBytes = remainingBytes - MAX_FLASH_DATA;
}
file.seekg(fileSize - remainingBytes, file.beg);
file.read(reinterpret_cast<char*>(req.data), remainingBytes);
file.close();
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
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}
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ReturnValue_t StrHelper::performFlashRead() {
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ReturnValue_t result;
struct ReadActionRequest req;
uint32_t bytesRead = 0;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string fullname = flashRead.path + "/" + timestamp.str() + flashRead.filename;
std::ofstream file(fullname, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(fullname)) {
return FILE_CREATION_FAILED;
}
req.region = flashRead.region;
while (bytesRead < flashRead.size) {
if (terminate) {
return RETURN_OK;
}
if ((flashRead.size - bytesRead) < MAX_FLASH_DATA) {
req.length = flashRead.size - bytesRead;
} else {
req.length = MAX_FLASH_DATA;
}
req.address = flashRead.address + bytesRead;
arc_pack_read_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
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}
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result = checkActionReply();
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
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}
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result = checkFlashActionReply(req.region, req.address, req.length);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
req.length);
bytesRead += req.length;
retries = 0;
}
file.close();
return RETURN_OK;
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}
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ReturnValue_t StrHelper::performFpgaDownload() {
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ReturnValue_t result;
struct DownloadFPGAImageActionRequest req;
uint32_t size = 0;
uint32_t retries = 0;
Timestamp timestamp;
std::string image = fpgaDownload.path + "/" + timestamp.str() + fpgaDownload.fileName;
std::ofstream file(image, std::ios_base::app | std::ios_base::out);
if (not std::filesystem::exists(image)) {
return FILE_CREATION_FAILED;
}
req.pos = fpgaDownload.startPosition;
while (req.pos < fpgaDownload.length) {
if (terminate) {
return RETURN_OK;
}
if (fpgaDownload.length - req.pos >= FpgaDownload::MAX_DATA) {
req.length = FpgaDownload::MAX_DATA;
} else {
req.length = fpgaDownload.length - req.pos;
}
arc_pack_downloadfpgaimage_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.pos);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
result = checkFpgaActionReply(req.pos, req.length);
if (result != RETURN_OK) {
if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
uartComIF->flushUartRxBuffer(comCookie);
retries++;
continue;
}
file.close();
return result;
}
file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + FpgaDownload::DATA_OFFSET),
req.length);
req.pos += req.length;
retries = 0;
}
file.close();
return RETURN_OK;
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}
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ReturnValue_t StrHelper::performFpgaUpload() {
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ReturnValue_t result = RETURN_OK;
uint32_t commandSize = 0;
uint32_t bytesUploaded = 0;
uint32_t fileSize = 0;
struct UploadFPGAImageActionRequest req;
if (not std::filesystem::exists(fpgaUpload.uploadFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(flashWrite.fullname, std::ifstream::binary);
file.seekg(0, file.end);
fileSize = file.tellg();
req.pos = 0;
while (bytesUploaded <= fileSize) {
if (terminate) {
return RETURN_OK;
}
if (fileSize - bytesUploaded > FpgaUpload::MAX_DATA) {
req.length = FpgaUpload::MAX_DATA;
} else {
req.length = fileSize - bytesUploaded;
}
file.seekg(bytesUploaded, file.beg);
file.read(reinterpret_cast<char*>(req.data), req.length);
arc_pack_uploadfpgaimage_action_req(&req, commandBuffer, &commandSize);
result = sendAndRead(commandSize, req.pos);
if (result != RETURN_OK) {
return RETURN_FAILED;
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}
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result = checkFpgaActionReply(req.pos, req.length);
if (result != RETURN_OK) {
return result;
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}
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bytesUploaded += req.length;
}
return RETURN_OK;
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}
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ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
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ReturnValue_t result = RETURN_OK;
ReturnValue_t decResult = RETURN_OK;
size_t receivedDataLen = 0;
uint8_t* receivedData = nullptr;
size_t bytesLeft = 0;
uint32_t missedReplies = 0;
datalinkLayer.encodeFrame(commandBuffer, size);
result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
datalinkLayer.getEncodedLength());
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
return RETURN_FAILED;
}
decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
result = uartComIF->requestReceiveMessage(comCookie, StarTracker::MAX_FRAME_SIZE * 2 + 2);
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if (result != RETURN_OK) {
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sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
return RETURN_FAILED;
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}
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result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
if (result != RETURN_OK) {
sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
return RETURN_FAILED;
}
if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
missedReplies++;
continue;
} else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
triggerEvent(STR_HELPER_NO_REPLY, parameter);
return RETURN_FAILED;
} else {
missedReplies = 0;
}
decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
if (bytesLeft != 0) {
// This should never happen
sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
return RETURN_FAILED;
}
}
if (decResult != RETURN_OK) {
triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
return RETURN_FAILED;
}
return RETURN_OK;
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}
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ReturnValue_t StrHelper::checkActionReply() {
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uint8_t type = datalinkLayer.getReplyFrameType();
if (type != TMTC_ACTIONREPLY) {
sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
return INVALID_TYPE_ID;
}
uint8_t status = datalinkLayer.getStatusField();
if (status != ArcsecDatalinkLayer::STATUS_OK) {
sif::warning << "StrHelper::checkActionReply: Status failure: "
<< static_cast<unsigned int>(status) << std::endl;
return STATUS_ERROR;
}
return RETURN_OK;
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}
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ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
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uint32_t receivedPosition = 0;
std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
if (receivedPosition != expectedPosition) {
triggerEvent(POSITION_MISMATCH, receivedPosition);
return RETURN_FAILED;
}
return RETURN_OK;
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}
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ReturnValue_t StrHelper::checkFlashActionReply(uint8_t region_, uint32_t address_,
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uint16_t length_) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* data = datalinkLayer.getReply();
uint8_t region = *(data + REGION_OFFSET);
uint32_t address;
const uint8_t* addressData = data + ADDRESS_OFFSET;
size_t size = sizeof(address);
result =
SerializeAdapter::deSerialize(&address, &addressData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of address failed"
<< std::endl;
return result;
}
uint16_t length = 0;
size = sizeof(length);
const uint8_t* lengthData = data + LENGTH_OFFSET;
result =
SerializeAdapter::deSerialize(&length, lengthData, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashActionReply: Deserialization of length failed"
<< std::endl;
}
if (region != region_) {
return REGION_MISMATCH;
}
if (address != address_) {
return ADDRESS_MISMATCH;
}
if (length != length_) {
return LENGTH_MISMATCH;
}
return RETURN_OK;
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}
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ReturnValue_t StrHelper::checkFpgaActionReply(uint32_t expectedPosition, uint32_t expectedLength) {
ReturnValue_t result = RETURN_OK;
result = checkActionReply();
if (result != RETURN_OK) {
return result;
}
const uint8_t* data = datalinkLayer.getReply() + ACTION_DATA_OFFSET;
uint32_t position;
size_t size = sizeof(position);
result = SerializeAdapter::deSerialize(&position, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of position failed"
<< std::endl;
return result;
}
uint32_t length;
size = sizeof(length);
result = SerializeAdapter::deSerialize(&length, &data, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFpgaActionReply: Deserialization of length failed"
<< std::endl;
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return result;
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}
return result;
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}
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#ifdef XIPHOS_Q7S
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ReturnValue_t StrHelper::checkPath(std::string name) {
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if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT)) ==
std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT)) ==
std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}
return RETURN_OK;
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}
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#endif
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void StrHelper::printProgress(uint32_t itemsTransferred, uint32_t fullNumItems) {
float progressInPercent =
static_cast<float>(itemsTransferred) / static_cast<float>(fullNumItems) * 100;
if (static_cast<uint32_t>(progressInPercent) == nextProgressPrint) {
sif::info << "Str Helper Progress: " << progressInPercent << " %" << std::endl;
nextProgressPrint += FIVE_PERCENT;
}
if (nextProgressPrint > 100) {
nextProgressPrint = 0;
}
}