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

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#ifndef BSP_Q7S_DEVICES_STRIMAGELOADER_H_
#define BSP_Q7S_DEVICES_STRIMAGELOADER_H_
#include <string>
#include "ArcsecDatalinkLayer.h"
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#include "fsfw/osal/linux/BinarySemaphore.h"
#include "bsp_q7s/memory/SdCardManager.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/devicehandlers/CookieIF.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
}
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/**
* @brief An object of this class runs in a separate task and is responsible for uploading and
* downloading images to/from the star tracker. This is required because uploading and
* downloading via the star tracker handler takes a lot of time because each upload or
* download packet can transport a maximum of 1024 bytes.
*/
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class StrImageLoader: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
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public:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_IMAGE_LOADER;
//! [EXPORT] : [COMMENT] Try to upload image but specified image does not exist
static const Event IMAGE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Sending image upload packet to star tracker failed
//!P1: Return code of communication interface sendMessage function
//!P2: Position of upload packet for which the transmission failed
static const Event SENDING_UPLOAD_PACKET_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//!P1: Return code of failed request
//!P1: Upload position for which the request failed
static const Event UPLOAD_REQUESTING_MSG_FAILED = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Uploading image to star tracker was successful
static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
//!P1: Return code of failed communication interface read call
//!P1: Upload position for which the read call failed
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static const Event UPLOAD_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
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//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
//!P1: Return code of failed communication interface read call
//!P1: Upload position for which the read call failed
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static const Event UPLOAD_COM_ERROR = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
//!P1: Position of upload packet for which no reply was sent
static const Event NO_REPLY = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Received reply with invalid type ID
static const Event INVALID_TYPE_ID = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Status field in reply signals error
static const Event STATUS_ERROR = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
//P1: Return value of decoding function
//P2: Position of upload packet for which reply decoding failed
static const Event DEC_ERROR = MAKE_EVENT(9, severity::LOW);
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StrImageLoader(object_id_t objectId);
virtual ~StrImageLoader();
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ReturnValue_t initialize() override;
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
void setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
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/**
* @brief Starts sequence to upload image to star tracker
*
* @param image Name including absolute path if to image to upload. Must be previously
* transferred to the OBC with the CFDP protocoll.
*/
ReturnValue_t startImageUpload(std::string image);
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/**
* @brief Calling this function initiates the download of an image from the star tracker.
*/
ReturnValue_t startImageDownload();
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private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_IMG_LOADER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
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// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
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static const uint32_t MAX_POLLS = 10000;
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enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE
};
InternalState internalState = InternalState::IDLE;
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ArcsecDatalinkLayer datalinkLayer;
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BinarySemaphore semaphore;
// Absolute path and name to image to upload
std::string uploadImage;
SdCardManager* sdcMan = nullptr;
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uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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/**
* Communication object responsible for low level access of star tracker
* Must be set by star tracker handler
*/
DeviceCommunicationIF * communicationInterface = nullptr;
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// Communication cookie. Must be set by the star tracker handler
CookieIF* comCookie = nullptr;
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// Queue id of raw data receiver
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
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/**
* @brief Performs image uploading
*/
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ReturnValue_t performImageUpload();
/**
* @brief Sends a upload image packet and receives the action reply.
*
* @param uploadReq Pointer to upload request structure to send
*
* @return RETURN_OK if successful, otherwise RETURN_FALIED
*/
ReturnValue_t uploadSendAndRead(struct UploadActionRequest* uploadReq);
/**
* @brief Checks the reply to an upload action request
*
* @return RETURN_OK if reply confirms success of upload packet transfer, otherwise
* REUTRN_FAILED
*/
ReturnValue_t checkUploadReply();
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};
#endif /* BSP_Q7S_DEVICES_STRIMAGELOADER_H_ */