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

#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_

#include <fsfw/datapool/PoolReadGuard.h>

#include "ArcsecDatalinkLayer.h"
#include "ArcsecJsonParamBase.h"
#include "StarTrackerDefinitions.h"
#include "StrHelper.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "fsfw/timemanager/Countdown.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h"

/**
 * @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.
   */
  StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                     StrHelper* strHelper);
  virtual ~StarTrackerHandler();

  ReturnValue_t initialize() override;

  /**
   * @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;

 protected:
  void doStartUp() override;
  void doShutDown() override;
  void doOffActivity() override;
  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;
  virtual ReturnValue_t doSendReadHook() override;

 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
  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);

  static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;

  //! [EXPORT] : [COMMENT] Status in temperature reply signals error
  static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
  //! [EXPORT] : [COMMENT] Ping command failed
  static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
  //! [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);
  //! [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
  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);
  //! [EXPORT] : [COMMENT] Name of file received with command is too long
  static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
  //! [EXPORT] : [COMMENT] Received version reply with invalid program ID
  static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
  //! [EXPORT] : [COMMENT] Status field reply signals error
  static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
  //! [EXPORT] : [COMMENT] Status field of contrast reply signals error
  static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
  //! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
  //! execution)
  static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
  //! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
  static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
  //! [EXPORT] : [COMMENT] Region mismatch between send and received data
  static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xB1);
  //! [EXPORT] : [COMMENT] Address mismatch between send and received data
  static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xB2);
  //! [EXPORT] : [COMMENT] Length field mismatch between send and received data
  static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xB3);
  //! [EXPORT] : [COMMENT] Specified file does not exist
  static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB4);
  //! [EXPORT] : [COMMENT] Reply to upload centroid does not match commanded centroid id
  static const ReturnValue_t UPLOAD_CENTROID_ID_MISMATCH = MAKE_RETURN_CODE(0xB5);
  //! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
  static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB6);
  //! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
  static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB7);

  static const size_t MAX_PATH_SIZE = 50;
  static const size_t MAX_FILE_NAME = 30;

  // 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;
  static const uint8_t STATUS_OFFSET = 1;
  static const uint8_t PARAMS_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;
  // Ping request will reply ping with this ID (data field)
  static const uint32_t PING_ID = 0x55;
  static const uint32_t BOOT_REGION_ID = 1;
  static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
  static const uint32_t MUTEX_TIMEOUT = 20;
  static const uint32_t BOOT_TIMEOUT = 1000;

  class WriteCmd {
   public:
    static const uint8_t ADDRESS_OFFSET = 1;
    static const uint8_t FILE_OFFSET = 5;
    // Minimum length of a write command (region, address and filename)
    static const size_t MIN_LENGTH = 7;
  };

  class ReadCmd {
   public:
    static const uint8_t ADDRESS_OFFSET = 1;
    static const uint8_t LENGTH_OFFSET = 5;
    static const uint8_t FILE_OFFSET = 9;
    // Minimum length of a read command (region, address, length and filename)
    static const size_t MIN_LENGTH = 11;
  };

  class EraseCmd {
   public:
    static const uint8_t LENGTH = 1;
    uint8_t rememberRegion = 0;
  };

  EraseCmd eraseCmd;

  class UnlockCmd {
   public:
    static const uint8_t CODE_OFFSET = 1;
  };

  class ChecksumCmd {
   public:
    static const uint8_t ADDRESS_OFFSET = 1;
    static const uint8_t LENGTH_OFFSET = 5;
    // Length of checksum command
    static const size_t LENGTH = 9;
    uint8_t rememberRegion = 0;
    uint32_t rememberAddress = 0;
    uint32_t rememberLength = 0;
  };

  ChecksumCmd checksumCmd;

  class SetTimeCmd {
   public:
    static const uint8_t LENGTH = 8;
  };

  class DownloadCentroidCmd {
   public:
    static const uint8_t LENGTH = 1;
  };

  class UploadCentroid {
   public:
    uint8_t rememberId = 0;
  };

  UploadCentroid uploadCentroid;

  class DownloadMatchedStarCmd {
   public:
    static const uint8_t LENGTH = 1;
  };

  class DownloadDbImageCmd {
   public:
    static const uint8_t LENGTH = 1;
  };

  class DownloadBlobPixCmd {
   public:
    static const uint8_t LENGTH = 2;
    static const uint8_t NORMAL = 0;
    static const uint8_t FAST = 1;
  };

  class FpgaDownloadCmd {
   public:
    static const uint8_t MIN_LENGTH = 10;
  };

  class FpgaActionCmd {
   public:
    static const uint8_t LENGTH = 1;
    static const uint8_t ID = 3;
  };

  MessageQueueIF* eventQueue = nullptr;

  ArcsecDatalinkLayer dataLinkLayer;

  StarTracker::TemperatureSet temperatureSet;
  StarTracker::VersionSet versionSet;
  StarTracker::PowerSet powerSet;
  StarTracker::InterfaceSet interfaceSet;
  StarTracker::TimeSet timeSet;
  StarTracker::SolutionSet solutionSet;
  StarTracker::HistogramSet histogramSet;
  StarTracker::ContrastSet contrastSet;
  StarTracker::ChecksumSet checksumSet;
  StarTracker::DownloadCentroidSet downloadCentroidSet;
  StarTracker::DownloadMatchedStar downloadMatchedStar;
  StarTracker::DownloadDBImage downloadDbImage;
  StarTracker::DownloadBlobPixel downloadBlobPixel;
  StarTracker::CameraSet cameraSet;
  StarTracker::LimitsSet limitsSet;
  StarTracker::BlobSet blobSet;

  // Pointer to object responsible for uploading and downloading images to/from the star tracker
  StrHelper* strHelper = nullptr;

  uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];

  // Countdown to insert delay for star tracker to switch from bootloader to firmware program
  Countdown bootCountdown;

  std::string paramJsonFile = "/mnt/sd0/startracker/full.json";

  enum class InternalState { TEMPERATURE_REQUEST };

  InternalState internalState = InternalState::TEMPERATURE_REQUEST;

  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;

  bool strHelperExecuting = false;

  /**
   * @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);

  /**
   * @brief   This function initializes the serial link ip protocol struct slipInfo.
   */
  void slipInit();

  ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId);
  ReturnValue_t scanForSetParameterReply(DeviceCommandId_t* foundId);
  ReturnValue_t scanForGetParameterReply(DeviceCommandId_t* foundId);
  ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId);

  /**
   * @brief   Fills command buffer with data to ping the star tracker
   */
  void preparePingRequest();

  /**
   * @brief   Fills command buffer with data to request the time telemetry.
   */
  void prepareTimeRequest();

  /**
   * @brief    Handles all received event messages
   */
  void handleEvent(EventMessage* eventMessage);

  /**
   * @brief   Executes the write command
   *
   * @param commandData       Pointer to received command data
   * @param commandDataLen    Size of received command data
   *
   * @return  RETURN_OK if start of execution was successful, otherwise error return value
   */
  ReturnValue_t executeWriteCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Starts the execution of the fpga download command
   *
   * @param commandData       Pointer to buffer with command data
   * @param commandDataLen    Size of received command
   */
  ReturnValue_t executeFpgaDownloadCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Extracts information for flash-read-command from TC data and starts execution of
   *          flash-read-procedure
   *
   * @param commandData       Pointer to received command data
   * @param commandDataLen    Size of received command data
   *
   * @return  RETURN_OK if start of execution was successful, otherwise error return value
   */
  ReturnValue_t executeReadCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills command buffer with data to boot image (works only when star tracker is
   *          in bootloader mode).
   */
  void prepareBootCommand();

  /**
   * @brief   Fills command buffer with command to erase a flash region
   */
  ReturnValue_t prepareEraseCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills command buffer with command to unlock flash region
   */
  ReturnValue_t prepareUnlockCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills command buffer with command to get the checksum of a flash part
   */
  ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills command buffer with command to set the unix time
   */
  ReturnValue_t prepareSetTimeCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills command buffer with command to request a centroid
   */
  ReturnValue_t prepareDownloadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills command buffer with command to upload a centroid for testing purpose
   */
  ReturnValue_t prepareUploadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills the command buffer with the command to take an image.
   */
  void prepareTakeImageCommand(const uint8_t* commandData);

  /**
   * @brief   Fills command buffer with data to request the version telemetry packet
   */
  void prepareVersionRequest();

  /**
   * @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();

  /**
   * @brief   Fills command buffer with data to reboot star tracker.
   */
  void prepareRebootCommand();

  /**
   * @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();

  /**
   * @brief   Fills command buffer with data to request temperature from star tracker
   */
  void prepareTemperatureRequest();

  /**
   * @brief   Fills command buffer with data to request histogram
   */
  void prepareHistogramRequest();

  void prepareContrastRequest();

  /**
   * @brief   Fills command buffer with command to reset the error signal of the star tracker
   */
  void prepareErrorResetRequest();

  /**
   * @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
   */
  ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
                                    ArcsecJsonParamBase& paramSet);

  /**
   * @brief   Fills command buffer with data to request matched star.
   */
  ReturnValue_t prepareDownloadMatchedStarCommand(const uint8_t* commandData,
                                                  size_t commandDataLen);

  /**
   * @brief   Fills command buffer with data to request matched star coordinates.
   */
  ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Fills command buffer with data to request output of the blob filter algorithm.
   */
  ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   With this command the FPGA update will be applied to the star tracker
   */
  ReturnValue_t prepareFpgaActionCommand(const uint8_t* commandData, size_t commandDataLen);

  /**
   * @brief   Will fill the command buffer with the command to request the set camera parameters.
   */
  ReturnValue_t prepareRequestCameraParams();

  /**
   * @brief   Will fill the command buffer with the command to request the set limits.
   */
  ReturnValue_t prepareRequestLimitsParams();

  /**
   * @brief   Will fill the command buffer with the command to request the set blob parameters.
   */
  ReturnValue_t prepareRequestBlobParams();

  /**
   * @brief   Handles action replies with datasets.
   */
  ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size);

  /**
   * @brief   Default function to handle action replies
   */
  ReturnValue_t handleActionReply();

  /**
   * @brief   Handles reply to upload centroid command
   */
  ReturnValue_t handleUploadCentroidReply();

  /**
   * @brief   Handles reply to erase command
   */
  ReturnValue_t handleEraseReply();

  /**
   * @brief   Handles reply to checksum command
   */
  ReturnValue_t handleChecksumReply();

  /**
   * @brief   Handles all set parameter replies
   */
  ReturnValue_t handleSetParamReply();

  ReturnValue_t handlePingReply();

  ReturnValue_t handleParamRequest(LocalPoolDataSetBase& dataset, size_t size);

  /**
   * @brief   Checks the loaded program by means of the version set
   */
  ReturnValue_t checkProgram();

  /**
   * @brief   Handles the startup state machine
   */
  void handleStartup(const uint8_t* parameterId);

  /**
   * @brief   Handles telemtry replies and fills the appropriate dataset
   *
   * @param dataset   Dataset where reply data will be written to
   * @param size      Size of the dataset
   *
   * @return  RETURN_OK if successful, otherwise error return value
   */
  ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
};

#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */