From 0256824e37cc8ecd1a5a3bb8e6b47027d9558684 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 21 Mar 2023 20:35:28 +0100 Subject: [PATCH] add uart reception handler --- bsp_q7s/core/ObjectFactory.cpp | 4 +- fsfw | 2 +- linux/devices/ScexUartReader.cpp | 3 +- .../startracker/ArcsecDatalinkLayer.cpp | 83 ++--- .../devices/startracker/ArcsecDatalinkLayer.h | 30 +- .../devices/startracker/ArcsecJsonParamBase.h | 7 +- linux/devices/startracker/CMakeLists.txt | 3 +- .../startracker/StarTrackerHandler.cpp | 336 ++++++++---------- .../devices/startracker/StarTrackerHandler.h | 51 +-- .../{StrHelper.cpp => StrComHandler.cpp} | 266 +++++++++----- .../{StrHelper.h => StrComHandler.h} | 101 +++--- linux/devices/startracker/helpers.cpp | 7 + linux/devices/startracker/helpers.h | 17 + thirdparty/arcsec_star_tracker | 2 +- 14 files changed, 490 insertions(+), 422 deletions(-) rename linux/devices/startracker/{StrHelper.cpp => StrComHandler.cpp} (66%) rename linux/devices/startracker/{StrHelper.h => StrComHandler.h} (87%) create mode 100644 linux/devices/startracker/helpers.cpp create mode 100644 linux/devices/startracker/helpers.h diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 112b7995..a31f2d87 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -4,6 +4,7 @@ #include #include #include +#include #include #include #include @@ -45,7 +46,6 @@ #include "linux/devices/ploc/PlocMemoryDumper.h" #include "linux/devices/ploc/PlocSupervisorHandler.h" #include "linux/devices/startracker/StarTrackerHandler.h" -#include "linux/devices/startracker/StrHelper.h" #include "linux/ipcore/AxiPtmeConfig.h" #include "linux/ipcore/PapbVcInterface.h" #include "linux/ipcore/PdecHandler.h" @@ -934,7 +934,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) { new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL); starTrackerCookie->setNoFixedSizeReply(); - StrHelper* strHelper = new StrHelper(objects::STR_HELPER); + StrComHandler* strHelper = new StrComHandler(objects::STR_HELPER); const char* paramJsonFile = nullptr; #ifdef EGSE diff --git a/fsfw b/fsfw index 227524a2..341437df 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 227524a21da755d125bcb1a5ff67bcbc452f8cf9 +Subproject commit 341437df1387aaf0128dd5304b5c0cc8ad734e69 diff --git a/linux/devices/ScexUartReader.cpp b/linux/devices/ScexUartReader.cpp index eb61fa2e..9e76306c 100644 --- a/linux/devices/ScexUartReader.cpp +++ b/linux/devices/ScexUartReader.cpp @@ -148,8 +148,7 @@ ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendD } size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen); if (bytesWritten != encodedLen) { - sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed" - << std::endl; + sif::warning << "ScexUartReader::sendMessage: Sending command failed" << std::endl; return FAILED; } diff --git a/linux/devices/startracker/ArcsecDatalinkLayer.cpp b/linux/devices/startracker/ArcsecDatalinkLayer.cpp index 6eb3fdc3..0d2f5502 100644 --- a/linux/devices/startracker/ArcsecDatalinkLayer.cpp +++ b/linux/devices/startracker/ArcsecDatalinkLayer.cpp @@ -42,6 +42,15 @@ ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedF return DEC_IN_PROGRESS; } +ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDataLen) { + if (rawDataLen > 4096) { + sif::error << "ArcsecDatalinklayer: Can not write more than 4096 bytes to ring buffer" + << std::endl; + return returnvalue::FAILED; + } + return decodeRingBuf.writeData(rawData, rawDataLen); +} + void ArcsecDatalinkLayer::slipInit() { slipInfo.buffer = rxBuffer; slipInfo.maxlength = startracker::MAX_FRAME_SIZE; @@ -50,51 +59,43 @@ void ArcsecDatalinkLayer::slipInit() { slipInfo.prev_state = SLIP_COMPLETE; } -ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize, - size_t* bytesLeft) { - size_t bytePos = 0; - for (bytePos = 0; bytePos < rawDataSize; bytePos++) { - enum arc_dec_result decResult = - arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedRxFrame, &rxFrameSize); - *bytesLeft = rawDataSize - bytePos - 1; - switch (decResult) { - case ARC_DEC_INPROGRESS: { - if (bytePos == rawDataSize - 1) { - return DEC_IN_PROGRESS; - } - continue; - } - case ARC_DEC_ERROR_FRAME_SHORT: - return REPLY_TOO_SHORT; - case ARC_DEC_ERROR_CHECKSUM: - return CRC_FAILURE; - case ARC_DEC_ASYNC: - case ARC_DEC_SYNC: { - // Reset length of SLIP struct for next frame - slipInfo.length = 0; - return returnvalue::OK; - } - default: - sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl; - break; - return returnvalue::FAILED; - } - } - return returnvalue::FAILED; -} +// ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize, +// size_t* bytesLeft) { +// size_t bytePos = 0; +// for (bytePos = 0; bytePos < rawDataSize; bytePos++) { +// enum arc_dec_result decResult = +// arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedRxFrame, &rxFrameSize); +// *bytesLeft = rawDataSize - bytePos - 1; +// switch (decResult) { +// case ARC_DEC_INPROGRESS: { +// if (bytePos == rawDataSize - 1) { +// return DEC_IN_PROGRESS; +// } +// continue; +// } +// case ARC_DEC_ERROR_FRAME_SHORT: +// return REPLY_TOO_SHORT; +// case ARC_DEC_ERROR_CHECKSUM: +// return CRC_FAILURE; +// case ARC_DEC_ASYNC: +// case ARC_DEC_SYNC: { +// // Reset length of SLIP struct for next frame +// slipInfo.length = 0; +// return returnvalue::OK; +// } +// default: +// sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl; +// break; +// return returnvalue::FAILED; +// } +// } +// return returnvalue::FAILED; +// } -uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedRxFrame[0]; } - -const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedRxFrame[1]; } - -void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, uint8_t** txFrame, +void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& size) { arc_transport_encode_body(data, length, txEncoded, &size); if (txFrame != nullptr) { *txFrame = txEncoded; } } - -uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedRxFrame + STATUS_OFFSET); } - -uint8_t ArcsecDatalinkLayer::getId() { return *(decodedRxFrame + ID_OFFSET); } diff --git a/linux/devices/startracker/ArcsecDatalinkLayer.h b/linux/devices/startracker/ArcsecDatalinkLayer.h index 204b9f4a..1831360f 100644 --- a/linux/devices/startracker/ArcsecDatalinkLayer.h +++ b/linux/devices/startracker/ArcsecDatalinkLayer.h @@ -2,15 +2,13 @@ #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ #include +#include +#include "arcsec/common/misc.h" #include "eive/resultClassIds.h" #include "fsfw/returnvalues/returnvalue.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" -extern "C" { -#include "common/misc.h" -} - /** * @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec. */ @@ -47,7 +45,7 @@ class ArcsecDatalinkLayer { * @param rawDataSize Size of raw data stream * @param remainingBytes Number of bytes left */ - ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft); + // ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft); /** * @brief SLIP encodes data pointed to by data pointer. @@ -55,27 +53,7 @@ class ArcsecDatalinkLayer { * @param data Pointer to data to encode * @param length Length of buffer to encode */ - void encodeFrame(const uint8_t* data, size_t length, uint8_t** txFrame, size_t& frameLen); - - /** - * @brief Returns the frame type field of a decoded frame. - */ - uint8_t getReplyFrameType(); - - /** - * @brief Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.) - */ - const uint8_t* getReply(); - - /** - * @brief Returns status of reply - */ - uint8_t getStatusField(); - - /** - * @brief Returns ID of reply - */ - uint8_t getId(); + void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen); private: static const uint8_t ID_OFFSET = 1; diff --git a/linux/devices/startracker/ArcsecJsonParamBase.h b/linux/devices/startracker/ArcsecJsonParamBase.h index 49d0dbba..e6402ebe 100644 --- a/linux/devices/startracker/ArcsecJsonParamBase.h +++ b/linux/devices/startracker/ArcsecJsonParamBase.h @@ -5,15 +5,12 @@ #include #include +#include "arcsec/common/generated/tmtcstructs.h" +#include "arcsec/common/genericstructs.h" #include "eive/resultClassIds.h" #include "fsfw/returnvalues/returnvalue.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" -extern "C" { -#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h" -#include "thirdparty/arcsec_star_tracker/common/genericstructs.h" -} - using json = nlohmann::json; /** diff --git a/linux/devices/startracker/CMakeLists.txt b/linux/devices/startracker/CMakeLists.txt index 963b2a44..dc4ca2a3 100644 --- a/linux/devices/startracker/CMakeLists.txt +++ b/linux/devices/startracker/CMakeLists.txt @@ -1,4 +1,5 @@ target_sources( ${OBSW_NAME} PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp - ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp) + ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrComHandler.cpp + helpers.cpp) diff --git a/linux/devices/startracker/StarTrackerHandler.cpp b/linux/devices/startracker/StarTrackerHandler.cpp index 6e57f5d5..70c73da8 100644 --- a/linux/devices/startracker/StarTrackerHandler.cpp +++ b/linux/devices/startracker/StarTrackerHandler.cpp @@ -1,5 +1,8 @@ #include "StarTrackerHandler.h" +#include +#include +#include #include #include @@ -9,18 +12,13 @@ #include "OBSWConfig.h" #include "StarTrackerJsonCommands.h" -extern "C" { -#include -#include -#include - -#include "common/misc.h" -} +#include "arcsec/common/misc.h" +#include "helpers.h" std::atomic_bool JCFG_DONE(false); StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, - const char* jsonFileStr, StrHelper* strHelper, + const char* jsonFileStr, StrComHandler* strHelper, power::Switch_t powerSwitch) : DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), @@ -84,8 +82,8 @@ ReturnValue_t StarTrackerHandler::initialize() { return result; } result = manager->subscribeToEventRange(eventQueue->getId(), - event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED), - event::getEventId(StrHelper::FIRMWARE_UPDATE_FAILED)); + event::getEventId(StrComHandler::IMAGE_UPLOAD_FAILED), + event::getEventId(StrComHandler::FIRMWARE_UPDATE_FAILED)); if (result != returnvalue::OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from " @@ -95,11 +93,11 @@ ReturnValue_t StarTrackerHandler::initialize() { return ObjectManagerIF::CHILD_INIT_FAILED; } - result = strHelper->setComIF(communicationInterface); - if (result != returnvalue::OK) { - return ObjectManagerIF::CHILD_INIT_FAILED; - } - strHelper->setComCookie(comCookie); + // result = strHelper->setComIF(communicationInterface); + // if (result != returnvalue::OK) { + // return ObjectManagerIF::CHILD_INIT_FAILED; + // } + // strHelper->setComCookie(comCookie); return returnvalue::OK; } @@ -828,41 +826,36 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema ReturnValue_t result = returnvalue::OK; size_t bytesLeft = 0; - result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft); - switch (result) { - case ArcsecDatalinkLayer::DEC_IN_PROGRESS: { - remainingSize = bytesLeft; - // Need a second doSendRead pass to reaa in whole packet - return IGNORE_REPLY_DATA; - } - case returnvalue::OK: { - break; - } - default: - remainingSize = bytesLeft; - return result; + if (remainingSize == 0) { + *foundLen = remainingSize; + return returnvalue::OK; + } + if (remainingSize < 3) { + sif::error << "StarTrackerHandler: Reply packet with length less than 3 is invalid" + << std::endl; + return returnvalue::FAILED; } - switch (dataLinkLayer.getReplyFrameType()) { + switch (str::getReplyFrameType(start)) { case TMTC_ACTIONREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForActionReply(foundId); + result = scanForActionReply(str::getId(start), foundId); break; } case TMTC_SETPARAMREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForSetParameterReply(foundId); + result = scanForSetParameterReply(str::getId(start), foundId); break; } case TMTC_PARAMREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForGetParameterReply(foundId); + result = scanForGetParameterReply(str::getId(start), foundId); break; } case TMTC_TELEMETRYREPLYA: case TMTC_TELEMETRYREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForTmReply(foundId); + result = scanForTmReply(str::getId(start), foundId); break; } default: { @@ -882,22 +875,22 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, switch (id) { case (startracker::REQ_TIME): { - result = handleTm(timeSet, startracker::TimeSet::SIZE); + result = handleTm(packet, timeSet, startracker::TimeSet::SIZE); break; } case (startracker::PING_REQUEST): { - result = handlePingReply(); + result = handlePingReply(packet); break; } case (startracker::BOOT): case (startracker::TAKE_IMAGE): break; case (startracker::CHECKSUM): { - result = handleChecksumReply(); + result = handleChecksumReply(packet); break; } case (startracker::REQ_VERSION): { - result = handleTm(versionSet, startracker::VersionSet::SIZE); + result = handleTm(packet, versionSet, startracker::VersionSet::SIZE); if (result != returnvalue::OK) { return result; } @@ -908,23 +901,23 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, break; } case (startracker::REQ_INTERFACE): { - result = handleTm(interfaceSet, startracker::InterfaceSet::SIZE); + result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE); break; } case (startracker::REQ_POWER): { - result = handleTm(powerSet, startracker::PowerSet::SIZE); + result = handleTm(packet, powerSet, startracker::PowerSet::SIZE); break; } case (startracker::REQ_SOLUTION): { - result = handleTm(solutionSet, startracker::SolutionSet::SIZE); + result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE); break; } case (startracker::REQ_TEMPERATURE): { - result = handleTm(temperatureSet, startracker::TemperatureSet::SIZE); + result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE); break; } case (startracker::REQ_HISTOGRAM): { - result = handleTm(histogramSet, startracker::HistogramSet::SIZE); + result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE); break; } case (startracker::SUBSCRIPTION): @@ -941,63 +934,63 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, case (startracker::VALIDATION): case (startracker::IMAGE_PROCESSOR): case (startracker::ALGO): { - result = handleSetParamReply(); + result = handleSetParamReply(packet); break; } case (startracker::REQ_CAMERA): { - handleParamRequest(cameraSet, startracker::CameraSet::SIZE); + handleParamRequest(packet, cameraSet, startracker::CameraSet::SIZE); break; } case (startracker::REQ_LIMITS): { - handleParamRequest(limitsSet, startracker::LimitsSet::SIZE); + handleParamRequest(packet, limitsSet, startracker::LimitsSet::SIZE); break; } case (startracker::REQ_LOG_LEVEL): { - handleParamRequest(loglevelSet, startracker::LogLevelSet::SIZE); + handleParamRequest(packet, loglevelSet, startracker::LogLevelSet::SIZE); break; } case (startracker::REQ_MOUNTING): { - handleParamRequest(mountingSet, startracker::MountingSet::SIZE); + handleParamRequest(packet, mountingSet, startracker::MountingSet::SIZE); break; } case (startracker::REQ_IMAGE_PROCESSOR): { - handleParamRequest(imageProcessorSet, startracker::ImageProcessorSet::SIZE); + handleParamRequest(packet, imageProcessorSet, startracker::ImageProcessorSet::SIZE); break; } case (startracker::REQ_CENTROIDING): { - handleParamRequest(centroidingSet, startracker::CentroidingSet::SIZE); + handleParamRequest(packet, centroidingSet, startracker::CentroidingSet::SIZE); break; } case (startracker::REQ_LISA): { - handleParamRequest(lisaSet, startracker::LisaSet::SIZE); + handleParamRequest(packet, lisaSet, startracker::LisaSet::SIZE); break; } case (startracker::REQ_MATCHING): { - handleParamRequest(matchingSet, startracker::MatchingSet::SIZE); + handleParamRequest(packet, matchingSet, startracker::MatchingSet::SIZE); break; } case (startracker::REQ_TRACKING): { - handleParamRequest(trackingSet, startracker::TrackingSet::SIZE); + handleParamRequest(packet, trackingSet, startracker::TrackingSet::SIZE); break; } case (startracker::REQ_VALIDATION): { - handleParamRequest(validationSet, startracker::ValidationSet::SIZE); + handleParamRequest(packet, validationSet, startracker::ValidationSet::SIZE); break; } case (startracker::REQ_ALGO): { - handleParamRequest(algoSet, startracker::AlgoSet::SIZE); + handleParamRequest(packet, algoSet, startracker::AlgoSet::SIZE); break; } case (startracker::REQ_SUBSCRIPTION): { - handleParamRequest(subscriptionSet, startracker::SubscriptionSet::SIZE); + handleParamRequest(packet, subscriptionSet, startracker::SubscriptionSet::SIZE); break; } case (startracker::REQ_LOG_SUBSCRIPTION): { - handleParamRequest(logSubscriptionSet, startracker::LogSubscriptionSet::SIZE); + handleParamRequest(packet, logSubscriptionSet, startracker::LogSubscriptionSet::SIZE); break; } case (startracker::REQ_DEBUG_CAMERA): { - handleParamRequest(debugCameraSet, startracker::DebugCameraSet::SIZE); + handleParamRequest(packet, debugCameraSet, startracker::DebugCameraSet::SIZE); break; } default: { @@ -1328,9 +1321,8 @@ ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) { return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::PING): { *foundId = startracker::PING_REQUEST; break; @@ -1359,9 +1351,9 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForSetParameterReply(uint8_t replyId, + DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::SUBSCRIPTION): { *foundId = startracker::SUBSCRIPTION; break; @@ -1426,9 +1418,9 @@ ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* fo return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForGetParameterReply(uint8_t replyId, + DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::CAMERA): { *foundId = startracker::REQ_CAMERA; break; @@ -1494,9 +1486,8 @@ ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* fo return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::VERSION): { *foundId = startracker::REQ_VERSION; break; @@ -1527,7 +1518,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) { } default: { sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id: " - << static_cast(*reply) << std::endl; + << static_cast(replyId) << std::endl; return returnvalue::FAILED; break; } @@ -1586,9 +1577,9 @@ void StarTrackerHandler::prepareBootCommand() { uint32_t length = 0; struct BootActionRequest bootRequest = {BOOT_REGION_ID}; arc_pack_boot_action_req(&bootRequest, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData, @@ -1620,9 +1611,9 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD } uint32_t rawCmdLength = 0; arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength); - dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = rawCmdLength; // dataLinkLayer.getEncodedLength(); checksumCmd.rememberRegion = req.region; checksumCmd.rememberAddress = req.address; checksumCmd.rememberLength = req.length; @@ -1632,51 +1623,51 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD void StarTrackerHandler::prepareTimeRequest() { uint32_t length = 0; arc_tm_pack_time_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::preparePingRequest() { uint32_t length = 0; struct PingActionRequest pingRequest = {PING_ID}; arc_pack_ping_action_req(&pingRequest, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::prepareVersionRequest() { uint32_t length = 0; arc_tm_pack_version_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::prepareInterfaceRequest() { uint32_t length = 0; arc_tm_pack_interface_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::preparePowerRequest() { uint32_t length = 0; arc_tm_pack_power_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::prepareSwitchToBootloaderCmd() { uint32_t length = 0; struct RebootActionRequest rebootReq {}; arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { @@ -1684,33 +1675,33 @@ void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { struct CameraActionRequest camReq; camReq.actionid = *commandData; arc_pack_camera_action_req(&camReq, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::prepareSolutionRequest() { uint32_t length = 0; arc_tm_pack_solution_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::prepareTemperatureRequest() { uint32_t length = 0; arc_tm_pack_temperature_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } void StarTrackerHandler::prepareHistogramRequest() { uint32_t length = 0; arc_tm_pack_histogram_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + // dataLinkLayer.encodeFrame(commandBuffer, length); + rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); + rawPacketLen = length; // dataLinkLayer.getEncodedLength(); } ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData, @@ -1727,176 +1718,159 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData if (result != returnvalue::OK) { return result; } - dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize()); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = paramSet.getSize(); return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() { uint32_t length = 0; arc_pack_camera_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() { uint32_t length = 0; arc_pack_limits_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLogLevelParams() { uint32_t length = 0; arc_pack_loglevel_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestMountingParams() { uint32_t length = 0; arc_pack_mounting_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestImageProcessorParams() { uint32_t length = 0; arc_pack_imageprocessor_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestCentroidingParams() { uint32_t length = 0; arc_pack_centroiding_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLisaParams() { uint32_t length = 0; arc_pack_lisa_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestMatchingParams() { uint32_t length = 0; arc_pack_matching_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestTrackingParams() { uint32_t length = 0; arc_pack_tracking_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestValidationParams() { uint32_t length = 0; arc_pack_validation_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestAlgoParams() { uint32_t length = 0; arc_pack_algo_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestSubscriptionParams() { uint32_t length = 0; arc_pack_subscription_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLogSubscriptionParams() { uint32_t length = 0; arc_pack_logsubscription_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestDebugCameraParams() { uint32_t length = 0; arc_pack_debugcamera_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleSetParamReply() { - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = *(reply + STATUS_OFFSET); +ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) { + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set " " command with parameter ID" - << static_cast(*(reply + PARAMETER_ID_OFFSET)) << std::endl; + << static_cast(*(rawFrame + PARAMETER_ID_OFFSET)) << std::endl; if (internalState != InternalState::IDLE) { internalState = InternalState::IDLE; } return SET_PARAM_FAILED; } if (internalState != InternalState::IDLE) { - handleStartup(reply + PARAMETER_ID_OFFSET); + handleStartup(rawFrame + 1 + PARAMETER_ID_OFFSET); } return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleActionReply() { - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = *(reply + STATUS_OFFSET); +ReturnValue_t StarTrackerHandler::handleActionReply(const uint8_t* rawFrame) { + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action " << "command with action ID " - << static_cast(*(reply + ACTION_ID_OFFSET)) << " and status " + << static_cast(*(rawFrame + ACTION_ID_OFFSET)) << " and status " << static_cast(status) << std::endl; return ACTION_FAILED; } return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleChecksumReply() { +ReturnValue_t StarTrackerHandler::handleChecksumReply(const uint8_t* rawFrame) { ReturnValue_t result = returnvalue::OK; - result = handleActionReply(); + result = handleActionReply(rawFrame); if (result != returnvalue::OK) { return result; } - const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET; + const uint8_t* replyData = rawFrame + ACTION_DATA_OFFSET; startracker::ChecksumReply checksumReply(replyData); if (checksumReply.getRegion() != checksumCmd.rememberRegion) { sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl; @@ -1919,13 +1893,14 @@ ReturnValue_t StarTrackerHandler::handleChecksumReply() { return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& dataset, size_t size) { +ReturnValue_t StarTrackerHandler::handleParamRequest(const uint8_t* rawFrame, + LocalPoolDataSetBase& dataset, size_t size) { ReturnValue_t result = returnvalue::OK; result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT); if (result != returnvalue::OK) { return result; } - const uint8_t* reply = dataLinkLayer.getReply() + PARAMS_OFFSET; + const uint8_t* reply = rawFrame + PARAMS_OFFSET; dataset.setValidityBufferGeneration(false); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); if (result != returnvalue::OK) { @@ -1943,25 +1918,20 @@ ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& datas return result; } -ReturnValue_t StarTrackerHandler::handlePingReply() { +ReturnValue_t StarTrackerHandler::handlePingReply(const uint8_t* rawFrame) { ReturnValue_t result = returnvalue::OK; uint32_t pingId = 0; - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = dataLinkLayer.getStatusField(); - const uint8_t* buffer = reply + ACTION_DATA_OFFSET; + uint8_t status = str::getStatusField(rawFrame); + const uint8_t* buffer = rawFrame + ACTION_DATA_OFFSET; size_t size = sizeof(pingId); SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE); -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 sif::info << "StarTracker: Ping status: " << static_cast(status) << std::endl; - sif::info << "Ping id: 0x" << std::hex << pingId << std::endl; -#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */ + sif::info << "Ping ID: 0x" << std::hex << pingId << std::endl; if (status != startracker::STATUS_OK || pingId != PING_ID) { - sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl; + sif::warning << "STR: Ping failed" << std::endl; result = PING_FAILED; } else { -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 - sif::info << "StarTracker: Ping successful" << std::endl; -#endif + sif::info << "STR: Ping OK" << std::endl; } return result; } @@ -2001,9 +1971,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() { return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) { +ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, + size_t size) { ReturnValue_t result = returnvalue::OK; - uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleTm: Reply error: " << static_cast(status) << std::endl; @@ -2013,7 +1984,7 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t if (result != returnvalue::OK) { return result; } - const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET; + const uint8_t* reply = rawFrame + TICKS_OFFSET; dataset.setValidityBufferGeneration(false); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); if (result != returnvalue::OK) { @@ -2031,9 +2002,10 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t return result; } -ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) { +ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame, + LocalPoolDataSetBase& dataset, size_t size) { ReturnValue_t result = returnvalue::OK; - uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: " << static_cast(status) << std::endl; @@ -2043,7 +2015,7 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat if (result != returnvalue::OK) { return result; } - const uint8_t* reply = dataLinkLayer.getReply() + ACTION_DATA_OFFSET; + const uint8_t* reply = rawFrame + ACTION_DATA_OFFSET; dataset.setValidityBufferGeneration(false); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); if (result != returnvalue::OK) { diff --git a/linux/devices/startracker/StarTrackerHandler.h b/linux/devices/startracker/StarTrackerHandler.h index 692ba7e1..fec84aca 100644 --- a/linux/devices/startracker/StarTrackerHandler.h +++ b/linux/devices/startracker/StarTrackerHandler.h @@ -3,19 +3,19 @@ #include #include +#include #include #include "ArcsecDatalinkLayer.h" #include "ArcsecJsonParamBase.h" #include "OBSWConfig.h" -#include "StrHelper.h" +#include "arcsec/common/SLIP.h" #include "devices/powerSwitcherList.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/src/fsfw/serialize/SerializeAdapter.h" #include "fsfw/timemanager/Countdown.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" -#include "thirdparty/arcsec_star_tracker/common/SLIP.h" /** * @brief This is the device handler for the star tracker from arcsec. @@ -38,7 +38,8 @@ class StarTrackerHandler : public DeviceHandlerBase { * to high to enable the device. */ StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, - const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch); + const char* jsonFileStr, StrComHandler* strHelper, + power::Switch_t powerSwitch); virtual ~StarTrackerHandler(); ReturnValue_t initialize() override; @@ -149,14 +150,14 @@ class StarTrackerHandler : public DeviceHandlerBase { static const size_t MAX_PATH_SIZE = 50; static const size_t MAX_FILE_NAME = 30; - 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; + static const uint8_t STATUS_OFFSET = 2; + static const uint8_t PARAMS_OFFSET = 2; + static const uint8_t TICKS_OFFSET = 3; + static const uint8_t TIME_OFFSET = 7; + static const uint8_t PARAMETER_ID_OFFSET = 1; + static const uint8_t ACTION_ID_OFFSET = 1; + static const uint8_t ACTION_DATA_OFFSET = 3; + // 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; @@ -184,7 +185,7 @@ class StarTrackerHandler : public DeviceHandlerBase { MessageQueueIF* eventQueue = nullptr; - ArcsecDatalinkLayer dataLinkLayer; + // ArcsecDatalinkLayer dataLinkLayer; startracker::TemperatureSet temperatureSet; startracker::VersionSet versionSet; @@ -210,7 +211,7 @@ class StarTrackerHandler : public DeviceHandlerBase { startracker::DebugCameraSet debugCameraSet; // Pointer to object responsible for uploading and downloading images to/from the star tracker - StrHelper* strHelper = nullptr; + StrComHandler* strHelper = nullptr; uint8_t commandBuffer[startracker::MAX_FRAME_SIZE]; @@ -312,10 +313,10 @@ class StarTrackerHandler : public DeviceHandlerBase { */ 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); + ReturnValue_t scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId); + ReturnValue_t scanForSetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId); + ReturnValue_t scanForGetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId); + ReturnValue_t scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId); /** * @brief Fills command buffer with data to ping the star tracker @@ -437,12 +438,13 @@ class StarTrackerHandler : public DeviceHandlerBase { /** * @brief Handles action replies with datasets. */ - ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size); + ReturnValue_t handleActionReplySet(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, + size_t size); /** * @brief Default function to handle action replies */ - ReturnValue_t handleActionReply(); + ReturnValue_t handleActionReply(const uint8_t* rawFrame); /** * @brief Handles reply to upload centroid command @@ -452,16 +454,17 @@ class StarTrackerHandler : public DeviceHandlerBase { /** * @brief Handles reply to checksum command */ - ReturnValue_t handleChecksumReply(); + ReturnValue_t handleChecksumReply(const uint8_t* rawFrame); /** * @brief Handles all set parameter replies */ - ReturnValue_t handleSetParamReply(); + ReturnValue_t handleSetParamReply(const uint8_t* rawFrame); - ReturnValue_t handlePingReply(); + ReturnValue_t handlePingReply(const uint8_t* rawFrame); - ReturnValue_t handleParamRequest(LocalPoolDataSetBase& dataset, size_t size); + ReturnValue_t handleParamRequest(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, + size_t size); /** * @brief Checks the loaded program by means of the version set @@ -481,7 +484,7 @@ class StarTrackerHandler : public DeviceHandlerBase { * * @return returnvalue::OK if successful, otherwise error return value */ - ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size); + ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size); /** * @brief Checks if star tracker is in valid mode for executing the received command. diff --git a/linux/devices/startracker/StrHelper.cpp b/linux/devices/startracker/StrComHandler.cpp similarity index 66% rename from linux/devices/startracker/StrHelper.cpp rename to linux/devices/startracker/StrComHandler.cpp index 651285cc..6ece1107 100644 --- a/linux/devices/startracker/StrHelper.cpp +++ b/linux/devices/startracker/StrComHandler.cpp @@ -1,6 +1,8 @@ -#include "StrHelper.h" - +#include #include +#include +#include +#include #include #include @@ -8,16 +10,19 @@ #include "OBSWConfig.h" #include "eive/definitions.h" #include "fsfw/timemanager/Countdown.h" +#include "helpers.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" #include "mission/utility/Filenaming.h" #include "mission/utility/ProgressPrinter.h" #include "mission/utility/Timestamp.h" -StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {} +using namespace returnvalue; -StrHelper::~StrHelper() {} +StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {} -ReturnValue_t StrHelper::initialize() { +StrComHandler::~StrComHandler() {} + +ReturnValue_t StrComHandler::initialize() { #ifdef XIPHOS_Q7S sdcMan = SdCardManager::instance(); if (sdcMan == nullptr) { @@ -28,7 +33,7 @@ ReturnValue_t StrHelper::initialize() { return returnvalue::OK; } -ReturnValue_t StrHelper::performOperation(uint8_t operationCode) { +ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) { ReturnValue_t result = returnvalue::OK; semaphore.acquire(); while (true) { @@ -84,18 +89,7 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) { } } -ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) { - uartComIF = dynamic_cast(communicationInterface_); - if (uartComIF == nullptr) { - sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl; - return returnvalue::FAILED; - } - return returnvalue::OK; -} - -void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; } - -ReturnValue_t StrHelper::startImageUpload(std::string fullname) { +ReturnValue_t StrComHandler::startImageUpload(std::string fullname) { #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -112,7 +106,7 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) { return returnvalue::OK; } -ReturnValue_t StrHelper::startImageDownload(std::string path) { +ReturnValue_t StrComHandler::startImageDownload(std::string path) { #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -129,13 +123,15 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) { return returnvalue::OK; } -void StrHelper::stopProcess() { terminate = true; } +void StrComHandler::stopProcess() { terminate = true; } -void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; } +void StrComHandler::setDownloadImageName(std::string filename) { + downloadImage.filename = filename; +} -void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; } +void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; } -ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) { +ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) { #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -154,7 +150,8 @@ ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) { return returnvalue::OK; } -ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, uint32_t length) { +ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion, + uint32_t length) { #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -173,11 +170,11 @@ ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, u return returnvalue::OK; } -void StrHelper::disableTimestamping() { timestamping = false; } +void StrComHandler::disableTimestamping() { timestamping = false; } -void StrHelper::enableTimestamping() { timestamping = true; } +void StrComHandler::enableTimestamping() { timestamping = true; } -ReturnValue_t StrHelper::performImageDownload() { +ReturnValue_t StrComHandler::performImageDownload() { #ifdef XIPHOS_Q7S if (not sdcMan->getActiveSdCard()) { return HasFileSystemIF::FILESYSTEM_INACTIVE; @@ -190,6 +187,7 @@ ReturnValue_t StrHelper::performImageDownload() { struct DownloadActionRequest downloadReq; uint32_t size = 0; uint32_t retries = 0; + const uint8_t* replyFrame; std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path, downloadImage.filename, timestamping); std::ofstream file(image, std::ios_base::out); @@ -203,38 +201,37 @@ ReturnValue_t StrHelper::performImageDownload() { return returnvalue::OK; } arc_pack_download_action_req(&downloadReq, commandBuffer, &size); - result = sendAndRead(size, downloadReq.position); + result = sendAndRead(&replyFrame, size, downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + uart::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replyFrame); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + uart::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkReplyPosition(downloadReq.position); + result = checkReplyPosition(replyFrame, downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + uart::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(datalinkLayer.getReply() + IMAGE_DATA_OFFSET), - CHUNK_SIZE); + file.write(reinterpret_cast(replyFrame + IMAGE_DATA_OFFSET), CHUNK_SIZE); #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print(downloadReq.position); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ @@ -245,10 +242,11 @@ ReturnValue_t StrHelper::performImageDownload() { return returnvalue::OK; } -ReturnValue_t StrHelper::performImageUpload() { +ReturnValue_t StrComHandler::performImageUpload() { ReturnValue_t result = returnvalue::OK; uint32_t size = 0; uint32_t imageSize = 0; + const uint8_t* replyFrame; struct UploadActionRequest uploadReq; uploadReq.position = 0; #ifdef XIPHOS_Q7S @@ -282,12 +280,12 @@ ReturnValue_t StrHelper::performImageUpload() { file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg); file.read(reinterpret_cast(uploadReq.data), SIZE_IMAGE_PART); arc_pack_upload_action_req(&uploadReq, commandBuffer, &size); - result = sendAndRead(size, uploadReq.position); + result = sendAndRead(&replyFrame, size, uploadReq.position); if (result != returnvalue::OK) { file.close(); return returnvalue::FAILED; } - result = checkActionReply(); + result = checkActionReply(replyFrame); if (result != returnvalue::OK) { file.close(); return result; @@ -304,11 +302,11 @@ ReturnValue_t StrHelper::performImageUpload() { file.close(); uploadReq.position++; arc_pack_upload_action_req(&uploadReq, commandBuffer, &size); - result = sendAndRead(size, uploadReq.position); + result = sendAndRead(&replyFrame, size, uploadReq.position); if (result != returnvalue::OK) { return returnvalue::FAILED; } - result = checkActionReply(); + result = checkActionReply(replyFrame); if (result != returnvalue::OK) { return result; } @@ -318,7 +316,7 @@ ReturnValue_t StrHelper::performImageUpload() { return returnvalue::OK; } -ReturnValue_t StrHelper::performFirmwareUpdate() { +ReturnValue_t StrComHandler::performFirmwareUpdate() { using namespace startracker; ReturnValue_t result = returnvalue::OK; result = unlockAndEraseRegions(static_cast(startracker::FirmwareRegions::FIRST), @@ -330,7 +328,7 @@ ReturnValue_t StrHelper::performFirmwareUpdate() { return result; } -ReturnValue_t StrHelper::performFlashWrite() { +ReturnValue_t StrComHandler::performFlashWrite() { #ifdef XIPHOS_Q7S if (not sdcMan->getActiveSdCard()) { return HasFileSystemIF::FILESYSTEM_INACTIVE; @@ -340,6 +338,7 @@ ReturnValue_t StrHelper::performFlashWrite() { uint32_t size = 0; uint32_t bytesWritten = 0; uint32_t fileSize = 0; + const uint8_t* replyFrame; struct WriteActionRequest req; if (not std::filesystem::exists(flashWrite.fullname)) { triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(internalState)); @@ -373,12 +372,12 @@ ReturnValue_t StrHelper::performFlashWrite() { } req.address = bytesWritten; arc_pack_write_action_req(&req, commandBuffer, &size); - result = sendAndRead(size, req.address); + result = sendAndRead(&replyFrame, size, req.address); if (result != returnvalue::OK) { file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replyFrame); if (result != returnvalue::OK) { file.close(); return result; @@ -400,11 +399,11 @@ ReturnValue_t StrHelper::performFlashWrite() { req.length = remainingBytes; bytesWritten += remainingBytes; arc_pack_write_action_req(&req, commandBuffer, &size); - result = sendAndRead(size, req.address); + result = sendAndRead(&replyFrame, size, req.address); if (result != returnvalue::OK) { return result; } - result = checkActionReply(); + result = checkActionReply(replyFrame); if (result != returnvalue::OK) { return result; } @@ -414,7 +413,7 @@ ReturnValue_t StrHelper::performFlashWrite() { return returnvalue::OK; } -ReturnValue_t StrHelper::performFlashRead() { +ReturnValue_t StrComHandler::performFlashRead() { #ifdef XIPHOS_Q7S if (not sdcMan->getActiveSdCard()) { return HasFileSystemIF::FILESYSTEM_INACTIVE; @@ -428,6 +427,7 @@ ReturnValue_t StrHelper::performFlashRead() { uint32_t bytesRead = 0; uint32_t size = 0; uint32_t retries = 0; + const uint8_t* replyFrame; Timestamp timestamp; std::string fullname = Filenaming::generateAbsoluteFilename(flashRead.path, flashRead.filename, timestamping); @@ -447,28 +447,27 @@ ReturnValue_t StrHelper::performFlashRead() { req.length = CHUNK_SIZE; } arc_pack_read_action_req(&req, commandBuffer, &size); - result = sendAndRead(size, req.address); + result = sendAndRead(&replyFrame, size, req.address); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + uart::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replyFrame); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + uart::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET), - req.length); + file.write(reinterpret_cast(replyFrame + FLASH_READ_DATA_OFFSET), req.length); bytesRead += req.length; req.address += req.length; if (req.address >= FLASH_REGION_SIZE) { @@ -484,72 +483,74 @@ ReturnValue_t StrHelper::performFlashRead() { return returnvalue::OK; } -ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) { +ReturnValue_t StrComHandler::sendAndRead(const uint8_t** replyFrame, size_t size, + uint32_t failParameter, uint32_t delayMs) { ReturnValue_t result = returnvalue::OK; ReturnValue_t decResult = returnvalue::OK; size_t receivedDataLen = 0; - uint8_t* receivedData = nullptr; size_t bytesLeft = 0; uint32_t missedReplies = 0; - uint8_t* sendData; + const uint8_t* sendData; size_t txFrameLen = 0; datalinkLayer.encodeFrame(commandBuffer, size, &sendData, txFrameLen); - result = uartComIF->sendMessage(comCookie, sendData, txFrameLen); - if (result != returnvalue::OK) { + int writeResult = write(serialPort, sendData, txFrameLen); + if (writeResult < 0) { sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl; - triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter); + triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter); return returnvalue::FAILED; } - decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS; - while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) { - Countdown delay(delayMs); + Countdown delay(delayMs); + while (true) { delay.resetTimer(); while (delay.isBusy()) { + TaskFactory::delayTask(10); } - result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2); - if (result != returnvalue::OK) { - sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl; - triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter); - return returnvalue::FAILED; - } - result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen); - if (result != returnvalue::OK) { - sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl; - triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter); - return returnvalue::FAILED; - } + // TODO: Read periodically into ring buffer, analyse ring buffer for reply frames periodically. + // result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2); + // if (result != returnvalue::OK) { + // sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl; + // triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter); + // return returnvalue::FAILED; + // } + // result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen); + // if (result != returnvalue::OK) { + // sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl; + // triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter); + // return returnvalue::FAILED; + // } if (receivedDataLen == 0 && missedReplies < MAX_POLLS) { missedReplies++; continue; } else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) { - triggerEvent(STR_HELPER_NO_REPLY, parameter); + triggerEvent(STR_HELPER_NO_REPLY, failParameter); return returnvalue::FAILED; } else { missedReplies = 0; } - decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft); + // TODO: Use frame detector function here instead. + // 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); + triggerEvent(STR_HELPER_COM_ERROR, result, failParameter); return returnvalue::FAILED; } } if (decResult != returnvalue::OK) { - triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter); + triggerEvent(STR_HELPER_DEC_ERROR, decResult, failParameter); return returnvalue::FAILED; } return returnvalue::OK; } -ReturnValue_t StrHelper::checkActionReply() { - uint8_t type = datalinkLayer.getReplyFrameType(); +ReturnValue_t StrComHandler::checkActionReply(const uint8_t* rawFrame) { + uint8_t type = str::getReplyFrameType(rawFrame); 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(); + uint8_t status = str::getStatusField(rawFrame); if (status != ArcsecDatalinkLayer::STATUS_OK) { sif::warning << "StrHelper::checkActionReply: Status failure: " << static_cast(status) << std::endl; @@ -558,9 +559,10 @@ ReturnValue_t StrHelper::checkActionReply() { return returnvalue::OK; } -ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) { +ReturnValue_t StrComHandler::checkReplyPosition(const uint8_t* rawFrame, + uint32_t expectedPosition) { uint32_t receivedPosition = 0; - std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition)); + std::memcpy(&receivedPosition, rawFrame + POS_OFFSET, sizeof(receivedPosition)); if (receivedPosition != expectedPosition) { triggerEvent(POSITION_MISMATCH, receivedPosition); return returnvalue::FAILED; @@ -569,7 +571,7 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) { } #ifdef XIPHOS_Q7S -ReturnValue_t StrHelper::checkPath(std::string name) { +ReturnValue_t StrComHandler::checkPath(std::string name) { if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) { if (!sdcMan->isSdCardUsable(sd::SLOT_0)) { sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl; @@ -586,8 +588,75 @@ ReturnValue_t StrHelper::checkPath(std::string name) { } #endif -ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { +ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) { + if (cookie == nullptr) { + return returnvalue::FAILED; + } + SerialCookie* serCookie = dynamic_cast(cookie); + if (serCookie == nullptr) { + return DeviceCommunicationIF::INVALID_COOKIE_TYPE; + } + // comCookie = serCookie; + std::string devname = serCookie->getDeviceFile(); + /* Get file descriptor */ + serialPort = open(devname.c_str(), O_RDWR); + if (serialPort < 0) { + sif::warning << "StrComHandler: open call failed with error [" << errno << ", " + << strerror(errno) << std::endl; + return returnvalue::FAILED; + } + // Setting up UART parameters + tty.c_cflag &= ~PARENB; // Clear parity bit + uart::setStopbits(tty, serCookie->getStopBits()); + uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control + uart::enableRead(tty); + uart::ignoreCtrlLines(tty); + + // Use non-canonical mode and clear echo flag + tty.c_lflag &= ~(ICANON | ECHO); + + // Non-blocking mode, use polling + tty.c_cc[VTIME] = 0; + tty.c_cc[VMIN] = 0; + + uart::setBaudrate(tty, serCookie->getBaudrate()); + if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { + sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error [" + << errno << ", " << strerror(errno) << std::endl; + } + // Flush received and unread data + tcflush(serialPort, TCIOFLUSH); + return returnvalue::OK; +} + +ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData, + size_t sendLen) { + const uint8_t* txFrame; + size_t frameLen; + datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen); + size_t bytesWritten = write(serialPort, txFrame, frameLen); + if (bytesWritten != frameLen) { + sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed" + << std::endl; + return returnvalue::FAILED; + } + return returnvalue::OK; +} + +ReturnValue_t StrComHandler::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; } + +ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requestLen) { + return returnvalue::OK; +} + +ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) { + return returnvalue::OK; +} + +ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) { ReturnValue_t result = returnvalue::OK; + const uint8_t* replyFrame; #if OBSW_DEBUG_STARTRACKER == 1 ProgressPrinter progressPrinter("Unlock and erase", to - from); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ @@ -598,8 +667,8 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { unlockReq.region = idx; unlockReq.code = startracker::region_secrets::secret[idx]; arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size); - sendAndRead(size, unlockReq.region); - result = checkActionReply(); + sendAndRead(&replyFrame, size, unlockReq.region); + result = checkActionReply(replyFrame); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id " << static_cast(unlockReq.region) << std::endl; @@ -607,7 +676,7 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { } eraseReq.region = idx; arc_pack_erase_action_req(&eraseReq, commandBuffer, &size); - result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY); + result = sendAndRead(&replyFrame, size, eraseReq.region, FLASH_ERASE_DELAY); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id " << static_cast(eraseReq.region) << std::endl; @@ -619,3 +688,24 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { } return result; } + +ReturnValue_t StrComHandler::handleUartReception() { + ssize_t bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), + static_cast(recBuf.size())); + if (bytesRead == 0) { + return NO_SERIAL_DATA_READ; + } else if (bytesRead < 0) { + sif::warning << "PlocSupvHelper::performOperation: read call failed with error [" << errno + << ", " << strerror(errno) << "]" << std::endl; + return FAILED; + } else if (bytesRead >= static_cast(recBuf.size())) { + sif::error << "PlocSupvHelper::performOperation: Receive buffer too small for " << bytesRead + << " bytes" << std::endl; + return FAILED; + } else if (bytesRead > 0) { + // sif::info << "Received " << bytesRead << " bytes from the PLOC Supervisor:" << std::endl; + // arrayprinter::print(recBuf.data(), bytesRead); + datalinkLayer.feedData(recBuf.data(), bytesRead); + } + return OK; +} diff --git a/linux/devices/startracker/StrHelper.h b/linux/devices/startracker/StrComHandler.h similarity index 87% rename from linux/devices/startracker/StrHelper.h rename to linux/devices/startracker/StrComHandler.h index 3d78f9a4..8fb15dfe 100644 --- a/linux/devices/startracker/StrHelper.h +++ b/linux/devices/startracker/StrComHandler.h @@ -10,6 +10,8 @@ #include "bsp_q7s/fs/SdCardManager.h" #endif +#include "arcsec/client/generated/actionreq.h" +#include "arcsec/common/generated/tmtcstructs.h" #include "fsfw/devicehandlers/CookieIF.h" #include "fsfw/objectmanager/SystemObject.h" #include "fsfw/osal/linux/BinarySemaphore.h" @@ -17,18 +19,34 @@ #include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw_hal/linux/serial/SerialComIF.h" -extern "C" { -#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h" -#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h" -} - /** * @brief Helper class for the star tracker handler to accelerate large data transfers. * * @author J. Meier */ -class StrHelper : public SystemObject, public ExecutableObjectIF { +class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF { public: + static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER; + + //! [EXPORT] : [COMMENT] SD card specified in path string not mounted + static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0); + //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem + static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(1); + //! [EXPORT] : [COMMENT] Specified path does not exist + static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(2); + //! [EXPORT] : [COMMENT] Failed to create download image or read flash file + static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(3); + //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region + static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(4); + //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address + static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(5); + //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length + static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(6); + //! [EXPORT] : [COMMENT] Status field in reply signals error + static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(7); + //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type) + static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(8); + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER; //! [EXPORT] : [COMMENT] Image upload failed @@ -81,15 +99,12 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { //! failed static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(16, severity::LOW); - StrHelper(object_id_t objectId); - virtual ~StrHelper(); + StrComHandler(object_id_t objectId); + virtual ~StrComHandler(); ReturnValue_t initialize() override; ReturnValue_t performOperation(uint8_t operationCode = 0) override; - ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_); - void setComCookie(CookieIF* comCookie_); - /** * @brief Starts sequence to upload image to star tracker * @@ -148,26 +163,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { void enableTimestamping(); private: - static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER; - - //! [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); - //! [EXPORT] : [COMMENT] Specified path does not exist - static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2); - //! [EXPORT] : [COMMENT] Failed to create download image or read flash file - static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3); - //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region - static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4); - //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address - static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5); - //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length - static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6); - //! [EXPORT] : [COMMENT] Status field in reply signals error - static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7); - //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type) - static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8); + //! [EXPORT] : [SKIP] + static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128); // Size of one image part which can be sent per action request static const size_t SIZE_IMAGE_PART = 1024; @@ -179,13 +176,12 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { static const uint32_t MAX_POLLS = 10000; - static const uint8_t ACTION_DATA_OFFSET = 2; - static const uint8_t POS_OFFSET = 2; - static const uint8_t IMAGE_DATA_OFFSET = 5; - static const uint8_t FLASH_READ_DATA_OFFSET = 8; - static const uint8_t REGION_OFFSET = 2; - static const uint8_t ADDRESS_OFFSET = 3; - static const uint8_t LENGTH_OFFSET = 7; + static const uint8_t ACTION_DATA_OFFSET = 3; + static const uint8_t POS_OFFSET = 3; + static const uint8_t IMAGE_DATA_OFFSET = 6; + static const uint8_t FLASH_READ_DATA_OFFSET = 9; + static const uint8_t REGION_OFFSET = 3; + static const uint8_t ADDRESS_OFFSET = 4; static const size_t CHUNK_SIZE = 1024; static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3; static const uint32_t FLASH_ERASE_DELAY = 500; @@ -198,6 +194,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { BinarySemaphore semaphore; + Countdown replyTimeout = Countdown(2000); + struct UploadImage { // Name including absolute path of image to upload std::string uploadFile; @@ -238,10 +236,11 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { FlashRead flashRead; #ifdef XIPHOS_Q7S - SdCardManager* sdcMan = nullptr; + SdCardManager *sdcMan = nullptr; #endif uint8_t commandBuffer[startracker::MAX_FRAME_SIZE]; + std::array recBuf{}; bool terminate = false; @@ -251,17 +250,20 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { bool timestamping = true; #endif - /** - * UART communication object responsible for low level access of star tracker - * Must be set by star tracker handler - */ - SerialComIF* uartComIF = nullptr; - // Communication cookie. Must be set by the star tracker handler - CookieIF* comCookie = nullptr; + int serialPort = 0; + struct termios tty = {}; // Queue id of raw data receiver MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE; + ReturnValue_t initializeInterface(CookieIF *cookie) override; + ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override; + ReturnValue_t getSendSuccess(CookieIF *cookie) override; + ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override; + ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override; + + ReturnValue_t handleUartReception(); + /** * @brief Performs image uploading */ @@ -309,14 +311,15 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { * * @return returnvalue::OK if successful, otherwise returnvalue::FAILED */ - ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0); + ReturnValue_t sendAndRead(const uint8_t **replyFrame, size_t size, uint32_t parameter, + uint32_t delayMs = 0); /** * @brief Checks the header (type id and status fields) of the action reply * * @return returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED */ - ReturnValue_t checkActionReply(); + ReturnValue_t checkActionReply(const uint8_t *rawFrame); /** * @brief Checks the position field in a star tracker upload/download reply. @@ -326,7 +329,7 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { * @return returnvalue::OK if received position matches expected position, otherwise * returnvalue::FAILED */ - ReturnValue_t checkReplyPosition(uint32_t expectedPosition); + ReturnValue_t checkReplyPosition(const uint8_t *rawFrame, uint32_t expectedPosition); #ifdef XIPHOS_Q7S /** diff --git a/linux/devices/startracker/helpers.cpp b/linux/devices/startracker/helpers.cpp new file mode 100644 index 00000000..112bc06a --- /dev/null +++ b/linux/devices/startracker/helpers.cpp @@ -0,0 +1,7 @@ +#include "helpers.h" + +uint8_t str::getReplyFrameType(const uint8_t* rawFrame) { return rawFrame[0]; } + +uint8_t str::getId(const uint8_t* rawFrame) { return rawFrame[1]; } + +uint8_t str::getStatusField(const uint8_t* rawFrame) { return rawFrame[2]; } diff --git a/linux/devices/startracker/helpers.h b/linux/devices/startracker/helpers.h new file mode 100644 index 00000000..9b4f5f9e --- /dev/null +++ b/linux/devices/startracker/helpers.h @@ -0,0 +1,17 @@ +#ifndef LINUX_DEVICES_STARTRACKER_HELPERS_H_ +#define LINUX_DEVICES_STARTRACKER_HELPERS_H_ + +#include "arcsec/common/genericstructs.h" + +namespace str { + +/** + * @brief Returns the frame type field of a decoded frame. + */ +uint8_t getReplyFrameType(const uint8_t* rawFrame); +uint8_t getId(const uint8_t* rawFrame); +uint8_t getStatusField(const uint8_t* rawFrame); + +} // namespace str + +#endif /* LINUX_DEVICES_STARTRACKER_HELPERS_H_ */ diff --git a/thirdparty/arcsec_star_tracker b/thirdparty/arcsec_star_tracker index 42907c36..c535e149 160000 --- a/thirdparty/arcsec_star_tracker +++ b/thirdparty/arcsec_star_tracker @@ -1 +1 @@ -Subproject commit 42907c36c58e7133d3d3cbefbf96c1a8e35b60b7 +Subproject commit c535e1494f2fdb54becd7c338fe959c3672298b3