star tracker image helper
This commit is contained in:
Jakob Meier
parent
b84bdcc0fc
commit
077913400f
@ -16,6 +16,7 @@
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#include "bsp_q7s/devices/PlocSupervisorHandler.h"
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#include "bsp_q7s/devices/PlocUpdater.h"
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#include "bsp_q7s/devices/PlocMemoryDumper.h"
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#include "bsp_q7s/devices/StarTrackerImageHelper.h"
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#include "bsp_q7s/callbacks/rwSpiCallback.h"
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#include "bsp_q7s/callbacks/gnssCallback.h"
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@ -173,6 +174,7 @@ void ObjectFactory::produce(void* args) {
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starTrackerCookie->setNoFixedSizeReply();
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StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(objects::START_TRACKER, objects::UART_COM_IF, starTrackerCookie);
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starTrackerHandler->setStartUpImmediately();
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new StarTrackerImageHelper(objects::STR_IMG_HELPER);
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#endif /* OBSW_ADD_STAR_TRACKER == 1 */
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#endif /* TE7020 == 0 */
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@ -2,4 +2,5 @@ target_sources(${TARGET_NAME} PRIVATE
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PlocSupervisorHandler.cpp
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PlocUpdater.cpp
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PlocMemoryDumper.cpp
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StarTrackerImageHelper.cpp
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)
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@ -169,13 +169,13 @@ ReturnValue_t PlocUpdater::getImageLocation(const uint8_t* data, size_t size) {
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// Check if file is stored on SD card and if associated SD card is mounted
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if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
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if (!isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 0 not mounted" << std::endl;
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sif::warning << "PlocUpdater::getImageLocation: SD card 0 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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}
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else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
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if (!isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "PlocUpdater::prepareNvm0AUpdate: SD card 1 not mounted" << std::endl;
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sif::warning << "PlocUpdater::getImageLocation: SD card 1 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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}
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291
bsp_q7s/devices/StarTrackerImageHelper.cpp
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291
bsp_q7s/devices/StarTrackerImageHelper.cpp
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@ -0,0 +1,291 @@
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#include "fsfw/ipc/QueueFactory.h"
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#include "StarTrackerImageHelper.h"
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#include <fstream>
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#include <filesystem>
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#include <string>
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StarTrackerImageHelper::StarTrackerImageHelper(object_id_t objectId) :
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SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
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commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
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}
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StarTrackerImageHelper::~StarTrackerImageHelper() {
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}
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ReturnValue_t StarTrackerImageHelper::initialize() {
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sdcMan = SdCardManager::instance();
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if (sdcMan == nullptr) {
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sif::warning << "StarTrackerImageHelper::initialize: Invaldi SD Card Manager" << std::endl;
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}
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ReturnValue_t result = SystemObject::initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = commandActionHelper.initialize();
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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result = actionHelper.initialize(commandQueue);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t StarTrackerImageHelper::performOperation(uint8_t operationCode) {
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readCommandQueue();
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doStateMachine();
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t StarTrackerImageHelper::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
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ReturnValue_t result = EXECUTION_FINISHED;
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if (state != State::IDLE) {
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return IS_BUSY;
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}
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if (size > MAX_STR_IMAGE_PATH) {
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return NAME_TOO_LONG;
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}
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switch (actionId) {
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case UPLOAD_IMAGE:
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result = prepareUploadCommand(data, size);
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if (result == RETURN_OK) {
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result = EXECUTION_FINISHED;
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}
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break;
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case DOWNLOAD_IMAGE:
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break;
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default:
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return INVALID_ACTION_ID;
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}
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return result;
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}
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MessageQueueId_t StarTrackerImageHelper::getCommandQueue() const {
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return commandQueue->getId();
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}
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MessageQueueIF* StarTrackerImageHelper::getCommandQueuePtr() {
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return commandQueue;
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}
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void StarTrackerImageHelper::readCommandQueue() {
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CommandMessage message;
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ReturnValue_t result;
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for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
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result = commandQueue->receiveMessage(&message)) {
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if (result != RETURN_OK) {
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continue;
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}
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result = actionHelper.handleActionMessage(&message);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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result = commandActionHelper.handleReply(&message);
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if (result == HasReturnvaluesIF::RETURN_OK) {
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continue;
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}
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sif::debug << "StarTrackerImageHelper::readCommandQueue: Received inalid message"
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<< std::endl;
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}
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}
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void StarTrackerImageHelper::doStateMachine() {
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switch (state) {
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case State::IDLE:
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break;
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case State::SEND_NEXT_UPLOAD_CMD:
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commandImageUpload();
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break;
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case State::COMMAND_EXECUTING:
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case State::UPLOAD_LAST:
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break;
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default:
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sif::debug << "StarTrackerImageHelper::doStateMachine: Invalid state" << std::endl;
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break;
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}
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}
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ReturnValue_t StarTrackerImageHelper::getImageLocation(const uint8_t* data, size_t size) {
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// Check if file is stored on SD card and if associated SD card is mounted
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if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_0_MOUNT_POINT)) {
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if (!isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "StarTrackerImageHelper::getImageLocation: SD card 0 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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}
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else if (std::string(reinterpret_cast<const char*>(data), SD_PREFIX_LENGTH) == std::string(SdCardManager::SD_1_MOUNT_POINT)) {
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if (!isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "StarTrackerImageHelper::getImageLocation: SD card 1 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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}
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else {
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// Specified path in RAM filesystem
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}
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imageFile = std::string(reinterpret_cast<const char*>(data), size);
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// Check if file exists
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if(not std::filesystem::exists(imageFile)) {
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return FILE_NOT_EXISTS;
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}
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return RETURN_OK;
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}
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bool StarTrackerImageHelper::isSdCardMounted(sd::SdCard sdCard) {
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SdCardManager::SdStatePair active;
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ReturnValue_t result = sdcMan->getSdCardActiveStatus(active);
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if (result != RETURN_OK) {
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sif::debug << "StarTrackerImageHelper::isSdCardMounted: Failed to get SD card active state";
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return false;
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}
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if (sdCard == sd::SLOT_0) {
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if (active.first == sd::MOUNTED) {
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return true;
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}
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else {
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return false;
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}
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}
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else if (sdCard == sd::SLOT_1) {
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if (active.second == sd::MOUNTED) {
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return true;
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}
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else {
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return false;
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}
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}
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else {
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sif::debug << "StarTrackerImageHelper::isSdCardMounted: Unknown SD card specified" << std::endl;
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}
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return false;
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}
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ReturnValue_t StarTrackerImageHelper::prepareUploadCommand(const uint8_t* data, size_t size) {
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ReturnValue_t result = RETURN_OK;
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result = getImageLocation(data, size);
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if (result != RETURN_OK) {
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return result;
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}
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imageSize = std::filesystem::file_size(imageFile);
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remainingCommands = imageSize / SIZE_IMAGE_PART ;
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if (imageSize % SIZE_IMAGE_PART) {
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remainingCommands++;
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}
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commandsSent = 0;
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state = State::SEND_NEXT_UPLOAD_CMD;
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return result;
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}
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void StarTrackerImageHelper::stepSuccessfulReceived(ActionId_t actionId,
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uint8_t step) {
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}
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void StarTrackerImageHelper::stepFailedReceived(ActionId_t actionId, uint8_t step,
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ReturnValue_t returnCode) {
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}
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void StarTrackerImageHelper::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
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}
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void StarTrackerImageHelper::completionSuccessfulReceived(ActionId_t actionId) {
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switch (pendingCommand) {
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case (StarTracker::UPLOAD_IMAGE):
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if (state == State::UPLOAD_LAST) {
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triggerEvent(IMAGE_UPLOAD_FINISHED);
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pendingCommand = StarTracker::NONE;
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state = State::IDLE;
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}
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else {
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state = State::SEND_NEXT_UPLOAD_CMD;
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}
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break;
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default:
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sif::debug << "StarTrackerImageHelper::completionSuccessfulReceived: Invalid pending command"
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<< std::endl;
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state = State::IDLE;
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break;
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}
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}
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void StarTrackerImageHelper::completionFailedReceived(ActionId_t actionId,
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ReturnValue_t returnCode) {
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switch(pendingCommand) {
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case(StarTracker::UPLOAD_IMAGE): {
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triggerEvent(IMAGE_UPLOAD_FAILED);
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break;
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}
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default:
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sif::debug << "StarTrackerImageHelper::completionFailedReceived: Invalid pending command "
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<< std::endl;
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break;
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}
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state = State::IDLE;
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}
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void StarTrackerImageHelper::commandImageUpload() {
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ReturnValue_t result = RETURN_OK;
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uint16_t dataLen = 0;
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uint8_t tmpCommandBuffer[UPLOAD_COMMAND_SIZE] = {0};
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uint32_t position = commandsSent * SIZE_IMAGE_PART;
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if (not std::filesystem::exists(imageFile)) {
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triggerEvent(IMAGE_FILE_NOT_EXISTS, commandsSent);
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state = State::IDLE;
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return;
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}
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std::ifstream file(imageFile, std::ifstream::binary);
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file.seekg(position, file.beg);
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if (remainingCommands == 1) {
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dataLen = imageSize - file.tellg();
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}
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else {
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dataLen = SIZE_IMAGE_PART;
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}
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size_t size = 0;
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size_t maxSize = sizeof(position);
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uint8_t* commandBufferPtr = tmpCommandBuffer;
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uint8_t** buffer = &commandBufferPtr;
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SerializeAdapter::serialize(&position, buffer, &size, maxSize,
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SerializeIF::Endianness::BIG);
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file.read(reinterpret_cast<char*>(tmpCommandBuffer), dataLen);
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file.close();
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result = commandActionHelper.commandAction(objects::START_TRACKER,
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StarTracker::UPLOAD_IMAGE, tmpCommandBuffer - size , UPLOAD_COMMAND_SIZE);
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if (result != RETURN_OK) {
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sif::warning << "StarTrackerImageHelper::commandImageUpload: Failed to send image "
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<< "upload command" << std::endl;
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triggerEvent(ACTION_COMMANDING_FAILED, result, StarTracker::UPLOAD_IMAGE);
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state = State::IDLE;
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return;
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}
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remainingCommands--;
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commandsSent++;
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if (remainingCommands == 0) {
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state = State::UPLOAD_LAST;
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}
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else {
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state = State::COMMAND_EXECUTING;
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}
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pendingCommand = StarTracker::UPLOAD_IMAGE;
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}
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150
bsp_q7s/devices/StarTrackerImageHelper.h
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150
bsp_q7s/devices/StarTrackerImageHelper.h
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@ -0,0 +1,150 @@
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#ifndef MISSION_DEVICES_STARTRACKERIMAGEHELPER_H_
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#define MISSION_DEVICES_STARTRACKERIMAGEHELPER_H_
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#include "OBSWConfig.h"
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#include "mission/devices/devicedefinitions/StarTrackerDefinitions.h"
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#include "fsfw/action/CommandActionHelper.h"
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#include "fsfw/action/ActionHelper.h"
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#include "fsfw/action/HasActionsIF.h"
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#include "fsfw/action/CommandsActionsIF.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "linux/fsfwconfig/objects/systemObjectList.h"
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/**
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* @brief An object of this class helps to download and upload images from/to the star tracker.
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*
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* @details The star tracker can only receive upload image commands with maximum 1024 bytes of data.
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* Thus this class is used to raed the image from the file system and split the upload
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* procedure into multiple steps.
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* The same applies to downloading images from the star tracker (max. 1024 bytes in image
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* download reply).
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*
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* @author J. Meier
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*/
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class StarTrackerImageHelper : public SystemObject,
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public HasActionsIF,
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public ExecutableObjectIF,
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public HasReturnvaluesIF,
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public CommandsActionsIF {
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public:
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static const ActionId_t UPLOAD_IMAGE = 0;
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static const ActionId_t DOWNLOAD_IMAGE = 1;
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StarTrackerImageHelper(object_id_t objectId);
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virtual ~StarTrackerImageHelper();
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size);
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MessageQueueId_t getCommandQueue() const;
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ReturnValue_t initialize() override;
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MessageQueueIF* getCommandQueuePtr() override;
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void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
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void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
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void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
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void completionSuccessfulReceived(ActionId_t actionId) override;
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void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_IMG_HELPER;
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//! [EXPORT] : [COMMENT] Image helper is already executing a command
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static const ReturnValue_t IMAGE_HELPER_BUSY = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Invalid path to image location
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static const ReturnValue_t NAME_TOO_LONG = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] SD card with image not mounted
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static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA2);
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//! [EXPORT] : [COMMENT] Specified image does not exist
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static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA3);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_IMAGE_HELPER;
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//! [EXPORT] : [COMMENT] Try to read image file to upload but the file does not exist.
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//! P1: Refers to the upload step the reading fails
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static const Event IMAGE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
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//! [EXPORT] : [COMMENT] Failed to send command to star tracker handler
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//! P1: Return value of CommandActionHelper::commandAction
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//! P2: Action ID of command to send
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static const Event ACTION_COMMANDING_FAILED = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] Star tracker handler replies with completion failure message to upload image command
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//! P1: Upload step of the failed command execution
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static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] Image upload was successful
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static const Event IMAGE_UPLOAD_FINISHED = MAKE_EVENT(3, severity::LOW);
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static const uint32_t QUEUE_SIZE = config::STR_IMG_HELPER_QUEUE_SIZE;
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static const size_t MAX_STR_IMAGE_PATH = 50;
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static const size_t SD_PREFIX_LENGTH = 8;
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// Size of one image part which can be sent per action request
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static const size_t SIZE_IMAGE_PART = 1024;
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// Position (uint32_t) + image data (1024 bytes)
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static const size_t UPLOAD_COMMAND_SIZE = 1028;
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MessageQueueIF* commandQueue = nullptr;
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SdCardManager* sdcMan = nullptr;
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CommandActionHelper commandActionHelper;
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ActionHelper actionHelper;
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enum class State: uint8_t {
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IDLE,
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SEND_NEXT_UPLOAD_CMD,
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UPLOAD_LAST,
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COMMAND_EXECUTING
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};
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State state = State::IDLE;
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ActionId_t pendingCommand = StarTracker::NONE;
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uint32_t commandsSent = 0;
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uint32_t remainingCommands = 0;
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// Path and name of active image (either upload or download image)
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std::string imageFile;
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// In case of upload command this variable stores the size of the image to upload
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std::uintmax_t imageSize;
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void readCommandQueue();
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void doStateMachine();
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/**
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* @brief Extracts the path and name form the received command.
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*
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* @param data Pointer to received command
|
||||
* @param size Size of the received command
|
||||
*
|
||||
* @details This string defines the image to upload (must be previously written to the SD card).
|
||||
* In case of the download image command, this string defines the location and name of
|
||||
* the image file to create.
|
||||
*/
|
||||
ReturnValue_t getImageLocation(const uint8_t* data, size_t size);
|
||||
|
||||
/**
|
||||
* @brief Prepares properties for the upload image command and changes the state to initiate
|
||||
* the execution of the upload image command.
|
||||
*/
|
||||
ReturnValue_t prepareUploadCommand(const uint8_t* data, size_t size);
|
||||
|
||||
/**
|
||||
* @brief Reads part of image from file and sends upload image command to star tracker
|
||||
* handler.
|
||||
*/
|
||||
void commandImageUpload();
|
||||
|
||||
/**
|
||||
* @brief Checks whether the SD card to read from is mounted or not.
|
||||
*/
|
||||
bool isSdCardMounted(sd::SdCard sdCard);
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_STARTRACKERIMAGEHELPER_H_ */
|
||||
@ -19,6 +19,7 @@ enum commonClassIds: uint8_t {
|
||||
CCSDS_IP_CORE_BRIDGE, //IPCI
|
||||
PTME, //PTME
|
||||
PLOC_UPDATER, //PLUD
|
||||
STR_IMG_HELPER, //STRIMGH
|
||||
GOM_SPACE_HANDLER, //GOMS
|
||||
PLOC_MEMORY_DUMPER, //PLMEMDUMP
|
||||
PDEC_HANDLER, //PDEC
|
||||
|
||||
@ -90,7 +90,8 @@ enum commonObjects: uint32_t {
|
||||
START_TRACKER = 0x44130001,
|
||||
|
||||
PLOC_UPDATER = 0x44330000,
|
||||
PLOC_MEMORY_DUMPER = 0x44330001
|
||||
PLOC_MEMORY_DUMPER = 0x44330001,
|
||||
STR_IMG_HELPER = 0x44330002
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
@ -18,6 +18,7 @@ enum: uint8_t {
|
||||
PLOC_UPDATER = 117,
|
||||
PLOC_MEMORY_DUMPER = 118,
|
||||
PDEC_HANDLER = 119,
|
||||
STR_IMAGE_HELPER = 120,
|
||||
COMMON_SUBSYSTEM_ID_END
|
||||
};
|
||||
}
|
||||
|
||||
@ -110,7 +110,7 @@ debugging. */
|
||||
#define OBSW_DEBUG_STARTRACKER 0
|
||||
#define OBSW_DEBUG_PLOC_MPSOC 0
|
||||
#define OBSW_DEBUG_PLOC_SUPERVISOR 0
|
||||
#define OBSW_DEBUG_PDEC_HANDLER 0
|
||||
#define OBSW_DEBUG_PDEC_HANDLER 1
|
||||
|
||||
/*******************************************************************/
|
||||
/** Hardcoded */
|
||||
@ -132,6 +132,7 @@ namespace config {
|
||||
/* Add mission configuration flags here */
|
||||
static constexpr uint32_t OBSW_FILESYSTEM_HANDLER_QUEUE_SIZE = 50;
|
||||
static constexpr uint32_t PLOC_UPDATER_QUEUE_SIZE = 50;
|
||||
static constexpr uint32_t STR_IMG_HELPER_QUEUE_SIZE = 50;
|
||||
|
||||
static constexpr uint8_t LIVE_TM = 0;
|
||||
|
||||
|
||||
@ -588,6 +588,7 @@ ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
|
||||
thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::STR_IMG_HELPER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
#if OBSW_ADD_PLOC_SUPERVISOR == 1
|
||||
thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
|
||||
@ -55,7 +55,7 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
|
||||
|
||||
ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t * commandData, size_t commandDataLen) {
|
||||
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
switch (deviceCommand) {
|
||||
case (StarTracker::PING_REQUEST): {
|
||||
preparePingRequest();
|
||||
@ -77,6 +77,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
|
||||
prepareInterfaceRequest();
|
||||
return RETURN_OK;
|
||||
}
|
||||
case (StarTracker::UPLOAD_IMAGE): {
|
||||
result = prepareImageUploadCommand(commandData, commandDataLen);
|
||||
return result;
|
||||
}
|
||||
case (StarTracker::REQ_POWER): {
|
||||
preparePowerRequest();
|
||||
return RETURN_OK;
|
||||
@ -114,6 +118,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
|
||||
StarTracker::MAX_FRAME_SIZE * 2 + 2);
|
||||
this->insertInCommandAndReplyMap(StarTracker::REQ_TIME, 3, &timeSet,
|
||||
StarTracker::MAX_FRAME_SIZE * 2 + 2);
|
||||
this->insertInCommandAndReplyMap(StarTracker::UPLOAD_IMAGE, 3, nullptr,
|
||||
StarTracker::MAX_FRAME_SIZE * 2 + 2);
|
||||
this->insertInCommandAndReplyMap(StarTracker::REQ_POWER, 3, &powerSet,
|
||||
StarTracker::MAX_FRAME_SIZE * 2 + 2);
|
||||
this->insertInCommandAndReplyMap(StarTracker::REQ_INTERFACE, 3, &interfaceSet,
|
||||
@ -221,6 +227,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
|
||||
result = handleInterfaceTm();
|
||||
break;
|
||||
}
|
||||
case (StarTracker::UPLOAD_IMAGE): {
|
||||
result = handleUploadImageReply();
|
||||
break;
|
||||
}
|
||||
case (StarTracker::REQ_POWER): {
|
||||
result = handlePowerTm();
|
||||
break;
|
||||
@ -344,6 +354,10 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId)
|
||||
*foundId = StarTracker::BOOT;
|
||||
break;
|
||||
}
|
||||
case (StarTracker::ID::UPLOAD_IMAGE): {
|
||||
*foundId = StarTracker::UPLOAD_IMAGE;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
sif::debug << "StarTrackerHandler::scanForSetParameterReply: Unknown parameter reply id"
|
||||
<< std::endl;
|
||||
@ -457,6 +471,28 @@ void StarTrackerHandler::prepareInterfaceRequest() {
|
||||
rawPacketLen = encLength;
|
||||
}
|
||||
|
||||
ReturnValue_t StarTrackerHandler::prepareImageUploadCommand(const uint8_t* commandData,
|
||||
size_t commandDataLen) {
|
||||
if (commandDataLen != UPLOAD_COMMAND_LEN) {
|
||||
return INVALID_UPLOAD_COMMAND;
|
||||
}
|
||||
uint32_t length = 0;
|
||||
uint32_t position = deserializeUint32(commandData);
|
||||
if (position > MAX_POSITION) {
|
||||
return MAX_POSITION;
|
||||
}
|
||||
rememberUploadPosition = position;
|
||||
struct UploadActionRequest uploadRequest;
|
||||
uploadRequest.position = position;
|
||||
std::memcpy(uploadRequest.data, commandData + 4, commandDataLen - 4);
|
||||
arc_pack_upload_action_req(&uploadRequest, commandBuffer, &length);
|
||||
uint32_t encLength = 0;
|
||||
arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
|
||||
rawPacket = encBuffer;
|
||||
rawPacketLen = encLength;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void StarTrackerHandler::preparePowerRequest() {
|
||||
uint32_t length = 0;
|
||||
arc_tm_pack_power_req(commandBuffer, &length);
|
||||
@ -556,11 +592,27 @@ ReturnValue_t StarTrackerHandler::handlePingReply() {
|
||||
sif::info << "Ping id: 0x"<< std::hex << pingId << std::endl;
|
||||
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
|
||||
if (status != StarTracker::STATUS_OK || pingId != PING_ID) {
|
||||
sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl;
|
||||
result = PING_FAILED;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t StarTrackerHandler::handleUploadImageReply() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = handleActionReply();
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
uint32_t position = deserializeUint32(decodedFrame + ACTION_DATA_OFFSET);
|
||||
if (position != rememberUploadPosition) {
|
||||
sif::warning << "StarTrackerHandler::handleUploadImageReply: Invalid position"
|
||||
<< std::endl;
|
||||
return UPLOAD_IMAGE_FAILED;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t StarTrackerHandler::handleTimeTm() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = timeSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
@ -595,7 +647,6 @@ ReturnValue_t StarTrackerHandler::handleTimeTm() {
|
||||
|
||||
ReturnValue_t StarTrackerHandler::handleVersionTm() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
PoolReadGuard rg(&versionSet);
|
||||
uint32_t offset = TM_DATA_FIELD_OFFSET;
|
||||
uint8_t status = 0;
|
||||
uint32_t ticks = 0;
|
||||
@ -607,6 +658,10 @@ ReturnValue_t StarTrackerHandler::handleVersionTm() {
|
||||
result = VERSION_REQ_FAILED;
|
||||
return result;
|
||||
}
|
||||
result = versionSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
versionSet.ticks = ticks;
|
||||
versionSet.time = time;
|
||||
versionSet.program = *(decodedFrame + offset);
|
||||
@ -614,24 +669,18 @@ ReturnValue_t StarTrackerHandler::handleVersionTm() {
|
||||
versionSet.major = *(decodedFrame + offset);
|
||||
offset += 1;
|
||||
versionSet.minor = *(decodedFrame + offset);
|
||||
result = versionSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
||||
sif::info << "StarTrackerHandler::handleVersionTm: Ticks: "
|
||||
<< versionSet.ticks << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleVersionTm: Unix Time: "
|
||||
<< versionSet.time << " us" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleVersionTm: Program: "
|
||||
<< static_cast<unsigned int>(versionSet.program.value) << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleVersionTm: Major: "
|
||||
<< static_cast<unsigned int>(versionSet.major.value) << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleVersionTm: Minor: "
|
||||
<< static_cast<unsigned int>(versionSet.minor.value) << std::endl;
|
||||
versionSet.printSet();
|
||||
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t StarTrackerHandler::handleInterfaceTm() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
PoolReadGuard rg(&interfaceSet);
|
||||
uint32_t offset = TM_DATA_FIELD_OFFSET;
|
||||
uint8_t status = 0;
|
||||
uint32_t ticks = 0;
|
||||
@ -643,59 +692,28 @@ ReturnValue_t StarTrackerHandler::handleInterfaceTm() {
|
||||
result = INTERFACE_REQ_FAILED;
|
||||
return result;
|
||||
}
|
||||
result = interfaceSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
interfaceSet.ticks = ticks;
|
||||
interfaceSet.time = time;
|
||||
size_t size = sizeof(uint32_t);
|
||||
interfaceSet.frameCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.checksumerrorCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.setParamCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.setParamReplyCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.paramRequestCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.paramReplyCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.tmReplyCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.actionReqCount = deserializeUint32(decodedFrame + offset);
|
||||
offset += size;
|
||||
interfaceSet.actionReplyCount = deserializeUint32(decodedFrame + offset);
|
||||
|
||||
result = interfaceSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Ticks: "
|
||||
<< interfaceSet.ticks << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Time: "
|
||||
<< interfaceSet.time << " us" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Frame Count: "
|
||||
<< interfaceSet.frameCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Checksum Error Count: "
|
||||
<< interfaceSet.checksumerrorCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Set Param Count: "
|
||||
<< interfaceSet.setParamCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Set Param Reply Count: "
|
||||
<< interfaceSet.setParamReplyCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Param Request Count: "
|
||||
<< interfaceSet.paramRequestCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Param Reply Count: "
|
||||
<< interfaceSet.paramReplyCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Req TM Count: "
|
||||
<< interfaceSet.reqTmCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Telemetry Reply Count: "
|
||||
<< interfaceSet.tmReplyCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Action Request Count: "
|
||||
<< interfaceSet.actionReqCount << std::endl;
|
||||
sif::info << "StarTrackerHandler::handleInterfaceTm: Action Reply Count: "
|
||||
<< interfaceSet.actionReplyCount << std::endl;
|
||||
interfaceSet.printSet();
|
||||
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t StarTrackerHandler::handlePowerTm() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
PoolReadGuard rg(&powerSet);
|
||||
uint32_t offset = TM_DATA_FIELD_OFFSET;
|
||||
uint8_t status = 0;
|
||||
uint32_t ticks = 0;
|
||||
@ -707,6 +725,10 @@ ReturnValue_t StarTrackerHandler::handlePowerTm() {
|
||||
result = POWER_REQ_FAILED;
|
||||
return result;
|
||||
}
|
||||
result = powerSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
powerSet.ticks= ticks;
|
||||
powerSet.time= time;
|
||||
float value = 0;
|
||||
@ -757,43 +779,12 @@ ReturnValue_t StarTrackerHandler::handlePowerTm() {
|
||||
offset += 4;
|
||||
std::memcpy(&value, decodedFrame + offset, sizeof(value));
|
||||
powerSet.cmvResVoltage = value;
|
||||
result = powerSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: Ticks: "
|
||||
<< powerSet.ticks << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: Time: "
|
||||
<< powerSet.time << " us" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: MCU Current: "
|
||||
<< powerSet.mcuCurrent << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: MCU Voltage: "
|
||||
<< powerSet.mcuVoltage << " V" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: FPGA Core current: "
|
||||
<< powerSet.fpgaCoreCurrent << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: FPGA Core voltage: "
|
||||
<< powerSet.fpgaCoreVoltage << " V" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: FPGA 18 current: "
|
||||
<< powerSet.fpga18Current << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: FPGA 18 voltage: "
|
||||
<< powerSet.fpga18Voltage << " V" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: FPGA 25 current: "
|
||||
<< powerSet.fpga25Current << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: FPGA 25 voltage: "
|
||||
<< powerSet.fpga25Voltage << " V" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV 21 current: "
|
||||
<< powerSet.cmv21Current << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV 21 voltage: "
|
||||
<< powerSet.cmv21Voltage << " V" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV Pix current: "
|
||||
<< powerSet.cmvPixCurrent << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV Pix voltage: "
|
||||
<< powerSet.cmvPixVoltage << " V" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV 33 current: "
|
||||
<< powerSet.cmv33Current << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV 33 voltage: "
|
||||
<< powerSet.cmv33Voltage << " V" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV Res current: "
|
||||
<< powerSet.cmvResCurrent << " A" << std::endl;
|
||||
sif::info << "StarTrackerHandler::handlePowerTm: CMV Res voltage: "
|
||||
<< powerSet.cmvResVoltage << " V" << std::endl;
|
||||
powerSet.printSet();
|
||||
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
|
||||
return result;
|
||||
}
|
||||
@ -905,7 +896,7 @@ ReturnValue_t StarTrackerHandler::handleTemperatureTm() {
|
||||
float temperature = 0;
|
||||
std::memcpy(&temperature, decodedFrame + offset, sizeof(temperature));
|
||||
temperatureSet.mcuTemperature = temperature;
|
||||
offset += sizeof(temperature);
|
||||
offset += sizeof(float);
|
||||
std::memcpy(&temperature, decodedFrame + offset, sizeof(temperature));
|
||||
temperatureSet.cmosTemperature = temperature;
|
||||
result = temperatureSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
||||
@ -924,7 +915,7 @@ void StarTrackerHandler::getTmHeaderData(uint8_t* status, uint32_t* ticks, uint6
|
||||
*time = deserializeUint64(decodedFrame + TIME_OFFSET);
|
||||
}
|
||||
|
||||
uint32_t StarTrackerHandler::deserializeUint32(uint8_t* buffer) {
|
||||
uint32_t StarTrackerHandler::deserializeUint32(const uint8_t* buffer) {
|
||||
uint32_t word = 0;
|
||||
word = *(buffer + 3) << 24
|
||||
| *(buffer + 2) << 16
|
||||
|
||||
@ -78,13 +78,26 @@ private:
|
||||
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(0xA9);
|
||||
|
||||
// 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= 3071;
|
||||
static const uint8_t STATUS_OFFSET = 2;
|
||||
static const uint8_t TICKS_OFFSET = 3;
|
||||
static const uint8_t TIME_OFFSET = 7;
|
||||
static const uint8_t TM_DATA_FIELD_OFFSET = 15;
|
||||
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;
|
||||
@ -115,6 +128,8 @@ private:
|
||||
|
||||
InternalState internalState = InternalState::TEMPERATURE_REQUEST;
|
||||
|
||||
uint32_t rememberUploadPosition = 0;
|
||||
|
||||
/**
|
||||
* @brief This function initializes the serial link ip protocol struct slipInfo.
|
||||
*/
|
||||
@ -150,6 +165,11 @@ private:
|
||||
*/
|
||||
void prepareInterfaceRequest();
|
||||
|
||||
/**
|
||||
* @brief Fills the command buffer with data to upload part of an image.
|
||||
*/
|
||||
ReturnValue_t prepareImageUploadCommand(const uint8_t* commandData, size_t commandDataLen);
|
||||
|
||||
/**
|
||||
* @brief Fills the command buffer with data to request the power telemetry packet.
|
||||
*/
|
||||
@ -190,6 +210,11 @@ private:
|
||||
|
||||
ReturnValue_t handlePingReply();
|
||||
|
||||
/**
|
||||
* @brief Handles reply to upload image command
|
||||
*/
|
||||
ReturnValue_t handleUploadImageReply();
|
||||
|
||||
/**
|
||||
* @brief Fills the time set with the data of the time request reply.
|
||||
*/
|
||||
@ -234,7 +259,7 @@ private:
|
||||
*
|
||||
* @note Deserialization will be performed in little endian byte order
|
||||
*/
|
||||
uint32_t deserializeUint32(uint8_t* buffer);
|
||||
uint32_t deserializeUint32(const uint8_t* buffer);
|
||||
|
||||
/**
|
||||
* @brief This function deserializes 8 bytes into a 64 bit unsigned integer.
|
||||
|
||||
@ -91,10 +91,12 @@ static const DeviceCommandId_t REQ_VERSION = 2;
|
||||
static const DeviceCommandId_t REQ_INTERFACE = 3;
|
||||
static const DeviceCommandId_t REQ_TIME = 4;
|
||||
static const DeviceCommandId_t REBOOT = 7;
|
||||
static const DeviceCommandId_t UPLOAD_IMAGE = 10;
|
||||
static const DeviceCommandId_t REQ_POWER = 11;
|
||||
static const DeviceCommandId_t SUBSCRIBE_TO_TM = 18;
|
||||
static const DeviceCommandId_t REQ_SOLUTION = 24;
|
||||
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
|
||||
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
|
||||
|
||||
static const uint32_t VERSION_SET_ID = REQ_VERSION;
|
||||
static const uint32_t INTERFACE_SET_ID = REQ_INTERFACE;
|
||||
@ -108,7 +110,7 @@ static const size_t MAX_FRAME_SIZE = 1200;
|
||||
|
||||
static const uint8_t TEMPERATURE_SET_ENTRIES = 4;
|
||||
static const uint8_t VERSION_SET_ENTRIES = 5;
|
||||
static const uint8_t INTERFACE_SET_ENTRIES = 12;
|
||||
static const uint8_t INTERFACE_SET_ENTRIES = 4;
|
||||
static const uint8_t POWER_SET_ENTRIES = 18;
|
||||
static const uint8_t TIME_SET_ENTRIES = 4;
|
||||
static const uint8_t SOLUTION_SET_ENTRIES = 23;
|
||||
@ -120,6 +122,7 @@ namespace ID {
|
||||
static const uint8_t VERSION = 2;
|
||||
static const uint8_t INTERFACE = 3;
|
||||
static const uint8_t REBOOT = 7;
|
||||
static const uint8_t UPLOAD_IMAGE = 10;
|
||||
static const uint8_t POWER = 11;
|
||||
static const uint8_t SUBSCRIBE = 18;
|
||||
static const uint8_t SOLUTION = 24;
|
||||
@ -161,7 +164,7 @@ public:
|
||||
sif::info << "TemperatureSet::printSet: MCU Temperature: "
|
||||
<< this->mcuTemperature << " °C" << std::endl;
|
||||
sif::info << "TemperatureSet::printSet: CMOS Temperature: "
|
||||
<< this->mcuTemperature << " °C" << std::endl;
|
||||
<< this->cmosTemperature << " °C" << std::endl;
|
||||
}
|
||||
};
|
||||
|
||||
@ -192,6 +195,20 @@ public:
|
||||
PoolIds::MAJOR, this);
|
||||
lp_var_t<uint8_t> minor = lp_var_t<uint8_t>(sid.objectId,
|
||||
PoolIds::MINOR, this);
|
||||
|
||||
void printSet() {
|
||||
PoolReadGuard rg(this);
|
||||
sif::info << "VersionSet::printSet: Ticks: "
|
||||
<< this->ticks << std::endl;
|
||||
sif::info << "VersionSet::printSet: Unix Time: "
|
||||
<< this->time << " us" << std::endl;
|
||||
sif::info << "VersionSet::printSet: Program: "
|
||||
<< static_cast<unsigned int>(this->program.value) << std::endl;
|
||||
sif::info << "VersionSet::printSet: Major: "
|
||||
<< static_cast<unsigned int>(this->major.value) << std::endl;
|
||||
sif::info << "VersionSet::printSet: Minor: "
|
||||
<< static_cast<unsigned int>(this->minor.value) << std::endl;
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
@ -219,22 +236,18 @@ public:
|
||||
PoolIds::FRAME_COUNT, this);
|
||||
lp_var_t<uint32_t> checksumerrorCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::CHECKSUM_ERROR_COUNT, this);
|
||||
lp_var_t<uint32_t> setParamCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::SET_PARAM_COUNT, this);
|
||||
lp_var_t<uint32_t> setParamReplyCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::SET_PARAM_REPLY_COUNT, this);
|
||||
lp_var_t<uint32_t> paramRequestCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::PARAM_REQUEST_COUNT, this);
|
||||
lp_var_t<uint32_t> paramReplyCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::PARAM_REPLY_COUNT, this);
|
||||
lp_var_t<uint32_t> reqTmCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::REQ_TM_COUNT, this);
|
||||
lp_var_t<uint32_t> tmReplyCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::TM_REPLY_COUNT, this);
|
||||
lp_var_t<uint32_t> actionReqCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::ACTION_REQ_COUNT, this);
|
||||
lp_var_t<uint32_t> actionReplyCount = lp_var_t<uint32_t>(sid.objectId,
|
||||
PoolIds::ACTION_REPLY_COUNT, this);
|
||||
|
||||
void printSet() {
|
||||
PoolReadGuard rg(this);
|
||||
sif::info << "InterfaceSet::printSet: Ticks: "
|
||||
<< this->ticks << std::endl;
|
||||
sif::info << "InterfaceSet::printSet: Time: "
|
||||
<< this->time << " us" << std::endl;
|
||||
sif::info << "InterfaceSet::printSet: Frame Count: "
|
||||
<< this->frameCount << std::endl;
|
||||
sif::info << "InterfaceSet::printSet: Checksum Error Count: "
|
||||
<< this->checksumerrorCount << std::endl;
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
@ -290,6 +303,46 @@ public:
|
||||
PoolIds::CMV_RES_CURRENT, this);
|
||||
lp_var_t<float> cmvResVoltage = lp_var_t<float>(sid.objectId,
|
||||
PoolIds::CMV_RES_VOLTAGE, this);
|
||||
|
||||
void printSet() {
|
||||
PoolReadGuard rg(this);
|
||||
sif::info << "PowerSet::printSet: Ticks: "
|
||||
<< this->ticks << std::endl;
|
||||
sif::info << "PowerSet::printSet: Time: "
|
||||
<< this->time << " us" << std::endl;
|
||||
sif::info << "PowerSet::printSet: MCU Current: "
|
||||
<< this->mcuCurrent << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: MCU Voltage: "
|
||||
<< this->mcuVoltage << " V" << std::endl;
|
||||
sif::info << "PowerSet::printSet: FPGA Core current: "
|
||||
<< this->fpgaCoreCurrent << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: FPGA Core voltage: "
|
||||
<< this->fpgaCoreVoltage << " V" << std::endl;
|
||||
sif::info << "PowerSet::printSet: FPGA 18 current: "
|
||||
<< this->fpga18Current << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: FPGA 18 voltage: "
|
||||
<< this->fpga18Voltage << " V" << std::endl;
|
||||
sif::info << "PowerSet::printSet: FPGA 25 current: "
|
||||
<< this->fpga25Current << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: FPGA 25 voltage: "
|
||||
<< this->fpga25Voltage << " V" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV 21 current: "
|
||||
<< this->cmv21Current << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV 21 voltage: "
|
||||
<< this->cmv21Voltage << " V" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV Pix current: "
|
||||
<< this->cmvPixCurrent << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV Pix voltage: "
|
||||
<< this->cmvPixVoltage << " V" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV 33 current: "
|
||||
<< this->cmv33Current << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV 33 voltage: "
|
||||
<< this->cmv33Voltage << " V" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV Res current: "
|
||||
<< this->cmvResCurrent << " A" << std::endl;
|
||||
sif::info << "PowerSet::printSet: CMV Res voltage: "
|
||||
<< this->cmvResVoltage << " V" << std::endl;
|
||||
}
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
Loading…
Reference in New Issue
Block a user