more ACS cleaning

- STR code is now in mission folder, but still only conpiled for Q7S
  code because wire library is proprietary

CMakeLists.txt

@@ -407,7 +407,6 @@ add_subdirectory(thirdparty)
 if(EIVE_ADD_LINUX_FILES)
   if(TGT_BSP MATCHES "arm/q7s")
     add_subdirectory(${LIB_GOMSPACE_PATH})
-    add_subdirectory(${LIB_ARCSEC_PATH})
   endif()
   add_subdirectory(${LINUX_PATH})
 endif()

bsp_q7s/core/ObjectFactory.cpp

@@ -2,13 +2,16 @@
 
 #include <fsfw/subsystem/Subsystem.h>
 #include <linux/acs/AcsBoardPolling.h>
+#include <linux/acs/GpsHyperionLinuxController.h>
 #include <linux/acs/ImtqPollingTask.h>
 #include <linux/acs/RwPollingTask.h>
-#include <linux/acs/startracker/StrComHandler.h>
+#include <linux/acs/StrComHandler.h>
 #include <linux/com/SyrlinksComHandler.h>
 #include <mission/acs/GyrL3gCustomHandler.h>
 #include <mission/acs/MgmLis3CustomHandler.h>
 #include <mission/acs/MgmRm3100CustomHandler.h>
+#include <mission/acs/str/StarTrackerHandler.h>
+#include <mission/acs/str/strHelpers.h>
 #include <mission/system/acs/ImtqAssembly.h>
 #include <mission/system/fdir/StrFdir.h>
 #include <mission/system/objects/CamSwitcher.h>
@@ -33,16 +36,13 @@
 #include "eive/definitions.h"
 #include "fsfw/ipc/QueueFactory.h"
 #include "linux/ObjectFactory.h"
-#include "linux/acs/startracker/StarTrackerHandler.h"
 #include "linux/boardtest/I2cTestClass.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"
 #include "linux/callbacks/gpioCallbacks.h"
 #include "linux/csp/CspComIF.h"
-#include "linux/devices/GpsHyperionLinuxController.h"
 #include "linux/devices/ScexUartReader.h"
 #include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
-#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 #include "linux/devices/ploc/PlocMPSoCHandler.h"
 #include "linux/devices/ploc/PlocMPSoCHelper.h"
 #include "linux/devices/ploc/PlocMemoryDumper.h"

dummies/StarTrackerDummy.cpp

@@ -1,6 +1,6 @@
 #include "StarTrackerDummy.h"
 
-#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include <mission/acs/str/strHelpers.h>
 
 StarTrackerDummy::StarTrackerDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
     : DeviceHandlerBase(objectId, comif, comCookie) {}

linux/acs/CMakeLists.txt

@@ -1,7 +1,7 @@
-target_sources(${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp
+target_sources(
-                                   RwPollingTask.cpp SusPolling.cpp)
+  ${OBSW_NAME} PUBLIC AcsBoardPolling.cpp ImtqPollingTask.cpp RwPollingTask.cpp
+                      SusPolling.cpp StrComHandler.cpp)
 
-# Dependency on proprietary library
+if(EIVE_BUILD_GPSD_GPS_HANDLER)
-if(TGT_BSP MATCHES "arm/q7s")
+  target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
-  add_subdirectory(startracker)
 endif()

linux/acs/StrComHandler.cpp

@@ -4,6 +4,7 @@
 #include <fsfw/filesystem/HasFileSystemIF.h>
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
+#include <mission/acs/str/strHelpers.h>
 #include <unistd.h>
 
 #include <filesystem>
@@ -12,8 +13,6 @@
 #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"
@@ -554,12 +553,12 @@ ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) {
 }
 
 ReturnValue_t StrComHandler::checkActionReply(size_t replySize) {
-  uint8_t type = str::getReplyFrameType(replyPtr);
+  uint8_t type = startracker::getReplyFrameType(replyPtr);
   if (type != TMTC_ACTIONREPLY) {
     sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl;
     return INVALID_TYPE_ID;
   }
-  uint8_t status = str::getStatusField(replyPtr);
+  uint8_t status = startracker::getStatusField(replyPtr);
   if (status != ArcsecDatalinkLayer::STATUS_OK) {
     sif::warning << "StrHelper::checkActionReply: Status failure: "
                  << static_cast<unsigned int>(status) << std::endl;

linux/acs/StrComHandler.h

@@ -1,9 +1,10 @@
 #ifndef BSP_Q7S_DEVICES_STRHELPER_H_
 #define BSP_Q7S_DEVICES_STRHELPER_H_
 
+#include <mission/acs/str/ArcsecDatalinkLayer.h>
+
 #include <string>
 
-#include "ArcsecDatalinkLayer.h"
 #include "OBSWConfig.h"
 
 #ifdef XIPHOS_Q7S

linux/acs/startracker/helpers.cpp

@@ -1,7 +0,0 @@
-#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]; }

linux/acs/startracker/helpers.h

@@ -1,17 +0,0 @@
-#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_ */

linux/devices/CMakeLists.txt

@@ -1,7 +1,3 @@
-if(EIVE_BUILD_GPSD_GPS_HANDLER)
-  target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
-endif()
-
 target_sources(${OBSW_NAME} PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp
                                     ScexDleParser.cpp ScexHelper.cpp)
 

mission/acs/CMakeLists.txt

@@ -11,3 +11,8 @@ target_sources(
           imtqHelpers.cpp
           rwHelpers.cpp
           defs.cpp)
+
+# Dependency on proprietary library
+if(TGT_BSP MATCHES "arm/q7s")
+  add_subdirectory(str)
+endif()

mission/acs/imtqHelpers.h

@@ -8,6 +8,9 @@
 
 class ImtqHandler;
 
+// C garbage which can be included from gps.h
+#undef STATUS_SET
+
 namespace imtq {
 
 enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE, DO_NOTHING };

mission/acs/str/ArcsecDatalinkLayer.cpp

@@ -1,4 +1,4 @@
-#include "ArcsecDatalinkLayer.h"
+#include <mission/acs/str/ArcsecDatalinkLayer.h>
 
 ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
 

mission/acs/str/ArcsecDatalinkLayer.h

@@ -3,11 +3,11 @@
 
 #include <fsfw/container/SimpleRingBuffer.h>
 #include <fsfw/devicehandlers/CookieIF.h>
+#include <mission/acs/str/strHelpers.h>
 
 #include "arcsec/common/misc.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
-#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
 /**
  * @brief   Helper class to handle the datalinklayer of replies from the star tracker of arcsec.

mission/acs/str/ArcsecJsonParamBase.cpp

@@ -1,4 +1,5 @@
-#include "ArcsecJsonParamBase.h"
+#include <mission/acs/str/ArcsecJsonParamBase.h>
+#include <mission/acs/str/arcsecJsonKeys.h>
 
 #include "arcsecJsonKeys.h"
 

mission/acs/str/ArcsecJsonParamBase.h

@@ -1,6 +1,8 @@
 #ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
 #define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
 
+#include <mission/acs/str/strHelpers.h>
+
 #include <filesystem>
 #include <fstream>
 #include <nlohmann/json.hpp>
@@ -9,7 +11,6 @@
 #include "arcsec/common/genericstructs.h"
 #include "eive/resultClassIds.h"
 #include "fsfw/returnvalues/returnvalue.h"
-#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
 
 using json = nlohmann::json;
 

mission/acs/str/CMakeLists.txt

@@ -1,4 +1,4 @@
 target_sources(
   ${OBSW_NAME}
   PRIVATE StarTrackerHandler.cpp strJsonCommands.cpp ArcsecDatalinkLayer.cpp
-          ArcsecJsonParamBase.cpp StrComHandler.cpp helpers.cpp)
+          ArcsecJsonParamBase.cpp strHelpers.cpp)

mission/acs/str/StarTrackerHandler.cpp

@@ -1,10 +1,11 @@
-#include "StarTrackerHandler.h"
-
 #include <arcsec/client/generated/actionreq.h>
 #include <arcsec/client/generated/parameter.h>
 #include <arcsec/client/generated/telemetry.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
+#include <mission/acs/str/StarTrackerHandler.h>
+#include <mission/acs/str/strHelpers.h>
+#include <mission/acs/str/strJsonCommands.h>
 
 #include <atomic>
 #include <fstream>
@@ -12,8 +13,6 @@
 
 #include "OBSWConfig.h"
 #include "arcsec/common/misc.h"
-#include "helpers.h"
-#include "strJsonCommands.h"
 
 std::atomic_bool JCFG_DONE(false);
 
@@ -831,26 +830,26 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
     return returnvalue::FAILED;
   }
 
-  switch (str::getReplyFrameType(start)) {
+  switch (startracker::getReplyFrameType(start)) {
     case TMTC_ACTIONREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForActionReply(str::getId(start), foundId);
+      result = scanForActionReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_SETPARAMREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForSetParameterReply(str::getId(start), foundId);
+      result = scanForSetParameterReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_PARAMREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForGetParameterReply(str::getId(start), foundId);
+      result = scanForGetParameterReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_TELEMETRYREPLYA:
     case TMTC_TELEMETRYREPLY: {
       *foundLen = remainingSize - bytesLeft;
-      result = scanForTmReply(str::getId(start), foundId);
+      result = scanForTmReply(startracker::getId(start), foundId);
       break;
     }
     default: {
@@ -1818,7 +1817,7 @@ ReturnValue_t StarTrackerHandler::prepareRequestDebugCameraParams() {
 }
 
 ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) {
-  uint8_t status = str::getStatusField(rawFrame);
+  uint8_t status = startracker::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
                     " command with parameter ID"
@@ -1835,7 +1834,7 @@ ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) {
 }
 
 ReturnValue_t StarTrackerHandler::handleActionReply(const uint8_t* rawFrame) {
-  uint8_t status = str::getStatusField(rawFrame);
+  uint8_t status = startracker::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
                  << "command with action ID "
@@ -1903,7 +1902,7 @@ ReturnValue_t StarTrackerHandler::handleParamRequest(const uint8_t* rawFrame,
 ReturnValue_t StarTrackerHandler::handlePingReply(const uint8_t* rawFrame) {
   ReturnValue_t result = returnvalue::OK;
   uint32_t pingId = 0;
-  uint8_t status = str::getStatusField(rawFrame);
+  uint8_t status = startracker::getStatusField(rawFrame);
   const uint8_t* buffer = rawFrame + ACTION_DATA_OFFSET;
   size_t size = sizeof(pingId);
   SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE);
@@ -1956,7 +1955,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
 ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
                                            size_t size) {
   ReturnValue_t result = returnvalue::OK;
-  uint8_t status = str::getStatusField(rawFrame);
+  uint8_t status = startracker::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleTm: Reply error: "
                  << static_cast<unsigned int>(status) << std::endl;
@@ -1987,7 +1986,7 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
 ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
                                                        LocalPoolDataSetBase& dataset, size_t size) {
   ReturnValue_t result = returnvalue::OK;
-  uint8_t status = str::getStatusField(rawFrame);
+  uint8_t status = startracker::getStatusField(rawFrame);
   if (status != startracker::STATUS_OK) {
     sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: "
                  << static_cast<unsigned int>(status) << std::endl;

mission/acs/str/StarTrackerHandler.h

@@ -2,19 +2,19 @@
 #define MISSION_DEVICES_STARTRACKERHANDLER_H_
 
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <linux/acs/StrComHandler.h>
+#include <mission/acs/str/ArcsecJsonParamBase.h>
+#include <mission/acs/str/strHelpers.h>
+#include <mission/acs/str/strJsonCommands.h>
 
 #include <thread>
 
-#include "ArcsecJsonParamBase.h"
 #include "OBSWConfig.h"
-#include "StrComHandler.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 "strJsonCommands.h"
 
 /**
  * @brief	This is the device handler for the star tracker from arcsec.

mission/acs/str/strHelpers.cpp

@@ -0,0 +1,7 @@
+#include <mission/acs/str/strHelpers.h>
+
+uint8_t startracker::getReplyFrameType(const uint8_t* rawFrame) { return rawFrame[0]; }
+
+uint8_t startracker::getId(const uint8_t* rawFrame) { return rawFrame[1]; }
+
+uint8_t startracker::getStatusField(const uint8_t* rawFrame) { return rawFrame[2]; }

mission/acs/str/strHelpers.h

@@ -11,6 +11,13 @@
 
 namespace startracker {
 
+/**
+ * @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);
+
 /** This is the address of the star tracker */
 static const uint8_t ADDRESS = 33;
 

mission/acs/str/strJsonCommands.cpp

@@ -1,4 +1,5 @@
-#include "strJsonCommands.h"
+#include <mission/acs/str/arcsecJsonKeys.h>
+#include <mission/acs/str/strJsonCommands.h>
 
 #include "arcsecJsonKeys.h"
 

mission/acs/str/strJsonCommands.h

@@ -7,9 +7,10 @@
  *  @author J. Meier
  */
 
+#include <mission/acs/str/ArcsecJsonParamBase.h>
+
 #include <string>
 
-#include "ArcsecJsonParamBase.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 
 /**

mission/controller/ThermalController.cpp

@@ -5,10 +5,10 @@
 #include <fsfw/thermal/ThermalComponentIF.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
-#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <mission/acs/gyroAdisHelpers.h>
 #include <mission/acs/imtqHelpers.h>
 #include <mission/acs/rwHelpers.h>
+#include <mission/acs/str/strHelpers.h>
 #include <mission/com/syrlinksDefs.h>
 #include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>

mission/controller/ThermalController.h

@@ -7,10 +7,10 @@
 #include <fsfw/timemanager/Countdown.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
-#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <mission/acs/gyroAdisHelpers.h>
 #include <mission/acs/imtqHelpers.h>
 #include <mission/acs/rwHelpers.h>
+#include <mission/acs/str/strHelpers.h>
 #include <mission/com/syrlinksDefs.h>
 #include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
 #include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>

mission/controller/acs/SensorValues.h

@@ -4,10 +4,10 @@
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
 #include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
 #include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
-#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <mission/acs/gyroAdisHelpers.h>
 #include <mission/acs/imtqHelpers.h>
 #include <mission/acs/rwHelpers.h>
+#include <mission/acs/str/strHelpers.h>
 #include <mission/devices/devicedefinitions/GPSDefinitions.h>
 #include <mission/devices/devicedefinitions/susMax1227Helpers.h>
 

thirdparty/CMakeLists.txt

@@ -2,4 +2,9 @@ if(EIVE_ADD_LINUX_FILES)
 	add_subdirectory(tas)
 endif()
 
+# Dependency on proprietary library
+if(TGT_BSP MATCHES "arm/q7s")
+	add_subdirectory(arcsec_star_tracker)
+endif()
+
 add_subdirectory(rapidcsv)

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit cbb3b24dc1993b727735fd63576088401ba351ec
+Subproject commit 2823952e0902726e6e35dd7c159761f76bf7e505