diff --git a/CHANGELOG.md b/CHANGELOG.md index e2aa8f60..1ae35a8d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,8 +16,17 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +## Fixed + +- STR: Fix weird issues on datalink layer data reception which sometimes occur. + ## Changed +- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from + device handler. +- STR: Is now scheduled twice in ACS PST. +- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap + a separate UART COM interface anymore. - TCS: Local pool variables are members now. # [v1.39.1] 2023-03-22 diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp index 1e8756e2..2bbb0e0b 100644 --- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp +++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateEvents.h" @@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -617,16 +617,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_HELPER_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp index 5b9996a0..fc9207cf 100644 --- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp +++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 169 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateObjects.h" @@ -50,7 +50,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -267,7 +267,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index d2d7708a..27d3225a 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" @@ -592,7 +592,7 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) { auto* syrlinksUartCookie = - new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD, + new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD, syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); syrlinksUartCookie->setParityEven(); @@ -623,8 +623,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC); gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC"); auto mpsocCookie = - new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD, - mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); + new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, + serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); mpsocCookie->setNoFixedSizeReply(); auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER); auto* mpsocHandler = new PlocMPSoCHandler( @@ -639,9 +639,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit auto supvGpioCookie = new GpioCookie; supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv); gpioComIF->addGpios(supvGpioCookie); - auto supervisorCookie = - new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, - uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL); + auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, + q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD, + supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL); supervisorCookie->setNoFixedSizeReply(); auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER); auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie, @@ -934,10 +934,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) { auto* strAssy = new StrAssembly(objects::STR_ASSY); strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM); auto* starTrackerCookie = - new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD, + new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL); starTrackerCookie->setNoFixedSizeReply(); - StrHelper* strHelper = new StrHelper(objects::STR_HELPER); + StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF); const char* paramJsonFile = nullptr; #ifdef EGSE @@ -954,8 +954,8 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) { } auto strFdir = new StrFdir(objects::STAR_TRACKER); auto starTracker = - new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, - paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V); + new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie, + paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V); starTracker->setPowerSwitcher(pwrSwitcher); starTracker->connectModeTreeParent(*strAssy); starTracker->setCustomFdir(strFdir); diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index bd9ee01c..8d216554 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -307,11 +307,12 @@ void scheduling::initTasks() { #endif #if OBSW_ADD_STAR_TRACKER == 1 + // Relatively high priority to make sure STR COM works well. PeriodicTaskIF* strHelperTask = factory->createPeriodicTask( - "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); - result = strHelperTask->addComponent(objects::STR_HELPER); + "STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + result = strHelperTask->addComponent(objects::STR_COM_IF); if (result != returnvalue::OK) { - scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER); + scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF); } #endif /* OBSW_ADD_STAR_TRACKER == 1 */ diff --git a/common/config/devConf.h b/common/config/devConf.h index 27167397..de33cf4a 100644 --- a/common/config/devConf.h +++ b/common/config/devConf.h @@ -63,7 +63,7 @@ static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR; } // namespace spi -namespace uart { +namespace serial { static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024; static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400; @@ -73,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200; static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600; static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600; -} // namespace uart +} // namespace serial #endif /* COMMON_CONFIG_DEVCONF_H_ */ diff --git a/common/config/eive/objects.h b/common/config/eive/objects.h index e22133e2..33eb9ad1 100644 --- a/common/config/eive/objects.h +++ b/common/config/eive/objects.h @@ -62,7 +62,7 @@ enum commonObjects : uint32_t { RAD_SENSOR = 0x443200A5, PLOC_UPDATER = 0x44330000, PLOC_MEMORY_DUMPER = 0x44330001, - STR_HELPER = 0x44330002, + STR_COM_IF = 0x44330002, PLOC_MPSOC_HELPER = 0x44330003, AXI_PTME_CONFIG = 0x44330004, PTME_CONFIG = 0x44330005, diff --git a/fsfw b/fsfw index 227524a2..f8a7c1d4 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 227524a21da755d125bcb1a5ff67bcbc452f8cf9 +Subproject commit f8a7c1d4ed621a3375db0da9b9e9f8d5484abbc1 diff --git a/generators/bsp_hosted_events.csv b/generators/bsp_hosted_events.csv index 8fe777aa..a881cd63 100644 --- a/generators/bsp_hosted_events.csv +++ b/generators/bsp_hosted_events.csv @@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h -12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h -12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h -12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h -12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h -12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h -12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h -12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h -12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h -12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h -12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h -12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h -12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h -12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h -12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h -12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h +12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h +12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h +12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h +12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h +12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h +12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h +12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h +12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h +12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h +12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12511;0x30df;STR_HELPER_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h +12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h +12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h +12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h +12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h +12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h diff --git a/generators/bsp_hosted_objects.csv b/generators/bsp_hosted_objects.csv index 12a9ffb1..6d73e97c 100644 --- a/generators/bsp_hosted_objects.csv +++ b/generators/bsp_hosted_objects.csv @@ -42,7 +42,7 @@ 0x443200A5;RAD_SENSOR 0x44330000;PLOC_UPDATER 0x44330001;PLOC_MEMORY_DUMPER -0x44330002;STR_HELPER +0x44330002;STR_COM_IF 0x44330003;PLOC_MPSOC_HELPER 0x44330004;AXI_PTME_CONFIG 0x44330005;PTME_CONFIG diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv index 8fe777aa..a881cd63 100644 --- a/generators/bsp_q7s_events.csv +++ b/generators/bsp_q7s_events.csv @@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h -12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h -12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h -12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h -12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h -12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h -12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h -12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h -12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h -12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h -12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h -12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h -12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h -12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h -12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h -12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h +12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h +12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h +12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h +12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h +12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h +12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h +12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h +12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h +12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h +12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12511;0x30df;STR_HELPER_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h +12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h +12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h +12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h +12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h +12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv index c90f83ee..0c248ea8 100644 --- a/generators/bsp_q7s_objects.csv +++ b/generators/bsp_q7s_objects.csv @@ -41,7 +41,7 @@ 0x443200A5;RAD_SENSOR 0x44330000;PLOC_UPDATER 0x44330001;PLOC_MEMORY_DUMPER -0x44330002;STR_HELPER +0x44330002;STR_COM_IF 0x44330003;PLOC_MPSOC_HELPER 0x44330004;AXI_PTME_CONFIG 0x44330005;PTME_CONFIG diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv index 83a870b9..e582cfbc 100644 --- a/generators/bsp_q7s_returnvalues.csv +++ b/generators/bsp_q7s_returnvalues.csv @@ -491,15 +491,18 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/LegacySusHandler.h 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h -0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h +0x5c00;STRHLP_Busy;No description;0;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c02;STRHLP_FileNotExists;Specified file does not exist on filesystem;2;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c03;STRHLP_PathNotExists;Specified path does not exist;3;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c04;STRHLP_FileCreationFailed;Failed to create download image or read flash file;4;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c05;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;5;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c06;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;6;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c07;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;7;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c08;STRHLP_StatusError;Status field in reply signals error;8;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c09;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);9;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c0a;STRHLP_ReceptionTimeout;No description;10;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c0b;STRHLP_DecodingError;No description;11;STR_HELPER;linux/devices/startracker/StrComHandler.h 0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 1e8756e2..2bbb0e0b 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateEvents.h" @@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -617,16 +617,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_HELPER_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 4eff584d..bac4cde7 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateObjects.h" @@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 16ee9093..2a788898 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -314,7 +314,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF, void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher, SdCardMountedIF& mountedIF, bool onImmediately, std::optional switchId) { - auto* cookie = new SerialCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096); + auto* cookie = new SerialCookie(objects::SCEX, uartDev, serial::SCEX_BAUD, 4096); cookie->setTwoStopBits(); // cookie->setParityEven(); auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER); diff --git a/linux/devices/ScexUartReader.cpp b/linux/devices/ScexUartReader.cpp index eb61fa2e..9aa2287c 100644 --- a/linux/devices/ScexUartReader.cpp +++ b/linux/devices/ScexUartReader.cpp @@ -98,11 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { } // Setting up UART parameters tty.c_cflag &= ~PARENB; // Clear parity bit - uart::setStopbits(tty, uartCookie->getStopBits()); - uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + serial::setStopbits(tty, uartCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - uart::enableRead(tty); - uart::ignoreCtrlLines(tty); + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); // Use non-canonical mode and clear echo flag tty.c_lflag &= ~(ICANON | ECHO); @@ -111,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { tty.c_cc[VTIME] = 0; tty.c_cc[VMIN] = 0; - uart::setBaudrate(tty, uartCookie->getBaudrate()); + serial::setBaudrate(tty, uartCookie->getBaudrate()); if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error [" << errno << ", " << strerror(errno) << std::endl; @@ -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/ploc/PlocSupvUartMan.cpp b/linux/devices/ploc/PlocSupvUartMan.cpp index 5113de40..fe8516b5 100644 --- a/linux/devices/ploc/PlocSupvUartMan.cpp +++ b/linux/devices/ploc/PlocSupvUartMan.cpp @@ -58,12 +58,12 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) { } // Setting up UART parameters tty.c_cflag &= ~PARENB; // Clear parity bit - uart::setParity(tty, uartCookie->getParity()); - uart::setStopbits(tty, uartCookie->getStopBits()); - uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + serial::setParity(tty, uartCookie->getParity()); + serial::setStopbits(tty, uartCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - uart::enableRead(tty); - uart::ignoreCtrlLines(tty); + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); // Use non-canonical mode and clear echo flag tty.c_lflag &= ~(ICANON | ECHO); @@ -72,7 +72,7 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) { tty.c_cc[VTIME] = 2; tty.c_cc[VMIN] = 0; - uart::setBaudrate(tty, uartCookie->getBaudrate()); + serial::setBaudrate(tty, uartCookie->getBaudrate()); if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { sif::warning << "PlocSupvUartManager::initializeInterface: tcsetattr call failed with error [" << errno << ", " << strerror(errno) << std::endl; diff --git a/linux/devices/ploc/PlocSupvUartMan.h b/linux/devices/ploc/PlocSupvUartMan.h index 02bfb6c7..7b32ffac 100644 --- a/linux/devices/ploc/PlocSupvUartMan.h +++ b/linux/devices/ploc/PlocSupvUartMan.h @@ -246,9 +246,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF, std::array recBuf = {}; std::array encodedBuf = {}; std::array decodedBuf = {}; - std::array ipcBuffer = {}; SimpleRingBuffer decodedRingBuf; FIFO decodedQueue; + std::array ipcBuffer = {}; SimpleRingBuffer ipcRingBuf; FIFO ipcQueue; diff --git a/linux/devices/startracker/ArcsecDatalinkLayer.cpp b/linux/devices/startracker/ArcsecDatalinkLayer.cpp index bc45d619..eb62cec1 100644 --- a/linux/devices/startracker/ArcsecDatalinkLayer.cpp +++ b/linux/devices/startracker/ArcsecDatalinkLayer.cpp @@ -1,39 +1,36 @@ #include "ArcsecDatalinkLayer.h" -ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); } +ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); } ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {} -void ArcsecDatalinkLayer::slipInit() { - slipInfo.buffer = rxBuffer; - slipInfo.maxlength = startracker::MAX_FRAME_SIZE; - slipInfo.length = 0; - slipInfo.unescape_next = 0; - 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++) { +ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame, + size_t& frameLen) { + size_t currentLen = decodeRingBuf.getAvailableReadData(); + decodeRingBuf.readData(rxAnalysisBuffer, currentLen); + for (size_t idx = 0; idx < currentLen; idx++) { enum arc_dec_result decResult = - arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize); - *bytesLeft = rawDataSize - bytePos - 1; + arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize); switch (decResult) { case ARC_DEC_INPROGRESS: { - if (bytePos == rawDataSize - 1) { - return DEC_IN_PROGRESS; - } - continue; + break; } - case ARC_DEC_ERROR_FRAME_SHORT: + case ARC_DEC_ERROR_FRAME_SHORT: { + decodeRingBuf.deleteData(idx); return REPLY_TOO_SHORT; + } case ARC_DEC_ERROR_CHECKSUM: + decodeRingBuf.deleteData(idx); return CRC_FAILURE; case ARC_DEC_ASYNC: case ARC_DEC_SYNC: { // Reset length of SLIP struct for next frame slipInfo.length = 0; + if (decodedFrame != nullptr) { + *decodedFrame = decodedRxFrame; + } + frameLen = rxFrameSize; + decodeRingBuf.deleteData(idx); return returnvalue::OK; } default: @@ -42,21 +39,32 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra return returnvalue::FAILED; } } - return returnvalue::FAILED; + decodeRingBuf.deleteData(currentLen); + return DEC_IN_PROGRESS; } -uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; } - -const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; } - -void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) { - arc_transport_encode_body(data, length, encBuffer, &encFrameSize); +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); } -uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; } +void ArcsecDatalinkLayer::reset() { + slipInit(); + decodeRingBuf.clear(); +} -uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; } +void ArcsecDatalinkLayer::slipInit() { + slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo); +} -uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); } - -uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); } +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; + } +} diff --git a/linux/devices/startracker/ArcsecDatalinkLayer.h b/linux/devices/startracker/ArcsecDatalinkLayer.h index 5681d3ca..bfc82d90 100644 --- a/linux/devices/startracker/ArcsecDatalinkLayer.h +++ b/linux/devices/startracker/ArcsecDatalinkLayer.h @@ -1,14 +1,14 @@ #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ #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. */ @@ -25,17 +25,30 @@ class ArcsecDatalinkLayer { static const uint8_t STATUS_OK = 0; + static constexpr size_t BUFFER_LENGTHS = 4096; + ArcsecDatalinkLayer(); virtual ~ArcsecDatalinkLayer(); /** - * @brief Applies decoding to data referenced by rawData pointer - * - * @param rawData Pointer to raw data received from star tracker - * @param rawDataSize Size of raw data stream - * @param remainingBytes Number of bytes left + * Feed received data to the internal ring buffer. + * @param rawData + * @param rawDataLen + * @return */ - ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft); + ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen); + + /** + * Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding + * frames in the process. + * @param decodedFrame + * @param frameLen + * @return + * - returnvalue::OK if a frame was found + * - DEC_IN_PROGRESS if frame decoding is in progress + * - Anything else is a decoding error + */ + ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen); /** * @brief SLIP encodes data pointed to by data pointer. @@ -43,53 +56,31 @@ class ArcsecDatalinkLayer { * @param data Pointer to data to encode * @param length Length of buffer to encode */ - void encodeFrame(const uint8_t* data, uint32_t length); + void encodeFrame(const uint8_t* data, size_t length, const 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 size of encoded frame - */ - uint32_t getEncodedLength(); - - /** - * @brief Returns pointer to encoded frame - */ - uint8_t* getEncodedFrame(); - - /** - * @brief Returns status of reply - */ - uint8_t getStatusField(); - - /** - * @brief Returns ID of reply - */ - uint8_t getId(); + void reset(); private: static const uint8_t ID_OFFSET = 1; static const uint8_t STATUS_OFFSET = 2; - // Used by arcsec slip decoding function process received data - uint8_t rxBuffer[startracker::MAX_FRAME_SIZE]; + // User to buffer and analyse data and allow feeding and checking for frames asychronously. + SimpleRingBuffer decodeRingBuf; + uint8_t rxAnalysisBuffer[BUFFER_LENGTHS]; + + // Used by arcsec slip decoding function to process received data. This should only be written + // to or read from by arcsec functions! + uint8_t rxBufferArc[startracker::MAX_FRAME_SIZE]; // Decoded frame will be copied to this buffer - uint8_t decodedFrame[startracker::MAX_FRAME_SIZE]; + uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE]; + // Size of decoded frame + uint32_t rxFrameSize = 0; + // Buffer where encoded frames will be stored. First byte of encoded frame represents type of // reply - uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2]; - // Size of decoded frame - uint32_t decFrameSize = 0; + uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2]; // Size of encoded frame - uint32_t encFrameSize = 0; + uint32_t txFrameSize = 0; slip_decode_state slipInfo; diff --git a/linux/devices/startracker/ArcsecJsonParamBase.cpp b/linux/devices/startracker/ArcsecJsonParamBase.cpp index a63025f1..04afb75f 100644 --- a/linux/devices/startracker/ArcsecJsonParamBase.cpp +++ b/linux/devices/startracker/ArcsecJsonParamBase.cpp @@ -1,17 +1,10 @@ #include "ArcsecJsonParamBase.h" -#include "ArcsecJsonKeys.h" +#include "arcsecJsonKeys.h" ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {} -ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) { - // ReturnValue_t result = returnvalue::OK; - // result = init(fullname); - // if (result != returnvalue::OK) { - // sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set " - // << setName << std::endl; - // return result; - // } +ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) { ReturnValue_t result = createCommand(buffer); if (result != returnvalue::OK) { sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set " diff --git a/linux/devices/startracker/ArcsecJsonParamBase.h b/linux/devices/startracker/ArcsecJsonParamBase.h index 49d0dbba..ff457016 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; /** @@ -59,7 +56,7 @@ class ArcsecJsonParamBase { * parameter set. * @param buffer Pointer to the buffer the command will be written to */ - ReturnValue_t create(std::string fullname, uint8_t* buffer); + ReturnValue_t create(uint8_t* buffer); /** * @brief Returns the size of the parameter command. diff --git a/linux/devices/startracker/CMakeLists.txt b/linux/devices/startracker/CMakeLists.txt index 963b2a44..24dbaf8e 100644 --- a/linux/devices/startracker/CMakeLists.txt +++ b/linux/devices/startracker/CMakeLists.txt @@ -1,4 +1,4 @@ target_sources( ${OBSW_NAME} - PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp - ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp) + PRIVATE StarTrackerHandler.cpp strJsonCommands.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..448afc91 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 @@ -8,19 +11,14 @@ #include #include "OBSWConfig.h" -#include "StarTrackerJsonCommands.h" -extern "C" { -#include -#include -#include - -#include "common/misc.h" -} +#include "arcsec/common/misc.h" +#include "helpers.h" +#include "strJsonCommands.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 +93,6 @@ 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); return returnvalue::OK; } @@ -828,41 +821,36 @@ 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 +870,22 @@ 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 +896,23 @@ 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 +929,63 @@ 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 +1316,8 @@ 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 +1346,9 @@ 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 +1413,9 @@ 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 +1481,8 @@ 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 +1513,7 @@ 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; } @@ -1538,7 +1524,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) { void StarTrackerHandler::handleEvent(EventMessage* eventMessage) { object_id_t objectId = eventMessage->getReporter(); switch (objectId) { - case objects::STR_HELPER: { + case objects::STR_COM_IF: { // All events from image loader signal either that the operation was successful or that it // failed strHelperHandlingSpecialRequest = false; @@ -1586,9 +1572,8 @@ 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(); + rawPacket = commandBuffer; + rawPacketLen = length; } ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData, @@ -1620,9 +1605,8 @@ 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(); + rawPacket = commandBuffer; + rawPacketLen = rawCmdLength; checksumCmd.rememberRegion = req.region; checksumCmd.rememberAddress = req.address; checksumCmd.rememberLength = req.length; @@ -1632,51 +1616,45 @@ 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(); + rawPacket = commandBuffer; + rawPacketLen = length; } 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(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareVersionRequest() { uint32_t length = 0; arc_tm_pack_version_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareInterfaceRequest() { uint32_t length = 0; arc_tm_pack_interface_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::preparePowerRequest() { uint32_t length = 0; arc_tm_pack_power_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } 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(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { @@ -1684,33 +1662,29 @@ 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(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareSolutionRequest() { uint32_t length = 0; arc_tm_pack_solution_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareTemperatureRequest() { uint32_t length = 0; arc_tm_pack_temperature_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareHistogramRequest() { uint32_t length = 0; arc_tm_pack_histogram_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData, @@ -1721,182 +1695,164 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData if (commandDataLen > MAX_PATH_SIZE) { return FILE_PATH_TOO_LONG; } - std::string fullName(reinterpret_cast(commandData), commandDataLen); - result = paramSet.create(fullName, commandBuffer); + result = paramSet.create(commandBuffer); 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 + 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 +1875,14 @@ 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 +1900,20 @@ 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 +1953,10 @@ 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 +1966,7 @@ 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 +1984,10 @@ 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 +1997,7 @@ 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) { @@ -2061,8 +2015,8 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat return result; } -void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { - switch (*parameterId) { +void StarTrackerHandler::handleStartup(uint8_t parameterId) { + switch (parameterId) { case (startracker::ID::LOG_LEVEL): { bootState = FwBootState::LIMITS; break; @@ -2117,8 +2071,8 @@ void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { break; } default: { - sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected" - << " parameter ID" << std::endl; + sif::warning << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected" + << " parameter ID " << (int)parameterId << std::endl; break; } } diff --git a/linux/devices/startracker/StarTrackerHandler.h b/linux/devices/startracker/StarTrackerHandler.h index 8d7493d7..821aa3b2 100644 --- a/linux/devices/startracker/StarTrackerHandler.h +++ b/linux/devices/startracker/StarTrackerHandler.h @@ -2,20 +2,19 @@ #define MISSION_DEVICES_STARTRACKERHANDLER_H_ #include -#include #include -#include "ArcsecDatalinkLayer.h" #include "ArcsecJsonParamBase.h" #include "OBSWConfig.h" -#include "StrHelper.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 "thirdparty/arcsec_star_tracker/common/SLIP.h" +#include "strJsonCommands.h" /** * @brief This is the device handler for the star tracker from arcsec. @@ -38,7 +37,8 @@ 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; @@ -147,14 +147,14 @@ 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; @@ -182,8 +182,6 @@ class StarTrackerHandler : public DeviceHandlerBase { MessageQueueIF* eventQueue = nullptr; - ArcsecDatalinkLayer dataLinkLayer; - startracker::TemperatureSet temperatureSet; startracker::VersionSet versionSet; startracker::PowerSet powerSet; @@ -208,7 +206,7 @@ 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]; @@ -310,10 +308,10 @@ 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 @@ -435,12 +433,13 @@ 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 @@ -450,16 +449,17 @@ 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 @@ -469,7 +469,7 @@ class StarTrackerHandler : public DeviceHandlerBase { /** * @brief Handles the startup state machine */ - void handleStartup(const uint8_t* parameterId); + void handleStartup(uint8_t parameterId); /** * @brief Handles telemtry replies and fills the appropriate dataset @@ -479,7 +479,7 @@ 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 58% rename from linux/devices/startracker/StrHelper.cpp rename to linux/devices/startracker/StrComHandler.cpp index 8dd3641d..85be7871 100644 --- a/linux/devices/startracker/StrHelper.cpp +++ b/linux/devices/startracker/StrComHandler.cpp @@ -1,6 +1,9 @@ -#include "StrHelper.h" - +#include #include +#include +#include +#include +#include #include #include @@ -8,16 +11,22 @@ #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) { + lock = MutexFactory::instance()->createMutex(); + semaphore.acquire(); +} -ReturnValue_t StrHelper::initialize() { +StrComHandler::~StrComHandler() {} + +ReturnValue_t StrComHandler::initialize() { #ifdef XIPHOS_Q7S sdcMan = SdCardManager::instance(); if (sdcMan == nullptr) { @@ -28,53 +37,63 @@ 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) { - switch (internalState) { - case InternalState::IDLE: { - semaphore.acquire(); + lock->lockMutex(); + state = InternalState::SLEEPING; + datalinkLayer.reset(); + lock->unlockMutex(); + semaphore.acquire(); + switch (state) { + case InternalState::POLL_ONE_REPLY: { + // Stopwatch watch; + replyTimeout.setTimeout(200); + replyResult = readOneReply(static_cast(state)); + { + MutexGuard mg(lock); + replyWasReceived = true; + } break; } case InternalState::UPLOAD_IMAGE: { + replyTimeout.setTimeout(200); result = performImageUpload(); if (result == returnvalue::OK) { triggerEvent(IMAGE_UPLOAD_SUCCESSFUL); } else { triggerEvent(IMAGE_UPLOAD_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::DOWNLOAD_IMAGE: { + replyTimeout.setTimeout(200); result = performImageDownload(); if (result == returnvalue::OK) { triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL); } else { triggerEvent(IMAGE_DOWNLOAD_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::FLASH_READ: { + replyTimeout.setTimeout(200); result = performFlashRead(); if (result == returnvalue::OK) { triggerEvent(FLASH_READ_SUCCESSFUL); } else { triggerEvent(FLASH_READ_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::FIRMWARE_UPDATE: { + replyTimeout.setTimeout(200); result = performFirmwareUpdate(); if (result == returnvalue::OK) { triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL); } else { triggerEvent(FIRMWARE_UPDATE_FAILED); } - internalState = InternalState::IDLE; break; } default: @@ -84,18 +103,13 @@ 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; +ReturnValue_t StrComHandler::startImageUpload(std::string fullname) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } } - return returnvalue::OK; -} - -void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; } - -ReturnValue_t StrHelper::startImageUpload(std::string fullname) { #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -106,13 +120,22 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) { if (not std::filesystem::exists(fullname)) { return FILE_NOT_EXISTS; } - internalState = InternalState::UPLOAD_IMAGE; + { + MutexGuard mg(lock); + state = InternalState::UPLOAD_IMAGE; + } semaphore.release(); terminate = false; return returnvalue::OK; } -ReturnValue_t StrHelper::startImageDownload(std::string path) { +ReturnValue_t StrComHandler::startImageDownload(std::string path) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -123,19 +146,32 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) { return PATH_NOT_EXISTS; } downloadImage.path = path; - internalState = InternalState::DOWNLOAD_IMAGE; + { + MutexGuard mg(lock); + state = InternalState::DOWNLOAD_IMAGE; + } terminate = false; semaphore.release(); 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) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -148,13 +184,23 @@ ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) { } flashWrite.firstRegion = static_cast(startracker::FirmwareRegions::FIRST); flashWrite.lastRegion = static_cast(startracker::FirmwareRegions::LAST); - internalState = InternalState::FIRMWARE_UPDATE; + { + MutexGuard mg(lock); + state = InternalState::FIRMWARE_UPDATE; + } semaphore.release(); terminate = false; 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) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -167,17 +213,20 @@ ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, u } flashRead.startRegion = startRegion; flashRead.size = length; - internalState = InternalState::FLASH_READ; + { + MutexGuard mg(lock); + state = InternalState::FLASH_READ; + } semaphore.release(); terminate = false; 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 +239,7 @@ ReturnValue_t StrHelper::performImageDownload() { struct DownloadActionRequest downloadReq; uint32_t size = 0; uint32_t retries = 0; + size_t replySize = 0; std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path, downloadImage.filename, timestamping); std::ofstream file(image, std::ios_base::out); @@ -202,21 +252,21 @@ ReturnValue_t StrHelper::performImageDownload() { file.close(); return returnvalue::OK; } - arc_pack_download_action_req(&downloadReq, commandBuffer, &size); + arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size); result = sendAndRead(size, downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replySize); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } @@ -226,15 +276,14 @@ ReturnValue_t StrHelper::performImageDownload() { result = checkReplyPosition(downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(datalinkLayer.getReply() + IMAGE_DATA_OFFSET), - CHUNK_SIZE); + file.write(reinterpret_cast(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE); #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print(downloadReq.position); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ @@ -245,7 +294,7 @@ 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; @@ -258,8 +307,7 @@ ReturnValue_t StrHelper::performImageUpload() { #endif std::memset(&uploadReq.data, 0, sizeof(uploadReq.data)); if (not std::filesystem::exists(uploadImage.uploadFile)) { - triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(internalState)); - internalState = InternalState::IDLE; + triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(state)); return returnvalue::FAILED; } std::ifstream file(uploadImage.uploadFile, std::ifstream::binary); @@ -276,26 +324,29 @@ ReturnValue_t StrHelper::performImageUpload() { #endif /* OBSW_DEBUG_STARTRACKER == 1 */ while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) { if (terminate) { - file.close(); return returnvalue::OK; } 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); + arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size); result = sendAndRead(size, uploadReq.position); if (result != returnvalue::OK) { - file.close(); return returnvalue::FAILED; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { - file.close(); return result; } #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ uploadReq.position++; + + // This does a bit of delaying roughly every second + if (uploadReq.position % 50 == 0) { + // Some grace time for other tasks + TaskFactory::delayTask(2); + } } std::memset(uploadReq.data, 0, sizeof(uploadReq.data)); uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART; @@ -303,12 +354,12 @@ ReturnValue_t StrHelper::performImageUpload() { file.read(reinterpret_cast(uploadReq.data), remainder); file.close(); uploadReq.position++; - arc_pack_upload_action_req(&uploadReq, commandBuffer, &size); + arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size); result = sendAndRead(size, uploadReq.position); if (result != returnvalue::OK) { return returnvalue::FAILED; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { return result; } @@ -318,7 +369,7 @@ 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 +381,7 @@ 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; @@ -340,13 +391,16 @@ ReturnValue_t StrHelper::performFlashWrite() { uint32_t size = 0; uint32_t bytesWritten = 0; uint32_t fileSize = 0; + struct WriteActionRequest req; if (not std::filesystem::exists(flashWrite.fullname)) { - triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(internalState)); - internalState = InternalState::IDLE; + triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(state)); return returnvalue::FAILED; } std::ifstream file(flashWrite.fullname, std::ifstream::binary); + if (file.bad()) { + return returnvalue::FAILED; + } file.seekg(0, file.end); fileSize = file.tellg(); if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) { @@ -362,7 +416,6 @@ ReturnValue_t StrHelper::performFlashWrite() { req.length = CHUNK_SIZE; for (uint32_t idx = 0; idx < fileChunks; idx++) { if (terminate) { - file.close(); return returnvalue::OK; } file.seekg(idx * CHUNK_SIZE, file.beg); @@ -372,21 +425,23 @@ ReturnValue_t StrHelper::performFlashWrite() { bytesWritten = 0; } req.address = bytesWritten; - arc_pack_write_action_req(&req, commandBuffer, &size); + arc_pack_write_action_req(&req, cmdBuf.data(), &size); result = sendAndRead(size, req.address); if (result != returnvalue::OK) { - file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { - file.close(); return result; } bytesWritten += CHUNK_SIZE; #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print(idx * CHUNK_SIZE); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ + if (idx % 50 == 0) { + // Some grace time for other tasks + TaskFactory::delayTask(2); + } } uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE; file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg); @@ -399,12 +454,12 @@ ReturnValue_t StrHelper::performFlashWrite() { req.address = bytesWritten; req.length = remainingBytes; bytesWritten += remainingBytes; - arc_pack_write_action_req(&req, commandBuffer, &size); + arc_pack_write_action_req(&req, cmdBuf.data(), &size); result = sendAndRead(size, req.address); if (result != returnvalue::OK) { return result; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { return result; } @@ -414,7 +469,7 @@ 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; @@ -446,29 +501,28 @@ ReturnValue_t StrHelper::performFlashRead() { } else { req.length = CHUNK_SIZE; } - arc_pack_read_action_req(&req, commandBuffer, &size); + arc_pack_read_action_req(&req, cmdBuf.data(), &size); result = sendAndRead(size, req.address); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET), - req.length); + file.write(reinterpret_cast(replyPtr + FLASH_READ_DATA_OFFSET), req.length); bytesRead += req.length; req.address += req.length; if (req.address >= FLASH_REGION_SIZE) { @@ -484,70 +538,29 @@ ReturnValue_t StrHelper::performFlashRead() { return returnvalue::OK; } -ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) { +ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) { 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; - datalinkLayer.encodeFrame(commandBuffer, size); - result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(), - datalinkLayer.getEncodedLength()); - if (result != returnvalue::OK) { + + const uint8_t* sendData; + size_t txFrameLen = 0; + datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen); + 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); - delay.resetTimer(); - while (delay.isBusy()) { - } - 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); - return returnvalue::FAILED; - } else { - missedReplies = 0; - } - 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); - return returnvalue::FAILED; - } - } - if (decResult != returnvalue::OK) { - triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter); - return returnvalue::FAILED; - } - return returnvalue::OK; + + return readOneReply(failParameter); } -ReturnValue_t StrHelper::checkActionReply() { - uint8_t type = datalinkLayer.getReplyFrameType(); +ReturnValue_t StrComHandler::checkActionReply(size_t replySize) { + uint8_t type = str::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 = datalinkLayer.getStatusField(); + uint8_t status = str::getStatusField(replyPtr); if (status != ArcsecDatalinkLayer::STATUS_OK) { sif::warning << "StrHelper::checkActionReply: Status failure: " << static_cast(status) << std::endl; @@ -556,9 +569,9 @@ ReturnValue_t StrHelper::checkActionReply() { return returnvalue::OK; } -ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) { +ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) { uint32_t receivedPosition = 0; - std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition)); + std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition)); if (receivedPosition != expectedPosition) { triggerEvent(POSITION_MISMATCH, receivedPosition); return returnvalue::FAILED; @@ -567,7 +580,7 @@ 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; @@ -584,7 +597,113 @@ 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 + serial::setStopbits(tty, serCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); + tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control + serial::enableRead(tty); + serial::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; + + serial::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) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } + serial::flushRxBuf(serialPort); + + 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; + } + // Hacky, but the alternatives look bleak. The raw data contains the information we need + // and there are not too many special cases. + if (sendData[0] == TMTC_ACTIONREQ) { + // 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected. + if (sendData[1] == 7 or sendData[1] == 1) { + return returnvalue::OK; + } + } + { + MutexGuard mg(lock); + state = InternalState::POLL_ONE_REPLY; + } + // Unlock task to perform reply reading. + semaphore.release(); + 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) { + // Consider it a configuration error if the task is not done with a command -> reply cycle + // in time. + bool replyWasReceived = false; + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + replyWasReceived = this->replyWasReceived; + } + if (not replyWasReceived) { + *size = 0; + return returnvalue::OK; + } + if (replyResult == returnvalue::OK) { + *buffer = const_cast(replyPtr); + *size = replyLen; + } + return replyResult; +} + +ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) { ReturnValue_t result = returnvalue::OK; #if OBSW_DEBUG_STARTRACKER == 1 ProgressPrinter progressPrinter("Unlock and erase", to - from); @@ -595,17 +714,20 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { for (uint32_t idx = from; idx <= to; idx++) { unlockReq.region = idx; unlockReq.code = startracker::region_secrets::secret[idx]; - arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size); - sendAndRead(size, unlockReq.region); - result = checkActionReply(); + arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size); + result = sendAndRead(size, unlockReq.region); + if (result != returnvalue::OK) { + return result; + } + result = checkActionReply(replyLen); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id " << static_cast(unlockReq.region) << std::endl; return result; } eraseReq.region = idx; - arc_pack_erase_action_req(&eraseReq, commandBuffer, &size); - result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY); + arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size); + result = sendAndRead(size, eraseReq.region); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id " << static_cast(eraseReq.region) << std::endl; @@ -617,3 +739,48 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { } return result; } + +ReturnValue_t StrComHandler::handleSerialReception() { + 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 STR" << std::endl; + // arrayprinter::print(recBuf.data(), bytesRead); + datalinkLayer.feedData(recBuf.data(), bytesRead); + } + return OK; +} + +ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) { + ReturnValue_t result; + uint32_t nextDelayMs = 1; + replyTimeout.resetTimer(); + while (true) { + handleSerialReception(); + result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen); + if (result == returnvalue::OK) { + return returnvalue::OK; + } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) { + triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter); + return DECODING_ERROR; + } + if (replyTimeout.hasTimedOut()) { + triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs()); + return RECEPTION_TIMEOUT; + } + TaskFactory::delayTask(nextDelayMs); + if (nextDelayMs < 32) { + nextDelayMs *= 2; + } + } +} diff --git a/linux/devices/startracker/StrHelper.h b/linux/devices/startracker/StrComHandler.h similarity index 77% rename from linux/devices/startracker/StrHelper.h rename to linux/devices/startracker/StrComHandler.h index 3d78f9a4..85637c1f 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 +19,37 @@ #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; + + static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0); + //! [EXPORT] : [COMMENT] SD card specified in path string not mounted + static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1); + //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem + static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2); + //! [EXPORT] : [COMMENT] Specified path does not exist + static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3); + //! [EXPORT] : [COMMENT] Failed to create download image or read flash file + static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4); + //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region + static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5); + //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address + static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6); + //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length + static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7); + //! [EXPORT] : [COMMENT] Status field in reply signals error + static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8); + //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type) + static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9); + static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10); + static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11); + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER; //! [EXPORT] : [COMMENT] Image upload failed @@ -57,39 +78,36 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { //! P1: Return code of failed communication interface read call //! P1: Upload/download position for which the read call failed static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW); - //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off) - //! P1: Position of upload or download packet for which no reply was sent - static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(11, severity::LOW); + //! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout. + //! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout + static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW); //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred - // P1: Return value of decoding function - // P2: Position of upload/download packet, or address of flash write/read request - static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(12, severity::LOW); + //! P1: Return value of decoding function + //! P2: Position of upload/download packet, or address of flash write/read request + static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW); //! [EXPORT] : [COMMENT] Position mismatch //! P1: The expected position and thus the position for which the image upload/download failed - static const Event POSITION_MISMATCH = MAKE_EVENT(13, severity::LOW); + static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW); //! [EXPORT] : [COMMENT] Specified file does not exist //! P1: Internal state of str helper - static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(14, severity::LOW); + static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW); //! [EXPORT] : [COMMENT] Sending packet to star tracker failed //! P1: Return code of communication interface sendMessage function //! P2: Position of upload/download packet, or address of flash write/read request for which //! sending failed - static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(15, severity::LOW); + static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW); //! [EXPORT] : [COMMENT] Communication interface requesting reply failed //! P1: Return code of failed request //! P1: Upload/download position, or address of flash write/read request for which transmission //! failed - static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(16, severity::LOW); + static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, 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 +166,8 @@ 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; @@ -179,25 +179,34 @@ 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; - enum class InternalState { IDLE, UPLOAD_IMAGE, DOWNLOAD_IMAGE, FLASH_READ, FIRMWARE_UPDATE }; + enum class InternalState { + SLEEPING, + POLL_ONE_REPLY, + UPLOAD_IMAGE, + DOWNLOAD_IMAGE, + FLASH_READ, + FIRMWARE_UPDATE + }; - InternalState internalState = InternalState::IDLE; + InternalState state = InternalState::SLEEPING; ArcsecDatalinkLayer datalinkLayer; + MutexIF *lock; BinarySemaphore semaphore; + Countdown replyTimeout = Countdown(20); + struct UploadImage { // Name including absolute path of image to upload std::string uploadFile; @@ -238,10 +247,16 @@ 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 cmdBuf{}; + std::array recBuf{}; + + bool replyWasReceived = false; + const uint8_t *replyPtr = nullptr; + size_t replyLen = 0; + ReturnValue_t replyResult = returnvalue::OK; bool terminate = false; @@ -251,17 +266,20 @@ 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 handleSerialReception(); + /** * @brief Performs image uploading */ @@ -302,21 +320,23 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { /** * @brief Sends packet to the star tracker and reads reply by using the communication * interface - * + * @details + * The reply frame is stored in the data link layer helper. A pointer to the start of the frame + * is assigned to the @replyPtr member of this class. The frame length will be assigned to + * the @replyLen member. * @param size Size of data beforehand written to the commandBuffer * @param parameter Parameter 2 of trigger event function - * @param delayMs Delay in milliseconds between send and receive call * * @return returnvalue::OK if successful, otherwise returnvalue::FAILED */ - ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0); + ReturnValue_t sendAndRead(size_t size, uint32_t parameter); /** * @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(size_t replySize); /** * @brief Checks the position field in a star tracker upload/download reply. @@ -345,6 +365,15 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { * */ ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to); + + /** + * The reply frame is stored in the data link layer helper. A pointer to the start of the frame + * is assigned to the @replyPtr member of this class. The frame length will be assigned to + * the @replyLen member. + * @param failParameter + * @return + */ + ReturnValue_t readOneReply(uint32_t failParameter); }; #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */ diff --git a/linux/devices/startracker/ArcsecJsonKeys.h b/linux/devices/startracker/arcsecJsonKeys.h similarity index 100% rename from linux/devices/startracker/ArcsecJsonKeys.h rename to linux/devices/startracker/arcsecJsonKeys.h 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/linux/devices/startracker/StarTrackerJsonCommands.cpp b/linux/devices/startracker/strJsonCommands.cpp similarity index 99% rename from linux/devices/startracker/StarTrackerJsonCommands.cpp rename to linux/devices/startracker/strJsonCommands.cpp index 766a1624..0a47cb87 100644 --- a/linux/devices/startracker/StarTrackerJsonCommands.cpp +++ b/linux/devices/startracker/strJsonCommands.cpp @@ -1,6 +1,6 @@ -#include "StarTrackerJsonCommands.h" +#include "strJsonCommands.h" -#include "ArcsecJsonKeys.h" +#include "arcsecJsonKeys.h" Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {} diff --git a/linux/devices/startracker/StarTrackerJsonCommands.h b/linux/devices/startracker/strJsonCommands.h similarity index 100% rename from linux/devices/startracker/StarTrackerJsonCommands.h rename to linux/devices/startracker/strJsonCommands.h diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 1e8756e2..2bbb0e0b 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateEvents.h" @@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -617,16 +617,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_HELPER_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 4eff584d..bac4cde7 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateObjects.h" @@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: diff --git a/mission/core/pollingSeqTables.cpp b/mission/core/pollingSeqTables.cpp index cb46bc24..523e5226 100644 --- a/mission/core/pollingSeqTables.cpp +++ b/mission/core/pollingSeqTables.cpp @@ -318,11 +318,23 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg } if (cfg.scheduleStr) { + // 2 COM cycles for full PST for STR. The STR requests 2 packets types in NORMAL mode, this + // ensures we always get an updated STR dataset for a regular normal mode cycle. thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, + DeviceHandlerIF::GET_READ); } bool enableAside = true; diff --git a/thirdparty/arcsec_star_tracker b/thirdparty/arcsec_star_tracker index 42907c36..cbb3b24d 160000 --- a/thirdparty/arcsec_star_tracker +++ b/thirdparty/arcsec_star_tracker @@ -1 +1 @@ -Subproject commit 42907c36c58e7133d3d3cbefbf96c1a8e35b60b7 +Subproject commit cbb3b24dc1993b727735fd63576088401ba351ec diff --git a/tmtc b/tmtc index c171654d..2263938b 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit c171654d2b18547249ee03ace3a4016e8837cf4a +Subproject commit 2263938b8b1324b309a44d70c291800050ff4178