eive/eive-obsw
eive/eive-obsw
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rough but possible fix..
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This commit is contained in:
Robin Müller 2023-07-13 16:38:20 +02:00
parent d3f3a3efd0
commit 0cefef8a35
Signed by: muellerr
GPG Key ID: 407F9B00F858F270
7 changed files with 15 additions and 26 deletions
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2
fsfw

@ -1 +1 @@
Subproject commit 88e8665280a0381c41b724ab035a8c3eff1a23c1
Subproject commit 42e74d22cc1b5d4060ce9923f674bdede0babaac

12
linux/acs/StrComHandler.cpp
View File

@ -54,8 +54,8 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
switch (state) {
case InternalState::POLL_ONE_REPLY: {
// Stopwatch watch;
replyTimeout.setTimeout(400);
replyResult = readOneReply(static_cast<uint32_t>(state));
replyTimeout.setTimeout(200);
readOneReply(static_cast<uint32_t>(state));
{
MutexGuard mg(lock);
replyWasReceived = true;
@ -684,7 +684,7 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
size_t frameLen;
datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
if (PACKET_WIRETAPPING) {
sif::debug << "Sendign STR frame" << std::endl;
sif::debug << "Sending STR frame" << std::endl;
arrayprinter::print(txFrame, frameLen);
}
ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
@ -716,13 +716,11 @@ ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requ
}
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;
return returnvalue::OK;
}
replyWasReceived = this->replyWasReceived;
}
@ -735,7 +733,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
*size = replyLen;
}
replyLen = 0;
return replyResult;
return returnvalue::OK;
}
ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {

18
mission/acs/str/StarTrackerHandler.cpp
View File

@ -325,7 +325,7 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::BOOT_FIRMWARE: {
if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
if (bootState == FwBootState::VERIFY_BOOT or isAwaitingReply()) {
return NOTHING_TO_SEND;
}
if (bootState == FwBootState::NONE) {
@ -350,75 +350,61 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
return buildCommandFromCommand(*id, nullptr, 0);
}
case (FwBootState::SET_TIME): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::SET_TIME_FROM_SYS_TIME;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (FwBootState::LOGLEVEL): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LOGLEVEL;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case (FwBootState::LIMITS): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LIMITS;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case (FwBootState::TRACKING): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::TRACKING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case FwBootState::MOUNTING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::MOUNTING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::IMAGE_PROCESSOR:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::IMAGE_PROCESSOR;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::CAMERA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::CAMERA;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::CENTROIDING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::CENTROIDING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::LISA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LISA;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::MATCHING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::MATCHING;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::VALIDATION:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::VALIDATION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::ALGO:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::ALGO;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::LOG_SUBSCRIPTION:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LOGSUBSCRIPTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::DEBUG_CAMERA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::DEBUG_CAMERA;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
@ -688,7 +674,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::CAMERA, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::CENTROIDING, 3, nullptr,
this->insertInCommandAndReplyMap(startracker::CENTROIDING, 2, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::LISA, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2);

1
mission/acs/str/StarTrackerHandler.h
View File

@ -281,6 +281,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
LOG_SUBSCRIPTION,
DEBUG_CAMERA,
WAIT_FOR_EXECUTION,
RETRY_CFG_CMD
};
FwBootState bootState = FwBootState::NONE;

2
mission/pollingSeqTables.cpp
View File

@ -341,6 +341,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
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::PERFORM_OPERATION);
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,

4
mission/system/acs/StrFdir.cpp
View File

@ -3,7 +3,9 @@
#include "mission/acs/defs.h"
StrFdir::StrFdir(object_id_t strObject)
: DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}
: DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {
missedReplyCount.setFailureThreshold(30);
}
ReturnValue_t StrFdir::eventReceived(EventMessage* event) {
if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {

2
tmtc

@ -1 +1 @@
Subproject commit 62bd5356220bab1ce9f3ddaa7aaf75963b8bd596
Subproject commit 26cf112121782e730057cda0766d435ee2077b6d