From 20f1cb4ef98f78a99c31c41f266f73b469fe72b6 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Tue, 1 Mar 2022 17:35:20 +0100 Subject: [PATCH] deleted old str handler --- .../startracker/StarTrackerHandler.cpp | 2107 ----------------- 1 file changed, 2107 deletions(-) delete mode 100644 bsp_q7s/devices/startracker/StarTrackerHandler.cpp diff --git a/bsp_q7s/devices/startracker/StarTrackerHandler.cpp b/bsp_q7s/devices/startracker/StarTrackerHandler.cpp deleted file mode 100644 index 3b2fda92..00000000 --- a/bsp_q7s/devices/startracker/StarTrackerHandler.cpp +++ /dev/null @@ -1,2107 +0,0 @@ -#include "StarTrackerHandler.h" - -#include -#include -#include - -#include - -#include "OBSWConfig.h" -#include "StarTrackerJsonCommands.h" -extern "C" { -#include -#include -#include - -#include "common/misc.h" -} - -using json = nlohmann::json; - -StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, - StrHelper* strHelper) - : DeviceHandlerBase(objectId, comIF, comCookie), - temperatureSet(this), - versionSet(this), - powerSet(this), - interfaceSet(this), - timeSet(this), - solutionSet(this), - histogramSet(this), - contrastSet(this), - checksumSet(this), - downloadCentroidSet(this), - downloadMatchedStar(this), - downloadDbImage(this), - downloadBlobPixel(this), - cameraSet(this), - limitsSet(this), - blobSet(this), - strHelper(strHelper) { - if (comCookie == nullptr) { - sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl; - } - if (strHelper == nullptr) { - sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl; - } - auto mqArgs = MqArgs(this->getObjectId()); - eventQueue = QueueFactory::instance()->createMessageQueue( - EventMessage::EVENT_MESSAGE_SIZE * 5, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs); -} - -StarTrackerHandler::~StarTrackerHandler() {} - -ReturnValue_t StarTrackerHandler::initialize() { - ReturnValue_t result = RETURN_OK; - result = DeviceHandlerBase::initialize(); - if (result != RETURN_OK) { - return result; - } - - EventManagerIF* manager = ObjectManager::instance()->get(objects::EVENT_MANAGER); - if (manager == nullptr) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::error << "StarTrackerHandler::initialize: Invalid event manager" << std::endl; -#endif - return ObjectManagerIF::CHILD_INIT_FAILED; - ; - } - result = manager->registerListener(eventQueue->getId()); - if (result != RETURN_OK) { - return result; - } - result = manager->subscribeToEventRange(eventQueue->getId(), - event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED), - event::getEventId(StrHelper::FPGA_UPLOAD_FAILED)); - if (result != RETURN_OK) { -#if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from " - " str helper" - << std::endl; -#endif - return ObjectManagerIF::CHILD_INIT_FAILED; - } - - result = strHelper->setComIF(communicationInterface); - if (result != RETURN_OK) { - return ObjectManagerIF::CHILD_INIT_FAILED; - } - strHelper->setComCookie(comCookie); - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, - const uint8_t* data, size_t size) { - ReturnValue_t result = RETURN_OK; - - switch (actionId) { - case (StarTracker::STOP_IMAGE_LOADER): { - strHelper->stopProcess(); - return EXECUTION_FINISHED; - } - case (StarTracker::SET_JSON_FILE_NAME): { - if (size > MAX_PATH_SIZE) { - return FILE_PATH_TOO_LONG; - } - paramJsonFile = std::string(reinterpret_cast(data), size); - return EXECUTION_FINISHED; - } - default: - break; - } - - if (strHelperExecuting == true) { - return IMAGE_LOADER_EXECUTING; - } - - result = checkMode(actionId); - if (result != RETURN_OK) { - return result; - } - - // Intercept image loader commands which do not follow the common DHB communication flow - switch (actionId) { - case (StarTracker::UPLOAD_IMAGE): { - result = DeviceHandlerBase::acceptExternalDeviceCommands(); - if (result != RETURN_OK) { - return result; - } - if (size > MAX_PATH_SIZE + MAX_FILE_NAME) { - return FILE_PATH_TOO_LONG; - } - result = strHelper->startImageUpload(std::string(reinterpret_cast(data), size)); - if (result != RETURN_OK) { - return result; - } - strHelperExecuting = true; - return EXECUTION_FINISHED; - } - case (StarTracker::DOWNLOAD_IMAGE): { - result = DeviceHandlerBase::acceptExternalDeviceCommands(); - if (result != RETURN_OK) { - return result; - } - if (size > MAX_PATH_SIZE) { - return FILE_PATH_TOO_LONG; - } - result = - strHelper->startImageDownload(std::string(reinterpret_cast(data), size)); - if (result != RETURN_OK) { - return result; - } - strHelperExecuting = true; - return EXECUTION_FINISHED; - } - case (StarTracker::WRITE): { - result = DeviceHandlerBase::acceptExternalDeviceCommands(); - if (result != RETURN_OK) { - return result; - } - result = executeWriteCommand(data, size); - if (result != RETURN_OK) { - return result; - } - - strHelperExecuting = true; - return EXECUTION_FINISHED; - } - case (StarTracker::READ): { - result = DeviceHandlerBase::acceptExternalDeviceCommands(); - if (result != RETURN_OK) { - return result; - } - result = executeReadCommand(data, size); - if (result != RETURN_OK) { - return result; - } - strHelperExecuting = true; - return EXECUTION_FINISHED; - } - case (StarTracker::CHANGE_DOWNLOAD_FILE): { - if (size > MAX_FILE_NAME) { - return FILENAME_TOO_LONG; - } - strHelper->setDownloadImageName(std::string(reinterpret_cast(data), size)); - return EXECUTION_FINISHED; - } - case (StarTracker::CHANGE_FPGA_DOWNLOAD_FILE): { - if (size > MAX_FILE_NAME) { - return FILENAME_TOO_LONG; - } - strHelper->setDownloadFpgaImage(std::string(reinterpret_cast(data), size)); - return EXECUTION_FINISHED; - } - case (StarTracker::SET_READ_FILENAME): { - if (size > MAX_FILE_NAME) { - return FILENAME_TOO_LONG; - } - strHelper->setDownloadImageName(std::string(reinterpret_cast(data), size)); - return EXECUTION_FINISHED; - } - case (StarTracker::DOWNLOAD_FPGA_IMAGE): { - result = DeviceHandlerBase::acceptExternalDeviceCommands(); - if (result != RETURN_OK) { - return result; - } - if (size > MAX_PATH_SIZE) { - return FILE_PATH_TOO_LONG; - } - result = executeFpgaDownloadCommand(data, size); - if (result != RETURN_OK) { - return result; - } - strHelperExecuting = true; - return EXECUTION_FINISHED; - } - case (StarTracker::UPLOAD_FPGA_IMAGE): { - result = DeviceHandlerBase::acceptExternalDeviceCommands(); - if (result != RETURN_OK) { - return result; - } - if (size > MAX_PATH_SIZE + MAX_FILE_NAME) { - return FILE_PATH_TOO_LONG; - } - result = strHelper->startFpgaUpload(std::string(reinterpret_cast(data), size)); - if (result != RETURN_OK) { - return result; - } - strHelperExecuting = true; - return EXECUTION_FINISHED; - } - default: - break; - } - return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size); -} - -void StarTrackerHandler::performOperationHook() { - EventMessage event; - for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK; - result = eventQueue->receiveMessage(&event)) { - switch (event.getMessageId()) { - case EventMessage::EVENT_MESSAGE: - handleEvent(&event); - break; - default: - sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message" - << std::endl; - break; - } - } -} - -void StarTrackerHandler::doStartUp() { - switch (startupState) { - case StartupState::IDLE: - startupState = StartupState::CHECK_BOOT_STATE; - return; - case StartupState::BOOT_DELAY: - if (bootCountdown.hasTimedOut()) { - startupState = StartupState::LIMITS; - } - return; - case StartupState::DONE: - break; - default: - return; - } - setMode(_MODE_TO_ON); -} - -void StarTrackerHandler::doShutDown() { - // If star tracker is shutdown also stop all running processes in the image loader task - strHelper->stopProcess(); - setMode(_MODE_POWER_DOWN); -} - -void StarTrackerHandler::doOffActivity() { startupState = StartupState::IDLE; } - -ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) { - switch (internalState) { - case InternalState::TEMPERATURE_REQUEST: - *id = StarTracker::REQ_TEMPERATURE; - break; - default: - sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step" - << std::endl; - break; - } - return buildCommandFromCommand(*id, NULL, 0); -} - -ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { - if (mode != _MODE_START_UP) { - return NOTHING_TO_SEND; - } - switch (startupState) { - case StartupState::CHECK_BOOT_STATE: - *id = StarTracker::REQ_VERSION; - startupState = StartupState::WAIT_FOR_EXECUTION; - return buildCommandFromCommand(*id, nullptr, 0); - case StartupState::BOOT: - *id = StarTracker::BOOT; - bootCountdown.setTimeout(BOOT_TIMEOUT); - startupState = StartupState::BOOT_DELAY; - return buildCommandFromCommand(*id, nullptr, 0); - case StartupState::LIMITS: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::LIMITS; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::TRACKING: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::TRACKING; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::MOUNTING: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::MOUNTING; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::CAMERA: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::CAMERA; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::BLOB: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::BLOB; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::CENTROIDING: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::CENTROIDING; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::LISA: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::LISA; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::MATCHING: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::MATCHING; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::VALIDATION: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::VALIDATION; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - case StartupState::ALGO: - startupState = StartupState::WAIT_FOR_EXECUTION; - *id = StarTracker::ALGO; - return buildCommandFromCommand(*id, reinterpret_cast(paramJsonFile.c_str()), - paramJsonFile.size()); - default: - break; - } - return NOTHING_TO_SEND; -} - -ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, - const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - switch (deviceCommand) { - case (StarTracker::PING_REQUEST): { - preparePingRequest(); - return RETURN_OK; - } - case (StarTracker::REQ_TIME): { - prepareTimeRequest(); - return RETURN_OK; - } - case (StarTracker::BOOT): { - prepareBootCommand(); - return RETURN_OK; - } - case (StarTracker::REQ_VERSION): { - prepareVersionRequest(); - return RETURN_OK; - } - case (StarTracker::REQ_INTERFACE): { - prepareInterfaceRequest(); - return RETURN_OK; - } - case (StarTracker::REQ_POWER): { - preparePowerRequest(); - return RETURN_OK; - } - case (StarTracker::SWITCH_TO_BOOTLOADER_PROGRAM): { - prepareRebootCommand(); - return RETURN_OK; - } - case (StarTracker::TAKE_IMAGE): { - prepareTakeImageCommand(commandData); - return RETURN_OK; - } - case (StarTracker::SUBSCRIBE_TO_TM): { - prepareSubscriptionCommand(commandData); - return RETURN_OK; - } - case (StarTracker::REQ_SOLUTION): { - prepareSolutionRequest(); - return RETURN_OK; - } - case (StarTracker::REQ_TEMPERATURE): { - prepareTemperatureRequest(); - return RETURN_OK; - } - case (StarTracker::REQ_HISTOGRAM): { - prepareHistogramRequest(); - return RETURN_OK; - } - case (StarTracker::REQ_CONTRAST): { - prepareContrastRequest(); - return RETURN_OK; - } - case (StarTracker::RESET_ERROR): { - prepareErrorResetRequest(); - return RETURN_OK; - } - case (StarTracker::LIMITS): { - Limits limits; - result = prepareParamCommand(commandData, commandDataLen, limits); - return result; - } - case (StarTracker::MOUNTING): { - Mounting mounting; - result = prepareParamCommand(commandData, commandDataLen, mounting); - return result; - } - case (StarTracker::CAMERA): { - Camera camera; - result = prepareParamCommand(commandData, commandDataLen, camera); - return result; - } - case (StarTracker::BLOB): { - Blob blob; - result = prepareParamCommand(commandData, commandDataLen, blob); - return result; - } - case (StarTracker::CENTROIDING): { - Centroiding centroiding; - result = prepareParamCommand(commandData, commandDataLen, centroiding); - return result; - } - case (StarTracker::LISA): { - Lisa lisa; - result = prepareParamCommand(commandData, commandDataLen, lisa); - return result; - } - case (StarTracker::MATCHING): { - Matching matching; - result = prepareParamCommand(commandData, commandDataLen, matching); - return result; - } - case (StarTracker::VALIDATION): { - Validation validation; - result = prepareParamCommand(commandData, commandDataLen, validation); - return result; - } - case (StarTracker::ALGO): { - Algo algo; - result = prepareParamCommand(commandData, commandDataLen, algo); - return result; - } - case (StarTracker::TRACKING): { - Tracking tracking; - result = prepareParamCommand(commandData, commandDataLen, tracking); - return result; - } - case (StarTracker::ERASE): { - result = prepareEraseCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::UNLOCK): { - result = prepareUnlockCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::CHECKSUM): { - result = prepareChecksumCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::SET_TIME): { - result = prepareSetTimeCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::DOWNLOAD_CENTROID): { - result = prepareDownloadCentroidCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::UPLOAD_CENTROID): { - result = prepareUploadCentroidCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::DOWNLOAD_MATCHED_STAR): { - result = prepareDownloadMatchedStarCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::DOWNLOAD_DBIMAGE): { - result = prepareDownloadDbImageCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::DOWNLOAD_BLOBPIXEL): { - result = prepareDownloadBlobPixelCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::FPGA_ACTION): { - result = prepareFpgaActionCommand(commandData, commandDataLen); - return result; - } - case (StarTracker::REQ_CAMERA): { - result = prepareRequestCameraParams(); - return result; - } - case (StarTracker::REQ_LIMITS): { - result = prepareRequestLimitsParams(); - return result; - } - case (StarTracker::REQ_BLOB_PARAMS): { - result = prepareRequestBlobParams(); - return result; - } - default: - return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; - } - return HasReturnvaluesIF::RETURN_FAILED; -} - -void StarTrackerHandler::fillCommandAndReplyMap() { - /** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size - * is specified */ - this->insertInCommandAndReplyMap(StarTracker::PING_REQUEST, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandMap(StarTracker::BOOT); - this->insertInCommandAndReplyMap(StarTracker::REQ_VERSION, 3, &versionSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_TIME, 3, &timeSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandMap(StarTracker::UPLOAD_IMAGE); - this->insertInCommandMap(StarTracker::DOWNLOAD_IMAGE); - this->insertInCommandAndReplyMap(StarTracker::REQ_POWER, 3, &powerSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_INTERFACE, 3, &interfaceSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - // Reboot has no reply. Star tracker reboots immediately - this->insertInCommandMap(StarTracker::SWITCH_TO_BOOTLOADER_PROGRAM); - this->insertInCommandAndReplyMap(StarTracker::SUBSCRIBE_TO_TM, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_SOLUTION, 3, &solutionSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 3, &temperatureSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_HISTOGRAM, 3, &histogramSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_CONTRAST, 3, &contrastSet, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::LIMITS, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::MOUNTING, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::CAMERA, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::BLOB, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::CENTROIDING, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::LISA, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::MATCHING, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::TRACKING, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::VALIDATION, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::ALGO, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::TAKE_IMAGE, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::RESET_ERROR, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::ERASE, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::UNLOCK, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::CHECKSUM, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::SET_TIME, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_CENTROID, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::UPLOAD_CENTROID, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_MATCHED_STAR, 3, &downloadMatchedStar, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_DBIMAGE, 3, &downloadDbImage, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_BLOBPIXEL, 3, &downloadBlobPixel, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_BLOB_PARAMS, 3, nullptr, - StarTracker::MAX_FRAME_SIZE * 2 + 2); -} - -ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize, - DeviceCommandId_t* foundId, size_t* foundLen) { - ReturnValue_t result = RETURN_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 RETURN_OK: { - break; - } - default: - remainingSize = bytesLeft; - return result; - } - - switch (dataLinkLayer.getReplyFrameType()) { - case TMTC_ACTIONREPLY: { - *foundLen = remainingSize - bytesLeft; - result = scanForActionReply(foundId); - break; - } - case TMTC_SETPARAMREPLY: { - *foundLen = remainingSize - bytesLeft; - result = scanForSetParameterReply(foundId); - break; - } - case TMTC_PARAMREPLY: { - *foundLen = remainingSize - bytesLeft; - result = scanForGetParameterReply(foundId); - break; - } - case TMTC_TELEMETRYREPLYA: - case TMTC_TELEMETRYREPLY: { - *foundLen = remainingSize - bytesLeft; - result = scanForTmReply(foundId); - break; - } - default: { - sif::debug << "StarTrackerHandler::scanForReply: Reply has invalid type id" << std::endl; - result = RETURN_FAILED; - } - } - - remainingSize = bytesLeft; - - return result; -} - -ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, - const uint8_t* packet) { - ReturnValue_t result = RETURN_OK; - - switch (id) { - case (StarTracker::SUBSCRIBE_TO_TM): { - result = handleSetParamReply(); - break; - } - case (StarTracker::REQ_TIME): { - result = handleTm(timeSet, StarTracker::TimeSet::SIZE); - break; - } - case (StarTracker::PING_REQUEST): { - result = handlePingReply(); - break; - } - case (StarTracker::BOOT): - case (StarTracker::TAKE_IMAGE): - case (StarTracker::RESET_ERROR): - case (StarTracker::UNLOCK): - case (StarTracker::SET_TIME): - case (StarTracker::FPGA_ACTION): { - result = handleActionReply(); - break; - } - case (StarTracker::DOWNLOAD_CENTROID): { - result = handleActionReplySet(downloadCentroidSet, StarTracker::DownloadCentroidSet::SIZE); - break; - } - case (StarTracker::DOWNLOAD_MATCHED_STAR): { - result = handleActionReplySet(downloadMatchedStar, StarTracker::DownloadMatchedStar::SIZE); - break; - } - case (StarTracker::DOWNLOAD_DBIMAGE): { - result = handleActionReplySet(downloadDbImage, StarTracker::DownloadDBImage::SIZE); - break; - } - case (StarTracker::DOWNLOAD_BLOBPIXEL): { - result = handleActionReplySet(downloadBlobPixel, StarTracker::DownloadBlobPixel::SIZE); - break; - } - case (StarTracker::UPLOAD_CENTROID): { - result = handleUploadCentroidReply(); - break; - } - case (StarTracker::ERASE): { - result = handleEraseReply(); - break; - } - case (StarTracker::CHECKSUM): { - result = handleChecksumReply(); - break; - } - case (StarTracker::REQ_VERSION): { - result = handleTm(versionSet, StarTracker::VersionSet::SIZE); - if (result != RETURN_OK) { - return result; - } - result = checkProgram(); - if (result != RETURN_OK) { - return result; - } - break; - } - case (StarTracker::REQ_INTERFACE): { - result = handleTm(interfaceSet, StarTracker::InterfaceSet::SIZE); - break; - } - case (StarTracker::REQ_POWER): { - result = handleTm(powerSet, StarTracker::PowerSet::SIZE); - break; - } - case (StarTracker::REQ_SOLUTION): { - result = handleTm(solutionSet, StarTracker::SolutionSet::SIZE); - break; - } - case (StarTracker::REQ_TEMPERATURE): { - result = handleTm(temperatureSet, StarTracker::TemperatureSet::SIZE); - break; - } - case (StarTracker::REQ_HISTOGRAM): { - result = handleTm(histogramSet, StarTracker::HistogramSet::SIZE); - break; - } - case (StarTracker::REQ_CONTRAST): { - result = handleTm(contrastSet, StarTracker::ContrastSet::SIZE); - break; - } - case (StarTracker::LIMITS): - case (StarTracker::MOUNTING): - case (StarTracker::CAMERA): - case (StarTracker::BLOB): - case (StarTracker::CENTROIDING): - case (StarTracker::LISA): - case (StarTracker::MATCHING): - case (StarTracker::TRACKING): - case (StarTracker::VALIDATION): - case (StarTracker::ALGO): { - result = handleSetParamReply(); - break; - } - case (StarTracker::REQ_CAMERA): { - handleParamRequest(cameraSet, StarTracker::CameraSet::SIZE); - break; - } - case (StarTracker::REQ_LIMITS): { - handleParamRequest(limitsSet, StarTracker::LimitsSet::SIZE); - break; - } - case (StarTracker::REQ_BLOB_PARAMS): { - handleParamRequest(blobSet, StarTracker::BlobSet::SIZE); - break; - } - default: { - sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id:" << id - << std::endl; - result = DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; - } - } - - return result; -} - -void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {} - -uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 20000; } - -ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, - LocalDataPoolManager& poolManager) { - localDataPoolMap.emplace(StarTracker::TICKS_TIME_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_TIME_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::RUN_TIME, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::UNIX_TIME, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::TICKS_VERSION_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_VERSION_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::PROGRAM, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MAJOR, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MINOR, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::TICKS_INTERFACE_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_INTERFACE_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FRAME_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CHECKSUM_ERROR_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::SET_PARAM_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::SET_PARAM_REPLY_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::PARAM_REQUEST_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::PARAM_REPLY_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::REQ_TM_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TM_REPLY_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::ACTION_REQ_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::ACTION_REPLY_COUNT, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::TICKS_POWER_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_POWER_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MCU_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MCU_VOLTAGE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FPGA_CORE_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FPGA_CORE_VOLTAGE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FPGA_18_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FPGA_18_VOLTAGE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FPGA_25_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FPGA_25_VOLTAGE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_21_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_21_VOLTAGE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_PIX_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_PIX_VOLTAGE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_33_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_33_VOLTAGE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_RES_CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMV_RES_VOLTAGE, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::TICKS_TEMPERATURE_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_TEMPERATURE_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::TICKS_SOLUTION_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_SOLUTION_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CALI_QW, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CALI_QX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CALI_QY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CALI_QZ, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TRACK_CONFIDENCE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TRACK_QW, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TRACK_QX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TRACK_QY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TRACK_QZ, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TRACK_REMOVED, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::STARS_CENTROIDED, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::STARS_MATCHED_DATABASE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LISA_QW, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LISA_QX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LISA_QY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LISA_QZ, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LISA_PERC_CLOSE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LISA_NR_CLOSE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TRUST_WORTHY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::STABLE_COUNT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::SOLUTION_STRATEGY, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::TICKS_HISTOGRAM_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_HISTOGRAM_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND8, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::TICKS_CONTRAST_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::TIME_CONTRAST_SET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINA8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINB8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND0, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND5, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND6, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND7, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CONTRAST_BIND8, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CHKSUM, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::DWL_ID, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_PIXX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_PIXY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_X_UNCORRECTED, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_Y_UNCORRECTED, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_X_CORRECTED, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_Y_CORRECTED, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_MAGNITUDE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_CXA, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_CYA, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::DWL_QUALITY, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_ID, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTZ, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMMAGNITUDE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTX, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTY, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTZ, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBMAGNITUDE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CATALOGID, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::BLOBPIX_ID, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOBPIX_X, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOBPIX_Y, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOBPIX_TOT_VAL, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOBPIX_IN_USE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOBPIX_BRIGHT_NEIGHBOURS, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOBPIX_REGION, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::CAMERA_MODE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::FOCALLENGTH, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::EXPOSURE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::INTERVAL, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAMERA_OFFSET, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::PGAGAIN, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::ADCGAIN, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_REG1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_VAL1, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_REG2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_VAL2, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_REG3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_VAL3, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_REG4, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::CAM_VAL4, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::LIMITS_ACTION, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_FPGA18CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_FPGA25CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_FPGA10CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_MCUCURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_CMOS21CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_CMOSPIXCURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_CMOS33CURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_CMOSVRESCURRENT, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::LIMITS_CMOSTEMPERATURE, new PoolEntry({0})); - - localDataPoolMap.emplace(StarTracker::BLOB_MODE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_MIN_VALUE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_MIN_DISTANCE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_DISTANCE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_BRIGHTPIXELS, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_BRIGHTPIXELS, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_MIN_TOTAL_VALUE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_MAX_TOTAL_VALUE, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_MIN_BRIGHT_NEIGHBOURS, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_MAX_BRIGHT_NEIGHBOURS, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_MAX_PIXELSTOCONSIDER, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_SIGNAL_THRESHOLD, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_DARK_THRESHOLD, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_ENABLE_HISTOGRAM, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_ENABLE_CONTRAST, new PoolEntry({0})); - localDataPoolMap.emplace(StarTracker::BLOB_BIN_MODE, new PoolEntry({0})); - return RETURN_OK; -} - -size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId) { - return StarTracker::MAX_FRAME_SIZE; -} - -ReturnValue_t StarTrackerHandler::doSendReadHook() { - // Prevent DHB from polling UART during commands executed by the image loader task - if (strHelperExecuting) { - return RETURN_FAILED; - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) { - switch (actionId) { - case StarTracker::UPLOAD_IMAGE: - case StarTracker::DOWNLOAD_IMAGE: { - return DeviceHandlerBase::acceptExternalDeviceCommands(); - default: - break; - } - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { - case (StarTracker::ID::PING): { - *foundId = StarTracker::PING_REQUEST; - break; - } - case (StarTracker::ID::WRITE): { - *foundId = StarTracker::WRITE; - break; - } - case (StarTracker::ID::BOOT): { - *foundId = StarTracker::BOOT; - break; - } - case (StarTracker::ID::TAKE_IMAGE): { - *foundId = StarTracker::TAKE_IMAGE; - break; - } - case (StarTracker::ID::UPLOAD_IMAGE): { - *foundId = StarTracker::UPLOAD_IMAGE; - break; - } - case (StarTracker::ID::ERROR_RESET): { - *foundId = StarTracker::RESET_ERROR; - break; - } - case (StarTracker::ID::ERASE): { - *foundId = StarTracker::ERASE; - break; - } - case (StarTracker::ID::UNLOCK): { - *foundId = StarTracker::UNLOCK; - break; - } - case (StarTracker::ID::CHECKSUM): { - *foundId = StarTracker::CHECKSUM; - break; - } - case (StarTracker::ID::SET_TIME): { - *foundId = StarTracker::SET_TIME; - break; - } - case (StarTracker::ID::DOWNLOAD_CENTROID): { - *foundId = StarTracker::DOWNLOAD_CENTROID; - break; - } - case (StarTracker::ID::UPLOAD_CENTROID): { - *foundId = StarTracker::UPLOAD_CENTROID; - break; - } - case (StarTracker::ID::DOWNLOAD_MATCHED_STAR): { - *foundId = StarTracker::DOWNLOAD_MATCHED_STAR; - break; - } - case (StarTracker::ID::DOWNLOAD_DBIMAGE): { - *foundId = StarTracker::DOWNLOAD_DBIMAGE; - break; - } - case (StarTracker::ID::DOWNLOAD_BLOBPIXEL): { - *foundId = StarTracker::DOWNLOAD_BLOBPIXEL; - break; - } - case (StarTracker::ID::FPGA_ACTION): { - *foundId = StarTracker::FPGA_ACTION; - break; - } - default: - sif::warning << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id" - << std::endl; - return RETURN_FAILED; - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { - case (StarTracker::ID::SUBSCRIBE): { - *foundId = StarTracker::SUBSCRIBE_TO_TM; - break; - } - case (StarTracker::ID::LIMITS): { - *foundId = StarTracker::LIMITS; - break; - } - case (StarTracker::ID::MOUNTING): { - *foundId = StarTracker::MOUNTING; - break; - } - case (StarTracker::ID::CAMERA): { - *foundId = StarTracker::CAMERA; - break; - } - case (StarTracker::ID::BLOB): { - *foundId = StarTracker::BLOB; - break; - } - case (StarTracker::ID::CENTROIDING): { - *foundId = StarTracker::CENTROIDING; - break; - } - case (StarTracker::ID::LISA): { - *foundId = StarTracker::LISA; - break; - } - case (StarTracker::ID::MATCHING): { - *foundId = StarTracker::MATCHING; - break; - } - case (StarTracker::ID::TRACKING): { - *foundId = StarTracker::TRACKING; - break; - } - case (StarTracker::ID::VALIDATION): { - *foundId = StarTracker::VALIDATION; - break; - } - case (StarTracker::ID::ALGO): { - *foundId = StarTracker::ALGO; - break; - } - default: - sif::debug << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id" - << std::endl; - return RETURN_FAILED; - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { - case (StarTracker::ID::CAMERA): { - *foundId = StarTracker::REQ_CAMERA; - break; - } - case (StarTracker::ID::LIMITS): { - *foundId = StarTracker::REQ_LIMITS; - break; - } - case (StarTracker::ID::BLOB): { - *foundId = StarTracker::REQ_BLOB_PARAMS; - break; - } - default: { - sif::warning << "tarTrackerHandler::scanForGetParameterReply: UnkNown ID" << std::endl; - return RETURN_FAILED; - break; - } - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { - case (StarTracker::ID::VERSION): { - *foundId = StarTracker::REQ_VERSION; - break; - } - case (StarTracker::ID::INTERFACE): { - *foundId = StarTracker::REQ_INTERFACE; - break; - } - case (StarTracker::ID::POWER): { - *foundId = StarTracker::REQ_POWER; - break; - } - case (StarTracker::ID::TEMPERATURE): { - *foundId = StarTracker::REQ_TEMPERATURE; - break; - } - case (StarTracker::ID::HISTOGRAM): { - *foundId = StarTracker::REQ_HISTOGRAM; - break; - } - case (StarTracker::ID::CONTRAST): { - *foundId = StarTracker::REQ_CONTRAST; - break; - } - case (StarTracker::ID::TIME): { - *foundId = StarTracker::REQ_TIME; - break; - } - case (StarTracker::ID::SOLUTION): { - *foundId = StarTracker::REQ_SOLUTION; - break; - } - default: { - sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id" - << std::endl; - return RETURN_FAILED; - break; - } - } - return RETURN_OK; -} - -void StarTrackerHandler::handleEvent(EventMessage* eventMessage) { - object_id_t objectId = eventMessage->getReporter(); - switch (objectId) { - case objects::STR_HELPER: { - // All events from image loader signal either that the operation was successful or that it - // failed - strHelperExecuting = false; - break; - } - default: - sif::debug << "StarTrackerHandler::handleEvent: Did not subscribe to this event" << std::endl; - break; - } -} - -ReturnValue_t StarTrackerHandler::executeWriteCommand(const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - if (commandDataLen < WriteCmd::MIN_LENGTH) { - sif::warning << "StarTrackerHandler::executeWriteCommand: Command too short" << std::endl; - return COMMAND_TOO_SHORT; - } - uint8_t region = *(commandData); - uint32_t address; - size_t size = sizeof(address); - const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET; - result = SerializeAdapter::deSerialize(&address, addressPtr, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed" - << std::endl; - return result; - } - if (commandDataLen - sizeof(address) - sizeof(region) > MAX_PATH_SIZE) { - sif::warning << "StarTrackerHandler::executeWriteCommand: Received command with invalid" - << " path and filename" << std::endl; - return FILE_PATH_TOO_LONG; - } - const uint8_t* filePtr = commandData + WriteCmd::FILE_OFFSET; - std::string fullname = std::string(reinterpret_cast(filePtr), - commandDataLen - sizeof(address) - sizeof(region)); - result = strHelper->startFlashWrite(fullname, region, address); - if (result != RETURN_OK) { - return result; - } - return result; -} - -ReturnValue_t StarTrackerHandler::executeFpgaDownloadCommand(const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - if (commandDataLen < FpgaDownloadCmd::MIN_LENGTH) { - sif::warning << "StarTrackerHandler::executeFpgaDownloadCommand: Command too short" - << std::endl; - return COMMAND_TOO_SHORT; - } - uint32_t position; - size_t size = sizeof(position); - result = - SerializeAdapter::deSerialize(&position, &commandData, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of position failed" - << std::endl; - return result; - } - uint32_t length; - size = sizeof(length); - result = - SerializeAdapter::deSerialize(&length, &commandData, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of length failed" - << std::endl; - return result; - } - if (commandDataLen - sizeof(position) - sizeof(length) > MAX_PATH_SIZE) { - sif::warning << "StarTrackerHandler::executeFpgaDownloadCommand: Received command with " - " invalid path and filename" - << std::endl; - return FILE_PATH_TOO_LONG; - } - std::string fullname = std::string(reinterpret_cast(commandData), - commandDataLen - sizeof(position) - sizeof(length)); - result = strHelper->startFpgaDownload(fullname, position, length); - if (result != RETURN_OK) { - return result; - } - return result; -} - -ReturnValue_t StarTrackerHandler::executeReadCommand(const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - if (commandDataLen < ReadCmd::MIN_LENGTH) { - sif::warning << "StarTrackerHandler::executeReadCommand: Command too short" << std::endl; - return COMMAND_TOO_SHORT; - } - uint8_t region = *(commandData); - uint32_t address; - size_t size = sizeof(address); - const uint8_t* addressPtr = commandData + ReadCmd::ADDRESS_OFFSET; - result = SerializeAdapter::deSerialize(&address, addressPtr, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of address failed" - << std::endl; - return result; - } - uint32_t length; - size = sizeof(length); - const uint8_t* lengthPtr = commandData + ReadCmd::LENGTH_OFFSET; - result = SerializeAdapter::deSerialize(&length, lengthPtr, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of length failed" - << std::endl; - return result; - } - if (commandDataLen - sizeof(address) - sizeof(region) - sizeof(length) > MAX_PATH_SIZE) { - sif::warning << "StarTrackerHandler::executeReadCommand: Received command with invalid" - << " path and filename" << std::endl; - return FILE_PATH_TOO_LONG; - } - const uint8_t* filePtr = commandData + ReadCmd::FILE_OFFSET; - std::string fullname = - std::string(reinterpret_cast(filePtr), - commandDataLen - sizeof(address) - sizeof(region) - sizeof(length)); - result = strHelper->startFlashRead(fullname, region, address, length); - if (result != RETURN_OK) { - return result; - } - return result; -} - -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(); -} - -ReturnValue_t StarTrackerHandler::prepareEraseCommand(const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - if (commandDataLen != EraseCmd::LENGTH) { - return INVALID_LENGTH; - } - uint32_t length = 0; - struct EraseActionRequest req; - req.region = *commandData; - arc_pack_erase_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - eraseCmd.rememberRegion = req.region; - return result; -} - -ReturnValue_t StarTrackerHandler::prepareUnlockCommand(const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - uint32_t length = 0; - struct UnlockActionRequest req; - req.region = *commandData; - size_t size = sizeof(req.code); - const uint8_t* codePtr = commandData + UnlockCmd::CODE_OFFSET; - result = SerializeAdapter::deSerialize(&req.code, &codePtr, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - return result; - } - arc_pack_unlock_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return result; -} - -ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData, - size_t commandDataLen) { - struct ChecksumActionRequest req; - ReturnValue_t result = RETURN_OK; - if (commandDataLen != ChecksumCmd::LENGTH) { - sif::warning << "StarTrackerHandler::prepareChecksumCommand: Invalid length" << std::endl; - return INVALID_LENGTH; - } - req.region = *(commandData); - size_t size = sizeof(req.address); - const uint8_t* addressPtr = commandData + ChecksumCmd::ADDRESS_OFFSET; - result = - SerializeAdapter::deSerialize(&req.address, addressPtr, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of address " - << "failed" << std::endl; - return result; - } - size = sizeof(req.length); - const uint8_t* lengthPtr = commandData + ChecksumCmd::LENGTH_OFFSET; - result = - SerializeAdapter::deSerialize(&req.length, lengthPtr, &size, SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of length failed" - << std::endl; - return result; - } - uint32_t rawCmdLength = 0; - arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength); - dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - checksumCmd.rememberRegion = req.region; - checksumCmd.rememberAddress = req.address; - checksumCmd.rememberLength = req.length; - return result; -} - -ReturnValue_t StarTrackerHandler::prepareSetTimeCommand(const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - struct SetTimeActionRequest req; - if (commandDataLen != SetTimeCmd::LENGTH) { - sif::warning << "StarTrackerHandler::prepareSetTimeCommand: Invalid length" << std::endl; - return INVALID_LENGTH; - } - size_t size = sizeof(req.unixTime); - result = SerializeAdapter::deSerialize(&req.unixTime, commandData, &size, - SerializeIF::Endianness::BIG); - if (result != RETURN_OK) { - sif::debug << "StarTrackerHandler::prepareSetTimeCommand: Deserialization failed" << std::endl; - return result; - } - uint32_t length = 0; - arc_pack_settime_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return result; -} - -ReturnValue_t StarTrackerHandler::prepareDownloadCentroidCommand(const uint8_t* commandData, - size_t commandDataLen) { - ReturnValue_t result = RETURN_OK; - struct DownloadCentroidActionRequest req; - if (commandDataLen != DownloadCentroidCmd::LENGTH) { - sif::warning << "StarTrackerHandler::prepareDownloadCentroidCommand: Invalid length" - << std::endl; - return INVALID_LENGTH; - } - req.id = *commandData; - uint32_t length = 0; - arc_pack_downloadcentroid_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return result; -} - -ReturnValue_t StarTrackerHandler::prepareUploadCentroidCommand(const uint8_t* commandData, - size_t commandDataLen) { - if (commandDataLen > MAX_PATH_SIZE) { - return FILE_PATH_TOO_LONG; - } - ReturnValue_t result = RETURN_OK; - struct UploadCentroidActionRequest req; - std::string jsonFileName = - std::string(reinterpret_cast(commandData), commandDataLen); - NVMParameterBase j(jsonFileName); - result = j.readJsonFile(); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: " << jsonFileName - << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::id, req.id); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::id << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::pixx, req.pixx); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::pixx << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::pixy, req.pixy); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::pixy << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::x_uncorrected, req.x_uncorrected); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::x_uncorrected << " does not exist" - << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::y_uncorrected, req.y_uncorrected); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::y_uncorrected << " does not exist" - << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::x_corrected, req.x_corrected); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::x_corrected << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::y_corrected, req.y_corrected); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::y_corrected << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::magnitude, req.magnitude); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::magnitude << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::cxa, req.cxa); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::cxa << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::cya, req.cya); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::cya << " does not exist" << std::endl; - return result; - } - result = j.getValue(StarTracker::UploadCentroidKeys::quality, req.quality); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key " - << StarTracker::UploadCentroidKeys::quality << " does not exist" << std::endl; - return result; - } - uint32_t length = 0; - arc_pack_uploadcentroid_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - uploadCentroid.rememberId = req.id; - return result; -} - -void StarTrackerHandler::prepareTimeRequest() { - uint32_t length = 0; - arc_tm_pack_time_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::preparePingRequest() { - uint32_t length = 0; - struct PingActionRequest pingRequest = {PING_ID}; - arc_pack_ping_action_req(&pingRequest, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareVersionRequest() { - uint32_t length = 0; - arc_tm_pack_version_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareInterfaceRequest() { - uint32_t length = 0; - arc_tm_pack_interface_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::preparePowerRequest() { - uint32_t length = 0; - arc_tm_pack_power_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareRebootCommand() { - 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(); -} - -void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { - uint32_t length = 0; - struct CameraActionRequest camReq; - camReq.actionid = *commandData; - arc_pack_camera_action_req(&camReq, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareSubscriptionCommand(const uint8_t* tmId) { - uint32_t length = 18; - commandBuffer[0] = TMTC_SETPARAMREQ; - commandBuffer[1] = StarTracker::ID::SUBSCRIBE; - // Fill all other fields with invalid tm id - commandBuffer[2] = *tmId; - commandBuffer[3] = 0; - commandBuffer[4] = 0; - commandBuffer[5] = 0; - commandBuffer[6] = 0; - commandBuffer[7] = 0; - commandBuffer[8] = 0; - commandBuffer[9] = 0; - commandBuffer[10] = 0; - commandBuffer[11] = 0; - commandBuffer[12] = 0; - commandBuffer[13] = 0; - commandBuffer[14] = 0; - commandBuffer[15] = 0; - commandBuffer[16] = 0; - commandBuffer[17] = 0; - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareSolutionRequest() { - uint32_t length = 0; - arc_tm_pack_solution_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareTemperatureRequest() { - uint32_t length = 0; - arc_tm_pack_temperature_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareHistogramRequest() { - uint32_t length = 0; - arc_tm_pack_histogram_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareContrastRequest() { - uint32_t length = 0; - arc_tm_pack_contrast_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -void StarTrackerHandler::prepareErrorResetRequest() { - uint32_t length = 0; - struct ResetErrorSignalActionRequest req; - arc_pack_reseterrorsignal_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); -} - -ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData, - size_t commandDataLen, - ArcsecJsonParamBase& paramSet) { - ReturnValue_t result = RETURN_OK; - if (commandDataLen > MAX_PATH_SIZE) { - return FILE_PATH_TOO_LONG; - } - std::string fullName(reinterpret_cast(commandData), commandDataLen); - - result = paramSet.create(fullName, commandBuffer); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::prepareParamCommand: Failed to create parameter " - "command" - << std::endl; - return result; - } - dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize()); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::prepareDownloadMatchedStarCommand(const uint8_t* commandData, - size_t commandDataLen) { - if (commandDataLen != DownloadMatchedStarCmd::LENGTH) { - return INVALID_LENGTH; - } - struct DownloadMatchedStarActionRequest req; - req.id = *commandData; - uint32_t length = 0; - arc_pack_downloadmatchedstar_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::prepareDownloadDbImageCommand(const uint8_t* commandData, - size_t commandDataLen) { - if (commandDataLen != DownloadDbImageCmd::LENGTH) { - return INVALID_LENGTH; - } - struct DownloadDBImageActionRequest req; - req.id = *commandData; - uint32_t length = 0; - arc_pack_downloaddbimage_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::prepareDownloadBlobPixelCommand(const uint8_t* commandData, - size_t commandDataLen) { - if (commandDataLen != DownloadBlobPixCmd::LENGTH) { - return INVALID_LENGTH; - } - struct DownloadBlobPixelActionRequest req; - req.id = *commandData; - req.type = *(commandData + 1); - if ((req.type != DownloadBlobPixCmd::NORMAL) && (req.type != DownloadBlobPixCmd::FAST)) { - return INVALID_TYPE; - } - uint32_t length = 0; - arc_pack_downloadblobpixel_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::prepareFpgaActionCommand(const uint8_t* commandData, - size_t commandDataLen) { - if (commandDataLen != FpgaActionCmd::LENGTH) { - return INVALID_LENGTH; - } - struct FPGAActionActionRequest req; - req.id = *commandData; - if (req.id != FpgaActionCmd::ID) { - return INVALID_ID; - } - uint32_t length = 0; - arc_pack_fpgaaction_action_req(&req, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return RETURN_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(); - return RETURN_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(); - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::prepareRequestBlobParams() { - uint32_t length = 0; - arc_pack_blob_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::handleSetParamReply() { - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = *(reply + STATUS_OFFSET); - 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; - if (startupState != StartupState::IDLE) { - startupState = StartupState::IDLE; - } - return SET_PARAM_FAILED; - } - if (startupState != StartupState::IDLE) { - handleStartup(reply + PARAMETER_ID_OFFSET); - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::handleActionReply() { - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = *(reply + STATUS_OFFSET); - 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(status) << std::endl; - return ACTION_FAILED; - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::handleUploadCentroidReply() { - ReturnValue_t result = RETURN_OK; - result = handleActionReply(); - if (result != RETURN_OK) { - return result; - } - const uint8_t* reply = dataLinkLayer.getReply(); - if (*(reply + ACTION_DATA_OFFSET) != uploadCentroid.rememberId) { - return UPLOAD_CENTROID_ID_MISMATCH; - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::handleEraseReply() { - ReturnValue_t result = RETURN_OK; - result = handleActionReply(); - if (result != RETURN_OK) { - return result; - } - const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET; - StarTracker::EraseReply eraseReply(replyData); - if (eraseReply.getRegion() != eraseCmd.rememberRegion) { - sif::warning << "StarTrackerHandler::handleEraseReply: Region mismatch" << std::endl; - return REGION_MISMATCH; - } - return result; -} - -ReturnValue_t StarTrackerHandler::handleChecksumReply() { - ReturnValue_t result = RETURN_OK; - result = handleActionReply(); - if (result != RETURN_OK) { - return result; - } - const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET; - StarTracker::ChecksumReply checksumReply(replyData); - if (checksumReply.getRegion() != checksumCmd.rememberRegion) { - sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl; - return REGION_MISMATCH; - } - if (checksumReply.getAddress() != checksumCmd.rememberAddress) { - sif::warning << "StarTrackerHandler::handleChecksumReply: Address mismatch" << std::endl; - return ADDRESS_MISMATCH; - } - if (checksumReply.getLength() != checksumCmd.rememberLength) { - sif::warning << "StarTrackerHandler::handleChecksumReply: Length mismatch" << std::endl; - return LENGTH_MISSMATCH; - } - PoolReadGuard rg(&checksumSet); - checksumSet.checksum = checksumReply.getChecksum(); - handleDeviceTM(&checksumSet, StarTracker::CHECKSUM); -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 - checksumReply.printChecksum(); -#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */ - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& dataset, size_t size) { - ReturnValue_t result = RETURN_OK; - result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT); - if (result != RETURN_OK) { - return result; - } - const uint8_t* reply = dataLinkLayer.getReply() + PARAMS_OFFSET; - dataset.setValidityBufferGeneration(false); - result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::handleParamRequest Deserialization failed" << std::endl; - } - dataset.setValidityBufferGeneration(true); - dataset.setValidity(true, true); - result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT); - if (result != RETURN_OK) { - return result; - } -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 - dataset.printSet(); -#endif - return result; -} - -ReturnValue_t StarTrackerHandler::handlePingReply() { - ReturnValue_t result = RETURN_OK; - uint32_t pingId = 0; - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = dataLinkLayer.getStatusField(); - const uint8_t* buffer = reply + 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 */ - if (status != StarTracker::STATUS_OK || pingId != PING_ID) { - sif::warning << "StarTrackerHandler::handlePingReply: 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 - } - return result; -} - -ReturnValue_t StarTrackerHandler::checkProgram() { - PoolReadGuard pg(&versionSet); - switch (versionSet.program.value) { - case StarTracker::Program::BOOTLOADER: - // Star tracker currently in bootloader program. Need to send boot command to switch to - // firmware program - if (startupState != StartupState::IDLE) { - startupState = StartupState::BOOT; - } - break; - case StarTracker::Program::FIRMWARE: - // Firmware already booted - if (startupState != StartupState::IDLE) { - startupState = StartupState::LIMITS; - } - break; - default: - sif::warning << "StarTrackerHandler::checkProgram: Version set has invalid program ID" - << std::endl; - return INVALID_PROGRAM; - } - return RETURN_OK; -} - -ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) { - ReturnValue_t result = RETURN_OK; - uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); - if (status != StarTracker::STATUS_OK) { - sif::warning << "StarTrackerHandler::handleTm: Reply error: " - << static_cast(status) << std::endl; - return REPLY_ERROR; - } - result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT); - if (result != RETURN_OK) { - return result; - } - const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET; - dataset.setValidityBufferGeneration(false); - result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::handleTm: Deserialization failed" << std::endl; - } - dataset.setValidityBufferGeneration(true); - dataset.setValidity(true, true); - result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT); - if (result != RETURN_OK) { - return result; - } -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 - dataset.printSet(); -#endif - return result; -} - -ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) { - ReturnValue_t result = RETURN_OK; - uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); - if (status != StarTracker::STATUS_OK) { - sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: " - << static_cast(status) << std::endl; - return REPLY_ERROR; - } - result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT); - if (result != RETURN_OK) { - return result; - } - const uint8_t* reply = dataLinkLayer.getReply() + ACTION_DATA_OFFSET; - dataset.setValidityBufferGeneration(false); - result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); - if (result != RETURN_OK) { - sif::warning << "StarTrackerHandler::handleActionReplySet Deserialization failed" << std::endl; - } - dataset.setValidityBufferGeneration(true); - dataset.setValidity(true, true); - result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT); - if (result != RETURN_OK) { - return result; - } -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 - dataset.printSet(); -#endif - return result; -} - -void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { - switch (*parameterId) { - case (StarTracker::ID::LIMITS): { - startupState = StartupState::TRACKING; - break; - } - case (StarTracker::ID::TRACKING): { - startupState = StartupState::MOUNTING; - break; - } - case (StarTracker::ID::MOUNTING): { - startupState = StartupState::CAMERA; - break; - } - case (StarTracker::ID::CAMERA): { - startupState = StartupState::BLOB; - break; - } - case (StarTracker::ID::BLOB): { - startupState = StartupState::CENTROIDING; - break; - } - case (StarTracker::ID::CENTROIDING): { - startupState = StartupState::LISA; - break; - } - case (StarTracker::ID::LISA): { - startupState = StartupState::MATCHING; - break; - } - case (StarTracker::ID::MATCHING): { - startupState = StartupState::VALIDATION; - break; - } - case (StarTracker::ID::VALIDATION): { - startupState = StartupState::ALGO; - break; - } - case (StarTracker::ID::ALGO): { - startupState = StartupState::DONE; - break; - } - default: { - sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected" - << " parameter ID" << std::endl; - break; - } - } -}