v10.7

CHANGELOG.md

@@ -17,7 +17,7 @@ will consitute of a breaking change warranting a new major release:
 # [unreleased]
 
 - q7s-package: v2.5.0
-- STR firmware was updated to v10.3
+- STR firmware was updated to v10.7
 
 ## Fixed
 
@@ -27,6 +27,9 @@ will consitute of a breaking change warranting a new major release:
 - Bugfix for STR where an invalid reply was received for special requests
   like firmware updates.
 - Bugfix for shell command executors in command controller which lead to a crash.
+- Important bugfix for STR solution set.
+- Fix for STR image download.
+- Possible fix for STR image upload.
 
 ## Changed
 

bsp_q7s/core/CoreController.cpp

@@ -369,7 +369,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       return actionReboot(data, size);
     }
     case (EXECUTE_SHELL_CMD_BLOCKING): {
-      std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
+      std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
       int result = std::system(cmdToExecute.c_str());
       if (result != 0) {
         // TODO: Data reply with returnalue maybe?
@@ -378,7 +378,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
       return EXECUTION_FINISHED;
     }
     case (EXECUTE_SHELL_CMD_NON_BLOCKING): {
-      std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
+      std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
       if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
           shellCmdIsExecuting) {
         return HasActionsIF::IS_BUSY;

linux/acs/StrComHandler.cpp

@@ -17,6 +17,10 @@
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"
 
+extern "C" {
+#include <sagitta/client/actionreq.h>
+}
+
 using namespace returnvalue;
 
 StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
@@ -305,6 +309,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
   uint32_t imageSize = 0;
   struct UploadActionRequest uploadReq;
   uploadReq.position = 0;
+  size_t writtenBytes = 0;
 #ifdef XIPHOS_Q7S
   if (not sdcMan->getActiveSdCard()) {
     return HasFileSystemIF::FILESYSTEM_INACTIVE;
@@ -327,7 +332,9 @@ ReturnValue_t StrComHandler::performImageUpload() {
 #if OBSW_DEBUG_STARTRACKER == 1
   ProgressPrinter progressPrinter("Image upload", imageSize);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
-  while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
+  size_t fullChunks = imageSize / SIZE_IMAGE_PART;
+  size_t remainder = imageSize % SIZE_IMAGE_PART;
+  for (size_t idx = 0; idx < fullChunks; idx++) {
     if (terminate) {
       return returnvalue::OK;
     }
@@ -346,6 +353,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
     progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
     uploadReq.position++;
+    writtenBytes += SIZE_IMAGE_PART;
 
     // This does a bit of delaying roughly every second
     if (uploadReq.position % 50 == 0) {
@@ -353,20 +361,20 @@ ReturnValue_t StrComHandler::performImageUpload() {
       TaskFactory::delayTask(2);
     }
   }
-  std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
-  uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
-  file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
-  file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
-  file.close();
-  uploadReq.position++;
-  arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
-  result = sendAndRead(size, uploadReq.position);
-  if (result != returnvalue::OK) {
-    return returnvalue::FAILED;
-  }
-  result = checkActionReply(replyLen);
-  if (result != returnvalue::OK) {
-    return result;
+  if (remainder > 0) {
+    std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
+    file.seekg(fullChunks * SIZE_IMAGE_PART, file.beg);
+    file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
+    file.close();
+    arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, uploadReq.position);
+    if (result != returnvalue::OK) {
+      return returnvalue::FAILED;
+    }
+    result = checkActionReply(replyLen);
+    if (result != returnvalue::OK) {
+      return result;
+    }
   }
 #if OBSW_DEBUG_STARTRACKER == 1
   progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);

linux/acs/StrComHandler.h

@@ -18,10 +18,6 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"
 
-extern "C" {
-#include <sagitta/client/arc_client.h>
-}
-
 /**
  * @brief   Helper class for the star tracker handler to accelerate large data transfers.
  *
@@ -176,7 +172,7 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public
   static const uint32_t FLASH_REGION_SIZE = 0x20000;
 
   struct ImageDownload {
-    static const uint32_t LAST_POSITION = 4095;
+    static const uint32_t LAST_POSITION = 4096;
   };
 
   static const uint32_t MAX_POLLS = 10000;

mission/acs/str/StarTrackerHandler.cpp

@@ -1084,6 +1084,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
   localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0}));
   localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STR_MODE, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
   localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
   localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));

mission/acs/str/arcsecJsonKeys.h

@@ -9,7 +9,7 @@ static const char PROPERTIES[] = "properties";
 static const char NAME[] = "name";
 static const char VALUE[] = "value";
 
-static const char LIMITS[] = "limits";
+static const char LIMITS[] = "Limits";
 static const char ACTION[] = "action";
 static const char FPGA18CURRENT[] = "FPGA18Current";
 static const char FPGA25CURRENT[] = "FPGA25Current";
@@ -22,20 +22,20 @@ static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
 static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
 static const char MCU_TEMPERATURE[] = "MCUTemperature";
 
-static const char MOUNTING[] = "mounting";
+static const char MOUNTING[] = "Mounting";
 static const char qw[] = "qw";
 static const char qx[] = "qx";
 static const char qy[] = "qy";
 static const char qz[] = "qz";
 
-static const char IMAGE_PROCESSOR[] = "imageprocessor";
+static const char IMAGE_PROCESSOR[] = "ImageProcessor";
 static const char IMAGE_PROCESSOR_MODE[] = "mode";
 static const char STORE[] = "store";
 static const char SIGNAL_THRESHOLD[] = "signalThreshold";
 static const char IMAGE_PROCESSOR_DARK_THRESHOLD[] = "darkThreshold";
 static const char BACKGROUND_COMPENSATION[] = "backgroundcompensation";
 
-static const char CAMERA[] = "camera";
+static const char CAMERA[] = "Camera";
 static const char MODE[] = "mode";
 static const char FOCALLENGTH[] = "focallength";
 static const char EXPOSURE[] = "exposure";
@@ -77,7 +77,7 @@ static const char ENABLE_HISTOGRAM[] = "enableHistogram";
 static const char ENABLE_CONTRAST[] = "enableContrast";
 static const char BIN_MODE[] = "binMode";
 
-static const char CENTROIDING[] = "centroiding";
+static const char CENTROIDING[] = "Centroiding";
 static const char ENABLE_FILTER[] = "enableFilter";
 static const char MAX_QUALITY[] = "maxquality";
 static const char DARK_THRESHOLD[] = "darkthreshold";
@@ -92,7 +92,7 @@ static const char TRANSMATRIX_01[] = "transmatrix01";
 static const char TRANSMATRIX_10[] = "transmatrix10";
 static const char TRANSMATRIX_11[] = "transmatrix11";
 
-static const char LISA[] = "lisa";
+static const char LISA[] = "LISA";
 static const char LISA_MODE[] = "mode";
 static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
 static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
@@ -108,29 +108,29 @@ static const char MAX_COMBINATIONS[] = "max_combinations";
 static const char NR_STARS_STOP[] = "nr_stars_stop";
 static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop";
 
-static const char MATCHING[] = "matching";
+static const char MATCHING[] = "Matching";
 static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
 static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";
 
-static const char VALIDATION[] = "validation";
+static const char VALIDATION[] = "Validation";
 static const char STABLE_COUNT[] = "stable_count";
 static const char MAX_DIFFERENCE[] = "max_difference";
 static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence";
 static const char MIN_MATCHED_STARS[] = "min_matchedStars";
 
-static const char TRACKING[] = "tracking";
+static const char TRACKING[] = "Tracking";
 static const char THIN_LIMIT[] = "thinLimit";
 static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
 static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
 static const char TRACKER_CHOICE[] = "trackerChoice";
 
-static const char ALGO[] = "algo";
+static const char ALGO[] = "Algo";
 static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
 static const char L2T_MIN_MATCHED[] = "l2t_minMatched";
 static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
 static const char T2L_MIN_MATCHED[] = "t2l_minMatched";
 
-static const char LOGLEVEL[] = "loglevel";
+static const char LOGLEVEL[] = "LogLevel";
 static const char LOGLEVEL1[] = "loglevel1";
 static const char LOGLEVEL2[] = "loglevel2";
 static const char LOGLEVEL3[] = "loglevel3";
@@ -148,7 +148,7 @@ static const char LOGLEVEL14[] = "loglevel14";
 static const char LOGLEVEL15[] = "loglevel15";
 static const char LOGLEVEL16[] = "loglevel16";
 
-static const char SUBSCRIPTION[] = "subscription";
+static const char SUBSCRIPTION[] = "Subscription";
 static const char TELEMETRY_1[] = "telemetry1";
 static const char TELEMETRY_2[] = "telemetry2";
 static const char TELEMETRY_3[] = "telemetry3";
@@ -166,13 +166,13 @@ static const char TELEMETRY_14[] = "telemetry14";
 static const char TELEMETRY_15[] = "telemetry15";
 static const char TELEMETRY_16[] = "telemetry16";
 
-static const char LOG_SUBSCRIPTION[] = "logsubscription";
+static const char LOG_SUBSCRIPTION[] = "LogSubscription";
 static const char LEVEL1[] = "level1";
 static const char MODULE1[] = "module1";
 static const char LEVEL2[] = "level2";
 static const char MODULE2[] = "module2";
 
-static const char DEBUG_CAMERA[] = "debugcamera";
+static const char DEBUG_CAMERA[] = "DebugCamera";
 static const char TIMING[] = "timing";
 static const char TEST[] = "test";
 

mission/acs/str/strHelpers.h

@@ -91,6 +91,7 @@ enum PoolIds : lp_id_t {
   LISA_QZ,
   LISA_PERC_CLOSE,
   LISA_NR_CLOSE,
+  STR_MODE,
   TRUST_WORTHY,
   STABLE_COUNT,
   SOLUTION_STRATEGY,
@@ -358,7 +359,7 @@ static const uint8_t VERSION_SET_ENTRIES = 5;
 static const uint8_t INTERFACE_SET_ENTRIES = 4;
 static const uint8_t POWER_SET_ENTRIES = 18;
 static const uint8_t TIME_SET_ENTRIES = 4;
-static const uint8_t SOLUTION_SET_ENTRIES = 23;
+static const uint8_t SOLUTION_SET_ENTRIES = 25;
 static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
 static const uint8_t CHECKSUM_SET_ENTRIES = 1;
 static const uint8_t CAMERA_SET_ENTRIES = 24;
@@ -682,6 +683,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
       lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE, this);
   // Number of close stars in LISA solution
   lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
+  lp_var_t<uint8_t> strMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::STR_MODE, this);
   // Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
   lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
   // Number of times the validation criteria was met

thirdparty/sagittactl

@@ -1 +1 @@
-Subproject commit 64332216c193fa6483258060b53fc2842c08dcf4
+Subproject commit 29e876671a72fcdb0b393e2f692303725f00724f

tmtc

@@ -1 +1 @@
-Subproject commit f8da9cff7c5d6d6bdd483f90ccefb67b2d1e11a4
+Subproject commit f57342602da3232c0bfecaecb0c10be6d692b384