StarTrackerHandler wip
This commit is contained in:
Jakob.Meier
238
mission/devices/StarTrackerHandler.cpp
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238
mission/devices/StarTrackerHandler.cpp
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#include "StarTrackerHandler.h"
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#include "OBSWConfig.h"
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <arcsec-start-tracker/client/generated/telemetry.h>
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StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
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CookieIF * comCookie, LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) :
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DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this) {
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if (comCookie == NULL) {
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sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
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}
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slipInit();
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}
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StarTrackerHandler::~StarTrackerHandler() {
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}
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void StarTrackerHandler::doStartUp() {
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#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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setMode(MODE_NORMAL);
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#else
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setMode(_MODE_TO_ON);
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#endif
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}
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void StarTrackerHandler::doShutDown() {
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}
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ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
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switch (internalState) {
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case InternalState::TEMPERATURE_REQUEST:
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*id = StartTracker::REQ_TEMPERATURE;
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break;
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default:
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sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
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<< std::endl;
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break;
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t * commandData, size_t commandDataLen) {
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switch (deviceCommand) {
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case (StartTracker::REQ_TEMPERATURE): {
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prepareTemperatureRequest();
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return RETURN_OK;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void StarTrackerHandler::fillCommandAndReplyMap() {
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/** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
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* is specified */
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this->insertInCommandAndReplyMap(StartTracker::REQ_TEMPERATURE, 1, &temperatureSet,
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sStartTracker::MAX_FRAME_SIZE * 2 + 2);
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}
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ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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uint32_t decodedLength = 0;
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for (int i = 0; i < remainingSize; i++) {
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enum arc_dec_result decResult = arc_transport_decode_body(*(start + i), &slipInfo,
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decodedFrame, &decodedLength);
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switch (decResult) {
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case ARC_DEC_INPROGRESS: {
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continue;
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}
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case ARC_DEC_ASYNC: {
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sif::debug << "StarTrackerHandler::scanForReply: Received asychronous tm" << std::endl;
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/** No asynchronous replies are expected as of now */
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return RETURN_FAILED;
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}
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case ARC_DEC_ERROR_FRAME_SHORT:
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return REPLY_TOO_SHORT;
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case ARC_DEC_ERROR_CHECKSUM:
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return CRC_FAILURE;
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case ARC_DEC_SYNC: {
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/** Reset length of SLIP struct for next frame */
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slipInfo.length = 0;
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break;
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}
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default:
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sif::debug << "StarTrackerHandler::scanForReply: Unknown result code" << std::endl;
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break;
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}
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}
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switch (*(decodedFrame[1])) {
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case (static_cast<uint8_t>(StartTracker::REQ_TEMPERATURE)): {
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*foundLen = decodedLength;
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*foundId = StartTracker::REQ_TEMPERATURE;
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break;
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}
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default: {
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sif::debug << "StarTrackerHandler::scanForReply: Reply contains invalid reply id"
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<< std::endl;
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return RETURN_FAILED;
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break;
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
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switch (id) {
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case (StartTracker::REQ_TEMPERATURE): {
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handleTemperatureTm();
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break;
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}
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default: {
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sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return RETURN_OK;
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}
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void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {
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}
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uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
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return 5000;
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}
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ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>( { 0 }));
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return RETURN_OK;
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}
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size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId){
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return StarTracker::MAX_FRAME_SIZE;
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}
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void StarTrackerHandler::slipInit() {
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slipInfo.buffer = rxBuffer;
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slipInfo.maxlength = StartTracker::MAX_FRAME_SIZE;
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slipInfo.length = 0;
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slipInfo.unescape_next = 0;
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slipInfo.prev_state = SLIP_COMPLETE;
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}
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void StarTrackerHandler::prepareTemperatureRequest() {
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uint32_t length = 0;
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arc_tm_pack_temperature_req(commandBuffer);
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uint32_t encLength = 0;
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arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
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rawPacket = encBuffer;
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rawPacketLen = encLength;
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}
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void StarTrackerHandler::handleTemperatureTm() {
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PoolReadGuard rg(&temperatureSet);
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uint32_t offset = 1;
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temperatureSet.status = *(decodedFrame + offset);
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offset += 1;
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if(temperatureSet.status.value != 0) {
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sif::warning << "StarTrackerHandler::handleTemperatureTm: Reply error: "
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<< static_const<unsigned int>(temperatureSet.status.value) << std::endl;
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triggerEvent(TM_REPLY_ERROR, temperatureSet.status.value);
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}
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temperatureSet.ticks = *(decodedFrame + offset) << 24
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| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
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| *(decodedFrame + offset + 3);
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offset += 4;
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temperatureSet.time = *(decodedFrame + offset) << 56 | *(decodedFrame + offset + 1) << 48
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| *(decodedFrame + offset + 2) << 40 | *(decodedFrame + offset + 3) << 32
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| *(decodedFrame + offset + 4) << 24 | *(decodedFrame + offset + 5) << 16
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| *(decodedFrame + offset + 6) << 8 | *(decodedFrame + offset + 7);
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offset += 8;
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temperatureSet.mcuTemperature = *(decodedFrame + offset) << 24
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| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
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| *(decodedFrame + offset + 3);
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offset += 4;
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temperatureSet.cmosTemperature = *(decodedFrame + offset) << 24
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| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
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| *(decodedFrame + offset + 3);
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#if OBSW_VERBOSE_LEVEL >= 1 && START_TRACKER_DEBUG == 1
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sif::info << "StarTrackerHandler::handleTemperatureTm: MCU Temperature: "
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<< temperatureSet.mcuTemperature << " °C" << std::endl;
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sif::info << "StarTrackerHandler::handleTemperatureTm: CMOS Temperature: "
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<< temperatureSet.mcuTemperature << " °C" << std::endl;
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#endif
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}
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