diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp index 1e8756e2..2bbb0e0b 100644 --- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp +++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateEvents.h" @@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -617,16 +617,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_HELPER_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp index 5b9996a0..fc9207cf 100644 --- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp +++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 169 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateObjects.h" @@ -50,7 +50,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -267,7 +267,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index a31f2d87..71e8191f 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -592,7 +592,7 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) { auto* syrlinksUartCookie = - new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD, + new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD, syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); syrlinksUartCookie->setParityEven(); @@ -623,8 +623,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC); gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC"); auto mpsocCookie = - new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD, - mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); + new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, + serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); mpsocCookie->setNoFixedSizeReply(); auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER); auto* mpsocHandler = new PlocMPSoCHandler( @@ -639,9 +639,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit auto supvGpioCookie = new GpioCookie; supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv); gpioComIF->addGpios(supvGpioCookie); - auto supervisorCookie = - new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, - uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL); + auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, + q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD, + supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL); supervisorCookie->setNoFixedSizeReply(); auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER); auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie, @@ -931,10 +931,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) { auto* strAssy = new StrAssembly(objects::STR_ASSY); strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM); auto* starTrackerCookie = - new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD, + new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL); starTrackerCookie->setNoFixedSizeReply(); - StrComHandler* strHelper = new StrComHandler(objects::STR_HELPER); + StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF); const char* paramJsonFile = nullptr; #ifdef EGSE @@ -951,8 +951,8 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) { } auto strFdir = new StrFdir(objects::STAR_TRACKER); auto starTracker = - new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, - paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V); + new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie, + paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V); starTracker->setPowerSwitcher(pwrSwitcher); starTracker->connectModeTreeParent(*strAssy); starTracker->setCustomFdir(strFdir); diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index bd9ee01c..8d216554 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -307,11 +307,12 @@ void scheduling::initTasks() { #endif #if OBSW_ADD_STAR_TRACKER == 1 + // Relatively high priority to make sure STR COM works well. PeriodicTaskIF* strHelperTask = factory->createPeriodicTask( - "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); - result = strHelperTask->addComponent(objects::STR_HELPER); + "STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + result = strHelperTask->addComponent(objects::STR_COM_IF); if (result != returnvalue::OK) { - scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER); + scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF); } #endif /* OBSW_ADD_STAR_TRACKER == 1 */ diff --git a/common/config/devConf.h b/common/config/devConf.h index 27167397..de33cf4a 100644 --- a/common/config/devConf.h +++ b/common/config/devConf.h @@ -63,7 +63,7 @@ static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR; } // namespace spi -namespace uart { +namespace serial { static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024; static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400; @@ -73,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200; static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600; static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600; -} // namespace uart +} // namespace serial #endif /* COMMON_CONFIG_DEVCONF_H_ */ diff --git a/common/config/eive/objects.h b/common/config/eive/objects.h index e22133e2..33eb9ad1 100644 --- a/common/config/eive/objects.h +++ b/common/config/eive/objects.h @@ -62,7 +62,7 @@ enum commonObjects : uint32_t { RAD_SENSOR = 0x443200A5, PLOC_UPDATER = 0x44330000, PLOC_MEMORY_DUMPER = 0x44330001, - STR_HELPER = 0x44330002, + STR_COM_IF = 0x44330002, PLOC_MPSOC_HELPER = 0x44330003, AXI_PTME_CONFIG = 0x44330004, PTME_CONFIG = 0x44330005, diff --git a/fsfw b/fsfw index 341437df..f8a7c1d4 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 341437df1387aaf0128dd5304b5c0cc8ad734e69 +Subproject commit f8a7c1d4ed621a3375db0da9b9e9f8d5484abbc1 diff --git a/generators/bsp_hosted_events.csv b/generators/bsp_hosted_events.csv index 8fe777aa..a881cd63 100644 --- a/generators/bsp_hosted_events.csv +++ b/generators/bsp_hosted_events.csv @@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h -12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h -12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h -12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h -12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h -12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h -12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h -12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h -12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h -12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h -12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h -12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h -12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h -12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h -12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h -12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h +12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h +12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h +12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h +12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h +12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h +12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h +12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h +12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h +12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h +12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12511;0x30df;STR_HELPER_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h +12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h +12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h +12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h +12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h +12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h diff --git a/generators/bsp_hosted_objects.csv b/generators/bsp_hosted_objects.csv index 12a9ffb1..6d73e97c 100644 --- a/generators/bsp_hosted_objects.csv +++ b/generators/bsp_hosted_objects.csv @@ -42,7 +42,7 @@ 0x443200A5;RAD_SENSOR 0x44330000;PLOC_UPDATER 0x44330001;PLOC_MEMORY_DUMPER -0x44330002;STR_HELPER +0x44330002;STR_COM_IF 0x44330003;PLOC_MPSOC_HELPER 0x44330004;AXI_PTME_CONFIG 0x44330005;PTME_CONFIG diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv index 8fe777aa..a881cd63 100644 --- a/generators/bsp_q7s_events.csv +++ b/generators/bsp_q7s_events.csv @@ -155,23 +155,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h -12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h -12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h -12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h -12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h -12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h -12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h -12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h -12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h -12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h -12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h -12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h -12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h -12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h -12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h -12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h +12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h +12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h +12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h +12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h +12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h +12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h +12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h +12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h +12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h +12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12511;0x30df;STR_HELPER_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h +12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h +12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h +12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h +12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h +12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv index c90f83ee..0c248ea8 100644 --- a/generators/bsp_q7s_objects.csv +++ b/generators/bsp_q7s_objects.csv @@ -41,7 +41,7 @@ 0x443200A5;RAD_SENSOR 0x44330000;PLOC_UPDATER 0x44330001;PLOC_MEMORY_DUMPER -0x44330002;STR_HELPER +0x44330002;STR_COM_IF 0x44330003;PLOC_MPSOC_HELPER 0x44330004;AXI_PTME_CONFIG 0x44330005;PTME_CONFIG diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv index 83a870b9..e582cfbc 100644 --- a/generators/bsp_q7s_returnvalues.csv +++ b/generators/bsp_q7s_returnvalues.csv @@ -491,15 +491,18 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/LegacySusHandler.h 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h -0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h +0x5c00;STRHLP_Busy;No description;0;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c01;STRHLP_SdNotMounted;SD card specified in path string not mounted;1;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c02;STRHLP_FileNotExists;Specified file does not exist on filesystem;2;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c03;STRHLP_PathNotExists;Specified path does not exist;3;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c04;STRHLP_FileCreationFailed;Failed to create download image or read flash file;4;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c05;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;5;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c06;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;6;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c07;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;7;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c08;STRHLP_StatusError;Status field in reply signals error;8;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c09;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);9;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c0a;STRHLP_ReceptionTimeout;No description;10;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c0b;STRHLP_DecodingError;No description;11;STR_HELPER;linux/devices/startracker/StrComHandler.h 0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 1e8756e2..2bbb0e0b 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateEvents.h" @@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -617,16 +617,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_HELPER_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 4eff584d..bac4cde7 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateObjects.h" @@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 16ee9093..2a788898 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -314,7 +314,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF, void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher, SdCardMountedIF& mountedIF, bool onImmediately, std::optional switchId) { - auto* cookie = new SerialCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096); + auto* cookie = new SerialCookie(objects::SCEX, uartDev, serial::SCEX_BAUD, 4096); cookie->setTwoStopBits(); // cookie->setParityEven(); auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER); diff --git a/linux/devices/ScexUartReader.cpp b/linux/devices/ScexUartReader.cpp index 9e76306c..9aa2287c 100644 --- a/linux/devices/ScexUartReader.cpp +++ b/linux/devices/ScexUartReader.cpp @@ -98,11 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { } // Setting up UART parameters tty.c_cflag &= ~PARENB; // Clear parity bit - uart::setStopbits(tty, uartCookie->getStopBits()); - uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + serial::setStopbits(tty, uartCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - uart::enableRead(tty); - uart::ignoreCtrlLines(tty); + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); // Use non-canonical mode and clear echo flag tty.c_lflag &= ~(ICANON | ECHO); @@ -111,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { tty.c_cc[VTIME] = 0; tty.c_cc[VMIN] = 0; - uart::setBaudrate(tty, uartCookie->getBaudrate()); + serial::setBaudrate(tty, uartCookie->getBaudrate()); if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error [" << errno << ", " << strerror(errno) << std::endl; diff --git a/linux/devices/ploc/PlocSupvUartMan.cpp b/linux/devices/ploc/PlocSupvUartMan.cpp index 5113de40..fe8516b5 100644 --- a/linux/devices/ploc/PlocSupvUartMan.cpp +++ b/linux/devices/ploc/PlocSupvUartMan.cpp @@ -58,12 +58,12 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) { } // Setting up UART parameters tty.c_cflag &= ~PARENB; // Clear parity bit - uart::setParity(tty, uartCookie->getParity()); - uart::setStopbits(tty, uartCookie->getStopBits()); - uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + serial::setParity(tty, uartCookie->getParity()); + serial::setStopbits(tty, uartCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - uart::enableRead(tty); - uart::ignoreCtrlLines(tty); + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); // Use non-canonical mode and clear echo flag tty.c_lflag &= ~(ICANON | ECHO); @@ -72,7 +72,7 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) { tty.c_cc[VTIME] = 2; tty.c_cc[VMIN] = 0; - uart::setBaudrate(tty, uartCookie->getBaudrate()); + serial::setBaudrate(tty, uartCookie->getBaudrate()); if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { sif::warning << "PlocSupvUartManager::initializeInterface: tcsetattr call failed with error [" << errno << ", " << strerror(errno) << std::endl; diff --git a/linux/devices/ploc/PlocSupvUartMan.h b/linux/devices/ploc/PlocSupvUartMan.h index 02bfb6c7..7b32ffac 100644 --- a/linux/devices/ploc/PlocSupvUartMan.h +++ b/linux/devices/ploc/PlocSupvUartMan.h @@ -246,9 +246,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF, std::array recBuf = {}; std::array encodedBuf = {}; std::array decodedBuf = {}; - std::array ipcBuffer = {}; SimpleRingBuffer decodedRingBuf; FIFO decodedQueue; + std::array ipcBuffer = {}; SimpleRingBuffer ipcRingBuf; FIFO ipcQueue; diff --git a/linux/devices/startracker/ArcsecJsonParamBase.cpp b/linux/devices/startracker/ArcsecJsonParamBase.cpp index a63025f1..04afb75f 100644 --- a/linux/devices/startracker/ArcsecJsonParamBase.cpp +++ b/linux/devices/startracker/ArcsecJsonParamBase.cpp @@ -1,17 +1,10 @@ #include "ArcsecJsonParamBase.h" -#include "ArcsecJsonKeys.h" +#include "arcsecJsonKeys.h" ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {} -ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) { - // ReturnValue_t result = returnvalue::OK; - // result = init(fullname); - // if (result != returnvalue::OK) { - // sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set " - // << setName << std::endl; - // return result; - // } +ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) { ReturnValue_t result = createCommand(buffer); if (result != returnvalue::OK) { sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set " diff --git a/linux/devices/startracker/ArcsecJsonParamBase.h b/linux/devices/startracker/ArcsecJsonParamBase.h index e6402ebe..ff457016 100644 --- a/linux/devices/startracker/ArcsecJsonParamBase.h +++ b/linux/devices/startracker/ArcsecJsonParamBase.h @@ -56,7 +56,7 @@ class ArcsecJsonParamBase { * parameter set. * @param buffer Pointer to the buffer the command will be written to */ - ReturnValue_t create(std::string fullname, uint8_t* buffer); + ReturnValue_t create(uint8_t* buffer); /** * @brief Returns the size of the parameter command. diff --git a/linux/devices/startracker/CMakeLists.txt b/linux/devices/startracker/CMakeLists.txt index dc4ca2a3..24dbaf8e 100644 --- a/linux/devices/startracker/CMakeLists.txt +++ b/linux/devices/startracker/CMakeLists.txt @@ -1,5 +1,4 @@ target_sources( ${OBSW_NAME} - PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp - ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrComHandler.cpp - helpers.cpp) + PRIVATE StarTrackerHandler.cpp strJsonCommands.cpp ArcsecDatalinkLayer.cpp + ArcsecJsonParamBase.cpp StrComHandler.cpp helpers.cpp) diff --git a/linux/devices/startracker/StarTrackerHandler.cpp b/linux/devices/startracker/StarTrackerHandler.cpp index 70c73da8..448afc91 100644 --- a/linux/devices/startracker/StarTrackerHandler.cpp +++ b/linux/devices/startracker/StarTrackerHandler.cpp @@ -11,9 +11,9 @@ #include #include "OBSWConfig.h" -#include "StarTrackerJsonCommands.h" #include "arcsec/common/misc.h" #include "helpers.h" +#include "strJsonCommands.h" std::atomic_bool JCFG_DONE(false); @@ -93,11 +93,6 @@ ReturnValue_t StarTrackerHandler::initialize() { return ObjectManagerIF::CHILD_INIT_FAILED; } - // result = strHelper->setComIF(communicationInterface); - // if (result != returnvalue::OK) { - // return ObjectManagerIF::CHILD_INIT_FAILED; - // } - // strHelper->setComCookie(comCookie); return returnvalue::OK; } @@ -1529,7 +1524,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandI void StarTrackerHandler::handleEvent(EventMessage* eventMessage) { object_id_t objectId = eventMessage->getReporter(); switch (objectId) { - case objects::STR_HELPER: { + case objects::STR_COM_IF: { // All events from image loader signal either that the operation was successful or that it // failed strHelperHandlingSpecialRequest = false; @@ -1577,9 +1572,8 @@ void StarTrackerHandler::prepareBootCommand() { uint32_t length = 0; struct BootActionRequest bootRequest = {BOOT_REGION_ID}; arc_pack_boot_action_req(&bootRequest, commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData, @@ -1611,9 +1605,8 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD } uint32_t rawCmdLength = 0; arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength); - // dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = rawCmdLength; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = rawCmdLength; checksumCmd.rememberRegion = req.region; checksumCmd.rememberAddress = req.address; checksumCmd.rememberLength = req.length; @@ -1623,51 +1616,45 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD void StarTrackerHandler::prepareTimeRequest() { uint32_t length = 0; arc_tm_pack_time_req(commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::preparePingRequest() { uint32_t length = 0; struct PingActionRequest pingRequest = {PING_ID}; arc_pack_ping_action_req(&pingRequest, commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareVersionRequest() { uint32_t length = 0; arc_tm_pack_version_req(commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareInterfaceRequest() { uint32_t length = 0; arc_tm_pack_interface_req(commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::preparePowerRequest() { uint32_t length = 0; arc_tm_pack_power_req(commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareSwitchToBootloaderCmd() { uint32_t length = 0; struct RebootActionRequest rebootReq {}; arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { @@ -1675,33 +1662,29 @@ void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { struct CameraActionRequest camReq; camReq.actionid = *commandData; arc_pack_camera_action_req(&camReq, commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareSolutionRequest() { uint32_t length = 0; arc_tm_pack_solution_req(commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareTemperatureRequest() { uint32_t length = 0; arc_tm_pack_temperature_req(commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareHistogramRequest() { uint32_t length = 0; arc_tm_pack_histogram_req(commandBuffer, &length); - // dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = commandBuffer; // dataLinkLayer.getEncodedFrame(); - rawPacketLen = length; // dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData, @@ -1712,9 +1695,8 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData if (commandDataLen > MAX_PATH_SIZE) { return FILE_PATH_TOO_LONG; } - std::string fullName(reinterpret_cast(commandData), commandDataLen); - result = paramSet.create(fullName, commandBuffer); + result = paramSet.create(commandBuffer); if (result != returnvalue::OK) { return result; } @@ -1847,7 +1829,7 @@ ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) { return SET_PARAM_FAILED; } if (internalState != InternalState::IDLE) { - handleStartup(rawFrame + 1 + PARAMETER_ID_OFFSET); + handleStartup(*(rawFrame + PARAMETER_ID_OFFSET)); } return returnvalue::OK; } @@ -2033,8 +2015,8 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame, return result; } -void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { - switch (*parameterId) { +void StarTrackerHandler::handleStartup(uint8_t parameterId) { + switch (parameterId) { case (startracker::ID::LOG_LEVEL): { bootState = FwBootState::LIMITS; break; @@ -2089,8 +2071,8 @@ void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { break; } default: { - sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected" - << " parameter ID" << std::endl; + sif::warning << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected" + << " parameter ID " << (int)parameterId << std::endl; break; } } diff --git a/linux/devices/startracker/StarTrackerHandler.h b/linux/devices/startracker/StarTrackerHandler.h index 735ff92c..56cc7b57 100644 --- a/linux/devices/startracker/StarTrackerHandler.h +++ b/linux/devices/startracker/StarTrackerHandler.h @@ -2,20 +2,20 @@ #define MISSION_DEVICES_STARTRACKERHANDLER_H_ #include -#include -#include #include #include "ArcsecDatalinkLayer.h" #include "ArcsecJsonParamBase.h" #include "OBSWConfig.h" +#include "StrComHandler.h" #include "arcsec/common/SLIP.h" #include "devices/powerSwitcherList.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/src/fsfw/serialize/SerializeAdapter.h" #include "fsfw/timemanager/Countdown.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" +#include "strJsonCommands.h" /** * @brief This is the device handler for the star tracker from arcsec. @@ -472,7 +472,7 @@ class StarTrackerHandler : public DeviceHandlerBase { /** * @brief Handles the startup state machine */ - void handleStartup(const uint8_t* parameterId); + void handleStartup(uint8_t parameterId); /** * @brief Handles telemtry replies and fills the appropriate dataset diff --git a/linux/devices/startracker/StrComHandler.cpp b/linux/devices/startracker/StrComHandler.cpp index 9dc3fd27..dfa917c3 100644 --- a/linux/devices/startracker/StrComHandler.cpp +++ b/linux/devices/startracker/StrComHandler.cpp @@ -1,6 +1,7 @@ #include #include #include +#include #include #include @@ -18,7 +19,10 @@ using namespace returnvalue; -StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {} +StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) { + lock = MutexFactory::instance()->createMutex(); + semaphore.acquire(); +} StrComHandler::~StrComHandler() {} @@ -35,51 +39,60 @@ ReturnValue_t StrComHandler::initialize() { ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) { ReturnValue_t result = returnvalue::OK; - semaphore.acquire(); while (true) { - switch (internalState) { - case InternalState::IDLE: { - semaphore.acquire(); + lock->lockMutex(); + state = InternalState::SLEEPING; + lock->unlockMutex(); + semaphore.acquire(); + switch (state) { + case InternalState::POLL_ONE_REPLY: { + // Stopwatch watch; + replyTimeout.setTimeout(200); + replyResult = readOneReply(static_cast(state)); + { + MutexGuard mg(lock); + replyWasReceived = true; + } break; } case InternalState::UPLOAD_IMAGE: { + replyTimeout.setTimeout(200); result = performImageUpload(); if (result == returnvalue::OK) { triggerEvent(IMAGE_UPLOAD_SUCCESSFUL); } else { triggerEvent(IMAGE_UPLOAD_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::DOWNLOAD_IMAGE: { + replyTimeout.setTimeout(200); result = performImageDownload(); if (result == returnvalue::OK) { triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL); } else { triggerEvent(IMAGE_DOWNLOAD_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::FLASH_READ: { + replyTimeout.setTimeout(200); result = performFlashRead(); if (result == returnvalue::OK) { triggerEvent(FLASH_READ_SUCCESSFUL); } else { triggerEvent(FLASH_READ_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::FIRMWARE_UPDATE: { + replyTimeout.setTimeout(200); result = performFirmwareUpdate(); if (result == returnvalue::OK) { triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL); } else { triggerEvent(FIRMWARE_UPDATE_FAILED); } - internalState = InternalState::IDLE; break; } default: @@ -90,6 +103,12 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) { } ReturnValue_t StrComHandler::startImageUpload(std::string fullname) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -100,13 +119,22 @@ ReturnValue_t StrComHandler::startImageUpload(std::string fullname) { if (not std::filesystem::exists(fullname)) { return FILE_NOT_EXISTS; } - internalState = InternalState::UPLOAD_IMAGE; + { + MutexGuard mg(lock); + state = InternalState::UPLOAD_IMAGE; + } semaphore.release(); terminate = false; return returnvalue::OK; } ReturnValue_t StrComHandler::startImageDownload(std::string path) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -117,7 +145,10 @@ ReturnValue_t StrComHandler::startImageDownload(std::string path) { return PATH_NOT_EXISTS; } downloadImage.path = path; - internalState = InternalState::DOWNLOAD_IMAGE; + { + MutexGuard mg(lock); + state = InternalState::DOWNLOAD_IMAGE; + } terminate = false; semaphore.release(); return returnvalue::OK; @@ -132,6 +163,12 @@ void StrComHandler::setDownloadImageName(std::string filename) { void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; } ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -144,7 +181,10 @@ ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) { } flashWrite.firstRegion = static_cast(startracker::FirmwareRegions::FIRST); flashWrite.lastRegion = static_cast(startracker::FirmwareRegions::LAST); - internalState = InternalState::FIRMWARE_UPDATE; + { + MutexGuard mg(lock); + state = InternalState::FIRMWARE_UPDATE; + } semaphore.release(); terminate = false; return returnvalue::OK; @@ -152,6 +192,12 @@ ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) { ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion, uint32_t length) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -164,7 +210,10 @@ ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegio } flashRead.startRegion = startRegion; flashRead.size = length; - internalState = InternalState::FLASH_READ; + { + MutexGuard mg(lock); + state = InternalState::FLASH_READ; + } semaphore.release(); terminate = false; return returnvalue::OK; @@ -187,7 +236,6 @@ ReturnValue_t StrComHandler::performImageDownload() { struct DownloadActionRequest downloadReq; uint32_t size = 0; uint32_t retries = 0; - const uint8_t* replyFrame; size_t replySize = 0; std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path, downloadImage.filename, timestamping); @@ -201,38 +249,38 @@ ReturnValue_t StrComHandler::performImageDownload() { file.close(); return returnvalue::OK; } - arc_pack_download_action_req(&downloadReq, commandBuffer, &size); - result = sendAndRead(size, downloadReq.position, &replyFrame, replySize); + arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size); + result = sendAndRead(size, downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uart::flushRxBuf(serialPort); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(replyFrame, replySize); + result = checkActionReply(replySize); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uart::flushRxBuf(serialPort); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkReplyPosition(replyFrame, downloadReq.position); + result = checkReplyPosition(downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uart::flushRxBuf(serialPort); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(replyFrame + IMAGE_DATA_OFFSET), CHUNK_SIZE); + file.write(reinterpret_cast(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE); #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print(downloadReq.position); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ @@ -247,8 +295,6 @@ ReturnValue_t StrComHandler::performImageUpload() { ReturnValue_t result = returnvalue::OK; uint32_t size = 0; uint32_t imageSize = 0; - const uint8_t* replyFrame; - size_t replySize = 0; struct UploadActionRequest uploadReq; uploadReq.position = 0; #ifdef XIPHOS_Q7S @@ -258,8 +304,7 @@ ReturnValue_t StrComHandler::performImageUpload() { #endif std::memset(&uploadReq.data, 0, sizeof(uploadReq.data)); if (not std::filesystem::exists(uploadImage.uploadFile)) { - triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(internalState)); - internalState = InternalState::IDLE; + triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(state)); return returnvalue::FAILED; } std::ifstream file(uploadImage.uploadFile, std::ifstream::binary); @@ -276,26 +321,29 @@ ReturnValue_t StrComHandler::performImageUpload() { #endif /* OBSW_DEBUG_STARTRACKER == 1 */ while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) { if (terminate) { - file.close(); return returnvalue::OK; } file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg); file.read(reinterpret_cast(uploadReq.data), SIZE_IMAGE_PART); - arc_pack_upload_action_req(&uploadReq, commandBuffer, &size); - result = sendAndRead(size, uploadReq.position, &replyFrame, replySize); + arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size); + result = sendAndRead(size, uploadReq.position); if (result != returnvalue::OK) { - file.close(); return returnvalue::FAILED; } - result = checkActionReply(replyFrame, replySize); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { - file.close(); return result; } #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ uploadReq.position++; + + // This does a bit of delaying roughly every second + if (uploadReq.position % 50 == 0) { + // Some grace time for other tasks + TaskFactory::delayTask(2); + } } std::memset(uploadReq.data, 0, sizeof(uploadReq.data)); uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART; @@ -303,12 +351,12 @@ ReturnValue_t StrComHandler::performImageUpload() { file.read(reinterpret_cast(uploadReq.data), remainder); file.close(); uploadReq.position++; - arc_pack_upload_action_req(&uploadReq, commandBuffer, &size); - result = sendAndRead(size, uploadReq.position, &replyFrame, replySize); + arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size); + result = sendAndRead(size, uploadReq.position); if (result != returnvalue::OK) { return returnvalue::FAILED; } - result = checkActionReply(replyFrame, replySize); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { return result; } @@ -340,16 +388,16 @@ ReturnValue_t StrComHandler::performFlashWrite() { uint32_t size = 0; uint32_t bytesWritten = 0; uint32_t fileSize = 0; - const uint8_t* replyFrame; - size_t replySize = 0; struct WriteActionRequest req; if (not std::filesystem::exists(flashWrite.fullname)) { - triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(internalState)); - internalState = InternalState::IDLE; + triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(state)); return returnvalue::FAILED; } std::ifstream file(flashWrite.fullname, std::ifstream::binary); + if (file.bad()) { + return returnvalue::FAILED; + } file.seekg(0, file.end); fileSize = file.tellg(); if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) { @@ -365,7 +413,6 @@ ReturnValue_t StrComHandler::performFlashWrite() { req.length = CHUNK_SIZE; for (uint32_t idx = 0; idx < fileChunks; idx++) { if (terminate) { - file.close(); return returnvalue::OK; } file.seekg(idx * CHUNK_SIZE, file.beg); @@ -375,21 +422,23 @@ ReturnValue_t StrComHandler::performFlashWrite() { bytesWritten = 0; } req.address = bytesWritten; - arc_pack_write_action_req(&req, commandBuffer, &size); - result = sendAndRead(size, req.address, &replyFrame, replySize); + arc_pack_write_action_req(&req, cmdBuf.data(), &size); + result = sendAndRead(size, req.address); if (result != returnvalue::OK) { - file.close(); return result; } - result = checkActionReply(replyFrame, replySize); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { - file.close(); return result; } bytesWritten += CHUNK_SIZE; #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print(idx * CHUNK_SIZE); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ + if (idx % 50 == 0) { + // Some grace time for other tasks + TaskFactory::delayTask(2); + } } uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE; file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg); @@ -402,12 +451,12 @@ ReturnValue_t StrComHandler::performFlashWrite() { req.address = bytesWritten; req.length = remainingBytes; bytesWritten += remainingBytes; - arc_pack_write_action_req(&req, commandBuffer, &size); - result = sendAndRead(size, req.address, &replyFrame, replySize); + arc_pack_write_action_req(&req, cmdBuf.data(), &size); + result = sendAndRead(size, req.address); if (result != returnvalue::OK) { return result; } - result = checkActionReply(replyFrame, replySize); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { return result; } @@ -431,8 +480,6 @@ ReturnValue_t StrComHandler::performFlashRead() { uint32_t bytesRead = 0; uint32_t size = 0; uint32_t retries = 0; - const uint8_t* replyFrame; - size_t replySize = 0; Timestamp timestamp; std::string fullname = Filenaming::generateAbsoluteFilename(flashRead.path, flashRead.filename, timestamping); @@ -451,28 +498,28 @@ ReturnValue_t StrComHandler::performFlashRead() { } else { req.length = CHUNK_SIZE; } - arc_pack_read_action_req(&req, commandBuffer, &size); - result = sendAndRead(size, req.address, &replyFrame, replySize); + arc_pack_read_action_req(&req, cmdBuf.data(), &size); + result = sendAndRead(size, req.address); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uart::flushRxBuf(serialPort); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(replyFrame, replySize); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uart::flushRxBuf(serialPort); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(replyFrame + FLASH_READ_DATA_OFFSET), req.length); + file.write(reinterpret_cast(replyPtr + FLASH_READ_DATA_OFFSET), req.length); bytesRead += req.length; req.address += req.length; if (req.address >= FLASH_REGION_SIZE) { @@ -488,51 +535,29 @@ ReturnValue_t StrComHandler::performFlashRead() { return returnvalue::OK; } -ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter, - const uint8_t** replyFrame, size_t& replyLen) { +ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) { ReturnValue_t result = returnvalue::OK; - uint8_t nextDelayMs = 1; - ReturnValue_t decResult = returnvalue::OK; const uint8_t* sendData; size_t txFrameLen = 0; - datalinkLayer.encodeFrame(commandBuffer, size, &sendData, txFrameLen); + datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen); int writeResult = write(serialPort, sendData, txFrameLen); if (writeResult < 0) { sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl; triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter); return returnvalue::FAILED; } - replyTimeout.resetTimer(); - while (true) { - handleSerialReception(); - result = datalinkLayer.checkRingBufForFrame(replyFrame, replyLen); - if (result == returnvalue::OK) { - return returnvalue::OK; - } - if (replyTimeout.hasTimedOut()) { - triggerEvent(STR_HELPER_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs()); - return returnvalue::FAILED; - } - TaskFactory::delayTask(nextDelayMs); - if (nextDelayMs < 32) { - nextDelayMs *= 2; - } - } - if (decResult != returnvalue::OK) { - triggerEvent(STR_HELPER_DEC_ERROR, decResult, failParameter); - return returnvalue::FAILED; - } - return returnvalue::OK; + + return readOneReply(failParameter); } -ReturnValue_t StrComHandler::checkActionReply(const uint8_t* rawFrame, size_t replySize) { - uint8_t type = str::getReplyFrameType(rawFrame); +ReturnValue_t StrComHandler::checkActionReply(size_t replySize) { + uint8_t type = str::getReplyFrameType(replyPtr); if (type != TMTC_ACTIONREPLY) { sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl; return INVALID_TYPE_ID; } - uint8_t status = str::getStatusField(rawFrame); + uint8_t status = str::getStatusField(replyPtr); if (status != ArcsecDatalinkLayer::STATUS_OK) { sif::warning << "StrHelper::checkActionReply: Status failure: " << static_cast(status) << std::endl; @@ -541,10 +566,9 @@ ReturnValue_t StrComHandler::checkActionReply(const uint8_t* rawFrame, size_t re return returnvalue::OK; } -ReturnValue_t StrComHandler::checkReplyPosition(const uint8_t* rawFrame, - uint32_t expectedPosition) { +ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) { uint32_t receivedPosition = 0; - std::memcpy(&receivedPosition, rawFrame + POS_OFFSET, sizeof(receivedPosition)); + std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition)); if (receivedPosition != expectedPosition) { triggerEvent(POSITION_MISMATCH, receivedPosition); return returnvalue::FAILED; @@ -589,11 +613,11 @@ ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) { } // Setting up UART parameters tty.c_cflag &= ~PARENB; // Clear parity bit - uart::setStopbits(tty, serCookie->getStopBits()); - uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + serial::setStopbits(tty, serCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - uart::enableRead(tty); - uart::ignoreCtrlLines(tty); + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); // Use non-canonical mode and clear echo flag tty.c_lflag &= ~(ICANON | ECHO); @@ -602,7 +626,7 @@ ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) { tty.c_cc[VTIME] = 0; tty.c_cc[VMIN] = 0; - uart::setBaudrate(tty, serCookie->getBaudrate()); + serial::setBaudrate(tty, serCookie->getBaudrate()); if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error [" << errno << ", " << strerror(errno) << std::endl; @@ -614,6 +638,14 @@ ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) { ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } + serial::flushRxBuf(serialPort); + const uint8_t* txFrame; size_t frameLen; datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen); @@ -623,6 +655,20 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa << std::endl; return returnvalue::FAILED; } + // Hacky, but the alternatives look bleak. The raw data contains the information we need + // and there are not too many special cases. + if (sendData[0] == TMTC_ACTIONREQ) { + // 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected. + if (sendData[1] == 7 or sendData[1] == 1) { + return returnvalue::OK; + } + } + { + MutexGuard mg(lock); + state = InternalState::POLL_ONE_REPLY; + } + // Unlock task to perform reply reading. + semaphore.release(); return returnvalue::OK; } @@ -633,13 +679,29 @@ ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requ } ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) { - return returnvalue::OK; + // Consider it a configuration error if the task is not done with a command -> reply cycle + // in time. + bool replyWasReceived = false; + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + replyWasReceived = this->replyWasReceived; + } + if (not replyWasReceived) { + *size = 0; + return returnvalue::OK; + } + if (replyResult == returnvalue::OK) { + *buffer = const_cast(replyPtr); + *size = replyLen; + } + return replyResult; } ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) { ReturnValue_t result = returnvalue::OK; - const uint8_t* replyFrame; - size_t replySize = 0; #if OBSW_DEBUG_STARTRACKER == 1 ProgressPrinter progressPrinter("Unlock and erase", to - from); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ @@ -649,17 +711,20 @@ ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) { for (uint32_t idx = from; idx <= to; idx++) { unlockReq.region = idx; unlockReq.code = startracker::region_secrets::secret[idx]; - arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size); - sendAndRead(size, unlockReq.region, &replyFrame, replySize); - result = checkActionReply(replyFrame, replySize); + arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size); + result = sendAndRead(size, unlockReq.region); + if (result != returnvalue::OK) { + return result; + } + result = checkActionReply(replyLen); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id " << static_cast(unlockReq.region) << std::endl; return result; } eraseReq.region = idx; - arc_pack_erase_action_req(&eraseReq, commandBuffer, &size); - result = sendAndRead(size, eraseReq.region, &replyFrame, replySize); + arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size); + result = sendAndRead(size, eraseReq.region); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id " << static_cast(eraseReq.region) << std::endl; @@ -686,9 +751,33 @@ ReturnValue_t StrComHandler::handleSerialReception() { << " bytes" << std::endl; return FAILED; } else if (bytesRead > 0) { - // sif::info << "Received " << bytesRead << " bytes from the PLOC Supervisor:" << std::endl; + // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl; // arrayprinter::print(recBuf.data(), bytesRead); datalinkLayer.feedData(recBuf.data(), bytesRead); } return OK; } + +ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) { + ReturnValue_t result; + uint32_t nextDelayMs = 1; + replyTimeout.resetTimer(); + while (true) { + handleSerialReception(); + result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen); + if (result == returnvalue::OK) { + return returnvalue::OK; + } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) { + triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter); + return DECODING_ERROR; + } + if (replyTimeout.hasTimedOut()) { + triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs()); + return RECEPTION_TIMEOUT; + } + TaskFactory::delayTask(nextDelayMs); + if (nextDelayMs < 32) { + nextDelayMs *= 2; + } + } +} diff --git a/linux/devices/startracker/StrComHandler.h b/linux/devices/startracker/StrComHandler.h index 3d9ddf21..85637c1f 100644 --- a/linux/devices/startracker/StrComHandler.h +++ b/linux/devices/startracker/StrComHandler.h @@ -28,24 +28,27 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public public: static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER; + static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0); //! [EXPORT] : [COMMENT] SD card specified in path string not mounted - static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0); + static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1); //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem - static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(1); + static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2); //! [EXPORT] : [COMMENT] Specified path does not exist - static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(2); + static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3); //! [EXPORT] : [COMMENT] Failed to create download image or read flash file - static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(3); + static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4); //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region - static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(4); + static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5); //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address - static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(5); + static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6); //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length - static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(6); + static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7); //! [EXPORT] : [COMMENT] Status field in reply signals error - static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(7); + static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8); //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type) - static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(8); + static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9); + static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10); + static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER; @@ -77,7 +80,7 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW); //! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout. //! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout - static const Event STR_HELPER_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW); + static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW); //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred //! P1: Return value of decoding function //! P2: Position of upload/download packet, or address of flash write/read request @@ -186,15 +189,23 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3; static const uint32_t FLASH_ERASE_DELAY = 500; - enum class InternalState { IDLE, UPLOAD_IMAGE, DOWNLOAD_IMAGE, FLASH_READ, FIRMWARE_UPDATE }; + enum class InternalState { + SLEEPING, + POLL_ONE_REPLY, + UPLOAD_IMAGE, + DOWNLOAD_IMAGE, + FLASH_READ, + FIRMWARE_UPDATE + }; - InternalState internalState = InternalState::IDLE; + InternalState state = InternalState::SLEEPING; ArcsecDatalinkLayer datalinkLayer; + MutexIF *lock; BinarySemaphore semaphore; - Countdown replyTimeout = Countdown(2000); + Countdown replyTimeout = Countdown(20); struct UploadImage { // Name including absolute path of image to upload @@ -239,9 +250,14 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public SdCardManager *sdcMan = nullptr; #endif - uint8_t commandBuffer[startracker::MAX_FRAME_SIZE]; + std::array cmdBuf{}; std::array recBuf{}; + bool replyWasReceived = false; + const uint8_t *replyPtr = nullptr; + size_t replyLen = 0; + ReturnValue_t replyResult = returnvalue::OK; + bool terminate = false; #ifdef EGSE @@ -304,22 +320,23 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public /** * @brief Sends packet to the star tracker and reads reply by using the communication * interface - * + * @details + * The reply frame is stored in the data link layer helper. A pointer to the start of the frame + * is assigned to the @replyPtr member of this class. The frame length will be assigned to + * the @replyLen member. * @param size Size of data beforehand written to the commandBuffer * @param parameter Parameter 2 of trigger event function - * @param delayMs Delay in milliseconds between send and receive call * * @return returnvalue::OK if successful, otherwise returnvalue::FAILED */ - ReturnValue_t sendAndRead(size_t size, uint32_t parameter, const uint8_t **replyFrame, - size_t &replyLen); + ReturnValue_t sendAndRead(size_t size, uint32_t parameter); /** * @brief Checks the header (type id and status fields) of the action reply * * @return returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED */ - ReturnValue_t checkActionReply(const uint8_t *rawFrame, size_t replySize); + ReturnValue_t checkActionReply(size_t replySize); /** * @brief Checks the position field in a star tracker upload/download reply. @@ -329,7 +346,7 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public * @return returnvalue::OK if received position matches expected position, otherwise * returnvalue::FAILED */ - ReturnValue_t checkReplyPosition(const uint8_t *rawFrame, uint32_t expectedPosition); + ReturnValue_t checkReplyPosition(uint32_t expectedPosition); #ifdef XIPHOS_Q7S /** @@ -348,6 +365,15 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public * */ ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to); + + /** + * The reply frame is stored in the data link layer helper. A pointer to the start of the frame + * is assigned to the @replyPtr member of this class. The frame length will be assigned to + * the @replyLen member. + * @param failParameter + * @return + */ + ReturnValue_t readOneReply(uint32_t failParameter); }; #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */ diff --git a/linux/devices/startracker/ArcsecJsonKeys.h b/linux/devices/startracker/arcsecJsonKeys.h similarity index 100% rename from linux/devices/startracker/ArcsecJsonKeys.h rename to linux/devices/startracker/arcsecJsonKeys.h diff --git a/linux/devices/startracker/StarTrackerJsonCommands.cpp b/linux/devices/startracker/strJsonCommands.cpp similarity index 99% rename from linux/devices/startracker/StarTrackerJsonCommands.cpp rename to linux/devices/startracker/strJsonCommands.cpp index 766a1624..0a47cb87 100644 --- a/linux/devices/startracker/StarTrackerJsonCommands.cpp +++ b/linux/devices/startracker/strJsonCommands.cpp @@ -1,6 +1,6 @@ -#include "StarTrackerJsonCommands.h" +#include "strJsonCommands.h" -#include "ArcsecJsonKeys.h" +#include "arcsecJsonKeys.h" Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {} diff --git a/linux/devices/startracker/StarTrackerJsonCommands.h b/linux/devices/startracker/strJsonCommands.h similarity index 100% rename from linux/devices/startracker/StarTrackerJsonCommands.h rename to linux/devices/startracker/strJsonCommands.h diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 1e8756e2..2bbb0e0b 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateEvents.h" @@ -172,7 +172,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_HELPER_REPLY_TIMEOUT_STRING = "STR_HELPER_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -617,16 +617,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_HELPER_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 4eff584d..bac4cde7 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-22 01:14:08 */ #include "translateObjects.h" @@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: diff --git a/mission/core/pollingSeqTables.cpp b/mission/core/pollingSeqTables.cpp index cb46bc24..523e5226 100644 --- a/mission/core/pollingSeqTables.cpp +++ b/mission/core/pollingSeqTables.cpp @@ -318,11 +318,23 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg } if (cfg.scheduleStr) { + // 2 COM cycles for full PST for STR. The STR requests 2 packets types in NORMAL mode, this + // ensures we always get an updated STR dataset for a regular normal mode cycle. thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, + DeviceHandlerIF::GET_READ); } bool enableAside = true; diff --git a/tmtc b/tmtc index c171654d..2263938b 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit c171654d2b18547249ee03ace3a4016e8837cf4a +Subproject commit 2263938b8b1324b309a44d70c291800050ff4178