Merge pull request 'Store TLE presistent' (#789) from persistent-tle-store into dev-7.5.0

Reviewed-on: #789
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -19,6 +19,11 @@ will consitute of a breaking change warranting a new major release:
 ## Changed
 
 - ACS-Board default side changed to B-Side
+- The TLE uploaded now gets stored in a file on the filesystem. It will always be stored on
+  the current active SD Card. After a reboot, the TLE will be read from the filesystem.
+  A filesystem change via `prefSD` on bootup, can lead to the TLE not being read, even
+  though it is there.
+- Added action cmd to read the currently stored TLE.
 
 # [v7.4.0] 2023-11-30
 

bsp_q7s/em/emObjectFactory.cpp

@@ -175,7 +175,7 @@ void ObjectFactory::produce(void* args) {
   createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
                        power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
-  createAcsController(true, enableHkSets);
+  createAcsController(true, enableHkSets, *SdCardManager::instance());
   HeaterHandler* heaterHandler;
   createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
   createThermalController(*heaterHandler, true);

bsp_q7s/fmObjectFactory.cpp

@@ -130,6 +130,6 @@ void ObjectFactory::produce(void* args) {
 
   createMiscComponents();
   createThermalController(*heaterHandler, false);
-  createAcsController(true, enableHkSets);
+  createAcsController(true, enableHkSets, *SdCardManager::instance());
   satsystem::init(false);
 }

fsfw

@@ -1 +1 @@
-Subproject commit b28174db249cb33b541f665270fd6af14c382351
+Subproject commit 7187f2b5cdfe163bf7ed1a8fab48900d69f4c8bf

linux/ObjectFactory.cpp

@@ -335,8 +335,9 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
   scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 }
 
-AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets) {
-  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets);
+AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets,
+                                                  SdCardMountedIF& mountedIF) {
+  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets, mountedIF);
   if (connectSubsystem) {
     acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
   }

linux/ObjectFactory.h

@@ -31,7 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
 
 void gpioChecker(ReturnValue_t result, std::string output);
 
-AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
+AcsController* createAcsController(bool connectSubsystem, bool enableHkSets,
+                                   SdCardMountedIF& mountedIF);
 PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);
 
 }  // namespace ObjectFactory

mission/acs/defs.h

@@ -73,6 +73,8 @@ static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIG
 static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
 //! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old.
 static constexpr Event TLE_TOO_OLD = MAKE_EVENT(8, severity::INFO);
+//! [EXPORT] : [COMMENT] The TLE could not be read from the filesystem.
+static constexpr Event TLE_FILE_READ_FAILED = MAKE_EVENT(9, severity::LOW);
 
 extern const char* getModeStr(AcsMode mode);
 

mission/controller/AcsController.cpp

@@ -1,12 +1,9 @@
 #include "AcsController.h"
 
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <mission/acs/defs.h>
-#include <mission/config/torquer.h>
-
-AcsController::AcsController(object_id_t objectId, bool enableHkSets)
+AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF &sdcMan)
     : ExtendedControllerBase(objectId),
       enableHkSets(enableHkSets),
+      sdcMan(sdcMan),
       fusedRotationEstimation(&acsParameters),
       guidance(&acsParameters),
       safeCtrl(&acsParameters),
@@ -22,8 +19,7 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
       mekfData(this),
       ctrlValData(this),
       actuatorCmdData(this),
-      fusedRotRateData(this),
-      tleData(this) {}
+      fusedRotRateData(this) {}
 
 ReturnValue_t AcsController::initialize() {
   ReturnValue_t result = parameterHelper.initialize();
@@ -67,22 +63,27 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
       if (size != 69 * 2) {
         return INVALID_PARAMETERS;
       }
-      ReturnValue_t result = navigation.updateTle(data, data + 69);
+      ReturnValue_t result = updateTle(data, data + 69, false);
       if (result != returnvalue::OK) {
-        PoolReadGuard pg(&tleData);
-        navigation.updateTle(tleData.line1.value, tleData.line2.value);
         return result;
       }
-      {
-        PoolReadGuard pg(&tleData);
-        if (pg.getReadResult() == returnvalue::OK) {
-          std::memcpy(tleData.line1.value, data, 69);
-          std::memcpy(tleData.line2.value, data + 69, 69);
-          tleData.setValidity(true, true);
-        }
+      result = writeTleToFs(data);
+      if (result != returnvalue::OK) {
+        return result;
       }
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (READ_TLE): {
+      uint8_t tle[69 * 2] = {};
+      uint8_t line2[69] = {};
+      ReturnValue_t result = readTleFromFs(tle, line2);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      std::memcpy(tle + 69, line2, 69);
+      actionHelper.reportData(commandedBy, actionId, tle, 69 * 2);
+      return EXECUTION_FINISHED;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -130,6 +131,10 @@ void AcsController::performControlOperation() {
     }
     case InternalState::INITIAL_DELAY: {
       if (initialCountdown.hasTimedOut()) {
+        uint8_t line1[69] = {};
+        uint8_t line2[69] = {};
+        readTleFromFs(line1, line2);
+        updateTle(line1, line2, true);
         internalState = InternalState::READY;
       }
       return;
@@ -801,9 +806,6 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
   poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
-  // TLE Data
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1);
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2);
   return returnvalue::OK;
 }
 
@@ -1031,6 +1033,67 @@ void AcsController::copySusData() {
   }
 }
 
+ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line2, bool fromFile) {
+  ReturnValue_t result = navigation.updateTle(line1, line2);
+  if (result != returnvalue::OK) {
+    if (not fromFile) {
+      uint8_t fileLine1[69] = {};
+      uint8_t fileLine2[69] = {};
+      readTleFromFs(fileLine1, fileLine2);
+      navigation.updateTle(fileLine1, fileLine2);
+    }
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  // Clear existing TLE from file
+  std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc);
+  if (tleFile.is_open()) {
+    tleFile.write(reinterpret_cast<const char *>(tle), 69);
+    tleFile << "\n";
+    tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
+  } else {
+    return WRITE_FILE_FAILED;
+  }
+  tleFile.close();
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  std::error_code e;
+  if (std::filesystem::exists(path, e)) {
+    // Read existing TLE from file
+    std::fstream tleFile = std::fstream(path.c_str(), std::fstream::in);
+    if (tleFile.is_open()) {
+      std::string tleLine1, tleLine2;
+      getline(tleFile, tleLine1);
+      std::memcpy(line1, tleLine1.c_str(), 69);
+      getline(tleFile, tleLine2);
+      std::memcpy(line2, tleLine2.c_str(), 69);
+    } else {
+      triggerEvent(acs::TLE_FILE_READ_FAILED);
+      return READ_FILE_FAILED;
+    }
+    tleFile.close();
+  } else {
+    triggerEvent(acs::TLE_FILE_READ_FAILED);
+    return READ_FILE_FAILED;
+  }
+  return returnvalue::OK;
+}
+
 void AcsController::copyGyrData() {
   {
     PoolReadGuard pg(&sensorValues.gyr0AdisSet);

mission/controller/AcsController.h

@@ -4,15 +4,18 @@
 #include <eive/objects.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/coordinates/Sgp4Propagator.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
 #include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
+#include <mission/acs/defs.h>
 #include <mission/acs/imtqHelpers.h>
 #include <mission/acs/rwHelpers.h>
 #include <mission/acs/susMax1227Helpers.h>
+#include <mission/config/torquer.h>
 #include <mission/controller/acs/ActuatorCmd.h>
 #include <mission/controller/acs/FusedRotationEstimation.h>
 #include <mission/controller/acs/Guidance.h>
@@ -23,13 +26,18 @@
 #include <mission/controller/acs/control/PtgCtrl.h>
 #include <mission/controller/acs/control/SafeCtrl.h>
 #include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
+#include <mission/memory/SdCardMountedIF.h>
 #include <mission/utility/trace.h>
 
+#include <filesystem>
+#include <fstream>
+#include <optional>
+
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
  public:
   static constexpr dur_millis_t INIT_DELAY = 500;
 
-  AcsController(object_id_t objectId, bool enableHkSets);
+  AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);
 
   MessageQueueId_t getCommandQueue() const;
   ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
@@ -49,6 +57,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
   bool enableHkSets = false;
 
+  SdCardMountedIF& sdcMan;
+
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
   FusedRotationEstimation fusedRotationEstimation;
@@ -87,10 +97,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   static const DeviceCommandId_t RESET_MEKF = 0x1;
   static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
   static const DeviceCommandId_t UPDATE_TLE = 0x3;
+  static const DeviceCommandId_t READ_TLE = 0x4;
 
   static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
   //! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
   static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
+  //! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
+  static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
+  //! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
+  static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2);
 
   ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@@ -125,6 +140,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
                          const double* tgtRotRate);
 
+  ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
+  ReturnValue_t writeTleToFs(const uint8_t* tle);
+  ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);
+
+  const std::string TLE_FILE = "/conf/tle.txt";
+
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;
 
@@ -238,11 +259,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
   PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
 
-  // TLE Dataset
-  acsctrl::TleData tleData;
-  PoolEntry<uint8_t> line1 = PoolEntry<uint8_t>(69);
-  PoolEntry<uint8_t> line2 = PoolEntry<uint8_t>(69);
-
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);
 };

mission/controller/controllerdefinitions/AcsCtrlDefinitions.h

@@ -110,9 +110,6 @@ enum PoolIds : lp_id_t {
   ROT_RATE_ORTHOGONAL,
   ROT_RATE_PARALLEL,
   ROT_RATE_TOTAL,
-  // TLE
-  TLE_LINE_1,
-  TLE_LINE_2,
 };
 
 static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
@@ -126,7 +123,6 @@ static constexpr uint8_t MEKF_SET_ENTRIES = 3;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
 static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
-static constexpr uint8_t TLE_SET_ENTRIES = 2;
 
 /**
  * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@@ -299,16 +295,6 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
  private:
 };
 
-class TleData : public StaticLocalDataSet<TLE_SET_ENTRIES> {
- public:
-  TleData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, TLE_SET) {}
-
-  lp_vec_t<uint8_t, 69> line1 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
-  lp_vec_t<uint8_t, 69> line2 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
-
- private:
-};
-
 }  // namespace acsctrl
 
 #endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */