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Merge remote-tracking branch 'origin/develop' into feature_com_pdec_fdir
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Robin Müller
2023-04-14 19:01:22 +02:00
parent b5e1e0c31b fc8a8ce5a9
commit 756ea6d90d
36 changed files with 240 additions and 152 deletions
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6
linux/ObjectFactory.cpp
View File

@ -17,8 +17,8 @@
#include <mission/payload/ScexDeviceHandler.h>
#include <mission/system/acs/SusAssembly.h>
#include <mission/system/acs/SusFdir.h>
#include <mission/system/fdir/RtdFdir.h>
#include <mission/system/objects/TcsBoardAssembly.h>
#include <mission/system/tcs/RtdFdir.h>
#include <mission/system/tcs/TcsBoardAssembly.h>
#include <mission/tcs/Max31865EiveHandler.h>
#include "OBSWConfig.h"
@ -27,8 +27,8 @@
#include "devices/gpioIds.h"
#include "eive/definitions.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/tcs/tcsModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"
#include "mission/tcs/defs.h"
void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,

12
linux/acs/AcsBoardPolling.cpp
View File

@ -122,13 +122,14 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
} else {
sif::warning << "AcsBoardPolling: Unknown ADIS type" << std::endl;
}
adis.replyResult = returnvalue::FAILED;
adis.performStartup = true;
} else if (req->mode == acs::SimpleSensorMode::OFF) {
adis.performStartup = false;
adis.ownReply.cfgWasSet = false;
adis.ownReply.dataWasSet = false;
adis.replyResult = returnvalue::OK;
}
adis.replyResult = returnvalue::FAILED;
adis.mode = req->mode;
}
return returnvalue::OK;
@ -144,10 +145,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode == acs::SimpleSensorMode::NORMAL) {
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
gyro.performStartup = true;
gyro.replyResult = returnvalue::FAILED;
} else {
gyro.ownReply.cfgWasSet = false;
gyro.replyResult = returnvalue::OK;
}
gyro.replyResult = returnvalue::FAILED;
gyro.mode = req->mode;
}
return returnvalue::OK;
@ -162,11 +164,12 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
mgm.replyResult = returnvalue::FAILED;
} else {
mgm.ownReply.dataWasSet = false;
mgm.replyResult = returnvalue::OK;
mgm.ownReply.temperatureWasSet = false;
}
mgm.replyResult = returnvalue::FAILED;
mgm.mode = req->mode;
}
return returnvalue::OK;
@ -181,10 +184,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
mgm.replyResult = returnvalue::FAILED;
} else {
mgm.ownReply.dataWasRead = false;
mgm.replyResult = returnvalue::OK;
}
mgm.replyResult = returnvalue::FAILED;
mgm.mode = req->mode;
}
return returnvalue::OK;

38
linux/acs/StrComHandler.cpp
View File

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

6
linux/acs/StrComHandler.h
View File

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

4
linux/acs/SusPolling.cpp
View File

@ -69,11 +69,13 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
if (susDevs[susIdx].mode != susReq->mode) {
if (susReq->mode == acs::SimpleSensorMode::NORMAL) {
susDevs[susIdx].performStartup = true;
susDevs[susIdx].replyResult = returnvalue::FAILED;
} else {
susDevs[susIdx].ownReply.cfgWasSet = false;
susDevs[susIdx].ownReply.dataWasSet = false;
// We are off now, but DHB wants a proper reply.
susDevs[susIdx].replyResult = returnvalue::OK;
}
susDevs[susIdx].replyResult = returnvalue::FAILED;
susDevs[susIdx].mode = susReq->mode;
}
if (state == InternalState::IDLE) {