eive/eive-obsw
eive/eive-obsw
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what the hell is wrong with the thing?
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This commit is contained in:
Robin Müller 2023-07-13 10:53:58 +02:00
parent 0fb85883a5
commit 863c0af2a1
Signed by: muellerr
GPG Key ID: A649FB78196E3849
4 changed files with 25 additions and 11 deletions
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19
linux/acs/StrComHandler.cpp
View File

@ -2,6 +2,7 @@
#include <fcntl.h> #include <fcntl.h>
#include <fsfw/filesystem/HasFileSystemIF.h> #include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/TaskFactory.h> #include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h> #include <fsfw/timemanager/Stopwatch.h>
#include <mission/acs/str/strHelpers.h> #include <mission/acs/str/strHelpers.h>
@ -23,6 +24,8 @@ extern "C" {
using namespace returnvalue; using namespace returnvalue;
static constexpr bool PACKET_WIRETAPPING = false;
StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) { StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
lock = MutexFactory::instance()->createMutex(); lock = MutexFactory::instance()->createMutex();
semaphore.acquire(); semaphore.acquire();
@ -51,7 +54,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
switch (state) { switch (state) {
case InternalState::POLL_ONE_REPLY: { case InternalState::POLL_ONE_REPLY: {
// Stopwatch watch; // Stopwatch watch;
replyTimeout.setTimeout(200); replyTimeout.setTimeout(400);
replyResult = readOneReply(static_cast<uint32_t>(state)); replyResult = readOneReply(static_cast<uint32_t>(state));
{ {
MutexGuard mg(lock); MutexGuard mg(lock);
@ -680,6 +683,10 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
const uint8_t* txFrame; const uint8_t* txFrame;
size_t frameLen; size_t frameLen;
datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen); datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
if(PACKET_WIRETAPPING) {
sif::debug << "Sendign STR frame" << std::endl;
arrayprinter::print(txFrame, frameLen);
}
ssize_t bytesWritten = write(serialPort, txFrame, frameLen); ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
if (bytesWritten != static_cast<ssize_t>(frameLen)) { if (bytesWritten != static_cast<ssize_t>(frameLen)) {
sif::warning << "StrComHandler: Sending packet failed" << std::endl; sif::warning << "StrComHandler: Sending packet failed" << std::endl;
@ -782,8 +789,10 @@ ReturnValue_t StrComHandler::handleSerialReception() {
<< std::endl; << std::endl;
return FAILED; return FAILED;
} else if (bytesRead > 0) { } else if (bytesRead > 0) {
// sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl; if(PACKET_WIRETAPPING) {
// arrayprinter::print(recBuf.data(), bytesRead); sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead);
}
datalinkLayer.feedData(recBuf.data(), bytesRead); datalinkLayer.feedData(recBuf.data(), bytesRead);
} }
return OK; return OK;
@ -797,6 +806,10 @@ ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
handleSerialReception(); handleSerialReception();
result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen); result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen);
if (result == returnvalue::OK) { if (result == returnvalue::OK) {
if(PACKET_WIRETAPPING) {
sif::debug << "Received STR reply frame" << std::endl;
arrayprinter::print(replyPtr, replyLen);
}
return returnvalue::OK; return returnvalue::OK;
} else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) { } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter); triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter);

13
mission/acs/str/StarTrackerHandler.cpp
View File

@ -352,7 +352,7 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
} }
case (FwBootState::SET_TIME): { case (FwBootState::SET_TIME): {
bootState = FwBootState::WAIT_FOR_EXECUTION; bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::SET_TIME; *id = startracker::SET_TIME_FROM_SYS_TIME;
return buildCommandFromCommand(*id, nullptr, 0); return buildCommandFromCommand(*id, nullptr, 0);
} }
case (FwBootState::LOGLEVEL): { case (FwBootState::LOGLEVEL): {
@ -465,7 +465,8 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
preparePingRequest(); preparePingRequest();
return returnvalue::OK; return returnvalue::OK;
} }
case (startracker::SET_TIME): { case (startracker::SET_TIME_FROM_SYS_TIME): {
// Might be buggy, need more answers from arcsec...
SetTimeActionRequest setTimeRequest{}; SetTimeActionRequest setTimeRequest{};
timeval tv; timeval tv;
Clock::getClock(&tv); Clock::getClock(&tv);
@ -674,7 +675,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2); startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::LOGLEVEL, 3, nullptr, this->insertInCommandAndReplyMap(startracker::LOGLEVEL, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2); startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::SET_TIME, 3, nullptr, this->insertInCommandAndReplyMap(startracker::SET_TIME_FROM_SYS_TIME, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2); startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::LOGSUBSCRIPTION, 3, nullptr, this->insertInCommandAndReplyMap(startracker::LOGSUBSCRIPTION, 3, nullptr,
startracker::MAX_FRAME_SIZE * 2 + 2); startracker::MAX_FRAME_SIZE * 2 + 2);
@ -890,7 +891,7 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
switch (startracker::getReplyFrameType(start)) { switch (startracker::getReplyFrameType(start)) {
case TMTC_ACTIONREPLY: { case TMTC_ACTIONREPLY: {
*foundLen = remainingSize; *foundLen = remainingSize;
arrayprinter::print(start, remainingSize); // arrayprinter::print(start, remainingSize);
return scanForActionReply(startracker::getId(start), foundId); return scanForActionReply(startracker::getId(start), foundId);
break; break;
} }
@ -923,7 +924,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t result = returnvalue::OK; ReturnValue_t result = returnvalue::OK;
switch (id) { switch (id) {
case (startracker::SET_TIME): { case (startracker::SET_TIME_FROM_SYS_TIME): {
result = handleActionReply(packet); result = handleActionReply(packet);
break; break;
} }
@ -1394,7 +1395,7 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceComm
break; break;
} }
case (ARC_ACTION_REQ_SETTIME_ID): { case (ARC_ACTION_REQ_SETTIME_ID): {
*foundId = startracker::SET_TIME; *foundId = startracker::SET_TIME_FROM_SYS_TIME;
break; break;
} }
case (startracker::ID::CHECKSUM): { case (startracker::ID::CHECKSUM): {

2
mission/acs/str/strHelpers.h
View File

@ -326,7 +326,7 @@ static const DeviceCommandId_t DEBUG_CAMERA = 83;
static const DeviceCommandId_t FIRMWARE_UPDATE = 84; static const DeviceCommandId_t FIRMWARE_UPDATE = 84;
static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85; static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85;
static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86; static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
static constexpr DeviceCommandId_t SET_TIME = 87; static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
static const DeviceCommandId_t NONE = 0xFFFFFFFF; static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION; static const uint32_t VERSION_SET_ID = REQ_VERSION;

2
tmtc

@ -1 +1 @@
Subproject commit 9be81f1725004b55e937718fbaddc4f4e4e74081 Subproject commit 1f2f2aac13b0b32c22f0a75e557743ad32f7dc70