introduced current program check

README.md

@@ -1145,6 +1145,8 @@ Password: raspberry
 To run the obsw perform the following steps:
 1. Build the cmake EGSE Configuration 
    * the sysroots for the EGSE can be found [here](https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/Software/egse&fileid=1190471)
+   * toolchain for linux host can be downloaded from [here](https://github.com/Pro/raspi-toolchain)
+   * toolchain for windows host from [here](https://gnutoolchains.com/raspberry/) (the raspios-buster-armhf toolchain is the right one for the EGSE)
 2. Disable the ser2net systemd service on the EGSE
 ````sh
 $ sudo systemctl stop ser2net.service

linux/devices/startracker/StarTrackerHandler.cpp

@@ -130,7 +130,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
 
   result = checkCommand(actionId);
   if (result != RETURN_OK) {
-      return result;
+    return result;
   }
 
   // Intercept image loader commands which do not follow the common DHB communication flow
@@ -241,11 +241,11 @@ void StarTrackerHandler::doStartUp() {
       }
       return;
     case StartupState::FAILED_FIRMWARE_BOOT:
-        startupState = StartupState::IDLE;
+      startupState = StartupState::IDLE;
-        // Though the star tracker failed to boot the firmware the device handler will go to
+      // Though the star tracker failed to boot the firmware the device handler will go to
-        // mode on. In bootloader mode the star tracker is still on and can e.g. perform firmware
+      // mode on. In bootloader mode the star tracker is still on and can e.g. perform firmware
-        // updates.
+      // updates.
-        break;
+      break;
     case StartupState::DONE:
       startupState = StartupState::IDLE;
       break;
@@ -267,7 +267,7 @@ void StarTrackerHandler::doOffActivity() { startupState = StartupState::IDLE; }
 
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   if (!bootCountdown.hasTimedOut()) {
-      return NOTHING_TO_SEND;
+    return NOTHING_TO_SEND;
   }
   switch (internalState) {
     case InternalState::CHECK_PROGRAM:
@@ -1761,13 +1761,15 @@ ReturnValue_t StarTrackerHandler::prepareUploadCentroidCommand(const uint8_t* co
   result = j.getValue(startracker::UploadCentroidKeys::x_uncorrected, &req.x_uncorrected);
   if (result != RETURN_OK) {
     sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
-                 << startracker::UploadCentroidKeys::x_uncorrected << " does not exist" << std::endl;
+                 << startracker::UploadCentroidKeys::x_uncorrected << " does not exist"
+                 << std::endl;
     return result;
   }
   result = j.getValue(startracker::UploadCentroidKeys::y_uncorrected, &req.y_uncorrected);
   if (result != RETURN_OK) {
     sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
-                 << startracker::UploadCentroidKeys::y_uncorrected << " does not exist" << std::endl;
+                 << startracker::UploadCentroidKeys::y_uncorrected << " does not exist"
+                 << std::endl;
     return result;
   }
   result = j.getValue(startracker::UploadCentroidKeys::x_corrected, &req.x_corrected);
@@ -2271,17 +2273,16 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
       // firmware program
       currentProgram = startracker::Program::BOOTLOADER;
       if (startupState == StartupState::STARTUP_CHECK) {
-        startupState = StartupState::BOOT;
+          startupState = StartupState::BOOT;
+      } else if (startupState == StartupState::FIRMWARE_CHECK) {
+        startupState = StartupState::FAILED_FIRMWARE_BOOT;
       }
-      else if (startupState == StartupState::FIRMWARE_CHECK) {
+      if (internalState == InternalState::CHECK_PROGRAM) {
-          startupState = StartupState::FAILED_FIRMWARE_BOOT;
+        // Firmware boot failed when trying to switch to normal mode
-      }
+        internalState = InternalState::IDLE;
-      if (internalState == InternalState::CHECK_PROGRAM){
+        sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware when "
-          // Firmware boot failed when trying to switch to normal mode
+                     << "trying to switch to normal mode" << std::endl;
-          internalState = InternalState::IDLE;
+        setMode(_MODE_TO_ON);
-          sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware when "
-                  << "trying to switch to normal mode" << std::endl;
-          setMode(_MODE_TO_ON);
       }
       break;
     case startracker::Program::FIRMWARE:
@@ -2425,12 +2426,12 @@ void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
 }
 
 ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
-    switch(actionId) {
+  switch (actionId) {
     case startracker::BOOT:
-        if (currentProgram != startracker::Program::BOOTLOADER) {
+      if (currentProgram != startracker::Program::BOOTLOADER) {
-            return STARTRACKER_ALREADY_BOOTED;
+        return STARTRACKER_ALREADY_BOOTED;
-        }
+      }
-        break;
+      break;
     case startracker::REQ_INTERFACE:
     case startracker::REQ_TIME:
     case startracker::SWITCH_TO_BOOTLOADER_PROGRAM:
@@ -2447,17 +2448,17 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
     case startracker::DOWNLOAD_MATCHED_STAR:
     case startracker::DOWNLOAD_DBIMAGE:
     case startracker::DOWNLOAD_BLOBPIXEL:
-        if (currentProgram != startracker::Program::FIRMWARE) {
+      if (currentProgram != startracker::Program::FIRMWARE) {
-            return STARTRACKER_RUNNING_BOOTLOADER;
+        return STARTRACKER_RUNNING_BOOTLOADER;
-        }
+      }
-        break;
+      break;
     case startracker::FIRMWARE_UPDATE:
-        if (currentProgram != startracker::Program::BOOTLOADER) {
+      if (currentProgram != startracker::Program::BOOTLOADER) {
-            return STARTRACKER_RUNNING_FIRMWARE;
+        return STARTRACKER_RUNNING_FIRMWARE;
-        }
+      }
-        break;
+      break;
     default:
-        break;
+      break;
-    }
+  }
-    return RETURN_OK;
+  return RETURN_OK;
 }

linux/devices/startracker/StarTrackerHandler.h

@@ -48,6 +48,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   void performOperationHook() override;
 
+  static const Submode_t SUBMODE_BOOTLOADER = 0;
+  static const Submode_t SUBMODE_FIRMWARE = 1;
+
  protected:
   void doStartUp() override;
   void doShutDown() override;