fix STR bugs and improve code

- Reset reply size after returning a reply
- Reset data link layer and flush RX for regular commands and before
  performing special commands to ensure consistent start state
- Clean up DHB a bit
- Set STR dev to OFF in assembly when it is faulty.

linux/acs/StrComHandler.cpp

@@ -42,7 +42,6 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
   while (true) {
     lock->lockMutex();
     state = InternalState::SLEEPING;
-    datalinkLayer.reset();
     lock->unlockMutex();
     semaphore.acquire();
     switch (state) {
@@ -58,6 +57,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::UPLOAD_IMAGE: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performImageUpload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
@@ -68,6 +68,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::DOWNLOAD_IMAGE: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performImageDownload();
         if (result == returnvalue::OK) {
           triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
@@ -78,6 +79,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::FLASH_READ: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performFlashRead();
         if (result == returnvalue::OK) {
           triggerEvent(FLASH_READ_SUCCESSFUL);
@@ -88,6 +90,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
       }
       case InternalState::FIRMWARE_UPDATE: {
         replyTimeout.setTimeout(200);
+        resetReplyHandlingState();
         result = performFirmwareUpdate();
         if (result == returnvalue::OK) {
           triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL);
@@ -645,7 +648,8 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
       return BUSY;
     }
   }
-  serial::flushRxBuf(serialPort);
+  // Ensure consistent state.
+  resetReplyHandlingState();
 
   const uint8_t* txFrame;
   size_t frameLen;
@@ -697,6 +701,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
     *buffer = const_cast<uint8_t*>(replyPtr);
     *size = replyLen;
   }
+  replyLen = 0;
   return replyResult;
 }
 
@@ -781,3 +786,8 @@ ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) {
     }
   }
 }
+
+void StrComHandler::resetReplyHandlingState() {
+  serial::flushRxBuf(serialPort);
+  datalinkLayer.reset();
+}

linux/acs/StrComHandler.h

@@ -374,6 +374,8 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public
    * @return
    */
   ReturnValue_t readOneReply(uint32_t failParameter);
+
+  void resetReplyHandlingState();
 };
 
 #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

mission/acs/str/StarTrackerHandler.cpp

@@ -56,6 +56,49 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
 
 StarTrackerHandler::~StarTrackerHandler() {}
 
+void StarTrackerHandler::doStartUp() {
+  switch (startupState) {
+    case StartupState::IDLE:
+      startupState = StartupState::CHECK_PROGRAM;
+      return;
+    case StartupState::BOOT_BOOTLOADER:
+      // This step is required in case the star tracker is already in firmware mode to harmonize
+      // the device handler's submode to the star tracker's mode
+      return;
+    case StartupState::DONE:
+      if (jcfgCountdown.isBusy()) {
+        startupState = StartupState::WAIT_JCFG;
+        return;
+      }
+      startupState = StartupState::IDLE;
+      break;
+    case StartupState::WAIT_JCFG: {
+      if (jcfgCountdown.hasTimedOut()) {
+        startupState = StartupState::IDLE;
+        break;
+      }
+      return;
+    }
+    default:
+      return;
+  }
+  solutionSet.setReportingEnabled(true);
+  startupState = StartupState::DONE;
+  internalState = InternalState::IDLE;
+  setMode(_MODE_TO_ON);
+}
+
+void StarTrackerHandler::doShutDown() {
+  // If the star tracker is shutdown also stop all running processes in the image loader task
+  strHelper->stopProcess();
+  internalState = InternalState::IDLE;
+  startupState = StartupState::IDLE;
+  bootState = FwBootState::NONE;
+  solutionSet.setReportingEnabled(false);
+  reinitNextSetParam = false;
+  setMode(_MODE_POWER_DOWN);
+}
+
 ReturnValue_t StarTrackerHandler::initialize() {
   ReturnValue_t result = returnvalue::OK;
   result = DeviceHandlerBase::initialize();
@@ -236,49 +279,6 @@ void StarTrackerHandler::performOperationHook() {
 
 Submode_t StarTrackerHandler::getInitialSubmode() { return SUBMODE_BOOTLOADER; }
 
-void StarTrackerHandler::doStartUp() {
-  switch (startupState) {
-    case StartupState::IDLE:
-      startupState = StartupState::CHECK_PROGRAM;
-      return;
-    case StartupState::BOOT_BOOTLOADER:
-      // This step is required in case the star tracker is already in firmware mode to harmonize
-      // the device handler's submode to the star tracker's mode
-      return;
-    case StartupState::DONE:
-      if (jcfgCountdown.isBusy()) {
-        startupState = StartupState::WAIT_JCFG;
-        return;
-      }
-      startupState = StartupState::IDLE;
-      break;
-    case StartupState::WAIT_JCFG: {
-      if (jcfgCountdown.hasTimedOut()) {
-        startupState = StartupState::IDLE;
-        break;
-      }
-      return;
-    }
-    default:
-      return;
-  }
-  solutionSet.setReportingEnabled(true);
-  startupState = StartupState::DONE;
-  internalState = InternalState::IDLE;
-  setMode(_MODE_TO_ON);
-}
-
-void StarTrackerHandler::doShutDown() {
-  // If the star tracker is shutdown also stop all running processes in the image loader task
-  strHelper->stopProcess();
-  internalState = InternalState::IDLE;
-  startupState = StartupState::IDLE;
-  bootState = FwBootState::NONE;
-  solutionSet.setReportingEnabled(false);
-  reinitNextSetParam = false;
-  setMode(_MODE_POWER_DOWN);
-}
-
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   if (strHelperHandlingSpecialRequest) {
     return NOTHING_TO_SEND;
@@ -831,7 +831,6 @@ void StarTrackerHandler::bootBootloader() {
 ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = returnvalue::OK;
-  size_t bytesLeft = 0;
 
   if (remainingSize == 0) {
     *foundLen = remainingSize;
@@ -845,24 +844,24 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
 
   switch (startracker::getReplyFrameType(start)) {
     case TMTC_ACTIONREPLY: {
-      *foundLen = remainingSize - bytesLeft;
+      *foundLen = remainingSize;
-      result = scanForActionReply(startracker::getId(start), foundId);
+      return scanForActionReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_SETPARAMREPLY: {
-      *foundLen = remainingSize - bytesLeft;
+      *foundLen = remainingSize;
-      result = scanForSetParameterReply(startracker::getId(start), foundId);
+      return scanForSetParameterReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_PARAMREPLY: {
-      *foundLen = remainingSize - bytesLeft;
+      *foundLen = remainingSize;
-      result = scanForGetParameterReply(startracker::getId(start), foundId);
+      return scanForGetParameterReply(startracker::getId(start), foundId);
       break;
     }
     case TMTC_TELEMETRYREPLYA:
     case TMTC_TELEMETRYREPLY: {
-      *foundLen = remainingSize - bytesLeft;
+      *foundLen = remainingSize;
-      result = scanForTmReply(startracker::getId(start), foundId);
+      return scanForTmReply(startracker::getId(start), foundId);
       break;
     }
     default: {
@@ -870,9 +869,6 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
       result = returnvalue::FAILED;
     }
   }
-
-  remainingSize = bytesLeft;
-
   return result;
 }
 

mission/system/acs/StrAssembly.cpp

@@ -11,8 +11,13 @@ StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
 }
 
 ReturnValue_t StrAssembly::commandChildren(Mode_t mode, Submode_t submode) {
-  commandTable[0].setMode(mode);
+  // To ensure consistent state.
+  commandTable[0].setMode(MODE_OFF);
   commandTable[0].setSubmode(submode);
+  if (healthHelper.healthTable->getHealth(objects::STAR_TRACKER) != FAULTY) {
+    commandTable[0].setMode(mode);
+    commandTable[0].setSubmode(submode);
+  }
   HybridIterator<ModeListEntry> iter(commandTable.begin(), commandTable.end());
   executeTable(iter);
   return returnvalue::OK;

tmtc

@@ -1 +1 @@
-Subproject commit 5f87092465b3d298b9f66410d333e8069e78df95
+Subproject commit 0202c93252d71e9acc420dbb357a26ea0c46b760