diff --git a/CHANGELOG.md b/CHANGELOG.md index 3ab7abc2..0404791f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,13 +16,40 @@ will consitute of a breaking change warranting a new major release: # [unreleased] +## Fixed + +- PAPB busy polling now implemented properly with an upper bound of how often the PAPB is allowed + to be busy before returning the BUSY returnvalue. Also propagate and check for that case properly. + Ideally, this will never be an issue and the PAPB VC interface should never block for a longer + period. +- The `mekfInvalidCounter` now resets on setting the STR to faulty. + ## Added - The event `MEKF_RECOVERY` will be triggered in case the `MEKF` does manage to recover itself. +- The persistent TM stores now have low priorities and behave like background threads now. This + should prevent them from blocking or slowing down the system even during dumps + (at least in theory). +- STR: Fix weird issues on datalink layer data reception which sometimes occur. +- Syrlinks FDIR: Fully allow FDIR to do more recoveries. Assembly should take care of preventing + the switch to go off. -## Fixed +## Changed -- The `mekfInvalidCounter` now resets on setting the STR to faulty. +- Rework FSFW OSALs to properly support regular scheduling (NICE priorities) and real-time + scheduling. +- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from + device handler. +- STR: Is now scheduled twice in ACS PST. +- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap + a separate UART COM interface anymore. +- TCS: Local pool variables are members now. +- Syrlinks: Create dedicated COM helper which uses a ring buffer to parse the Syrlinks datalinklayer + and should make communication more reliable even on high CPU loads. +- Syrlinks: Two communication cycles per PST. +- Fine-tuning of various task priorities. +- The CSP router now is scheduled with the `SCHED_RR` policy and the same priority as the PCDU + handlers as well. # [v1.39.1] 2023-03-22 diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp index 04285d29..1bb3b08e 100644 --- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp +++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 280 translations. + * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-23 10:28:33 + * Generated on: 2023-03-24 14:59:06 */ #include "translateEvents.h" @@ -173,7 +173,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -620,16 +620,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_COM_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp index 5b9996a0..5ad62831 100644 --- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp +++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 169 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-24 14:59:06 */ #include "translateObjects.h" @@ -50,7 +50,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -86,6 +86,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD"; const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ"; const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER"; +const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER"; const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF"; const char *DUMMY_COM_IF_STRING = "DUMMY_COM_IF"; const char *SCEX_UART_READER_STRING = "SCEX_UART_READER"; @@ -171,7 +172,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK"; const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK"; const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK"; const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE"; -const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE"; const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER"; const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE"; const char *NO_OBJECT_STRING = "NO_OBJECT"; @@ -267,7 +267,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: @@ -338,6 +338,8 @@ const char *translateObject(object_id_t object) { return RTD_15_IC18_IMTQ_STRING; case 0x445300A3: return SYRLINKS_HANDLER_STRING; + case 0x445300A4: + return SYRLINKS_COM_HANDLER_STRING; case 0x49000001: return ARDUINO_COM_IF_STRING; case 0x49000002: @@ -508,8 +510,6 @@ const char *translateObject(object_id_t object) { return CFDP_STORE_AND_TM_TASK_STRING; case 0x73040004: return DOWNLINK_RAM_STORE_STRING; - case 0x73500000: - return CCSDS_IP_CORE_BRIDGE_STRING; case 0x90000003: return THERMAL_TEMP_INSERTER_STRING; case 0xCAFECAFE: diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt index 2c1bae48..cf8fcacd 100644 --- a/bsp_q7s/CMakeLists.txt +++ b/bsp_q7s/CMakeLists.txt @@ -12,7 +12,6 @@ target_sources(${OBSW_NAME} PUBLIC main.cpp obsw.cpp) add_subdirectory(boardtest) add_subdirectory(boardconfig) -add_subdirectory(comIF) add_subdirectory(core) if(EIVE_Q7S_EM) diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in index 1dff8f7f..6f4e82e3 100644 --- a/bsp_q7s/OBSWConfig.h.in +++ b/bsp_q7s/OBSWConfig.h.in @@ -14,7 +14,6 @@ /*******************************************************************/ #define OBSW_ENABLE_PERIODIC_HK 0 -#define OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT 0 // This switch will cause the SW to command the EIVE system object to safe mode. This will // trigger a lot of events, so it can make sense to disable this for debugging purposes #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP 1 diff --git a/bsp_q7s/comIF/CMakeLists.txt b/bsp_q7s/comIF/CMakeLists.txt deleted file mode 100644 index 431972e8..00000000 --- a/bsp_q7s/comIF/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -target_sources(${OBSW_NAME} PRIVATE) diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index d2d7708a..03d5f36f 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -4,6 +4,8 @@ #include #include #include +#include +#include #include #include #include @@ -45,7 +47,6 @@ #include "linux/devices/ploc/PlocMemoryDumper.h" #include "linux/devices/ploc/PlocSupervisorHandler.h" #include "linux/devices/startracker/StarTrackerHandler.h" -#include "linux/devices/startracker/StrHelper.h" #include "linux/ipcore/AxiPtmeConfig.h" #include "linux/ipcore/PapbVcInterface.h" #include "linux/ipcore/PdecHandler.h" @@ -179,7 +180,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF); /* Communication interfaces */ - new CspComIF(objects::CSP_COM_IF); + new CspComIF(objects::CSP_COM_IF, "CSP_ROUTER", 60); *i2cComIF = new I2cComIF(objects::I2C_COM_IF); *uartComIF = new SerialComIF(objects::UART_COM_IF); *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF); @@ -592,16 +593,17 @@ void ObjectFactory::createSolarArrayDeploymentComponents(PowerSwitchIF& pwrSwitc void ObjectFactory::createSyrlinksComponents(PowerSwitchIF* pwrSwitcher) { auto* syrlinksUartCookie = - new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, uart::SYRLINKS_BAUD, + new SerialCookie(objects::SYRLINKS_HANDLER, q7s::UART_SYRLINKS_DEV, serial::SYRLINKS_BAUD, syrlinks::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); syrlinksUartCookie->setParityEven(); + new SyrlinksComHandler(objects::SYRLINKS_COM_HANDLER); auto* syrlinksAssy = new SyrlinksAssembly(objects::SYRLINKS_ASSY); syrlinksAssy->connectModeTreeParent(satsystem::com::SUBSYSTEM); auto syrlinksFdir = new SyrlinksFdir(objects::SYRLINKS_HANDLER); auto syrlinksHandler = - new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::UART_COM_IF, syrlinksUartCookie, - pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir); + new SyrlinksHandler(objects::SYRLINKS_HANDLER, objects::SYRLINKS_COM_HANDLER, + syrlinksUartCookie, pcdu::PDU1_CH1_SYRLINKS_12V, syrlinksFdir); syrlinksHandler->setPowerSwitcher(pwrSwitcher); syrlinksHandler->connectModeTreeParent(*syrlinksAssy); #if OBSW_DEBUG_SYRLINKS == 1 @@ -623,8 +625,8 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit mpsocGpioCookie->addGpio(gpioIds::ENABLE_MPSOC_UART, gpioConfigMPSoC); gpioChecker(gpioComIF->addGpios(mpsocGpioCookie), "PLOC MPSoC"); auto mpsocCookie = - new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, uart::PLOC_MPSOC_BAUD, - mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); + new SerialCookie(objects::PLOC_MPSOC_HANDLER, q7s::UART_PLOC_MPSOC_DEV, + serial::PLOC_MPSOC_BAUD, mpsoc::MAX_REPLY_SIZE, UartModes::NON_CANONICAL); mpsocCookie->setNoFixedSizeReply(); auto plocMpsocHelper = new PlocMPSoCHelper(objects::PLOC_MPSOC_HELPER); auto* mpsocHandler = new PlocMPSoCHandler( @@ -639,9 +641,9 @@ void ObjectFactory::createPayloadComponents(LinuxLibgpioIF* gpioComIF, PowerSwit auto supvGpioCookie = new GpioCookie; supvGpioCookie->addGpio(gpioIds::ENABLE_SUPV_UART, gpioConfigSupv); gpioComIF->addGpios(supvGpioCookie); - auto supervisorCookie = - new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, q7s::UART_PLOC_SUPERVSIOR_DEV, - uart::PLOC_SUPV_BAUD, supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL); + auto supervisorCookie = new SerialCookie(objects::PLOC_SUPERVISOR_HANDLER, + q7s::UART_PLOC_SUPERVSIOR_DEV, serial::PLOC_SUPV_BAUD, + supv::MAX_PACKET_SIZE * 20, UartModes::NON_CANONICAL); supervisorCookie->setNoFixedSizeReply(); auto supvHelper = new PlocSupvUartManager(objects::PLOC_SUPERVISOR_HELPER); auto* supvHandler = new PlocSupervisorHandler(objects::PLOC_SUPERVISOR_HANDLER, supervisorCookie, @@ -934,10 +936,10 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) { auto* strAssy = new StrAssembly(objects::STR_ASSY); strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM); auto* starTrackerCookie = - new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, uart::STAR_TRACKER_BAUD, + new SerialCookie(objects::STAR_TRACKER, q7s::UART_STAR_TRACKER_DEV, serial::STAR_TRACKER_BAUD, startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL); starTrackerCookie->setNoFixedSizeReply(); - StrHelper* strHelper = new StrHelper(objects::STR_HELPER); + StrComHandler* strComIF = new StrComHandler(objects::STR_COM_IF); const char* paramJsonFile = nullptr; #ifdef EGSE @@ -954,8 +956,8 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) { } auto strFdir = new StrFdir(objects::STAR_TRACKER); auto starTracker = - new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie, - paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V); + new StarTrackerHandler(objects::STAR_TRACKER, objects::STR_COM_IF, starTrackerCookie, + paramJsonFile, strComIF, pcdu::PDU1_CH2_STAR_TRACKER_5V); starTracker->setPowerSwitcher(pwrSwitcher); starTracker->connectModeTreeParent(*strAssy); starTracker->setCustomFdir(strFdir); diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp index bd9ee01c..828579ff 100644 --- a/bsp_q7s/core/scheduling.cpp +++ b/bsp_q7s/core/scheduling.cpp @@ -72,8 +72,9 @@ void scheduling::initTasks() { #if OBSW_ADD_SA_DEPL == 1 // Could add this to the core controller but the core controller does so many thing that I would // prefer to have the solar array deployment in a seprate task. - PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask( - "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); + PeriodicTaskIF* solarArrayDeplTask = + factory->createPeriodicTask("SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, + missedDeadlineFunc, &RR_SCHEDULING); result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER); if (result != returnvalue::OK) { scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER); @@ -81,7 +82,7 @@ void scheduling::initTasks() { #endif PeriodicTaskIF* coreCtrlTask = factory->createPeriodicTask( - "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); + "CORE_CTRL", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc, &RR_SCHEDULING); result = coreCtrlTask->addComponent(objects::CORE_CONTROLLER); if (result != returnvalue::OK) { scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER); @@ -89,7 +90,7 @@ void scheduling::initTasks() { /* TMTC Distribution */ PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask( - "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + "TC_DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc, &RR_SCHEDULING); #if OBSW_ADD_TCPIP_SERVERS == 1 #if OBSW_ADD_TMTC_UDP_SERVER == 1 result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER); @@ -120,7 +121,7 @@ void scheduling::initTasks() { #if OBSW_ADD_TCPIP_SERVERS == 1 #if OBSW_ADD_TMTC_UDP_SERVER == 1 PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask( - "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); + "UDP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK); @@ -128,7 +129,7 @@ void scheduling::initTasks() { #endif #if OBSW_ADD_TMTC_TCP_SERVER == 1 PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask( - "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); + "TCP_TMTC_POLLING", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK); @@ -136,8 +137,9 @@ void scheduling::initTasks() { #endif #endif - PeriodicTaskIF* genericSysTask = factory->createPeriodicTask( - "SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc); + PeriodicTaskIF* genericSysTask = + factory->createPeriodicTask("SYSTEM_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, + missedDeadlineFunc, &RR_SCHEDULING); result = genericSysTask->addComponent(objects::EIVE_SYSTEM); if (result != returnvalue::OK) { scheduling::printAddObjectError("EIVE_SYSTEM", objects::EIVE_SYSTEM); @@ -171,7 +173,7 @@ void scheduling::initTasks() { // Runs in IRQ mode, frequency does not really matter PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask( - "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); + "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING); result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER); if (result != returnvalue::OK) { scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER); @@ -179,50 +181,54 @@ void scheduling::initTasks() { #endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */ // All the TM store tasks run in permanent loops, frequency does not matter - PeriodicTaskIF* liveTmTask = - factory->createPeriodicTask("LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); + PeriodicTaskIF* liveTmTask = factory->createPeriodicTask( + "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr, &RR_SCHEDULING); result = liveTmTask->addComponent(objects::LIVE_TM_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK); } PeriodicTaskIF* logTmTask = factory->createPeriodicTask( - "LOG_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); + "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK); } PeriodicTaskIF* hkTmTask = factory->createPeriodicTask( - "HK_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); + "HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK); } PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask( - "CFDP_STORE_AND_TM", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); + "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr); result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK); } + // TODO: Use user priorities for this task. #if OBSW_ADD_CFDP_COMPONENTS == 1 - PeriodicTaskIF* cfdpTask = factory->createPeriodicTask( - "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc); + PeriodicTaskIF* cfdpTask = + factory->createPeriodicTask("CFDP_HANDLER", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, + missedDeadlineFunc, &RR_SCHEDULING); result = cfdpTask->addComponent(objects::CFDP_HANDLER); if (result != returnvalue::OK) { - scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER); + scheduling::printAddObjectError("CFDP", objects::CFDP_HANDLER); } #endif - PeriodicTaskIF* gpsTask = factory->createPeriodicTask( - "GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); + PeriodicTaskIF* gpsTask = + factory->createPeriodicTask("GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, + missedDeadlineFunc, &RR_SCHEDULING); result = gpsTask->addComponent(objects::GPS_CONTROLLER); if (result != returnvalue::OK) { scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER); } #if OBSW_ADD_ACS_BOARD == 1 - PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask( - "ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); + PeriodicTaskIF* acsBrdPolling = + factory->createPeriodicTask("ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, + 0.4, missedDeadlineFunc, &RR_SCHEDULING); result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK); @@ -230,16 +236,18 @@ void scheduling::initTasks() { #endif #if OBSW_ADD_RW == 1 - PeriodicTaskIF* rwPolling = factory->createPeriodicTask( - "RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); + PeriodicTaskIF* rwPolling = + factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, + 0.4, missedDeadlineFunc, &RR_SCHEDULING); result = rwPolling->addComponent(objects::RW_POLLING_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK); } #endif #if OBSW_ADD_MGT == 1 - PeriodicTaskIF* imtqPolling = factory->createPeriodicTask( - "IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); + PeriodicTaskIF* imtqPolling = + factory->createPeriodicTask("IMTQ_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, + 0.4, missedDeadlineFunc, &RR_SCHEDULING); result = imtqPolling->addComponent(objects::IMTQ_POLLING); if (result != returnvalue::OK) { scheduling::printAddObjectError("IMTQ_POLLING_TASK", objects::IMTQ_POLLING); @@ -247,16 +255,18 @@ void scheduling::initTasks() { #endif #if OBSW_ADD_SUN_SENSORS == 1 - PeriodicTaskIF* susPolling = factory->createPeriodicTask( - "SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); + PeriodicTaskIF* susPolling = + factory->createPeriodicTask("SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, + 0.4, missedDeadlineFunc, &RR_SCHEDULING); result = susPolling->addComponent(objects::SUS_POLLING_TASK); if (result != returnvalue::OK) { scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK); } #endif - PeriodicTaskIF* acsSysTask = factory->createPeriodicTask( - "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc); + PeriodicTaskIF* acsSysTask = + factory->createPeriodicTask("ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, + missedDeadlineFunc, &RR_SCHEDULING); result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM); if (result != returnvalue::OK) { scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM); @@ -283,7 +293,7 @@ void scheduling::initTasks() { } PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask( - "TCS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc); + "TCS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc, &RR_SCHEDULING); scheduling::scheduleRtdSensors(tcsSystemTask); result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM); if (result != returnvalue::OK) { @@ -306,27 +316,42 @@ void scheduling::initTasks() { } #endif -#if OBSW_ADD_STAR_TRACKER == 1 - PeriodicTaskIF* strHelperTask = factory->createPeriodicTask( - "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); - result = strHelperTask->addComponent(objects::STR_HELPER); +#if OBSW_ADD_SYRLINKS == 1 + PeriodicTaskIF* syrlinksCom = factory->createPeriodicTask( + "SYRLINKS_COM", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); + result = syrlinksCom->addComponent(objects::SYRLINKS_COM_HANDLER); if (result != returnvalue::OK) { - scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER); + scheduling::printAddObjectError("SYRLINKS_COM", objects::SYRLINKS_COM_HANDLER); + } +#endif + +#if OBSW_ADD_STAR_TRACKER == 1 + // Relatively high priority to make sure STR COM works well. + PeriodicTaskIF* strHelperTask = + factory->createPeriodicTask("STR_HELPER", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, + missedDeadlineFunc, &RR_SCHEDULING); + result = strHelperTask->addComponent(objects::STR_COM_IF); + if (result != returnvalue::OK) { + scheduling::printAddObjectError("STR_HELPER", objects::STR_COM_IF); } #endif /* OBSW_ADD_STAR_TRACKER == 1 */ + // TODO: Use regular scheduler for this task #if OBSW_ADD_PLOC_MPSOC == 1 - PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask( - "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + PeriodicTaskIF* mpsocHelperTask = + factory->createPeriodicTask("PLOC_MPSOC_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, + missedDeadlineFunc); result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER); if (result != returnvalue::OK) { scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER); } #endif /* OBSW_ADD_PLOC_MPSOC */ + // TODO: Use regular scheduler for this task #if OBSW_ADD_PLOC_SUPERVISOR == 1 - PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask( - "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc); + PeriodicTaskIF* supvHelperTask = + factory->createPeriodicTask("PLOC_SUPV_HELPER", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, + missedDeadlineFunc); result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER); if (result != returnvalue::OK) { scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER); @@ -334,7 +359,7 @@ void scheduling::initTasks() { #endif /* OBSW_ADD_PLOC_SUPERVISOR */ PeriodicTaskIF* plTask = factory->createPeriodicTask( - "PL_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); + "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc, &RR_SCHEDULING); plTask->addComponent(objects::CAM_SWITCHER); scheduling::addMpsocSupvHandlers(plTask); scheduling::scheduleScexDev(plTask); @@ -401,6 +426,9 @@ void scheduling::initTasks() { #if OBSW_ADD_ACS_BOARD == 1 acsBrdPolling->startTask(); #endif +#if OBSW_ADD_SYRLINKS == 1 + syrlinksCom->startTask(); +#endif #if OBSW_ADD_MGT == 1 imtqPolling->startTask(); #endif @@ -455,8 +483,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction #else static constexpr float acsPstPeriod = 0.4; #endif - FixedTimeslotTaskIF* acsTcsPst = factory.createFixedTimeslotTask( - "ACS_TCS_PST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, acsPstPeriod, missedDeadlineFunc); + FixedTimeslotTaskIF* acsTcsPst = + factory.createFixedTimeslotTask("ACS_TCS_PST", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, + acsPstPeriod, missedDeadlineFunc, &RR_SCHEDULING); result = pst::pstTcsAndAcs(acsTcsPst, cfg); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { @@ -471,7 +500,7 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction /* Polling Sequence Table Default */ #if OBSW_ADD_SPI_TEST_CODE == 0 FixedTimeslotTaskIF* syrlinksPst = factory.createFixedTimeslotTask( - "SYRLINKS", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); + "SYRLINKS", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc, &RR_SCHEDULING); result = pst::pstSyrlinks(syrlinksPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { @@ -485,8 +514,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction #endif #if OBSW_ADD_I2C_TEST_CODE == 0 - FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask( - "I2C_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.4, missedDeadlineFunc); + FixedTimeslotTaskIF* i2cPst = + factory.createFixedTimeslotTask("I2C_PS_PST", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.6, + missedDeadlineFunc, &RR_SCHEDULING); result = pst::pstI2cProcessingSystem(i2cPst); if (result != returnvalue::OK) { if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { @@ -499,8 +529,9 @@ void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction } #endif - FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask( - "GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc); + FixedTimeslotTaskIF* gomSpacePstTask = + factory.createFixedTimeslotTask("GS_PST_TASK", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, + 0.5, missedDeadlineFunc, &RR_SCHEDULING); result = pst::pstGompaceCan(gomSpacePstTask); if (result != returnvalue::OK) { if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) { @@ -514,8 +545,9 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction std::vector& taskVec) { ReturnValue_t result = returnvalue::OK; /* PUS Services */ - PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask( - "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc); + PeriodicTaskIF* pusHighPrio = + factory.createPeriodicTask("PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, + missedDeadlineFunc, &RR_SCHEDULING); result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION); if (result != returnvalue::OK) { scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION); @@ -526,16 +558,17 @@ void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction } result = pusHighPrio->addComponent(objects::EVENT_MANAGER); if (result != returnvalue::OK) { - scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER); + scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER); } result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT); if (result != returnvalue::OK) { - scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT); + scheduling::printAddObjectError("PUS_TIME", objects::PUS_SERVICE_9_TIME_MGMT); } taskVec.push_back(pusHighPrio); - PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask( - "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc); + PeriodicTaskIF* pusMedPrio = + factory.createPeriodicTask("PUS_MED_PRIO", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, + missedDeadlineFunc, &RR_SCHEDULING); result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING); if (result != returnvalue::OK) { scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING); diff --git a/common/config/devConf.h b/common/config/devConf.h index 27167397..de33cf4a 100644 --- a/common/config/devConf.h +++ b/common/config/devConf.h @@ -63,7 +63,7 @@ static constexpr dur_millis_t ACS_BOARD_CS_TIMEOUT = 50 * CS_FACTOR; } // namespace spi -namespace uart { +namespace serial { static constexpr size_t HYPERION_GPS_REPLY_MAX_BUFFER = 1024; static constexpr UartBaudRate SYRLINKS_BAUD = UartBaudRate::RATE_38400; @@ -73,6 +73,6 @@ static constexpr UartBaudRate PLOC_MPSOC_BAUD = UartBaudRate::RATE_115200; static constexpr UartBaudRate PLOC_SUPV_BAUD = UartBaudRate::RATE_921600; static constexpr UartBaudRate STAR_TRACKER_BAUD = UartBaudRate::RATE_921600; -} // namespace uart +} // namespace serial #endif /* COMMON_CONFIG_DEVCONF_H_ */ diff --git a/common/config/eive/eventSubsystemIds.h b/common/config/eive/eventSubsystemIds.h index bbe9569a..624cd317 100644 --- a/common/config/eive/eventSubsystemIds.h +++ b/common/config/eive/eventSubsystemIds.h @@ -39,6 +39,7 @@ enum : uint8_t { TCS_CONTROLLER = 141, COM_SUBSYSTEM = 142, PERSISTENT_TM_STORE = 143, + SYRLINKS_COM = 144, COMMON_SUBSYSTEM_ID_END }; diff --git a/common/config/eive/objects.h b/common/config/eive/objects.h index e22133e2..667067bb 100644 --- a/common/config/eive/objects.h +++ b/common/config/eive/objects.h @@ -62,7 +62,7 @@ enum commonObjects : uint32_t { RAD_SENSOR = 0x443200A5, PLOC_UPDATER = 0x44330000, PLOC_MEMORY_DUMPER = 0x44330001, - STR_HELPER = 0x44330002, + STR_COM_IF = 0x44330002, PLOC_MPSOC_HELPER = 0x44330003, AXI_PTME_CONFIG = 0x44330004, PTME_CONFIG = 0x44330005, @@ -123,8 +123,7 @@ enum commonObjects : uint32_t { SUS_11_R_LOC_XBYMZB_PT_ZB = 0x44120043, SYRLINKS_HANDLER = 0x445300A3, - // might be obsolete, was not used in Q7S FM SW - // CCSDS_IP_CORE_BRIDGE = 0x73500000, + SYRLINKS_COM_HANDLER = 0x445300A4, /* 0x49 ('I') for Communication Interfaces */ ACS_BOARD_POLLING_TASK = 0x49060004, diff --git a/fsfw b/fsfw index 227524a2..b814e719 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 227524a21da755d125bcb1a5ff67bcbc452f8cf9 +Subproject commit b814e7198f720cad0fb063f54644d5dbc92c165c diff --git a/generators/bsp_hosted_events.csv b/generators/bsp_hosted_events.csv index 6d7d32a9..a6ef0d08 100644 --- a/generators/bsp_hosted_events.csv +++ b/generators/bsp_hosted_events.csv @@ -156,23 +156,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h -12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h -12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h -12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h -12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h -12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h -12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h -12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h -12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h -12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h -12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h -12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h -12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h -12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h -12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h -12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h +12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h +12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h +12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h +12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h +12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h +12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h +12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h +12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h +12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h +12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12511;0x30df;STR_COM_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h +12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h +12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h +12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h +12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h +12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h @@ -240,7 +240,6 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h 13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h -13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h 13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h 13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h diff --git a/generators/bsp_hosted_objects.csv b/generators/bsp_hosted_objects.csv index 12a9ffb1..a30fc9d8 100644 --- a/generators/bsp_hosted_objects.csv +++ b/generators/bsp_hosted_objects.csv @@ -42,7 +42,7 @@ 0x443200A5;RAD_SENSOR 0x44330000;PLOC_UPDATER 0x44330001;PLOC_MEMORY_DUMPER -0x44330002;STR_HELPER +0x44330002;STR_COM_IF 0x44330003;PLOC_MPSOC_HELPER 0x44330004;AXI_PTME_CONFIG 0x44330005;PTME_CONFIG @@ -78,6 +78,7 @@ 0x44420030;RTD_14_IC17_TCS_BOARD 0x44420031;RTD_15_IC18_IMTQ 0x445300A3;SYRLINKS_HANDLER +0x445300A4;SYRLINKS_COM_HANDLER 0x49000001;ARDUINO_COM_IF 0x49000002;DUMMY_COM_IF 0x49010006;SCEX_UART_READER @@ -163,7 +164,6 @@ 0x73040002;HK_STORE_AND_TM_TASK 0x73040003;CFDP_STORE_AND_TM_TASK 0x73040004;DOWNLINK_RAM_STORE -0x73500000;CCSDS_IP_CORE_BRIDGE 0x90000003;THERMAL_TEMP_INSERTER 0xCAFECAFE;DUMMY_INTERFACE 0xFFFFFFFF;NO_OBJECT diff --git a/generators/bsp_hosted_returnvalues.csv b/generators/bsp_hosted_returnvalues.csv index 243ff603..a5488056 100644 --- a/generators/bsp_hosted_returnvalues.csv +++ b/generators/bsp_hosted_returnvalues.csv @@ -190,8 +190,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x2207;TMF_AllDeleted;No description;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h 0x2208;TMF_InvalidData;No description;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h 0x2209;TMF_NotReady;No description;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h -0x2401;MT_NoPacketFound;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h -0x2402;MT_PossiblePacketLoss;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h +0x2401;MT_TooDetailedRequest;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h +0x2402;MT_TooGeneralRequest;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h 0x2403;MT_NoMatch;No description;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h 0x2404;MT_Full;No description;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h 0x2405;MT_NewNodeCreated;No description;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h @@ -321,6 +321,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x3404;DC_InvalidCookieType;No description;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h 0x3405;DC_NotActive;No description;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h 0x3406;DC_TooMuchData;No description;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h +0x3407;DC_Busy;No description;7;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h 0x3601;CFDP_InvalidTlvType;No description;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h 0x3602;CFDP_InvalidDirectiveField;No description;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h 0x3603;CFDP_InvalidPduDatafieldLen;No description;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h @@ -370,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h -0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h -0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h +0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h +0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h @@ -401,9 +402,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h -0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h -0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h -0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h +0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h +0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h +0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h @@ -456,19 +457,14 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x5d03;GOMS_InvalidParamSize;No description;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d04;GOMS_InvalidPayloadSize;No description;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d05;GOMS_UnknownReplyId;No description;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h -0x5da0;GOMS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da1;GOMS_InvalidRampTime;Action Message with invalid ramp time was received.;161;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da2;GOMS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da3;GOMS_ExecutionFailed;Command execution failed;163;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da4;GOMS_CrcError;Reaction wheel reply has invalid crc;164;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da5;GOMS_ValueNotRead;No description;165;GOM_SPACE_HANDLER;mission/devices/RwHandler.h 0x60a0;CCSDS_CommandNotImplemented;Received action message with unknown action id;160;CCSDS_HANDLER;mission/tmtc/CcsdsIpCoreHandler.h 0x63a0;NVMB_KeyNotExists;Specified key does not exist in json file;160;NVM_PARAM_BASE;mission/memory/NvmParameterBase.h -0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h +0x66a0;SADPL_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a1;SADPL_InvalidRampTime;Action Message with invalid ramp time was received.;161;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a2;SADPL_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a3;SADPL_ExecutionFailed;Command execution failed;163;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a4;SADPL_CrcError;Reaction wheel reply has invalid crc;164;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a5;SADPL_ValueNotRead;No description;165;SA_DEPL_HANDLER;mission/devices/RwHandler.h 0x6900;ACSCTRL_FileDeletionFailed;No description;0;ACS_CTRL;mission/controller/AcsController.h 0x6a02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h 0x6a03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h diff --git a/generators/bsp_hosted_subsystems.csv b/generators/bsp_hosted_subsystems.csv index 02e8acd1..83d9bdbc 100644 --- a/generators/bsp_hosted_subsystems.csv +++ b/generators/bsp_hosted_subsystems.csv @@ -59,3 +59,4 @@ 141;TCS_CONTROLLER 142;COM_SUBSYSTEM 143;PERSISTENT_TM_STORE +144;SYRLINKS_COM diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv index 6d7d32a9..a6ef0d08 100644 --- a/generators/bsp_q7s_events.csv +++ b/generators/bsp_q7s_events.csv @@ -156,23 +156,23 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 12409;0x3079;WRITE_SYSCALL_ERROR_PDEC;HIGH;No description;linux/ipcore/PdecHandler.h 12410;0x307a;PDEC_RESET_FAILED;HIGH;Failed to pull PDEC reset to low;linux/ipcore/PdecHandler.h 12411;0x307b;OPEN_IRQ_FILE_FAILED;HIGH;Failed to open the IRQ uio file;linux/ipcore/PdecHandler.h -12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrHelper.h -12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrHelper.h -12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrHelper.h -12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrHelper.h -12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrHelper.h -12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrHelper.h -12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrHelper.h -12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrHelper.h -12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrHelper.h -12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrHelper.h -12511;0x30df;STR_HELPER_NO_REPLY;LOW;Star tracker did not send replies (maybe device is powered off) P1: Position of upload or download packet for which no reply was sent;linux/devices/startracker/StrHelper.h -12512;0x30e0;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrHelper.h -12513;0x30e1;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrHelper.h -12514;0x30e2;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrHelper.h -12515;0x30e3;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h -12516;0x30e4;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrHelper.h +12500;0x30d4;IMAGE_UPLOAD_FAILED;LOW;Image upload failed;linux/devices/startracker/StrComHandler.h +12501;0x30d5;IMAGE_DOWNLOAD_FAILED;LOW;Image download failed;linux/devices/startracker/StrComHandler.h +12502;0x30d6;IMAGE_UPLOAD_SUCCESSFUL;LOW;Uploading image to star tracker was successfulop;linux/devices/startracker/StrComHandler.h +12503;0x30d7;IMAGE_DOWNLOAD_SUCCESSFUL;LOW;Image download was successful;linux/devices/startracker/StrComHandler.h +12504;0x30d8;FLASH_WRITE_SUCCESSFUL;LOW;Finished flash write procedure successfully;linux/devices/startracker/StrComHandler.h +12505;0x30d9;FLASH_READ_SUCCESSFUL;LOW;Finished flash read procedure successfully;linux/devices/startracker/StrComHandler.h +12506;0x30da;FLASH_READ_FAILED;LOW;Flash read procedure failed;linux/devices/startracker/StrComHandler.h +12507;0x30db;FIRMWARE_UPDATE_SUCCESSFUL;LOW;Firmware update was successful;linux/devices/startracker/StrComHandler.h +12508;0x30dc;FIRMWARE_UPDATE_FAILED;LOW;Firmware update failed;linux/devices/startracker/StrComHandler.h +12509;0x30dd;STR_HELPER_READING_REPLY_FAILED;LOW;Failed to read communication interface reply data P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12510;0x30de;STR_HELPER_COM_ERROR;LOW;Unexpected stop of decoding sequence P1: Return code of failed communication interface read call P1: Upload/download position for which the read call failed;linux/devices/startracker/StrComHandler.h +12511;0x30df;STR_COM_REPLY_TIMEOUT;LOW;Star tracker did not send a valid reply for a certain timeout. P1: Position of upload or download packet for which the packet wa sent. P2: Timeout;linux/devices/startracker/StrComHandler.h +12513;0x30e1;STR_HELPER_DEC_ERROR;LOW;Error during decoding of received reply occurred P1: Return value of decoding function P2: Position of upload/download packet, or address of flash write/read request;linux/devices/startracker/StrComHandler.h +12514;0x30e2;POSITION_MISMATCH;LOW;Position mismatch P1: The expected position and thus the position for which the image upload/download failed;linux/devices/startracker/StrComHandler.h +12515;0x30e3;STR_HELPER_FILE_NOT_EXISTS;LOW;Specified file does not exist P1: Internal state of str helper;linux/devices/startracker/StrComHandler.h +12516;0x30e4;STR_HELPER_SENDING_PACKET_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h +12517;0x30e5;STR_HELPER_REQUESTING_MSG_FAILED;LOW;No description;linux/devices/startracker/StrComHandler.h 12600;0x3138;MPSOC_FLASH_WRITE_FAILED;LOW;Flash write fails;linux/devices/ploc/PlocMPSoCHelper.h 12601;0x3139;MPSOC_FLASH_WRITE_SUCCESSFUL;LOW;Flash write successful;linux/devices/ploc/PlocMPSoCHelper.h 12602;0x313a;MPSOC_SENDING_COMMAND_FAILED;LOW;No description;linux/devices/ploc/PlocMPSoCHelper.h @@ -240,7 +240,6 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path 13630;0x353e;SUPV_UPDATE_PROGRESS;INFO;Will be triggered every 5 percent of the update progress. P1: First byte percent, third and fourth byte Sequence Count, P2: Bytes written;linux/devices/ploc/PlocSupvUartMan.h 13631;0x353f;HDLC_FRAME_REMOVAL_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h 13632;0x3540;HDLC_CRC_ERROR;INFO;No description;linux/devices/ploc/PlocSupvUartMan.h -13700;0x3584;FDIR_REACTION_IGNORED;MEDIUM;No description;mission/devices/devicedefinitions/SyrlinksDefinitions.h 13701;0x3585;TX_ON;INFO;Transmitter is on now. P1: Submode, P2: Current default datarate.;mission/devices/devicedefinitions/SyrlinksDefinitions.h 13702;0x3586;TX_OFF;INFO;Transmitter is off now.;mission/devices/devicedefinitions/SyrlinksDefinitions.h 13800;0x35e8;MISSING_PACKET;LOW;No description;mission/devices/devicedefinitions/ScexDefinitions.h diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv index c90f83ee..68be8ef2 100644 --- a/generators/bsp_q7s_objects.csv +++ b/generators/bsp_q7s_objects.csv @@ -41,7 +41,7 @@ 0x443200A5;RAD_SENSOR 0x44330000;PLOC_UPDATER 0x44330001;PLOC_MEMORY_DUMPER -0x44330002;STR_HELPER +0x44330002;STR_COM_IF 0x44330003;PLOC_MPSOC_HELPER 0x44330004;AXI_PTME_CONFIG 0x44330005;PTME_CONFIG @@ -77,6 +77,7 @@ 0x44420030;RTD_14_IC17_TCS_BOARD 0x44420031;RTD_15_IC18_IMTQ 0x445300A3;SYRLINKS_HANDLER +0x445300A4;SYRLINKS_COM_HANDLER 0x49000000;ARDUINO_COM_IF 0x49010005;GPIO_IF 0x49010006;SCEX_UART_READER @@ -168,6 +169,5 @@ 0x73040002;HK_STORE_AND_TM_TASK 0x73040003;CFDP_STORE_AND_TM_TASK 0x73040004;DOWNLINK_RAM_STORE -0x73500000;CCSDS_IP_CORE_BRIDGE 0x90000003;THERMAL_TEMP_INSERTER 0xFFFFFFFF;NO_OBJECT diff --git a/generators/bsp_q7s_returnvalues.csv b/generators/bsp_q7s_returnvalues.csv index 83a870b9..61fb831b 100644 --- a/generators/bsp_q7s_returnvalues.csv +++ b/generators/bsp_q7s_returnvalues.csv @@ -190,8 +190,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x2207;TMF_AllDeleted;No description;7;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h 0x2208;TMF_InvalidData;No description;8;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h 0x2209;TMF_NotReady;No description;9;TM_STORE_FRONTEND_IF;fsfw/src/fsfw/tmstorage/TmStoreFrontendIF.h -0x2401;MT_NoPacketFound;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h -0x2402;MT_PossiblePacketLoss;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/DleParser.h +0x2401;MT_TooDetailedRequest;No description;1;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h +0x2402;MT_TooGeneralRequest;No description;2;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h 0x2403;MT_NoMatch;No description;3;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h 0x2404;MT_Full;No description;4;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h 0x2405;MT_NewNodeCreated;No description;5;MATCH_TREE_CLASS;fsfw/src/fsfw/globalfunctions/matching/MatchTree.h @@ -321,6 +321,7 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x3404;DC_InvalidCookieType;No description;4;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h 0x3405;DC_NotActive;No description;5;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h 0x3406;DC_TooMuchData;No description;6;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h +0x3407;DC_Busy;No description;7;DEVICE_COMMUNICATION_IF;fsfw/src/fsfw/devicehandlers/DeviceCommunicationIF.h 0x3601;CFDP_InvalidTlvType;No description;1;CFDP;fsfw/src/fsfw/cfdp/definitions.h 0x3602;CFDP_InvalidDirectiveField;No description;2;CFDP;fsfw/src/fsfw/cfdp/definitions.h 0x3603;CFDP_InvalidPduDatafieldLen;No description;3;CFDP;fsfw/src/fsfw/cfdp/definitions.h @@ -370,8 +371,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x3e03;HKM_PeriodicHelperInvalid;No description;3;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h 0x3e04;HKM_PoolobjectNotFound;No description;4;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h 0x3e05;HKM_DatasetNotFound;No description;5;HOUSEKEEPING_MANAGER;fsfw/src/fsfw/datapoollocal/LocalDataPoolManager.h -0x3f01;DLEE_StreamTooShort;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h -0x3f02;DLEE_DecodingError;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleEncoder.h +0x3f01;DLEE_NoPacketFound;No description;1;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h +0x3f02;DLEE_PossiblePacketLoss;No description;2;DLE_ENCODER;fsfw/src/fsfw/globalfunctions/DleParser.h 0x4201;PUS11_InvalidTypeTimeWindow;No description;1;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h 0x4202;PUS11_InvalidTimeWindow;No description;2;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h 0x4203;PUS11_TimeshiftingNotPossible;No description;3;PUS_SERVICE_11;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h @@ -401,9 +402,9 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h -0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h -0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h -0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h +0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h +0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h +0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/linux/spi/SpiComIF.h 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h @@ -473,8 +474,6 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x53b6;STRH_StartrackerAlreadyBooted;Star tracker is already in firmware mode;182;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h 0x53b7;STRH_StartrackerNotRunningFirmware;Star tracker must be in firmware mode to run this command;183;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h 0x53b8;STRH_StartrackerNotRunningBootloader;Star tracker must be in bootloader mode to run this command;184;STR_HANDLER;linux/devices/startracker/StarTrackerHandler.h -0x5400;DWLPWRON_NoReplyAvailable;No description;0;DWLPWRON_CMD;linux/devices/ImtqPollingTask.h -0x5402;DWLPWRON_InvalidCrc;No description;2;DWLPWRON_CMD;linux/devices/ScexHelper.h 0x54e0;DWLPWRON_InvalidMode;Received command has invalid JESD mode (valid modes are 0 - 5);224;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h 0x54e1;DWLPWRON_InvalidLaneRate;Received command has invalid lane rate (valid lane rate are 0 - 9);225;DWLPWRON_CMD;linux/devices/devicedefinitions/PlocMPSoCDefinitions.h 0x5700;PLSPVhLP_RequestDone;No description;0;PLOC_SUPV_HELPER;linux/devices/ploc/PlocSupvUartMan.h @@ -491,27 +490,24 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x58a1;SUSS_ErrorLockMutex;No description;161;SUS_HANDLER;mission/devices/LegacySusHandler.h 0x59a0;IPCI_PapbBusy;No description;160;CCSDS_IP_CORE_BRIDGE;linux/ipcore/PapbVcInterface.h 0x5aa0;PTME_UnknownVcId;No description;160;PTME;linux/ipcore/Ptme.h -0x5ca0;STRHLP_SdNotMounted;SD card specified in path string not mounted;160;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca1;STRHLP_FileNotExists;Specified file does not exist on filesystem;161;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca2;STRHLP_PathNotExists;Specified path does not exist;162;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca3;STRHLP_FileCreationFailed;Failed to create download image or read flash file;163;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca4;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;164;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca5;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;165;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca6;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;166;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca7;STRHLP_StatusError;Status field in reply signals error;167;STR_HELPER;linux/devices/startracker/StrHelper.h -0x5ca8;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);168;STR_HELPER;linux/devices/startracker/StrHelper.h +0x5c00;STRHLP_NoReplyAvailable;No description;0;STR_HELPER;linux/devices/ImtqPollingTask.h +0x5c01;STRHLP_NoPacketFound;No description;1;STR_HELPER;linux/devices/SyrlinksComHandler.h +0x5c02;STRHLP_InvalidCrc;No description;2;STR_HELPER;linux/devices/ScexHelper.h +0x5c03;STRHLP_PathNotExists;Specified path does not exist;3;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c04;STRHLP_FileCreationFailed;Failed to create download image or read flash file;4;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c05;STRHLP_RegionMismatch;Region in flash write/read reply does not match expected region;5;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c06;STRHLP_AddressMismatch;Address in flash write/read reply does not match expected address;6;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c07;STRHLP_LengthMismatch;Length in flash write/read reply does not match expected length;7;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c08;STRHLP_StatusError;Status field in reply signals error;8;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c09;STRHLP_InvalidTypeId;Reply has invalid type ID (should be of action reply type);9;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c0a;STRHLP_ReceptionTimeout;No description;10;STR_HELPER;linux/devices/startracker/StrComHandler.h +0x5c0b;STRHLP_DecodingError;No description;11;STR_HELPER;linux/devices/startracker/StrComHandler.h 0x5d00;GOMS_PacketTooLong;No description;0;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d01;GOMS_InvalidTableId;No description;1;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d02;GOMS_InvalidAddress;No description;2;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d03;GOMS_InvalidParamSize;No description;3;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d04;GOMS_InvalidPayloadSize;No description;4;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h 0x5d05;GOMS_UnknownReplyId;No description;5;GOM_SPACE_HANDLER;mission/devices/GomspaceDeviceHandler.h -0x5da0;GOMS_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da1;GOMS_InvalidRampTime;Action Message with invalid ramp time was received.;161;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da2;GOMS_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da3;GOMS_ExecutionFailed;Command execution failed;163;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da4;GOMS_CrcError;Reaction wheel reply has invalid crc;164;GOM_SPACE_HANDLER;mission/devices/RwHandler.h -0x5da5;GOMS_ValueNotRead;No description;165;GOM_SPACE_HANDLER;mission/devices/RwHandler.h 0x5ea0;PLMEMDUMP_MramAddressTooHigh;The capacity of the MRAM amounts to 512 kB. Thus the maximum address must not be higher than 0x7d000.;160;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h 0x5ea1;PLMEMDUMP_MramInvalidAddressCombination;The specified end address is lower than the start address;161;PLOC_MEMORY_DUMPER;linux/devices/ploc/PlocMemoryDumper.h 0x5fa0;PDEC_AbandonedCltuRetval;No description;160;PDEC_HANDLER;linux/ipcore/PdecHandler.h @@ -541,11 +537,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path 0x64a0;FSHLP_SdNotMounted;SD card specified with path string not mounted;160;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h 0x64a1;FSHLP_FileNotExists;Specified file does not exist on filesystem;161;FILE_SYSTEM_HELPER;bsp_q7s/fs/FilesystemHelper.h 0x65a0;PLMPHLP_FileClosedAccidentally;File accidentally close;160;PLOC_MPSOC_HELPER;linux/devices/ploc/PlocMPSoCHelper.h -0x66a0;SADPL_CommandNotSupported;No description;160;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a1;SADPL_DeploymentAlreadyExecuting;No description;161;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a2;SADPL_MainSwitchTimeoutFailure;No description;162;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h -0x66a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/devices/SolarArrayDeploymentHandler.h +0x66a0;SADPL_InvalidSpeed;Action Message with invalid speed was received. Valid speeds must be in the range of [-65000, 1000] or [1000, 65000];160;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a1;SADPL_InvalidRampTime;Action Message with invalid ramp time was received.;161;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a2;SADPL_SetSpeedCommandInvalidLength;Received set speed command has invalid length. Should be 6.;162;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a3;SADPL_ExecutionFailed;Command execution failed;163;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a4;SADPL_CrcError;Reaction wheel reply has invalid crc;164;SA_DEPL_HANDLER;mission/devices/RwHandler.h +0x66a5;SADPL_ValueNotRead;No description;165;SA_DEPL_HANDLER;mission/devices/RwHandler.h 0x67a0;MPSOCRTVIF_CrcFailure;Space Packet received from PLOC has invalid CRC;160;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h 0x67a1;MPSOCRTVIF_ReceivedAckFailure;Received ACK failure reply from PLOC;161;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h 0x67a2;MPSOCRTVIF_ReceivedExeFailure;Received execution failure reply from PLOC;162;MPSOC_RETURN_VALUES_IF;linux/devices/devicedefinitions/MPSoCReturnValuesIF.h diff --git a/generators/bsp_q7s_subsystems.csv b/generators/bsp_q7s_subsystems.csv index 02e8acd1..83d9bdbc 100644 --- a/generators/bsp_q7s_subsystems.csv +++ b/generators/bsp_q7s_subsystems.csv @@ -59,3 +59,4 @@ 141;TCS_CONTROLLER 142;COM_SUBSYSTEM 143;PERSISTENT_TM_STORE +144;SYRLINKS_COM diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 04285d29..1bb3b08e 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 280 translations. + * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-23 10:28:33 + * Generated on: 2023-03-24 14:59:06 */ #include "translateEvents.h" @@ -173,7 +173,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -620,16 +620,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_COM_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 4eff584d..c5adb5d2 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-24 14:59:06 */ #include "translateObjects.h" @@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -85,6 +85,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD"; const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ"; const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER"; +const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER"; const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF"; const char *GPIO_IF_STRING = "GPIO_IF"; const char *SCEX_UART_READER_STRING = "SCEX_UART_READER"; @@ -176,7 +177,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK"; const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK"; const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK"; const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE"; -const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE"; const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER"; const char *NO_OBJECT_STRING = "NO_OBJECT"; @@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: @@ -340,6 +340,8 @@ const char *translateObject(object_id_t object) { return RTD_15_IC18_IMTQ_STRING; case 0x445300A3: return SYRLINKS_HANDLER_STRING; + case 0x445300A4: + return SYRLINKS_COM_HANDLER_STRING; case 0x49000000: return ARDUINO_COM_IF_STRING; case 0x49010005: @@ -522,8 +524,6 @@ const char *translateObject(object_id_t object) { return CFDP_STORE_AND_TM_TASK_STRING; case 0x73040004: return DOWNLINK_RAM_STORE_STRING; - case 0x73500000: - return CCSDS_IP_CORE_BRIDGE_STRING; case 0x90000003: return THERMAL_TEMP_INSERTER_STRING; case 0xFFFFFFFF: diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 16ee9093..2a788898 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -314,7 +314,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF, void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher, SdCardMountedIF& mountedIF, bool onImmediately, std::optional switchId) { - auto* cookie = new SerialCookie(objects::SCEX, uartDev, uart::SCEX_BAUD, 4096); + auto* cookie = new SerialCookie(objects::SCEX, uartDev, serial::SCEX_BAUD, 4096); cookie->setTwoStopBits(); // cookie->setParityEven(); auto scexUartReader = new ScexUartReader(objects::SCEX_UART_READER); diff --git a/linux/csp/CspComIF.cpp b/linux/csp/CspComIF.cpp index 23359c0a..554ecba0 100644 --- a/linux/csp/CspComIF.cpp +++ b/linux/csp/CspComIF.cpp @@ -14,7 +14,10 @@ using namespace GOMSPACE; -CspComIF::CspComIF(object_id_t objectId) : SystemObject(objectId) {} +CspComIF::CspComIF(object_id_t objectId, const char* routeTaskName, uint32_t routerRealTimePriority) + : SystemObject(objectId), + routerRealTimePriority(routerRealTimePriority), + routerTaskName(routeTaskName) {} CspComIF::~CspComIF() {} @@ -57,10 +60,8 @@ ReturnValue_t CspComIF::initializeInterface(CookieIF* cookie) { } /* Start the route task */ - unsigned int task_stack_size = 500; - unsigned int priority = 0; - result = csp_route_start_task(task_stack_size, priority); - if (result != CSP_ERR_NONE) { + result = startRouterTask(); + if (result != returnvalue::OK) { sif::error << "Failed to start csp route task" << std::endl; return returnvalue::FAILED; } @@ -343,3 +344,55 @@ void CspComIF::initiatePingRequest(uint8_t cspAddress, uint16_t querySize) { memcpy(replyBuffer, &replyTime, sizeof(replyTime)); iter->second.replyLen = sizeof(replyTime); } + +ReturnValue_t CspComIF::startRouterTask() { + pthread_attr_t attr; + int res = pthread_attr_init(&attr); + if (res) { + return returnvalue::FAILED; + } + + pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED); + + res = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED); + if (res != 0) { + return returnvalue::FAILED; + } + + // Set scheduling policy to SCHED_RR + res = pthread_attr_setschedpolicy(&attr, SCHED_RR); + if (res) { + pthread_attr_destroy(&attr); + return returnvalue::FAILED; + } + + struct sched_param sched_param; + sched_param.sched_priority = routerRealTimePriority; + res = pthread_attr_setschedparam(&attr, &sched_param); + if (res) { + pthread_attr_destroy(&attr); + return returnvalue::FAILED; + } + + res = pthread_create(&routerTaskHandle, &attr, routerWorkWrapper, NULL); + if (res) { + pthread_attr_destroy(&attr); + return returnvalue::FAILED; + } + + res = pthread_setname_np(routerTaskHandle, routerTaskName); + if (res) { + pthread_attr_destroy(&attr); + return returnvalue::FAILED; + } + pthread_attr_destroy(&attr); + return returnvalue::OK; +} + +void* CspComIF::routerWorkWrapper(void* args) { + /* Here there be routing */ + while (1) { + csp_route_work(FIFO_TIMEOUT); + } + return nullptr; +} diff --git a/linux/csp/CspComIF.h b/linux/csp/CspComIF.h index d2bac4f9..47712230 100644 --- a/linux/csp/CspComIF.h +++ b/linux/csp/CspComIF.h @@ -2,9 +2,11 @@ #define LINUX_CSP_CSPCOMIF_H_ #include +#include #include #include #include +#include #include #include @@ -17,7 +19,7 @@ */ class CspComIF : public DeviceCommunicationIF, public SystemObject { public: - CspComIF(object_id_t objectId); + CspComIF(object_id_t objectId, const char *routeTaskName, uint32_t routerRealTimePriority); virtual ~CspComIF(); ReturnValue_t initializeInterface(CookieIF *cookie) override; @@ -27,6 +29,13 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject { ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **readData, size_t *readLen) override; private: +#ifdef CSP_USE_RDP + //! If RDP is enabled, the router needs to awake some times to check timeouts + static constexpr uint32_t FIFO_TIMEOUT = 100; +#else + //! If no RDP, the router can sleep untill data arrives + static constexpr uint32_t FIFO_TIMEOUT = CSP_MAX_DELAY; +#endif /** * @brief This function initiates the CSP transfer. * @@ -56,6 +65,10 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject { /* This is the CSP address of the OBC. */ node_t cspOwnAddress = 1; + pthread_t routerTaskHandle{}; + uint32_t routerRealTimePriority = 0; + const char *routerTaskName; + /* Interface struct for csp protocol stack */ csp_iface_t csp_if; char canInterface[5] = "can0"; @@ -72,6 +85,9 @@ class CspComIF : public DeviceCommunicationIF, public SystemObject { * @brief This function initiates the ping request. */ void initiatePingRequest(uint8_t cspAddress, uint16_t querySize); + + ReturnValue_t startRouterTask(); + static void *routerWorkWrapper(void *args); }; #endif /* LINUX_CSP_CSPCOMIF_H_ */ diff --git a/linux/devices/AcsBoardPolling.cpp b/linux/devices/AcsBoardPolling.cpp index adcbbf19..04fe92df 100644 --- a/linux/devices/AcsBoardPolling.cpp +++ b/linux/devices/AcsBoardPolling.cpp @@ -221,7 +221,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send } } if (state == InternalState::IDLE) { - state = InternalState::BUSY; + state = InternalState::IS_BUSY; } } semaphore->release(); diff --git a/linux/devices/AcsBoardPolling.h b/linux/devices/AcsBoardPolling.h index e3c3bd24..73195527 100644 --- a/linux/devices/AcsBoardPolling.h +++ b/linux/devices/AcsBoardPolling.h @@ -20,7 +20,7 @@ class AcsBoardPolling : public SystemObject, ReturnValue_t initialize() override; private: - enum class InternalState { IDLE, BUSY } state = InternalState::IDLE; + enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE; MutexIF* ipcLock; static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING; static constexpr uint32_t LOCK_TIMEOUT = 20; diff --git a/linux/devices/CMakeLists.txt b/linux/devices/CMakeLists.txt index 8b23566b..7dbda12b 100644 --- a/linux/devices/CMakeLists.txt +++ b/linux/devices/CMakeLists.txt @@ -11,7 +11,8 @@ target_sources( ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp - AcsBoardPolling.cpp) + AcsBoardPolling.cpp + SyrlinksComHandler.cpp) add_subdirectory(ploc) diff --git a/linux/devices/ImtqPollingTask.cpp b/linux/devices/ImtqPollingTask.cpp index eccb0898..ca7c75ff 100644 --- a/linux/devices/ImtqPollingTask.cpp +++ b/linux/devices/ImtqPollingTask.cpp @@ -245,7 +245,7 @@ ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* send if (state != InternalState::IDLE) { return returnvalue::FAILED; } - state = InternalState::BUSY; + state = InternalState::IS_BUSY; } semaphore->release(); diff --git a/linux/devices/ImtqPollingTask.h b/linux/devices/ImtqPollingTask.h index 592433c9..32497753 100644 --- a/linux/devices/ImtqPollingTask.h +++ b/linux/devices/ImtqPollingTask.h @@ -23,7 +23,7 @@ class ImtqPollingTask : public SystemObject, private: static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0); - enum class InternalState { IDLE, BUSY } state = InternalState::IDLE; + enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE; imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION; SemaphoreIF* semaphore; diff --git a/linux/devices/RwPollingTask.cpp b/linux/devices/RwPollingTask.cpp index 7dff31bb..45528178 100644 --- a/linux/devices/RwPollingTask.cpp +++ b/linux/devices/RwPollingTask.cpp @@ -147,7 +147,7 @@ ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendDa rwCookie->currentRampTime = rampTime; rwCookie->specialRequest = specialRequest; if (state == InternalState::IDLE) { - state = InternalState::BUSY; + state = InternalState::IS_BUSY; semaphore->release(); } } diff --git a/linux/devices/RwPollingTask.h b/linux/devices/RwPollingTask.h index 8a3cc9e4..0131f2b4 100644 --- a/linux/devices/RwPollingTask.h +++ b/linux/devices/RwPollingTask.h @@ -41,7 +41,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev ReturnValue_t initialize() override; private: - enum class InternalState { IDLE, BUSY } state = InternalState::IDLE; + enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE; SemaphoreIF* semaphore; bool debugMode = false; bool modeAndSpeedWasSet = false; diff --git a/linux/devices/ScexUartReader.cpp b/linux/devices/ScexUartReader.cpp index eb61fa2e..9aa2287c 100644 --- a/linux/devices/ScexUartReader.cpp +++ b/linux/devices/ScexUartReader.cpp @@ -98,11 +98,11 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { } // Setting up UART parameters tty.c_cflag &= ~PARENB; // Clear parity bit - uart::setStopbits(tty, uartCookie->getStopBits()); - uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + serial::setStopbits(tty, uartCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - uart::enableRead(tty); - uart::ignoreCtrlLines(tty); + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); // Use non-canonical mode and clear echo flag tty.c_lflag &= ~(ICANON | ECHO); @@ -111,7 +111,7 @@ ReturnValue_t ScexUartReader::initializeInterface(CookieIF *cookie) { tty.c_cc[VTIME] = 0; tty.c_cc[VMIN] = 0; - uart::setBaudrate(tty, uartCookie->getBaudrate()); + serial::setBaudrate(tty, uartCookie->getBaudrate()); if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error [" << errno << ", " << strerror(errno) << std::endl; @@ -148,8 +148,7 @@ ReturnValue_t ScexUartReader::sendMessage(CookieIF *cookie, const uint8_t *sendD } size_t bytesWritten = write(serialPort, cmdbuf.data(), encodedLen); if (bytesWritten != encodedLen) { - sif::warning << "ScexUartReader::sendMessage: Sending ping command to solar experiment failed" - << std::endl; + sif::warning << "ScexUartReader::sendMessage: Sending command failed" << std::endl; return FAILED; } diff --git a/linux/devices/SusPolling.cpp b/linux/devices/SusPolling.cpp index 9ee0051a..dac0255b 100644 --- a/linux/devices/SusPolling.cpp +++ b/linux/devices/SusPolling.cpp @@ -77,7 +77,7 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData, susDevs[susIdx].mode = susReq->mode; } if (state == InternalState::IDLE) { - state = InternalState::BUSY; + state = InternalState::IS_BUSY; semaphore->release(); } return OK; diff --git a/linux/devices/SusPolling.h b/linux/devices/SusPolling.h index 3afb1d9d..e9bcf59d 100644 --- a/linux/devices/SusPolling.h +++ b/linux/devices/SusPolling.h @@ -18,7 +18,7 @@ class SusPolling : public SystemObject, public ExecutableObjectIF, public Device ReturnValue_t initialize() override; private: - enum class InternalState { IDLE, BUSY } state = InternalState::IDLE; + enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE; struct SusDev { SpiCookie* cookie = nullptr; diff --git a/linux/devices/SyrlinksComHandler.cpp b/linux/devices/SyrlinksComHandler.cpp new file mode 100644 index 00000000..35478d11 --- /dev/null +++ b/linux/devices/SyrlinksComHandler.cpp @@ -0,0 +1,209 @@ +#include "SyrlinksComHandler.h" + +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace returnvalue; + +SyrlinksComHandler::SyrlinksComHandler(object_id_t objectId) + : SystemObject(objectId), ringBuf(2048, true) { + lock = MutexFactory::instance()->createMutex(); + semaphore = SemaphoreFactory::instance()->createBinarySemaphore(); + semaphore->acquire(); +} + +ReturnValue_t SyrlinksComHandler::performOperation(uint8_t opCode) { + while (true) { + lock->lockMutex(); + state = State::SLEEPING; + lock->unlockMutex(); + semaphore->acquire(); + // Stopwatch watch; + readOneReply(); + } + return returnvalue::OK; +} + +ReturnValue_t SyrlinksComHandler::initializeInterface(CookieIF *cookie) { + if (cookie == nullptr) { + return returnvalue::FAILED; + } + SerialCookie *serCookie = dynamic_cast(cookie); + if (serCookie == nullptr) { + return DeviceCommunicationIF::INVALID_COOKIE_TYPE; + } + // comCookie = serCookie; + std::string devname = serCookie->getDeviceFile(); + /* Get file descriptor */ + serialPort = open(devname.c_str(), O_RDWR); + if (serialPort < 0) { + sif::warning << "SyrlinksComHandler: open call failed with error [" << errno << ", " + << strerror(errno) << std::endl; + return returnvalue::FAILED; + } + // Setting up UART parameters + serial::setStopbits(tty, serCookie->getStopBits()); + serial::setParity(tty, serCookie->getParity()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); + tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); + + // Use non-canonical mode and clear echo flag + tty.c_lflag &= ~(ICANON | ECHO); + + // Non-blocking mode, use polling + tty.c_cc[VTIME] = 0; + tty.c_cc[VMIN] = 0; + + serial::setBaudrate(tty, serCookie->getBaudrate()); + if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { + sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error [" + << errno << ", " << strerror(errno) << std::endl; + } + // Flush received and unread data + tcflush(serialPort, TCIOFLUSH); + return returnvalue::OK; +} + +ReturnValue_t SyrlinksComHandler::sendMessage(CookieIF *cookie, const uint8_t *sendData, + size_t sendLen) { + { + MutexGuard mg(lock); + if (state != State::SLEEPING) { + return BUSY; + } + } + serial::flushRxBuf(serialPort); + + ssize_t writtenBytes = write(serialPort, sendData, sendLen); + if (writtenBytes != static_cast(sendLen)) { + sif::warning << "StrComHandler: Sending packet failed" << std::endl; + return returnvalue::FAILED; + } + { + MutexGuard mg(lock); + state = State::ACTIVE; + } + semaphore->release(); + return returnvalue::OK; +} + +ReturnValue_t SyrlinksComHandler::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; } + +ReturnValue_t SyrlinksComHandler::requestReceiveMessage(CookieIF *cookie, size_t requestLen) { + return returnvalue::OK; +} + +ReturnValue_t SyrlinksComHandler::handleSerialReception() { + ssize_t bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), + static_cast(recBuf.size())); + if (bytesRead == 0) { + return NO_SERIAL_DATA_READ; + } else if (bytesRead < 0) { + sif::warning << "SyrlinksComHandler: read call failed with error [" << errno << ", " + << strerror(errno) << "]" << std::endl; + return FAILED; + } else if (bytesRead >= static_cast(recBuf.size())) { + sif::error << "SyrlinksComHandler: Receive buffer too small for " << bytesRead << " bytes" + << std::endl; + return FAILED; + } else if (bytesRead > 0) { + // sif::debug << "Received " << bytesRead << " bytes from the Syrlinks" << std::endl; + // arrayprinter::print(recBuf.data(), bytesRead); + ringBuf.writeData(recBuf.data(), bytesRead); + } + return OK; +} + +ReturnValue_t SyrlinksComHandler::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, + size_t *size) { + MutexGuard mg(lock); + if (replyResult != returnvalue::OK) { + ReturnValue_t tmp = replyResult; + replyResult = returnvalue::OK; + return tmp; + } + if (replyLen == 0) { + *size = 0; + return returnvalue::OK; + } + *buffer = ipcBuf.data(); + *size = replyLen; + replyLen = 0; + return returnvalue::OK; +} + +ReturnValue_t SyrlinksComHandler::readOneReply() { + ReturnValue_t result; + uint32_t nextDelayMs = 1; + replyTimeout.resetTimer(); + while (true) { + handleSerialReception(); + result = tryReadingOneSyrlinksReply(); + if (result == returnvalue::OK) { + return returnvalue::OK; + } + if (replyTimeout.hasTimedOut()) { + { + MutexGuard mg(lock); + replyResult = DeviceCommunicationIF::NO_REPLY_RECEIVED; + } + return returnvalue::FAILED; + } + TaskFactory::delayTask(nextDelayMs); + if (nextDelayMs < 32) { + nextDelayMs *= 2; + } + } +} +ReturnValue_t SyrlinksComHandler::tryReadingOneSyrlinksReply() { + size_t bytesToRead = ringBuf.getAvailableReadData(); + if (bytesToRead == 0) { + return NO_PACKET_FOUND; + } + bool startMarkerFound = false; + size_t startIdx = 0; + ringBuf.readData(recBuf.data(), bytesToRead); + for (size_t idx = 0; idx < bytesToRead; idx++) { + if (recBuf[idx] == START_MARKER) { + if (startMarkerFound) { + // Probably lost a packet. Discard broken packet. + sif::warning << "SyrlinksComHandler: Detected 2 consecutive start markers" << std::endl; + ringBuf.deleteData(idx); + } else { + startMarkerFound = true; + startIdx = idx; + } + } + if (recBuf[idx] == END_MARKER) { + if (startMarkerFound) { + { + MutexGuard mg(lock); + replyLen = idx - startIdx + 1; + } + // Copy detected packet to IPC buffer so it can be passed back to the device handler. + if (replyLen > ipcBuf.size()) { + sif::error << "SyrlinksComHandler: Detected reply too large" << std::endl; + ringBuf.deleteData(idx); + return returnvalue::FAILED; + } + // sif::debug << "Detected Syrlinks reply with length " << replyLen << std::endl; + std::memcpy(ipcBuf.data(), recBuf.data() + startIdx, replyLen); + ringBuf.deleteData(idx + 1); + return returnvalue::OK; + } else { + // Probably lost a packet. Discard broken packet. + sif::warning << "SyrlinksComHandler: Detected 2 consecutive end markers" << std::endl; + ringBuf.deleteData(idx + 1); + } + } + } + return NO_PACKET_FOUND; +} diff --git a/linux/devices/SyrlinksComHandler.h b/linux/devices/SyrlinksComHandler.h new file mode 100644 index 00000000..39e8f312 --- /dev/null +++ b/linux/devices/SyrlinksComHandler.h @@ -0,0 +1,52 @@ +#ifndef LINUX_DEVICES_SYRLINKSCOMHANDLER_H_ +#define LINUX_DEVICES_SYRLINKSCOMHANDLER_H_ + +#include +#include +#include +#include +#include +#include + +class SyrlinksComHandler : public DeviceCommunicationIF, + public ExecutableObjectIF, + public SystemObject { + public: + SyrlinksComHandler(object_id_t objectId); + + private: + static constexpr char START_MARKER = '<'; + static constexpr char END_MARKER = '>'; + + //! [EXPORT] : [SKIP] + static constexpr ReturnValue_t NO_SERIAL_DATA_READ = returnvalue::makeCode(2, 0); + static constexpr ReturnValue_t NO_PACKET_FOUND = returnvalue::makeCode(2, 1); + + enum class State { SLEEPING, ACTIVE } state = State::SLEEPING; + + MutexIF *lock; + SemaphoreIF *semaphore; + int serialPort = 0; + struct termios tty {}; + Countdown replyTimeout = Countdown(2000); + std::array recBuf{}; + SimpleRingBuffer ringBuf; + std::array ipcBuf{}; + size_t replyLen = 0; + ReturnValue_t replyResult = returnvalue::OK; + + ReturnValue_t handleSerialReception(); + + ReturnValue_t performOperation(uint8_t opCode) override; + + ReturnValue_t initializeInterface(CookieIF *cookie) override; + ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override; + ReturnValue_t getSendSuccess(CookieIF *cookie) override; + ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override; + ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override; + + ReturnValue_t readOneReply(); + ReturnValue_t tryReadingOneSyrlinksReply(); +}; + +#endif /* LINUX_DEVICES_SYRLINKSCOMHANDLER_H_ */ diff --git a/linux/devices/ploc/PlocSupvUartMan.cpp b/linux/devices/ploc/PlocSupvUartMan.cpp index 5113de40..fe8516b5 100644 --- a/linux/devices/ploc/PlocSupvUartMan.cpp +++ b/linux/devices/ploc/PlocSupvUartMan.cpp @@ -58,12 +58,12 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) { } // Setting up UART parameters tty.c_cflag &= ~PARENB; // Clear parity bit - uart::setParity(tty, uartCookie->getParity()); - uart::setStopbits(tty, uartCookie->getStopBits()); - uart::setBitsPerWord(tty, BitsPerWord::BITS_8); + serial::setParity(tty, uartCookie->getParity()); + serial::setStopbits(tty, uartCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control - uart::enableRead(tty); - uart::ignoreCtrlLines(tty); + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); // Use non-canonical mode and clear echo flag tty.c_lflag &= ~(ICANON | ECHO); @@ -72,7 +72,7 @@ ReturnValue_t PlocSupvUartManager::initializeInterface(CookieIF* cookie) { tty.c_cc[VTIME] = 2; tty.c_cc[VMIN] = 0; - uart::setBaudrate(tty, uartCookie->getBaudrate()); + serial::setBaudrate(tty, uartCookie->getBaudrate()); if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { sif::warning << "PlocSupvUartManager::initializeInterface: tcsetattr call failed with error [" << errno << ", " << strerror(errno) << std::endl; diff --git a/linux/devices/ploc/PlocSupvUartMan.h b/linux/devices/ploc/PlocSupvUartMan.h index 02bfb6c7..7b32ffac 100644 --- a/linux/devices/ploc/PlocSupvUartMan.h +++ b/linux/devices/ploc/PlocSupvUartMan.h @@ -246,9 +246,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF, std::array recBuf = {}; std::array encodedBuf = {}; std::array decodedBuf = {}; - std::array ipcBuffer = {}; SimpleRingBuffer decodedRingBuf; FIFO decodedQueue; + std::array ipcBuffer = {}; SimpleRingBuffer ipcRingBuf; FIFO ipcQueue; diff --git a/linux/devices/startracker/ArcsecDatalinkLayer.cpp b/linux/devices/startracker/ArcsecDatalinkLayer.cpp index bc45d619..29043e32 100644 --- a/linux/devices/startracker/ArcsecDatalinkLayer.cpp +++ b/linux/devices/startracker/ArcsecDatalinkLayer.cpp @@ -1,39 +1,39 @@ #include "ArcsecDatalinkLayer.h" -ArcsecDatalinkLayer::ArcsecDatalinkLayer() { slipInit(); } +ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); } ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {} -void ArcsecDatalinkLayer::slipInit() { - slipInfo.buffer = rxBuffer; - slipInfo.maxlength = startracker::MAX_FRAME_SIZE; - slipInfo.length = 0; - slipInfo.unescape_next = 0; - slipInfo.prev_state = SLIP_COMPLETE; -} - -ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize, - size_t* bytesLeft) { - size_t bytePos = 0; - for (bytePos = 0; bytePos < rawDataSize; bytePos++) { +ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame, + size_t& frameLen) { + size_t currentLen = decodeRingBuf.getAvailableReadData(); + if (currentLen == 0) { + return DEC_IN_PROGRESS; + } + decodeRingBuf.readData(rxAnalysisBuffer, currentLen); + for (size_t idx = 0; idx < currentLen; idx++) { enum arc_dec_result decResult = - arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedFrame, &decFrameSize); - *bytesLeft = rawDataSize - bytePos - 1; + arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize); switch (decResult) { case ARC_DEC_INPROGRESS: { - if (bytePos == rawDataSize - 1) { - return DEC_IN_PROGRESS; - } - continue; + break; } - case ARC_DEC_ERROR_FRAME_SHORT: + case ARC_DEC_ERROR_FRAME_SHORT: { + decodeRingBuf.deleteData(idx); return REPLY_TOO_SHORT; + } case ARC_DEC_ERROR_CHECKSUM: + decodeRingBuf.deleteData(idx); return CRC_FAILURE; case ARC_DEC_ASYNC: case ARC_DEC_SYNC: { // Reset length of SLIP struct for next frame slipInfo.length = 0; + if (decodedFrame != nullptr) { + *decodedFrame = decodedRxFrame; + } + frameLen = rxFrameSize; + decodeRingBuf.deleteData(idx); return returnvalue::OK; } default: @@ -42,21 +42,32 @@ ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t ra return returnvalue::FAILED; } } - return returnvalue::FAILED; + decodeRingBuf.deleteData(currentLen); + return DEC_IN_PROGRESS; } -uint8_t ArcsecDatalinkLayer::getReplyFrameType() { return decodedFrame[0]; } - -const uint8_t* ArcsecDatalinkLayer::getReply() { return &decodedFrame[1]; } - -void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, uint32_t length) { - arc_transport_encode_body(data, length, encBuffer, &encFrameSize); +ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDataLen) { + if (rawDataLen > 4096) { + sif::error << "ArcsecDatalinklayer: Can not write more than 4096 bytes to ring buffer" + << std::endl; + return returnvalue::FAILED; + } + return decodeRingBuf.writeData(rawData, rawDataLen); } -uint8_t* ArcsecDatalinkLayer::getEncodedFrame() { return encBuffer; } +void ArcsecDatalinkLayer::reset() { + slipInit(); + decodeRingBuf.clear(); +} -uint32_t ArcsecDatalinkLayer::getEncodedLength() { return encFrameSize; } +void ArcsecDatalinkLayer::slipInit() { + slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo); +} -uint8_t ArcsecDatalinkLayer::getStatusField() { return *(decodedFrame + STATUS_OFFSET); } - -uint8_t ArcsecDatalinkLayer::getId() { return *(decodedFrame + ID_OFFSET); } +void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, + size_t& size) { + arc_transport_encode_body(data, length, txEncoded, &size); + if (txFrame != nullptr) { + *txFrame = txEncoded; + } +} diff --git a/linux/devices/startracker/ArcsecDatalinkLayer.h b/linux/devices/startracker/ArcsecDatalinkLayer.h index 5681d3ca..bfc82d90 100644 --- a/linux/devices/startracker/ArcsecDatalinkLayer.h +++ b/linux/devices/startracker/ArcsecDatalinkLayer.h @@ -1,14 +1,14 @@ #ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ #define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_ +#include +#include + +#include "arcsec/common/misc.h" #include "eive/resultClassIds.h" #include "fsfw/returnvalues/returnvalue.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" -extern "C" { -#include "common/misc.h" -} - /** * @brief Helper class to handle the datalinklayer of replies from the star tracker of arcsec. */ @@ -25,17 +25,30 @@ class ArcsecDatalinkLayer { static const uint8_t STATUS_OK = 0; + static constexpr size_t BUFFER_LENGTHS = 4096; + ArcsecDatalinkLayer(); virtual ~ArcsecDatalinkLayer(); /** - * @brief Applies decoding to data referenced by rawData pointer - * - * @param rawData Pointer to raw data received from star tracker - * @param rawDataSize Size of raw data stream - * @param remainingBytes Number of bytes left + * Feed received data to the internal ring buffer. + * @param rawData + * @param rawDataLen + * @return */ - ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft); + ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen); + + /** + * Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding + * frames in the process. + * @param decodedFrame + * @param frameLen + * @return + * - returnvalue::OK if a frame was found + * - DEC_IN_PROGRESS if frame decoding is in progress + * - Anything else is a decoding error + */ + ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen); /** * @brief SLIP encodes data pointed to by data pointer. @@ -43,53 +56,31 @@ class ArcsecDatalinkLayer { * @param data Pointer to data to encode * @param length Length of buffer to encode */ - void encodeFrame(const uint8_t* data, uint32_t length); + void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen); - /** - * @brief Returns the frame type field of a decoded frame. - */ - uint8_t getReplyFrameType(); - - /** - * @brief Returns pointer to reply packet (first entry normally action ID, telemetry ID etc.) - */ - const uint8_t* getReply(); - - /** - * @brief Returns size of encoded frame - */ - uint32_t getEncodedLength(); - - /** - * @brief Returns pointer to encoded frame - */ - uint8_t* getEncodedFrame(); - - /** - * @brief Returns status of reply - */ - uint8_t getStatusField(); - - /** - * @brief Returns ID of reply - */ - uint8_t getId(); + void reset(); private: static const uint8_t ID_OFFSET = 1; static const uint8_t STATUS_OFFSET = 2; - // Used by arcsec slip decoding function process received data - uint8_t rxBuffer[startracker::MAX_FRAME_SIZE]; + // User to buffer and analyse data and allow feeding and checking for frames asychronously. + SimpleRingBuffer decodeRingBuf; + uint8_t rxAnalysisBuffer[BUFFER_LENGTHS]; + + // Used by arcsec slip decoding function to process received data. This should only be written + // to or read from by arcsec functions! + uint8_t rxBufferArc[startracker::MAX_FRAME_SIZE]; // Decoded frame will be copied to this buffer - uint8_t decodedFrame[startracker::MAX_FRAME_SIZE]; + uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE]; + // Size of decoded frame + uint32_t rxFrameSize = 0; + // Buffer where encoded frames will be stored. First byte of encoded frame represents type of // reply - uint8_t encBuffer[startracker::MAX_FRAME_SIZE * 2 + 2]; - // Size of decoded frame - uint32_t decFrameSize = 0; + uint8_t txEncoded[startracker::MAX_FRAME_SIZE * 2 + 2]; // Size of encoded frame - uint32_t encFrameSize = 0; + uint32_t txFrameSize = 0; slip_decode_state slipInfo; diff --git a/linux/devices/startracker/ArcsecJsonParamBase.cpp b/linux/devices/startracker/ArcsecJsonParamBase.cpp index a63025f1..04afb75f 100644 --- a/linux/devices/startracker/ArcsecJsonParamBase.cpp +++ b/linux/devices/startracker/ArcsecJsonParamBase.cpp @@ -1,17 +1,10 @@ #include "ArcsecJsonParamBase.h" -#include "ArcsecJsonKeys.h" +#include "arcsecJsonKeys.h" ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {} -ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) { - // ReturnValue_t result = returnvalue::OK; - // result = init(fullname); - // if (result != returnvalue::OK) { - // sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set " - // << setName << std::endl; - // return result; - // } +ReturnValue_t ArcsecJsonParamBase::create(uint8_t* buffer) { ReturnValue_t result = createCommand(buffer); if (result != returnvalue::OK) { sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set " diff --git a/linux/devices/startracker/ArcsecJsonParamBase.h b/linux/devices/startracker/ArcsecJsonParamBase.h index 49d0dbba..ff457016 100644 --- a/linux/devices/startracker/ArcsecJsonParamBase.h +++ b/linux/devices/startracker/ArcsecJsonParamBase.h @@ -5,15 +5,12 @@ #include #include +#include "arcsec/common/generated/tmtcstructs.h" +#include "arcsec/common/genericstructs.h" #include "eive/resultClassIds.h" #include "fsfw/returnvalues/returnvalue.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" -extern "C" { -#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h" -#include "thirdparty/arcsec_star_tracker/common/genericstructs.h" -} - using json = nlohmann::json; /** @@ -59,7 +56,7 @@ class ArcsecJsonParamBase { * parameter set. * @param buffer Pointer to the buffer the command will be written to */ - ReturnValue_t create(std::string fullname, uint8_t* buffer); + ReturnValue_t create(uint8_t* buffer); /** * @brief Returns the size of the parameter command. diff --git a/linux/devices/startracker/CMakeLists.txt b/linux/devices/startracker/CMakeLists.txt index 963b2a44..24dbaf8e 100644 --- a/linux/devices/startracker/CMakeLists.txt +++ b/linux/devices/startracker/CMakeLists.txt @@ -1,4 +1,4 @@ target_sources( ${OBSW_NAME} - PRIVATE StarTrackerHandler.cpp StarTrackerJsonCommands.cpp - ArcsecDatalinkLayer.cpp ArcsecJsonParamBase.cpp StrHelper.cpp) + PRIVATE StarTrackerHandler.cpp strJsonCommands.cpp ArcsecDatalinkLayer.cpp + ArcsecJsonParamBase.cpp StrComHandler.cpp helpers.cpp) diff --git a/linux/devices/startracker/StarTrackerHandler.cpp b/linux/devices/startracker/StarTrackerHandler.cpp index 6e57f5d5..448afc91 100644 --- a/linux/devices/startracker/StarTrackerHandler.cpp +++ b/linux/devices/startracker/StarTrackerHandler.cpp @@ -1,5 +1,8 @@ #include "StarTrackerHandler.h" +#include +#include +#include #include #include @@ -8,19 +11,14 @@ #include #include "OBSWConfig.h" -#include "StarTrackerJsonCommands.h" -extern "C" { -#include -#include -#include - -#include "common/misc.h" -} +#include "arcsec/common/misc.h" +#include "helpers.h" +#include "strJsonCommands.h" std::atomic_bool JCFG_DONE(false); StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, - const char* jsonFileStr, StrHelper* strHelper, + const char* jsonFileStr, StrComHandler* strHelper, power::Switch_t powerSwitch) : DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), @@ -84,8 +82,8 @@ ReturnValue_t StarTrackerHandler::initialize() { return result; } result = manager->subscribeToEventRange(eventQueue->getId(), - event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED), - event::getEventId(StrHelper::FIRMWARE_UPDATE_FAILED)); + event::getEventId(StrComHandler::IMAGE_UPLOAD_FAILED), + event::getEventId(StrComHandler::FIRMWARE_UPDATE_FAILED)); if (result != returnvalue::OK) { #if FSFW_CPP_OSTREAM_ENABLED == 1 sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from " @@ -95,11 +93,6 @@ ReturnValue_t StarTrackerHandler::initialize() { return ObjectManagerIF::CHILD_INIT_FAILED; } - result = strHelper->setComIF(communicationInterface); - if (result != returnvalue::OK) { - return ObjectManagerIF::CHILD_INIT_FAILED; - } - strHelper->setComCookie(comCookie); return returnvalue::OK; } @@ -828,41 +821,36 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema ReturnValue_t result = returnvalue::OK; size_t bytesLeft = 0; - result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft); - switch (result) { - case ArcsecDatalinkLayer::DEC_IN_PROGRESS: { - remainingSize = bytesLeft; - // Need a second doSendRead pass to reaa in whole packet - return IGNORE_REPLY_DATA; - } - case returnvalue::OK: { - break; - } - default: - remainingSize = bytesLeft; - return result; + if (remainingSize == 0) { + *foundLen = remainingSize; + return returnvalue::OK; + } + if (remainingSize < 3) { + sif::error << "StarTrackerHandler: Reply packet with length less than 3 is invalid" + << std::endl; + return returnvalue::FAILED; } - switch (dataLinkLayer.getReplyFrameType()) { + switch (str::getReplyFrameType(start)) { case TMTC_ACTIONREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForActionReply(foundId); + result = scanForActionReply(str::getId(start), foundId); break; } case TMTC_SETPARAMREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForSetParameterReply(foundId); + result = scanForSetParameterReply(str::getId(start), foundId); break; } case TMTC_PARAMREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForGetParameterReply(foundId); + result = scanForGetParameterReply(str::getId(start), foundId); break; } case TMTC_TELEMETRYREPLYA: case TMTC_TELEMETRYREPLY: { *foundLen = remainingSize - bytesLeft; - result = scanForTmReply(foundId); + result = scanForTmReply(str::getId(start), foundId); break; } default: { @@ -882,22 +870,22 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, switch (id) { case (startracker::REQ_TIME): { - result = handleTm(timeSet, startracker::TimeSet::SIZE); + result = handleTm(packet, timeSet, startracker::TimeSet::SIZE); break; } case (startracker::PING_REQUEST): { - result = handlePingReply(); + result = handlePingReply(packet); break; } case (startracker::BOOT): case (startracker::TAKE_IMAGE): break; case (startracker::CHECKSUM): { - result = handleChecksumReply(); + result = handleChecksumReply(packet); break; } case (startracker::REQ_VERSION): { - result = handleTm(versionSet, startracker::VersionSet::SIZE); + result = handleTm(packet, versionSet, startracker::VersionSet::SIZE); if (result != returnvalue::OK) { return result; } @@ -908,23 +896,23 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, break; } case (startracker::REQ_INTERFACE): { - result = handleTm(interfaceSet, startracker::InterfaceSet::SIZE); + result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE); break; } case (startracker::REQ_POWER): { - result = handleTm(powerSet, startracker::PowerSet::SIZE); + result = handleTm(packet, powerSet, startracker::PowerSet::SIZE); break; } case (startracker::REQ_SOLUTION): { - result = handleTm(solutionSet, startracker::SolutionSet::SIZE); + result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE); break; } case (startracker::REQ_TEMPERATURE): { - result = handleTm(temperatureSet, startracker::TemperatureSet::SIZE); + result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE); break; } case (startracker::REQ_HISTOGRAM): { - result = handleTm(histogramSet, startracker::HistogramSet::SIZE); + result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE); break; } case (startracker::SUBSCRIPTION): @@ -941,63 +929,63 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, case (startracker::VALIDATION): case (startracker::IMAGE_PROCESSOR): case (startracker::ALGO): { - result = handleSetParamReply(); + result = handleSetParamReply(packet); break; } case (startracker::REQ_CAMERA): { - handleParamRequest(cameraSet, startracker::CameraSet::SIZE); + handleParamRequest(packet, cameraSet, startracker::CameraSet::SIZE); break; } case (startracker::REQ_LIMITS): { - handleParamRequest(limitsSet, startracker::LimitsSet::SIZE); + handleParamRequest(packet, limitsSet, startracker::LimitsSet::SIZE); break; } case (startracker::REQ_LOG_LEVEL): { - handleParamRequest(loglevelSet, startracker::LogLevelSet::SIZE); + handleParamRequest(packet, loglevelSet, startracker::LogLevelSet::SIZE); break; } case (startracker::REQ_MOUNTING): { - handleParamRequest(mountingSet, startracker::MountingSet::SIZE); + handleParamRequest(packet, mountingSet, startracker::MountingSet::SIZE); break; } case (startracker::REQ_IMAGE_PROCESSOR): { - handleParamRequest(imageProcessorSet, startracker::ImageProcessorSet::SIZE); + handleParamRequest(packet, imageProcessorSet, startracker::ImageProcessorSet::SIZE); break; } case (startracker::REQ_CENTROIDING): { - handleParamRequest(centroidingSet, startracker::CentroidingSet::SIZE); + handleParamRequest(packet, centroidingSet, startracker::CentroidingSet::SIZE); break; } case (startracker::REQ_LISA): { - handleParamRequest(lisaSet, startracker::LisaSet::SIZE); + handleParamRequest(packet, lisaSet, startracker::LisaSet::SIZE); break; } case (startracker::REQ_MATCHING): { - handleParamRequest(matchingSet, startracker::MatchingSet::SIZE); + handleParamRequest(packet, matchingSet, startracker::MatchingSet::SIZE); break; } case (startracker::REQ_TRACKING): { - handleParamRequest(trackingSet, startracker::TrackingSet::SIZE); + handleParamRequest(packet, trackingSet, startracker::TrackingSet::SIZE); break; } case (startracker::REQ_VALIDATION): { - handleParamRequest(validationSet, startracker::ValidationSet::SIZE); + handleParamRequest(packet, validationSet, startracker::ValidationSet::SIZE); break; } case (startracker::REQ_ALGO): { - handleParamRequest(algoSet, startracker::AlgoSet::SIZE); + handleParamRequest(packet, algoSet, startracker::AlgoSet::SIZE); break; } case (startracker::REQ_SUBSCRIPTION): { - handleParamRequest(subscriptionSet, startracker::SubscriptionSet::SIZE); + handleParamRequest(packet, subscriptionSet, startracker::SubscriptionSet::SIZE); break; } case (startracker::REQ_LOG_SUBSCRIPTION): { - handleParamRequest(logSubscriptionSet, startracker::LogSubscriptionSet::SIZE); + handleParamRequest(packet, logSubscriptionSet, startracker::LogSubscriptionSet::SIZE); break; } case (startracker::REQ_DEBUG_CAMERA): { - handleParamRequest(debugCameraSet, startracker::DebugCameraSet::SIZE); + handleParamRequest(packet, debugCameraSet, startracker::DebugCameraSet::SIZE); break; } default: { @@ -1328,9 +1316,8 @@ ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) { return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::PING): { *foundId = startracker::PING_REQUEST; break; @@ -1359,9 +1346,9 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForSetParameterReply(uint8_t replyId, + DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::SUBSCRIPTION): { *foundId = startracker::SUBSCRIPTION; break; @@ -1426,9 +1413,9 @@ ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* fo return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForGetParameterReply(uint8_t replyId, + DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::CAMERA): { *foundId = startracker::REQ_CAMERA; break; @@ -1494,9 +1481,8 @@ ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* fo return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) { - const uint8_t* reply = dataLinkLayer.getReply(); - switch (*reply) { +ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId) { + switch (replyId) { case (startracker::ID::VERSION): { *foundId = startracker::REQ_VERSION; break; @@ -1527,7 +1513,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) { } default: { sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id: " - << static_cast(*reply) << std::endl; + << static_cast(replyId) << std::endl; return returnvalue::FAILED; break; } @@ -1538,7 +1524,7 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) { void StarTrackerHandler::handleEvent(EventMessage* eventMessage) { object_id_t objectId = eventMessage->getReporter(); switch (objectId) { - case objects::STR_HELPER: { + case objects::STR_COM_IF: { // All events from image loader signal either that the operation was successful or that it // failed strHelperHandlingSpecialRequest = false; @@ -1586,9 +1572,8 @@ void StarTrackerHandler::prepareBootCommand() { uint32_t length = 0; struct BootActionRequest bootRequest = {BOOT_REGION_ID}; arc_pack_boot_action_req(&bootRequest, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData, @@ -1620,9 +1605,8 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD } uint32_t rawCmdLength = 0; arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength); - dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = rawCmdLength; checksumCmd.rememberRegion = req.region; checksumCmd.rememberAddress = req.address; checksumCmd.rememberLength = req.length; @@ -1632,51 +1616,45 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD void StarTrackerHandler::prepareTimeRequest() { uint32_t length = 0; arc_tm_pack_time_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::preparePingRequest() { uint32_t length = 0; struct PingActionRequest pingRequest = {PING_ID}; arc_pack_ping_action_req(&pingRequest, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareVersionRequest() { uint32_t length = 0; arc_tm_pack_version_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareInterfaceRequest() { uint32_t length = 0; arc_tm_pack_interface_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::preparePowerRequest() { uint32_t length = 0; arc_tm_pack_power_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareSwitchToBootloaderCmd() { uint32_t length = 0; struct RebootActionRequest rebootReq {}; arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { @@ -1684,33 +1662,29 @@ void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) { struct CameraActionRequest camReq; camReq.actionid = *commandData; arc_pack_camera_action_req(&camReq, commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareSolutionRequest() { uint32_t length = 0; arc_tm_pack_solution_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareTemperatureRequest() { uint32_t length = 0; arc_tm_pack_temperature_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } void StarTrackerHandler::prepareHistogramRequest() { uint32_t length = 0; arc_tm_pack_histogram_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; } ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData, @@ -1721,182 +1695,164 @@ ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData if (commandDataLen > MAX_PATH_SIZE) { return FILE_PATH_TOO_LONG; } - std::string fullName(reinterpret_cast(commandData), commandDataLen); - result = paramSet.create(fullName, commandBuffer); + result = paramSet.create(commandBuffer); if (result != returnvalue::OK) { return result; } - dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize()); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = paramSet.getSize(); return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() { uint32_t length = 0; arc_pack_camera_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() { uint32_t length = 0; arc_pack_limits_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLogLevelParams() { uint32_t length = 0; arc_pack_loglevel_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestMountingParams() { uint32_t length = 0; arc_pack_mounting_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestImageProcessorParams() { uint32_t length = 0; arc_pack_imageprocessor_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestCentroidingParams() { uint32_t length = 0; arc_pack_centroiding_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLisaParams() { uint32_t length = 0; arc_pack_lisa_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestMatchingParams() { uint32_t length = 0; arc_pack_matching_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestTrackingParams() { uint32_t length = 0; arc_pack_tracking_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestValidationParams() { uint32_t length = 0; arc_pack_validation_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestAlgoParams() { uint32_t length = 0; arc_pack_algo_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestSubscriptionParams() { uint32_t length = 0; arc_pack_subscription_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestLogSubscriptionParams() { uint32_t length = 0; arc_pack_logsubscription_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } ReturnValue_t StarTrackerHandler::prepareRequestDebugCameraParams() { uint32_t length = 0; arc_pack_debugcamera_parameter_req(commandBuffer, &length); - dataLinkLayer.encodeFrame(commandBuffer, length); - rawPacket = dataLinkLayer.getEncodedFrame(); - rawPacketLen = dataLinkLayer.getEncodedLength(); + rawPacket = commandBuffer; + rawPacketLen = length; return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleSetParamReply() { - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = *(reply + STATUS_OFFSET); +ReturnValue_t StarTrackerHandler::handleSetParamReply(const uint8_t* rawFrame) { + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set " " command with parameter ID" - << static_cast(*(reply + PARAMETER_ID_OFFSET)) << std::endl; + << static_cast(*(rawFrame + PARAMETER_ID_OFFSET)) << std::endl; if (internalState != InternalState::IDLE) { internalState = InternalState::IDLE; } return SET_PARAM_FAILED; } if (internalState != InternalState::IDLE) { - handleStartup(reply + PARAMETER_ID_OFFSET); + handleStartup(*(rawFrame + PARAMETER_ID_OFFSET)); } return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleActionReply() { - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = *(reply + STATUS_OFFSET); +ReturnValue_t StarTrackerHandler::handleActionReply(const uint8_t* rawFrame) { + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action " << "command with action ID " - << static_cast(*(reply + ACTION_ID_OFFSET)) << " and status " + << static_cast(*(rawFrame + ACTION_ID_OFFSET)) << " and status " << static_cast(status) << std::endl; return ACTION_FAILED; } return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleChecksumReply() { +ReturnValue_t StarTrackerHandler::handleChecksumReply(const uint8_t* rawFrame) { ReturnValue_t result = returnvalue::OK; - result = handleActionReply(); + result = handleActionReply(rawFrame); if (result != returnvalue::OK) { return result; } - const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET; + const uint8_t* replyData = rawFrame + ACTION_DATA_OFFSET; startracker::ChecksumReply checksumReply(replyData); if (checksumReply.getRegion() != checksumCmd.rememberRegion) { sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl; @@ -1919,13 +1875,14 @@ ReturnValue_t StarTrackerHandler::handleChecksumReply() { return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& dataset, size_t size) { +ReturnValue_t StarTrackerHandler::handleParamRequest(const uint8_t* rawFrame, + LocalPoolDataSetBase& dataset, size_t size) { ReturnValue_t result = returnvalue::OK; result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT); if (result != returnvalue::OK) { return result; } - const uint8_t* reply = dataLinkLayer.getReply() + PARAMS_OFFSET; + const uint8_t* reply = rawFrame + PARAMS_OFFSET; dataset.setValidityBufferGeneration(false); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); if (result != returnvalue::OK) { @@ -1943,25 +1900,20 @@ ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& datas return result; } -ReturnValue_t StarTrackerHandler::handlePingReply() { +ReturnValue_t StarTrackerHandler::handlePingReply(const uint8_t* rawFrame) { ReturnValue_t result = returnvalue::OK; uint32_t pingId = 0; - const uint8_t* reply = dataLinkLayer.getReply(); - uint8_t status = dataLinkLayer.getStatusField(); - const uint8_t* buffer = reply + ACTION_DATA_OFFSET; + uint8_t status = str::getStatusField(rawFrame); + const uint8_t* buffer = rawFrame + ACTION_DATA_OFFSET; size_t size = sizeof(pingId); SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE); -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 sif::info << "StarTracker: Ping status: " << static_cast(status) << std::endl; - sif::info << "Ping id: 0x" << std::hex << pingId << std::endl; -#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */ + sif::info << "Ping ID: 0x" << std::hex << pingId << std::endl; if (status != startracker::STATUS_OK || pingId != PING_ID) { - sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl; + sif::warning << "STR: Ping failed" << std::endl; result = PING_FAILED; } else { -#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 - sif::info << "StarTracker: Ping successful" << std::endl; -#endif + sif::info << "STR: Ping OK" << std::endl; } return result; } @@ -2001,9 +1953,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() { return returnvalue::OK; } -ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) { +ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, + size_t size) { ReturnValue_t result = returnvalue::OK; - uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleTm: Reply error: " << static_cast(status) << std::endl; @@ -2013,7 +1966,7 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t if (result != returnvalue::OK) { return result; } - const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET; + const uint8_t* reply = rawFrame + TICKS_OFFSET; dataset.setValidityBufferGeneration(false); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); if (result != returnvalue::OK) { @@ -2031,9 +1984,10 @@ ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t return result; } -ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) { +ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame, + LocalPoolDataSetBase& dataset, size_t size) { ReturnValue_t result = returnvalue::OK; - uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET); + uint8_t status = str::getStatusField(rawFrame); if (status != startracker::STATUS_OK) { sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: " << static_cast(status) << std::endl; @@ -2043,7 +1997,7 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat if (result != returnvalue::OK) { return result; } - const uint8_t* reply = dataLinkLayer.getReply() + ACTION_DATA_OFFSET; + const uint8_t* reply = rawFrame + ACTION_DATA_OFFSET; dataset.setValidityBufferGeneration(false); result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); if (result != returnvalue::OK) { @@ -2061,8 +2015,8 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat return result; } -void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { - switch (*parameterId) { +void StarTrackerHandler::handleStartup(uint8_t parameterId) { + switch (parameterId) { case (startracker::ID::LOG_LEVEL): { bootState = FwBootState::LIMITS; break; @@ -2117,8 +2071,8 @@ void StarTrackerHandler::handleStartup(const uint8_t* parameterId) { break; } default: { - sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected" - << " parameter ID" << std::endl; + sif::warning << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected" + << " parameter ID " << (int)parameterId << std::endl; break; } } diff --git a/linux/devices/startracker/StarTrackerHandler.h b/linux/devices/startracker/StarTrackerHandler.h index 8d7493d7..821aa3b2 100644 --- a/linux/devices/startracker/StarTrackerHandler.h +++ b/linux/devices/startracker/StarTrackerHandler.h @@ -2,20 +2,19 @@ #define MISSION_DEVICES_STARTRACKERHANDLER_H_ #include -#include #include -#include "ArcsecDatalinkLayer.h" #include "ArcsecJsonParamBase.h" #include "OBSWConfig.h" -#include "StrHelper.h" +#include "StrComHandler.h" +#include "arcsec/common/SLIP.h" #include "devices/powerSwitcherList.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/src/fsfw/serialize/SerializeAdapter.h" #include "fsfw/timemanager/Countdown.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" -#include "thirdparty/arcsec_star_tracker/common/SLIP.h" +#include "strJsonCommands.h" /** * @brief This is the device handler for the star tracker from arcsec. @@ -38,7 +37,8 @@ class StarTrackerHandler : public DeviceHandlerBase { * to high to enable the device. */ StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, - const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch); + const char* jsonFileStr, StrComHandler* strHelper, + power::Switch_t powerSwitch); virtual ~StarTrackerHandler(); ReturnValue_t initialize() override; @@ -147,14 +147,14 @@ class StarTrackerHandler : public DeviceHandlerBase { static const size_t MAX_PATH_SIZE = 50; static const size_t MAX_FILE_NAME = 30; - static const uint8_t STATUS_OFFSET = 1; - static const uint8_t PARAMS_OFFSET = 1; - static const uint8_t TICKS_OFFSET = 2; - static const uint8_t TIME_OFFSET = 6; - static const uint8_t TM_DATA_FIELD_OFFSET = 14; - static const uint8_t PARAMETER_ID_OFFSET = 0; - static const uint8_t ACTION_ID_OFFSET = 0; - static const uint8_t ACTION_DATA_OFFSET = 2; + static const uint8_t STATUS_OFFSET = 2; + static const uint8_t PARAMS_OFFSET = 2; + static const uint8_t TICKS_OFFSET = 3; + static const uint8_t TIME_OFFSET = 7; + static const uint8_t PARAMETER_ID_OFFSET = 1; + static const uint8_t ACTION_ID_OFFSET = 1; + static const uint8_t ACTION_DATA_OFFSET = 3; + // Ping request will reply ping with this ID (data field) static const uint32_t PING_ID = 0x55; static const uint32_t BOOT_REGION_ID = 1; @@ -182,8 +182,6 @@ class StarTrackerHandler : public DeviceHandlerBase { MessageQueueIF* eventQueue = nullptr; - ArcsecDatalinkLayer dataLinkLayer; - startracker::TemperatureSet temperatureSet; startracker::VersionSet versionSet; startracker::PowerSet powerSet; @@ -208,7 +206,7 @@ class StarTrackerHandler : public DeviceHandlerBase { startracker::DebugCameraSet debugCameraSet; // Pointer to object responsible for uploading and downloading images to/from the star tracker - StrHelper* strHelper = nullptr; + StrComHandler* strHelper = nullptr; uint8_t commandBuffer[startracker::MAX_FRAME_SIZE]; @@ -310,10 +308,10 @@ class StarTrackerHandler : public DeviceHandlerBase { */ void slipInit(); - ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId); - ReturnValue_t scanForSetParameterReply(DeviceCommandId_t* foundId); - ReturnValue_t scanForGetParameterReply(DeviceCommandId_t* foundId); - ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId); + ReturnValue_t scanForActionReply(uint8_t replyId, DeviceCommandId_t* foundId); + ReturnValue_t scanForSetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId); + ReturnValue_t scanForGetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId); + ReturnValue_t scanForTmReply(uint8_t replyId, DeviceCommandId_t* foundId); /** * @brief Fills command buffer with data to ping the star tracker @@ -435,12 +433,13 @@ class StarTrackerHandler : public DeviceHandlerBase { /** * @brief Handles action replies with datasets. */ - ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size); + ReturnValue_t handleActionReplySet(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, + size_t size); /** * @brief Default function to handle action replies */ - ReturnValue_t handleActionReply(); + ReturnValue_t handleActionReply(const uint8_t* rawFrame); /** * @brief Handles reply to upload centroid command @@ -450,16 +449,17 @@ class StarTrackerHandler : public DeviceHandlerBase { /** * @brief Handles reply to checksum command */ - ReturnValue_t handleChecksumReply(); + ReturnValue_t handleChecksumReply(const uint8_t* rawFrame); /** * @brief Handles all set parameter replies */ - ReturnValue_t handleSetParamReply(); + ReturnValue_t handleSetParamReply(const uint8_t* rawFrame); - ReturnValue_t handlePingReply(); + ReturnValue_t handlePingReply(const uint8_t* rawFrame); - ReturnValue_t handleParamRequest(LocalPoolDataSetBase& dataset, size_t size); + ReturnValue_t handleParamRequest(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, + size_t size); /** * @brief Checks the loaded program by means of the version set @@ -469,7 +469,7 @@ class StarTrackerHandler : public DeviceHandlerBase { /** * @brief Handles the startup state machine */ - void handleStartup(const uint8_t* parameterId); + void handleStartup(uint8_t parameterId); /** * @brief Handles telemtry replies and fills the appropriate dataset @@ -479,7 +479,7 @@ class StarTrackerHandler : public DeviceHandlerBase { * * @return returnvalue::OK if successful, otherwise error return value */ - ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size); + ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size); /** * @brief Checks if star tracker is in valid mode for executing the received command. diff --git a/linux/devices/startracker/StrHelper.cpp b/linux/devices/startracker/StrComHandler.cpp similarity index 58% rename from linux/devices/startracker/StrHelper.cpp rename to linux/devices/startracker/StrComHandler.cpp index 8dd3641d..7a9055d8 100644 --- a/linux/devices/startracker/StrHelper.cpp +++ b/linux/devices/startracker/StrComHandler.cpp @@ -1,6 +1,9 @@ -#include "StrHelper.h" - +#include #include +#include +#include +#include +#include #include #include @@ -8,16 +11,22 @@ #include "OBSWConfig.h" #include "eive/definitions.h" #include "fsfw/timemanager/Countdown.h" +#include "helpers.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" #include "mission/utility/Filenaming.h" #include "mission/utility/ProgressPrinter.h" #include "mission/utility/Timestamp.h" -StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId) {} +using namespace returnvalue; -StrHelper::~StrHelper() {} +StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) { + lock = MutexFactory::instance()->createMutex(); + semaphore.acquire(); +} -ReturnValue_t StrHelper::initialize() { +StrComHandler::~StrComHandler() {} + +ReturnValue_t StrComHandler::initialize() { #ifdef XIPHOS_Q7S sdcMan = SdCardManager::instance(); if (sdcMan == nullptr) { @@ -28,53 +37,63 @@ ReturnValue_t StrHelper::initialize() { return returnvalue::OK; } -ReturnValue_t StrHelper::performOperation(uint8_t operationCode) { +ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) { ReturnValue_t result = returnvalue::OK; - semaphore.acquire(); while (true) { - switch (internalState) { - case InternalState::IDLE: { - semaphore.acquire(); + lock->lockMutex(); + state = InternalState::SLEEPING; + datalinkLayer.reset(); + lock->unlockMutex(); + semaphore.acquire(); + switch (state) { + case InternalState::POLL_ONE_REPLY: { + // Stopwatch watch; + replyTimeout.setTimeout(200); + replyResult = readOneReply(static_cast(state)); + { + MutexGuard mg(lock); + replyWasReceived = true; + } break; } case InternalState::UPLOAD_IMAGE: { + replyTimeout.setTimeout(200); result = performImageUpload(); if (result == returnvalue::OK) { triggerEvent(IMAGE_UPLOAD_SUCCESSFUL); } else { triggerEvent(IMAGE_UPLOAD_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::DOWNLOAD_IMAGE: { + replyTimeout.setTimeout(200); result = performImageDownload(); if (result == returnvalue::OK) { triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL); } else { triggerEvent(IMAGE_DOWNLOAD_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::FLASH_READ: { + replyTimeout.setTimeout(200); result = performFlashRead(); if (result == returnvalue::OK) { triggerEvent(FLASH_READ_SUCCESSFUL); } else { triggerEvent(FLASH_READ_FAILED); } - internalState = InternalState::IDLE; break; } case InternalState::FIRMWARE_UPDATE: { + replyTimeout.setTimeout(200); result = performFirmwareUpdate(); if (result == returnvalue::OK) { triggerEvent(FIRMWARE_UPDATE_SUCCESSFUL); } else { triggerEvent(FIRMWARE_UPDATE_FAILED); } - internalState = InternalState::IDLE; break; } default: @@ -84,18 +103,13 @@ ReturnValue_t StrHelper::performOperation(uint8_t operationCode) { } } -ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) { - uartComIF = dynamic_cast(communicationInterface_); - if (uartComIF == nullptr) { - sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl; - return returnvalue::FAILED; +ReturnValue_t StrComHandler::startImageUpload(std::string fullname) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } } - return returnvalue::OK; -} - -void StrHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; } - -ReturnValue_t StrHelper::startImageUpload(std::string fullname) { #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -106,13 +120,22 @@ ReturnValue_t StrHelper::startImageUpload(std::string fullname) { if (not std::filesystem::exists(fullname)) { return FILE_NOT_EXISTS; } - internalState = InternalState::UPLOAD_IMAGE; + { + MutexGuard mg(lock); + state = InternalState::UPLOAD_IMAGE; + } semaphore.release(); terminate = false; return returnvalue::OK; } -ReturnValue_t StrHelper::startImageDownload(std::string path) { +ReturnValue_t StrComHandler::startImageDownload(std::string path) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -123,19 +146,30 @@ ReturnValue_t StrHelper::startImageDownload(std::string path) { return PATH_NOT_EXISTS; } downloadImage.path = path; - internalState = InternalState::DOWNLOAD_IMAGE; + { + MutexGuard mg(lock); + state = InternalState::DOWNLOAD_IMAGE; + } terminate = false; semaphore.release(); return returnvalue::OK; } -void StrHelper::stopProcess() { terminate = true; } +void StrComHandler::stopProcess() { terminate = true; } -void StrHelper::setDownloadImageName(std::string filename) { downloadImage.filename = filename; } +void StrComHandler::setDownloadImageName(std::string filename) { + downloadImage.filename = filename; +} -void StrHelper::setFlashReadFilename(std::string filename) { flashRead.filename = filename; } +void StrComHandler::setFlashReadFilename(std::string filename) { flashRead.filename = filename; } -ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) { +ReturnValue_t StrComHandler::startFirmwareUpdate(std::string fullname) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(fullname); if (result != returnvalue::OK) { @@ -148,13 +182,23 @@ ReturnValue_t StrHelper::startFirmwareUpdate(std::string fullname) { } flashWrite.firstRegion = static_cast(startracker::FirmwareRegions::FIRST); flashWrite.lastRegion = static_cast(startracker::FirmwareRegions::LAST); - internalState = InternalState::FIRMWARE_UPDATE; + { + MutexGuard mg(lock); + state = InternalState::FIRMWARE_UPDATE; + } semaphore.release(); terminate = false; return returnvalue::OK; } -ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, uint32_t length) { +ReturnValue_t StrComHandler::startFlashRead(std::string path, uint8_t startRegion, + uint32_t length) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } #ifdef XIPHOS_Q7S ReturnValue_t result = checkPath(path); if (result != returnvalue::OK) { @@ -167,17 +211,20 @@ ReturnValue_t StrHelper::startFlashRead(std::string path, uint8_t startRegion, u } flashRead.startRegion = startRegion; flashRead.size = length; - internalState = InternalState::FLASH_READ; + { + MutexGuard mg(lock); + state = InternalState::FLASH_READ; + } semaphore.release(); terminate = false; return returnvalue::OK; } -void StrHelper::disableTimestamping() { timestamping = false; } +void StrComHandler::disableTimestamping() { timestamping = false; } -void StrHelper::enableTimestamping() { timestamping = true; } +void StrComHandler::enableTimestamping() { timestamping = true; } -ReturnValue_t StrHelper::performImageDownload() { +ReturnValue_t StrComHandler::performImageDownload() { #ifdef XIPHOS_Q7S if (not sdcMan->getActiveSdCard()) { return HasFileSystemIF::FILESYSTEM_INACTIVE; @@ -190,6 +237,7 @@ ReturnValue_t StrHelper::performImageDownload() { struct DownloadActionRequest downloadReq; uint32_t size = 0; uint32_t retries = 0; + size_t replySize = 0; std::string image = Filenaming::generateAbsoluteFilename(downloadImage.path, downloadImage.filename, timestamping); std::ofstream file(image, std::ios_base::out); @@ -202,21 +250,21 @@ ReturnValue_t StrHelper::performImageDownload() { file.close(); return returnvalue::OK; } - arc_pack_download_action_req(&downloadReq, commandBuffer, &size); + arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size); result = sendAndRead(size, downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replySize); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } @@ -226,15 +274,14 @@ ReturnValue_t StrHelper::performImageDownload() { result = checkReplyPosition(downloadReq.position); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(datalinkLayer.getReply() + IMAGE_DATA_OFFSET), - CHUNK_SIZE); + file.write(reinterpret_cast(replyPtr + IMAGE_DATA_OFFSET), CHUNK_SIZE); #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print(downloadReq.position); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ @@ -245,7 +292,7 @@ ReturnValue_t StrHelper::performImageDownload() { return returnvalue::OK; } -ReturnValue_t StrHelper::performImageUpload() { +ReturnValue_t StrComHandler::performImageUpload() { ReturnValue_t result = returnvalue::OK; uint32_t size = 0; uint32_t imageSize = 0; @@ -258,8 +305,7 @@ ReturnValue_t StrHelper::performImageUpload() { #endif std::memset(&uploadReq.data, 0, sizeof(uploadReq.data)); if (not std::filesystem::exists(uploadImage.uploadFile)) { - triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(internalState)); - internalState = InternalState::IDLE; + triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(state)); return returnvalue::FAILED; } std::ifstream file(uploadImage.uploadFile, std::ifstream::binary); @@ -276,26 +322,29 @@ ReturnValue_t StrHelper::performImageUpload() { #endif /* OBSW_DEBUG_STARTRACKER == 1 */ while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) { if (terminate) { - file.close(); return returnvalue::OK; } file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg); file.read(reinterpret_cast(uploadReq.data), SIZE_IMAGE_PART); - arc_pack_upload_action_req(&uploadReq, commandBuffer, &size); + arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size); result = sendAndRead(size, uploadReq.position); if (result != returnvalue::OK) { - file.close(); return returnvalue::FAILED; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { - file.close(); return result; } #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ uploadReq.position++; + + // This does a bit of delaying roughly every second + if (uploadReq.position % 50 == 0) { + // Some grace time for other tasks + TaskFactory::delayTask(2); + } } std::memset(uploadReq.data, 0, sizeof(uploadReq.data)); uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART; @@ -303,12 +352,12 @@ ReturnValue_t StrHelper::performImageUpload() { file.read(reinterpret_cast(uploadReq.data), remainder); file.close(); uploadReq.position++; - arc_pack_upload_action_req(&uploadReq, commandBuffer, &size); + arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size); result = sendAndRead(size, uploadReq.position); if (result != returnvalue::OK) { return returnvalue::FAILED; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { return result; } @@ -318,7 +367,7 @@ ReturnValue_t StrHelper::performImageUpload() { return returnvalue::OK; } -ReturnValue_t StrHelper::performFirmwareUpdate() { +ReturnValue_t StrComHandler::performFirmwareUpdate() { using namespace startracker; ReturnValue_t result = returnvalue::OK; result = unlockAndEraseRegions(static_cast(startracker::FirmwareRegions::FIRST), @@ -330,7 +379,7 @@ ReturnValue_t StrHelper::performFirmwareUpdate() { return result; } -ReturnValue_t StrHelper::performFlashWrite() { +ReturnValue_t StrComHandler::performFlashWrite() { #ifdef XIPHOS_Q7S if (not sdcMan->getActiveSdCard()) { return HasFileSystemIF::FILESYSTEM_INACTIVE; @@ -340,13 +389,16 @@ ReturnValue_t StrHelper::performFlashWrite() { uint32_t size = 0; uint32_t bytesWritten = 0; uint32_t fileSize = 0; + struct WriteActionRequest req; if (not std::filesystem::exists(flashWrite.fullname)) { - triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(internalState)); - internalState = InternalState::IDLE; + triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast(state)); return returnvalue::FAILED; } std::ifstream file(flashWrite.fullname, std::ifstream::binary); + if (file.bad()) { + return returnvalue::FAILED; + } file.seekg(0, file.end); fileSize = file.tellg(); if (fileSize > FLASH_REGION_SIZE * (flashWrite.lastRegion - flashWrite.firstRegion)) { @@ -362,7 +414,6 @@ ReturnValue_t StrHelper::performFlashWrite() { req.length = CHUNK_SIZE; for (uint32_t idx = 0; idx < fileChunks; idx++) { if (terminate) { - file.close(); return returnvalue::OK; } file.seekg(idx * CHUNK_SIZE, file.beg); @@ -372,21 +423,23 @@ ReturnValue_t StrHelper::performFlashWrite() { bytesWritten = 0; } req.address = bytesWritten; - arc_pack_write_action_req(&req, commandBuffer, &size); + arc_pack_write_action_req(&req, cmdBuf.data(), &size); result = sendAndRead(size, req.address); if (result != returnvalue::OK) { - file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { - file.close(); return result; } bytesWritten += CHUNK_SIZE; #if OBSW_DEBUG_STARTRACKER == 1 progressPrinter.print(idx * CHUNK_SIZE); #endif /* OBSW_DEBUG_STARTRACKER == 1 */ + if (idx % 50 == 0) { + // Some grace time for other tasks + TaskFactory::delayTask(2); + } } uint32_t remainingBytes = fileSize - fileChunks * CHUNK_SIZE; file.seekg((fileChunks - 1) * CHUNK_SIZE, file.beg); @@ -399,12 +452,12 @@ ReturnValue_t StrHelper::performFlashWrite() { req.address = bytesWritten; req.length = remainingBytes; bytesWritten += remainingBytes; - arc_pack_write_action_req(&req, commandBuffer, &size); + arc_pack_write_action_req(&req, cmdBuf.data(), &size); result = sendAndRead(size, req.address); if (result != returnvalue::OK) { return result; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { return result; } @@ -414,7 +467,7 @@ ReturnValue_t StrHelper::performFlashWrite() { return returnvalue::OK; } -ReturnValue_t StrHelper::performFlashRead() { +ReturnValue_t StrComHandler::performFlashRead() { #ifdef XIPHOS_Q7S if (not sdcMan->getActiveSdCard()) { return HasFileSystemIF::FILESYSTEM_INACTIVE; @@ -446,29 +499,28 @@ ReturnValue_t StrHelper::performFlashRead() { } else { req.length = CHUNK_SIZE; } - arc_pack_read_action_req(&req, commandBuffer, &size); + arc_pack_read_action_req(&req, cmdBuf.data(), &size); result = sendAndRead(size, req.address); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - result = checkActionReply(); + result = checkActionReply(replyLen); if (result != returnvalue::OK) { if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) { - uartComIF->flushUartRxBuffer(comCookie); + serial::flushRxBuf(serialPort); retries++; continue; } file.close(); return result; } - file.write(reinterpret_cast(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET), - req.length); + file.write(reinterpret_cast(replyPtr + FLASH_READ_DATA_OFFSET), req.length); bytesRead += req.length; req.address += req.length; if (req.address >= FLASH_REGION_SIZE) { @@ -484,70 +536,29 @@ ReturnValue_t StrHelper::performFlashRead() { return returnvalue::OK; } -ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs) { +ReturnValue_t StrComHandler::sendAndRead(size_t size, uint32_t failParameter) { ReturnValue_t result = returnvalue::OK; - ReturnValue_t decResult = returnvalue::OK; - size_t receivedDataLen = 0; - uint8_t* receivedData = nullptr; - size_t bytesLeft = 0; - uint32_t missedReplies = 0; - datalinkLayer.encodeFrame(commandBuffer, size); - result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(), - datalinkLayer.getEncodedLength()); - if (result != returnvalue::OK) { + + const uint8_t* sendData; + size_t txFrameLen = 0; + datalinkLayer.encodeFrame(cmdBuf.data(), size, &sendData, txFrameLen); + int writeResult = write(serialPort, sendData, txFrameLen); + if (writeResult < 0) { sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl; - triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter); + triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, failParameter); return returnvalue::FAILED; } - decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS; - while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) { - Countdown delay(delayMs); - delay.resetTimer(); - while (delay.isBusy()) { - } - result = uartComIF->requestReceiveMessage(comCookie, startracker::MAX_FRAME_SIZE * 2 + 2); - if (result != returnvalue::OK) { - sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl; - triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter); - return returnvalue::FAILED; - } - result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen); - if (result != returnvalue::OK) { - sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl; - triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter); - return returnvalue::FAILED; - } - if (receivedDataLen == 0 && missedReplies < MAX_POLLS) { - missedReplies++; - continue; - } else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) { - triggerEvent(STR_HELPER_NO_REPLY, parameter); - return returnvalue::FAILED; - } else { - missedReplies = 0; - } - decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft); - if (bytesLeft != 0) { - // This should never happen - sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl; - triggerEvent(STR_HELPER_COM_ERROR, result, parameter); - return returnvalue::FAILED; - } - } - if (decResult != returnvalue::OK) { - triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter); - return returnvalue::FAILED; - } - return returnvalue::OK; + + return readOneReply(failParameter); } -ReturnValue_t StrHelper::checkActionReply() { - uint8_t type = datalinkLayer.getReplyFrameType(); +ReturnValue_t StrComHandler::checkActionReply(size_t replySize) { + uint8_t type = str::getReplyFrameType(replyPtr); if (type != TMTC_ACTIONREPLY) { sif::warning << "StrHelper::checkActionReply: Received reply with invalid type ID" << std::endl; return INVALID_TYPE_ID; } - uint8_t status = datalinkLayer.getStatusField(); + uint8_t status = str::getStatusField(replyPtr); if (status != ArcsecDatalinkLayer::STATUS_OK) { sif::warning << "StrHelper::checkActionReply: Status failure: " << static_cast(status) << std::endl; @@ -556,9 +567,9 @@ ReturnValue_t StrHelper::checkActionReply() { return returnvalue::OK; } -ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) { +ReturnValue_t StrComHandler::checkReplyPosition(uint32_t expectedPosition) { uint32_t receivedPosition = 0; - std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition)); + std::memcpy(&receivedPosition, replyPtr + POS_OFFSET, sizeof(receivedPosition)); if (receivedPosition != expectedPosition) { triggerEvent(POSITION_MISMATCH, receivedPosition); return returnvalue::FAILED; @@ -567,7 +578,7 @@ ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) { } #ifdef XIPHOS_Q7S -ReturnValue_t StrHelper::checkPath(std::string name) { +ReturnValue_t StrComHandler::checkPath(std::string name) { if (name.substr(0, sizeof(config::SD_0_MOUNT_POINT)) == std::string(config::SD_0_MOUNT_POINT)) { if (!sdcMan->isSdCardUsable(sd::SLOT_0)) { sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl; @@ -584,7 +595,112 @@ ReturnValue_t StrHelper::checkPath(std::string name) { } #endif -ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { +ReturnValue_t StrComHandler::initializeInterface(CookieIF* cookie) { + if (cookie == nullptr) { + return returnvalue::FAILED; + } + SerialCookie* serCookie = dynamic_cast(cookie); + if (serCookie == nullptr) { + return DeviceCommunicationIF::INVALID_COOKIE_TYPE; + } + // comCookie = serCookie; + std::string devname = serCookie->getDeviceFile(); + /* Get file descriptor */ + serialPort = open(devname.c_str(), O_RDWR); + if (serialPort < 0) { + sif::warning << "StrComHandler: open call failed with error [" << errno << ", " + << strerror(errno) << std::endl; + return returnvalue::FAILED; + } + // Setting up UART parameters + tty.c_cflag &= ~PARENB; // Clear parity bit + serial::setStopbits(tty, serCookie->getStopBits()); + serial::setBitsPerWord(tty, BitsPerWord::BITS_8); + tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control + serial::enableRead(tty); + serial::ignoreCtrlLines(tty); + + // Use non-canonical mode and clear echo flag + tty.c_lflag &= ~(ICANON | ECHO); + + // Non-blocking mode, use polling + tty.c_cc[VTIME] = 0; + tty.c_cc[VMIN] = 0; + + serial::setBaudrate(tty, serCookie->getBaudrate()); + if (tcsetattr(serialPort, TCSANOW, &tty) != 0) { + sif::warning << "ScexUartReader::initializeInterface: tcsetattr call failed with error [" + << errno << ", " << strerror(errno) << std::endl; + } + // Flush received and unread data + tcflush(serialPort, TCIOFLUSH); + return returnvalue::OK; +} + +ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendData, + size_t sendLen) { + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + } + serial::flushRxBuf(serialPort); + + const uint8_t* txFrame; + size_t frameLen; + datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen); + ssize_t bytesWritten = write(serialPort, txFrame, frameLen); + if (bytesWritten != static_cast(frameLen)) { + sif::warning << "StrComHandler: Sending packet failed" << std::endl; + return returnvalue::FAILED; + } + // Hacky, but the alternatives look bleak. The raw data contains the information we need + // and there are not too many special cases. + if (sendData[0] == TMTC_ACTIONREQ) { + // 1 is a firmware boot request and 7 is a reboot request. For both, no reply is expected. + if (sendData[1] == 7 or sendData[1] == 1) { + return returnvalue::OK; + } + } + { + MutexGuard mg(lock); + state = InternalState::POLL_ONE_REPLY; + } + // Unlock task to perform reply reading. + semaphore.release(); + return returnvalue::OK; +} + +ReturnValue_t StrComHandler::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; } + +ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requestLen) { + return returnvalue::OK; +} + +ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) { + // Consider it a configuration error if the task is not done with a command -> reply cycle + // in time. + bool replyWasReceived = false; + { + MutexGuard mg(lock); + if (state != InternalState::SLEEPING) { + return BUSY; + } + replyWasReceived = this->replyWasReceived; + } + if (not replyWasReceived) { + *size = 0; + return returnvalue::OK; + } + if (replyResult == returnvalue::OK) { + *buffer = const_cast(replyPtr); + *size = replyLen; + } + return replyResult; +} + +ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) { ReturnValue_t result = returnvalue::OK; #if OBSW_DEBUG_STARTRACKER == 1 ProgressPrinter progressPrinter("Unlock and erase", to - from); @@ -595,17 +711,20 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { for (uint32_t idx = from; idx <= to; idx++) { unlockReq.region = idx; unlockReq.code = startracker::region_secrets::secret[idx]; - arc_pack_unlock_action_req(&unlockReq, commandBuffer, &size); - sendAndRead(size, unlockReq.region); - result = checkActionReply(); + arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size); + result = sendAndRead(size, unlockReq.region); + if (result != returnvalue::OK) { + return result; + } + result = checkActionReply(replyLen); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to unlock region with id " << static_cast(unlockReq.region) << std::endl; return result; } eraseReq.region = idx; - arc_pack_erase_action_req(&eraseReq, commandBuffer, &size); - result = sendAndRead(size, eraseReq.region, FLASH_ERASE_DELAY); + arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size); + result = sendAndRead(size, eraseReq.region); if (result != returnvalue::OK) { sif::warning << "StrHelper::unlockAndEraseRegions: Failed to erase region with id " << static_cast(eraseReq.region) << std::endl; @@ -617,3 +736,48 @@ ReturnValue_t StrHelper::unlockAndEraseRegions(uint32_t from, uint32_t to) { } return result; } + +ReturnValue_t StrComHandler::handleSerialReception() { + ssize_t bytesRead = read(serialPort, reinterpret_cast(recBuf.data()), + static_cast(recBuf.size())); + if (bytesRead == 0) { + return NO_SERIAL_DATA_READ; + } else if (bytesRead < 0) { + sif::warning << "StrComHandler: read call failed with error [" << errno << ", " + << strerror(errno) << "]" << std::endl; + return FAILED; + } else if (bytesRead >= static_cast(recBuf.size())) { + sif::error << "StrComHandler: Receive buffer too small for " << bytesRead << " bytes" + << std::endl; + return FAILED; + } else if (bytesRead > 0) { + // sif::info << "Received " << bytesRead << " bytes from the STR" << std::endl; + // arrayprinter::print(recBuf.data(), bytesRead); + datalinkLayer.feedData(recBuf.data(), bytesRead); + } + return OK; +} + +ReturnValue_t StrComHandler::readOneReply(uint32_t failParameter) { + ReturnValue_t result; + uint32_t nextDelayMs = 1; + replyTimeout.resetTimer(); + while (true) { + handleSerialReception(); + result = datalinkLayer.checkRingBufForFrame(&replyPtr, replyLen); + if (result == returnvalue::OK) { + return returnvalue::OK; + } else if (result != ArcsecDatalinkLayer::DEC_IN_PROGRESS) { + triggerEvent(STR_HELPER_DEC_ERROR, result, failParameter); + return DECODING_ERROR; + } + if (replyTimeout.hasTimedOut()) { + triggerEvent(STR_COM_REPLY_TIMEOUT, failParameter, replyTimeout.getTimeoutMs()); + return RECEPTION_TIMEOUT; + } + TaskFactory::delayTask(nextDelayMs); + if (nextDelayMs < 32) { + nextDelayMs *= 2; + } + } +} diff --git a/linux/devices/startracker/StrHelper.h b/linux/devices/startracker/StrComHandler.h similarity index 77% rename from linux/devices/startracker/StrHelper.h rename to linux/devices/startracker/StrComHandler.h index 3d78f9a4..b581678c 100644 --- a/linux/devices/startracker/StrHelper.h +++ b/linux/devices/startracker/StrComHandler.h @@ -10,6 +10,8 @@ #include "bsp_q7s/fs/SdCardManager.h" #endif +#include "arcsec/client/generated/actionreq.h" +#include "arcsec/common/generated/tmtcstructs.h" #include "fsfw/devicehandlers/CookieIF.h" #include "fsfw/objectmanager/SystemObject.h" #include "fsfw/osal/linux/BinarySemaphore.h" @@ -17,18 +19,36 @@ #include "fsfw/tasks/ExecutableObjectIF.h" #include "fsfw_hal/linux/serial/SerialComIF.h" -extern "C" { -#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h" -#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h" -} - /** * @brief Helper class for the star tracker handler to accelerate large data transfers. * * @author J. Meier */ -class StrHelper : public SystemObject, public ExecutableObjectIF { +class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF { public: + static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER; + + //! [EXPORT] : [COMMENT] SD card specified in path string not mounted + static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1); + //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem + static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2); + //! [EXPORT] : [COMMENT] Specified path does not exist + static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3); + //! [EXPORT] : [COMMENT] Failed to create download image or read flash file + static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4); + //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region + static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5); + //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address + static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6); + //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length + static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7); + //! [EXPORT] : [COMMENT] Status field in reply signals error + static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8); + //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type) + static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9); + static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10); + static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11); + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER; //! [EXPORT] : [COMMENT] Image upload failed @@ -57,39 +77,36 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { //! P1: Return code of failed communication interface read call //! P1: Upload/download position for which the read call failed static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW); - //! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off) - //! P1: Position of upload or download packet for which no reply was sent - static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(11, severity::LOW); + //! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout. + //! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout + static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW); //! [EXPORT] : [COMMENT] Error during decoding of received reply occurred - // P1: Return value of decoding function - // P2: Position of upload/download packet, or address of flash write/read request - static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(12, severity::LOW); + //! P1: Return value of decoding function + //! P2: Position of upload/download packet, or address of flash write/read request + static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW); //! [EXPORT] : [COMMENT] Position mismatch //! P1: The expected position and thus the position for which the image upload/download failed - static const Event POSITION_MISMATCH = MAKE_EVENT(13, severity::LOW); + static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW); //! [EXPORT] : [COMMENT] Specified file does not exist //! P1: Internal state of str helper - static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(14, severity::LOW); + static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW); //! [EXPORT] : [COMMENT] Sending packet to star tracker failed //! P1: Return code of communication interface sendMessage function //! P2: Position of upload/download packet, or address of flash write/read request for which //! sending failed - static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(15, severity::LOW); + static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW); //! [EXPORT] : [COMMENT] Communication interface requesting reply failed //! P1: Return code of failed request //! P1: Upload/download position, or address of flash write/read request for which transmission //! failed - static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(16, severity::LOW); + static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW); - StrHelper(object_id_t objectId); - virtual ~StrHelper(); + StrComHandler(object_id_t objectId); + virtual ~StrComHandler(); ReturnValue_t initialize() override; ReturnValue_t performOperation(uint8_t operationCode = 0) override; - ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_); - void setComCookie(CookieIF* comCookie_); - /** * @brief Starts sequence to upload image to star tracker * @@ -148,26 +165,8 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { void enableTimestamping(); private: - static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER; - - //! [EXPORT] : [COMMENT] SD card specified in path string not mounted - static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0); - //! [EXPORT] : [COMMENT] Specified file does not exist on filesystem - static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1); - //! [EXPORT] : [COMMENT] Specified path does not exist - static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2); - //! [EXPORT] : [COMMENT] Failed to create download image or read flash file - static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3); - //! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region - static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4); - //! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address - static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5); - //! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length - static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6); - //! [EXPORT] : [COMMENT] Status field in reply signals error - static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7); - //! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type) - static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8); + //! [EXPORT] : [SKIP] + static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128); // Size of one image part which can be sent per action request static const size_t SIZE_IMAGE_PART = 1024; @@ -179,25 +178,34 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { static const uint32_t MAX_POLLS = 10000; - static const uint8_t ACTION_DATA_OFFSET = 2; - static const uint8_t POS_OFFSET = 2; - static const uint8_t IMAGE_DATA_OFFSET = 5; - static const uint8_t FLASH_READ_DATA_OFFSET = 8; - static const uint8_t REGION_OFFSET = 2; - static const uint8_t ADDRESS_OFFSET = 3; - static const uint8_t LENGTH_OFFSET = 7; + static const uint8_t ACTION_DATA_OFFSET = 3; + static const uint8_t POS_OFFSET = 3; + static const uint8_t IMAGE_DATA_OFFSET = 6; + static const uint8_t FLASH_READ_DATA_OFFSET = 9; + static const uint8_t REGION_OFFSET = 3; + static const uint8_t ADDRESS_OFFSET = 4; static const size_t CHUNK_SIZE = 1024; static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3; static const uint32_t FLASH_ERASE_DELAY = 500; - enum class InternalState { IDLE, UPLOAD_IMAGE, DOWNLOAD_IMAGE, FLASH_READ, FIRMWARE_UPDATE }; + enum class InternalState { + SLEEPING, + POLL_ONE_REPLY, + UPLOAD_IMAGE, + DOWNLOAD_IMAGE, + FLASH_READ, + FIRMWARE_UPDATE + }; - InternalState internalState = InternalState::IDLE; + InternalState state = InternalState::SLEEPING; ArcsecDatalinkLayer datalinkLayer; + MutexIF *lock; BinarySemaphore semaphore; + Countdown replyTimeout = Countdown(20); + struct UploadImage { // Name including absolute path of image to upload std::string uploadFile; @@ -238,10 +246,16 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { FlashRead flashRead; #ifdef XIPHOS_Q7S - SdCardManager* sdcMan = nullptr; + SdCardManager *sdcMan = nullptr; #endif - uint8_t commandBuffer[startracker::MAX_FRAME_SIZE]; + std::array cmdBuf{}; + std::array recBuf{}; + + bool replyWasReceived = false; + const uint8_t *replyPtr = nullptr; + size_t replyLen = 0; + ReturnValue_t replyResult = returnvalue::OK; bool terminate = false; @@ -251,17 +265,20 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { bool timestamping = true; #endif - /** - * UART communication object responsible for low level access of star tracker - * Must be set by star tracker handler - */ - SerialComIF* uartComIF = nullptr; - // Communication cookie. Must be set by the star tracker handler - CookieIF* comCookie = nullptr; + int serialPort = 0; + struct termios tty = {}; // Queue id of raw data receiver MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE; + ReturnValue_t initializeInterface(CookieIF *cookie) override; + ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override; + ReturnValue_t getSendSuccess(CookieIF *cookie) override; + ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override; + ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override; + + ReturnValue_t handleSerialReception(); + /** * @brief Performs image uploading */ @@ -302,21 +319,23 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { /** * @brief Sends packet to the star tracker and reads reply by using the communication * interface - * + * @details + * The reply frame is stored in the data link layer helper. A pointer to the start of the frame + * is assigned to the @replyPtr member of this class. The frame length will be assigned to + * the @replyLen member. * @param size Size of data beforehand written to the commandBuffer * @param parameter Parameter 2 of trigger event function - * @param delayMs Delay in milliseconds between send and receive call * * @return returnvalue::OK if successful, otherwise returnvalue::FAILED */ - ReturnValue_t sendAndRead(size_t size, uint32_t parameter, uint32_t delayMs = 0); + ReturnValue_t sendAndRead(size_t size, uint32_t parameter); /** * @brief Checks the header (type id and status fields) of the action reply * * @return returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED */ - ReturnValue_t checkActionReply(); + ReturnValue_t checkActionReply(size_t replySize); /** * @brief Checks the position field in a star tracker upload/download reply. @@ -345,6 +364,15 @@ class StrHelper : public SystemObject, public ExecutableObjectIF { * */ ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to); + + /** + * The reply frame is stored in the data link layer helper. A pointer to the start of the frame + * is assigned to the @replyPtr member of this class. The frame length will be assigned to + * the @replyLen member. + * @param failParameter + * @return + */ + ReturnValue_t readOneReply(uint32_t failParameter); }; #endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */ diff --git a/linux/devices/startracker/ArcsecJsonKeys.h b/linux/devices/startracker/arcsecJsonKeys.h similarity index 100% rename from linux/devices/startracker/ArcsecJsonKeys.h rename to linux/devices/startracker/arcsecJsonKeys.h diff --git a/linux/devices/startracker/helpers.cpp b/linux/devices/startracker/helpers.cpp new file mode 100644 index 00000000..112bc06a --- /dev/null +++ b/linux/devices/startracker/helpers.cpp @@ -0,0 +1,7 @@ +#include "helpers.h" + +uint8_t str::getReplyFrameType(const uint8_t* rawFrame) { return rawFrame[0]; } + +uint8_t str::getId(const uint8_t* rawFrame) { return rawFrame[1]; } + +uint8_t str::getStatusField(const uint8_t* rawFrame) { return rawFrame[2]; } diff --git a/linux/devices/startracker/helpers.h b/linux/devices/startracker/helpers.h new file mode 100644 index 00000000..9b4f5f9e --- /dev/null +++ b/linux/devices/startracker/helpers.h @@ -0,0 +1,17 @@ +#ifndef LINUX_DEVICES_STARTRACKER_HELPERS_H_ +#define LINUX_DEVICES_STARTRACKER_HELPERS_H_ + +#include "arcsec/common/genericstructs.h" + +namespace str { + +/** + * @brief Returns the frame type field of a decoded frame. + */ +uint8_t getReplyFrameType(const uint8_t* rawFrame); +uint8_t getId(const uint8_t* rawFrame); +uint8_t getStatusField(const uint8_t* rawFrame); + +} // namespace str + +#endif /* LINUX_DEVICES_STARTRACKER_HELPERS_H_ */ diff --git a/linux/devices/startracker/StarTrackerJsonCommands.cpp b/linux/devices/startracker/strJsonCommands.cpp similarity index 99% rename from linux/devices/startracker/StarTrackerJsonCommands.cpp rename to linux/devices/startracker/strJsonCommands.cpp index 766a1624..0a47cb87 100644 --- a/linux/devices/startracker/StarTrackerJsonCommands.cpp +++ b/linux/devices/startracker/strJsonCommands.cpp @@ -1,6 +1,6 @@ -#include "StarTrackerJsonCommands.h" +#include "strJsonCommands.h" -#include "ArcsecJsonKeys.h" +#include "arcsecJsonKeys.h" Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {} diff --git a/linux/devices/startracker/StarTrackerJsonCommands.h b/linux/devices/startracker/strJsonCommands.h similarity index 100% rename from linux/devices/startracker/StarTrackerJsonCommands.h rename to linux/devices/startracker/strJsonCommands.h diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 04285d29..1bb3b08e 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 280 translations. + * @brief Auto-generated event translation file. Contains 279 translations. * @details - * Generated on: 2023-03-23 10:28:33 + * Generated on: 2023-03-24 14:59:06 */ #include "translateEvents.h" @@ -173,7 +173,7 @@ const char *FIRMWARE_UPDATE_SUCCESSFUL_STRING = "FIRMWARE_UPDATE_SUCCESSFUL"; const char *FIRMWARE_UPDATE_FAILED_STRING = "FIRMWARE_UPDATE_FAILED"; const char *STR_HELPER_READING_REPLY_FAILED_STRING = "STR_HELPER_READING_REPLY_FAILED"; const char *STR_HELPER_COM_ERROR_STRING = "STR_HELPER_COM_ERROR"; -const char *STR_HELPER_NO_REPLY_STRING = "STR_HELPER_NO_REPLY"; +const char *STR_COM_REPLY_TIMEOUT_STRING = "STR_COM_REPLY_TIMEOUT"; const char *STR_HELPER_DEC_ERROR_STRING = "STR_HELPER_DEC_ERROR"; const char *POSITION_MISMATCH_STRING = "POSITION_MISMATCH"; const char *STR_HELPER_FILE_NOT_EXISTS_STRING = "STR_HELPER_FILE_NOT_EXISTS"; @@ -620,16 +620,16 @@ const char *translateEvents(Event event) { case (12510): return STR_HELPER_COM_ERROR_STRING; case (12511): - return STR_HELPER_NO_REPLY_STRING; - case (12512): - return STR_HELPER_DEC_ERROR_STRING; + return STR_COM_REPLY_TIMEOUT_STRING; case (12513): - return POSITION_MISMATCH_STRING; + return STR_HELPER_DEC_ERROR_STRING; case (12514): - return STR_HELPER_FILE_NOT_EXISTS_STRING; + return POSITION_MISMATCH_STRING; case (12515): - return STR_HELPER_SENDING_PACKET_FAILED_STRING; + return STR_HELPER_FILE_NOT_EXISTS_STRING; case (12516): + return STR_HELPER_SENDING_PACKET_FAILED_STRING; + case (12517): return STR_HELPER_REQUESTING_MSG_FAILED_STRING; case (12600): return MPSOC_FLASH_WRITE_FAILED_STRING; diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 4eff584d..c5adb5d2 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 173 translations. - * Generated on: 2023-03-21 23:59:36 + * Generated on: 2023-03-24 14:59:06 */ #include "translateObjects.h" @@ -49,7 +49,7 @@ const char *PLPCDU_HANDLER_STRING = "PLPCDU_HANDLER"; const char *RAD_SENSOR_STRING = "RAD_SENSOR"; const char *PLOC_UPDATER_STRING = "PLOC_UPDATER"; const char *PLOC_MEMORY_DUMPER_STRING = "PLOC_MEMORY_DUMPER"; -const char *STR_HELPER_STRING = "STR_HELPER"; +const char *STR_COM_IF_STRING = "STR_COM_IF"; const char *PLOC_MPSOC_HELPER_STRING = "PLOC_MPSOC_HELPER"; const char *AXI_PTME_CONFIG_STRING = "AXI_PTME_CONFIG"; const char *PTME_CONFIG_STRING = "PTME_CONFIG"; @@ -85,6 +85,7 @@ const char *RTD_13_IC16_PLPCDU_HEATSPREADER_STRING = "RTD_13_IC16_PLPCDU_HEATSPR const char *RTD_14_IC17_TCS_BOARD_STRING = "RTD_14_IC17_TCS_BOARD"; const char *RTD_15_IC18_IMTQ_STRING = "RTD_15_IC18_IMTQ"; const char *SYRLINKS_HANDLER_STRING = "SYRLINKS_HANDLER"; +const char *SYRLINKS_COM_HANDLER_STRING = "SYRLINKS_COM_HANDLER"; const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF"; const char *GPIO_IF_STRING = "GPIO_IF"; const char *SCEX_UART_READER_STRING = "SCEX_UART_READER"; @@ -176,7 +177,6 @@ const char *LOG_STORE_AND_TM_TASK_STRING = "LOG_STORE_AND_TM_TASK"; const char *HK_STORE_AND_TM_TASK_STRING = "HK_STORE_AND_TM_TASK"; const char *CFDP_STORE_AND_TM_TASK_STRING = "CFDP_STORE_AND_TM_TASK"; const char *DOWNLINK_RAM_STORE_STRING = "DOWNLINK_RAM_STORE"; -const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE"; const char *THERMAL_TEMP_INSERTER_STRING = "THERMAL_TEMP_INSERTER"; const char *NO_OBJECT_STRING = "NO_OBJECT"; @@ -269,7 +269,7 @@ const char *translateObject(object_id_t object) { case 0x44330001: return PLOC_MEMORY_DUMPER_STRING; case 0x44330002: - return STR_HELPER_STRING; + return STR_COM_IF_STRING; case 0x44330003: return PLOC_MPSOC_HELPER_STRING; case 0x44330004: @@ -340,6 +340,8 @@ const char *translateObject(object_id_t object) { return RTD_15_IC18_IMTQ_STRING; case 0x445300A3: return SYRLINKS_HANDLER_STRING; + case 0x445300A4: + return SYRLINKS_COM_HANDLER_STRING; case 0x49000000: return ARDUINO_COM_IF_STRING; case 0x49010005: @@ -522,8 +524,6 @@ const char *translateObject(object_id_t object) { return CFDP_STORE_AND_TM_TASK_STRING; case 0x73040004: return DOWNLINK_RAM_STORE_STRING; - case 0x73500000: - return CCSDS_IP_CORE_BRIDGE_STRING; case 0x90000003: return THERMAL_TEMP_INSERTER_STRING; case 0xFFFFFFFF: diff --git a/linux/ipcore/PapbVcInterface.cpp b/linux/ipcore/PapbVcInterface.cpp index 51afc15d..8c98df90 100644 --- a/linux/ipcore/PapbVcInterface.cpp +++ b/linux/ipcore/PapbVcInterface.cpp @@ -1,5 +1,6 @@ #include #include +#include #include "fsfw/serviceinterface/ServiceInterface.h" @@ -15,47 +16,67 @@ PapbVcInterface::~PapbVcInterface() {} ReturnValue_t PapbVcInterface::initialize() { UioMapper uioMapper(uioFile, mapNum); - return uioMapper.getMappedAdress(&vcBaseReg, UioMapper::Permissions::WRITE_ONLY); + uint32_t* baseReg; + ReturnValue_t result = uioMapper.getMappedAdress(&baseReg, UioMapper::Permissions::WRITE_ONLY); + if (result != returnvalue::OK) { + return result; + } + vcBaseReg = baseReg; + return returnvalue::OK; } ReturnValue_t PapbVcInterface::write(const uint8_t* data, size_t size) { - if (pollPapbBusySignal() == returnvalue::OK) { + if (pollPapbBusySignal(0, 0) == returnvalue::OK) { startPacketTransfer(); + } else { + return DirectTmSinkIF::IS_BUSY; } for (size_t idx = 0; idx < size; idx++) { - if (pollPapbBusySignal() == returnvalue::OK) { - *(vcBaseReg + DATA_REG_OFFSET) = static_cast(*(data + idx)); + if (pollPapbBusySignal(10, 10) == returnvalue::OK) { + *(vcBaseReg + DATA_REG_OFFSET) = static_cast(data[idx]); } else { - sif::warning << "PapbVcInterface::write: Only written " << idx << " of " << size << " data" - << std::endl; + abortPacketTransfer(); return returnvalue::FAILED; } } - if (pollPapbBusySignal() == returnvalue::OK) { - endPacketTransfer(); + if (pollPapbBusySignal(10, 10) == returnvalue::OK) { + completePacketTransfer(); + } else { + abortPacketTransfer(); + return returnvalue::FAILED; } return returnvalue::OK; } void PapbVcInterface::startPacketTransfer() { *vcBaseReg = CONFIG_START; } -void PapbVcInterface::endPacketTransfer() { *vcBaseReg = CONFIG_END; } +void PapbVcInterface::completePacketTransfer() { *vcBaseReg = CONFIG_END; } -ReturnValue_t PapbVcInterface::pollPapbBusySignal() const { +ReturnValue_t PapbVcInterface::pollPapbBusySignal(uint32_t maxPollRetries, + uint32_t retryDelayUs) const { gpio::Levels papbBusyState = gpio::Levels::LOW; - ReturnValue_t result = returnvalue::OK; + ReturnValue_t result; + uint32_t busyIdx = 0; - /** Check if PAPB interface is ready to receive data */ - result = gpioComIF->readGpio(papbBusyId, papbBusyState); - if (result != returnvalue::OK) { - sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal" - << std::endl; - return returnvalue::FAILED; - } - if (papbBusyState == gpio::Levels::LOW) { - return PAPB_BUSY; - } + while (true) { + /** Check if PAPB interface is ready to receive data */ + result = gpioComIF->readGpio(papbBusyId, papbBusyState); + if (result != returnvalue::OK) { + sif::warning << "PapbVcInterface::pollPapbBusySignal: Failed to read papb busy signal" + << std::endl; + return returnvalue::FAILED; + } + if (papbBusyState == gpio::Levels::HIGH) { + return returnvalue::OK; + } + busyIdx++; + if (busyIdx >= maxPollRetries) { + return PAPB_BUSY; + } + + usleep(retryDelayUs); + } return returnvalue::OK; } @@ -79,7 +100,9 @@ void PapbVcInterface::isVcInterfaceBufferEmpty() { return; } -bool PapbVcInterface::isBusy() const { return pollPapbBusySignal() == PAPB_BUSY; } +bool PapbVcInterface::isBusy() const { return pollPapbBusySignal(0, 0) == PAPB_BUSY; } + +void PapbVcInterface::cancelTransfer() { abortPacketTransfer(); } ReturnValue_t PapbVcInterface::sendTestFrame() { /** Size of one complete transfer frame data field amounts to 1105 bytes */ @@ -97,3 +120,5 @@ ReturnValue_t PapbVcInterface::sendTestFrame() { return returnvalue::OK; } + +void PapbVcInterface::abortPacketTransfer() { *vcBaseReg = CONFIG_ABORT; } diff --git a/linux/ipcore/PapbVcInterface.h b/linux/ipcore/PapbVcInterface.h index d4694a62..7491398c 100644 --- a/linux/ipcore/PapbVcInterface.h +++ b/linux/ipcore/PapbVcInterface.h @@ -41,6 +41,8 @@ class PapbVcInterface : public VirtualChannelIF { */ ReturnValue_t write(const uint8_t* data, size_t size) override; + void cancelTransfer() override; + ReturnValue_t initialize() override; private: @@ -51,16 +53,21 @@ class PapbVcInterface : public VirtualChannelIF { /** * Configuration bits: * bit[1:0]: Size of data (1,2,3 or 4 bytes). 1 Byte <=> b00 - * bit[2]: Set this bit to 1 to abort a transfered packet + * bit[2]: Set this bit to 1 to abort a transferred packet * bit[3]: Signals to VcInterface the start of a new telemetry packet */ - static const uint32_t CONFIG_START = 0x8; + static constexpr uint32_t CONFIG_START = 0b00001000; + + /** + * Abort a transferred packet. + */ + static constexpr uint32_t CONFIG_ABORT = 0b00000100; /** * Writing this word to the VcInterface base address signals to the virtual channel interface * that a complete tm packet has been transferred. */ - static const uint32_t CONFIG_END = 0x0; + static constexpr uint32_t CONFIG_END = 0x0; /** * Writing to this offset within the memory space of a virtual channel will insert data for @@ -79,7 +86,7 @@ class PapbVcInterface : public VirtualChannelIF { std::string uioFile; int mapNum = 0; - uint32_t* vcBaseReg = nullptr; + volatile uint32_t* vcBaseReg = nullptr; uint32_t vcOffset = 0; @@ -89,11 +96,13 @@ class PapbVcInterface : public VirtualChannelIF { */ void startPacketTransfer(); + void abortPacketTransfer(); + /** * @brief This function sends the config byte to the virtual channel interface of the PTME * IP Core to signal the end of a packet transfer. */ - void endPacketTransfer(); + void completePacketTransfer(); /** * @brief This function reads the papb busy signal indicating whether the virtual channel @@ -102,7 +111,7 @@ class PapbVcInterface : public VirtualChannelIF { * * @return returnvalue::OK when ready to receive data else PAPB_BUSY. */ - ReturnValue_t pollPapbBusySignal() const; + ReturnValue_t pollPapbBusySignal(uint32_t maxPollRetries, uint32_t retryDelayUs) const; /** * @brief This function can be used for debugging to check whether there are packets in diff --git a/linux/ipcore/Ptme.cpp b/linux/ipcore/Ptme.cpp index 69d772ff..f33c8725 100644 --- a/linux/ipcore/Ptme.cpp +++ b/linux/ipcore/Ptme.cpp @@ -20,7 +20,6 @@ ReturnValue_t Ptme::initialize() { } ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) { - ReturnValue_t result = returnvalue::OK; VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId); if (vcInterfaceMapIter == vcInterfaceMap.end()) { sif::warning << "Ptme::writeToVc: No virtual channel interface found for the virtual " @@ -28,8 +27,7 @@ ReturnValue_t Ptme::writeToVc(uint8_t vcId, const uint8_t* data, size_t size) { << static_cast(vcId) << std::endl; return UNKNOWN_VC_ID; } - result = vcInterfaceMapIter->second->write(data, size); - return result; + return vcInterfaceMapIter->second->write(data, size); } void Ptme::addVcInterface(VcId_t vcId, VirtualChannelIF* vc) { @@ -62,3 +60,11 @@ bool Ptme::isBusy(uint8_t vcId) const { } return vcInterfaceMapIter->second->isBusy(); } + +void Ptme::cancelTransfer(uint8_t vcId) { + VcInterfaceMapIter vcInterfaceMapIter = vcInterfaceMap.find(vcId); + if (vcInterfaceMapIter == vcInterfaceMap.end()) { + return; + } + return vcInterfaceMapIter->second->cancelTransfer(); +} diff --git a/linux/ipcore/Ptme.h b/linux/ipcore/Ptme.h index 3c076085..2607fc90 100644 --- a/linux/ipcore/Ptme.h +++ b/linux/ipcore/Ptme.h @@ -36,6 +36,7 @@ class Ptme : public PtmeIF, public SystemObject { ReturnValue_t initialize() override; ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) override; bool isBusy(uint8_t vcId) const override; + void cancelTransfer(uint8_t vcId) override; /** * @brief This function adds the reference to a virtual channel interface to the vcInterface diff --git a/linux/ipcore/PtmeIF.h b/linux/ipcore/PtmeIF.h index 06b1cbe7..38804484 100644 --- a/linux/ipcore/PtmeIF.h +++ b/linux/ipcore/PtmeIF.h @@ -23,6 +23,7 @@ class PtmeIF { */ virtual ReturnValue_t writeToVc(uint8_t vcId, const uint8_t* data, size_t size) = 0; virtual bool isBusy(uint8_t vcId) const = 0; + virtual void cancelTransfer(uint8_t vcId) = 0; }; #endif /* LINUX_OBC_PTMEIF_H_ */ diff --git a/linux/ipcore/VirtualChannelIF.h b/linux/ipcore/VirtualChannelIF.h index 266a56c3..a8a60a06 100644 --- a/linux/ipcore/VirtualChannelIF.h +++ b/linux/ipcore/VirtualChannelIF.h @@ -18,6 +18,7 @@ class VirtualChannelIF : public DirectTmSinkIF { virtual ~VirtualChannelIF(){}; virtual ReturnValue_t initialize() = 0; + virtual void cancelTransfer() = 0; }; #endif /* LINUX_OBC_VCINTERFACEIF_H_ */ diff --git a/linux/scheduling.cpp b/linux/scheduling.cpp index 85735729..d1b7853f 100644 --- a/linux/scheduling.cpp +++ b/linux/scheduling.cpp @@ -8,6 +8,9 @@ #include "ObjectFactory.h" #include "eive/objects.h" +PosixThreadArgs scheduling::RR_SCHEDULING = {.policy = SchedulingPolicy::RR}; +PosixThreadArgs scheduling::NORMAL_SCHEDULING; + void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask) { using namespace scheduling; ReturnValue_t result = returnvalue::OK; @@ -18,8 +21,9 @@ void scheduling::scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexR #endif result = returnvalue::OK; - scexReaderTask = factory.createPeriodicTask( - "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc); + scexReaderTask = + factory.createPeriodicTask("SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, + missedDeadlineFunc, &NORMAL_SCHEDULING); result = scexReaderTask->addComponent(objects::SCEX_UART_READER); if (result != returnvalue::OK) { printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER); diff --git a/linux/scheduling.h b/linux/scheduling.h index b5ec8ef2..d6c5b1f1 100644 --- a/linux/scheduling.h +++ b/linux/scheduling.h @@ -1,8 +1,13 @@ #pragma once +#include #include namespace scheduling { + +extern PosixThreadArgs RR_SCHEDULING; +extern PosixThreadArgs NORMAL_SCHEDULING; + void scheduleScexDev(PeriodicTaskIF*& scexDevHandler); void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask); void addMpsocSupvHandlers(PeriodicTaskIF* task); diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp index 2df7af42..0a11d5dd 100644 --- a/mission/controller/ThermalController.cpp +++ b/mission/controller/ThermalController.cpp @@ -605,7 +605,6 @@ void ThermalController::copySus() { } void ThermalController::copyDevices() { - lp_var_t tempQ7s = lp_var_t(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE); { PoolReadGuard pg(&tempQ7s, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() == returnvalue::OK) { @@ -618,8 +617,6 @@ void ThermalController::copyDevices() { } { - lp_var_t battTemp1 = - lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1); PoolReadGuard pg(&battTemp1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read battery temperature 1" << std::endl; @@ -632,8 +629,6 @@ void ThermalController::copyDevices() { } { - lp_var_t battTemp2 = - lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2); PoolReadGuard pg(&battTemp2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read battery temperature 2" << std::endl; @@ -646,8 +641,6 @@ void ThermalController::copyDevices() { } { - lp_var_t battTemp3 = - lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3); PoolReadGuard pg(&battTemp3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read battery temperature 3" << std::endl; @@ -660,8 +653,6 @@ void ThermalController::copyDevices() { } { - lp_var_t battTemp4 = - lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4); PoolReadGuard pg(&battTemp4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read battery temperature 4" << std::endl; @@ -674,7 +665,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempRw1 = lp_var_t(objects::RW1, rws::TEMPERATURE_C); PoolReadGuard pg(&tempRw1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl; @@ -687,7 +677,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempRw2 = lp_var_t(objects::RW2, rws::TEMPERATURE_C); PoolReadGuard pg(&tempRw2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl; @@ -700,7 +689,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempRw3 = lp_var_t(objects::RW3, rws::TEMPERATURE_C); PoolReadGuard pg(&tempRw3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl; @@ -713,7 +701,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempRw4 = lp_var_t(objects::RW4, rws::TEMPERATURE_C); PoolReadGuard pg(&tempRw4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl; @@ -726,8 +713,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempStartracker = - lp_var_t(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE); PoolReadGuard pg(&tempStartracker, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read startracker temperature" << std::endl; @@ -740,8 +725,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempSyrlinksPowerAmplifier = - lp_var_t(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER); PoolReadGuard pg(&tempSyrlinksPowerAmplifier, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature" @@ -755,8 +738,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempSyrlinksBasebandBoard = - lp_var_t(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD); PoolReadGuard pg(&tempSyrlinksBasebandBoard, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature" @@ -770,7 +751,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempMgt = lp_var_t(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE); PoolReadGuard pg(&tempMgt, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl; @@ -783,8 +763,6 @@ void ThermalController::copyDevices() { } { - lp_vec_t tempAcu = - lp_vec_t(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES); PoolReadGuard pg(&tempAcu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl; @@ -799,7 +777,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempPdu1 = lp_var_t(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE); PoolReadGuard pg(&tempPdu1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl; @@ -812,7 +789,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempPdu2 = lp_var_t(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE); PoolReadGuard pg(&tempPdu2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl; @@ -825,8 +801,6 @@ void ThermalController::copyDevices() { } { - lp_var_t temp1P60dock = - lp_var_t(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1); PoolReadGuard pg(&temp1P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl; @@ -839,8 +813,6 @@ void ThermalController::copyDevices() { } { - lp_var_t temp2P60dock = - lp_var_t(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2); PoolReadGuard pg(&temp2P60dock, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl; @@ -853,8 +825,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempGyro0 = - lp_var_t(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE); PoolReadGuard pg(&tempGyro0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl; @@ -867,7 +837,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempGyro1 = lp_var_t(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE); PoolReadGuard pg(&tempGyro1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl; @@ -880,8 +849,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempGyro2 = - lp_var_t(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE); PoolReadGuard pg(&tempGyro2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl; @@ -894,7 +861,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempGyro3 = lp_var_t(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE); PoolReadGuard pg(&tempGyro3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl; @@ -907,8 +873,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempMgm0 = - lp_var_t(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS); PoolReadGuard pg(&tempMgm0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl; @@ -921,8 +885,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempMgm2 = - lp_var_t(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS); PoolReadGuard pg(&tempMgm2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl; @@ -935,7 +897,6 @@ void ThermalController::copyDevices() { } { - lp_var_t tempAdcPayloadPcdu = lp_var_t(objects::PLPCDU_HANDLER, plpcdu::TEMP); PoolReadGuard pg(&tempAdcPayloadPcdu, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT); if (pg.getReadResult() != returnvalue::OK) { sif::warning << "ThermalController: Failed to read payload PCDU ADC temperature" << std::endl; diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h index e1371aa2..8a8e7773 100644 --- a/mission/controller/ThermalController.h +++ b/mission/controller/ThermalController.h @@ -1,12 +1,22 @@ #ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_ #define MISSION_CONTROLLER_THERMALCONTROLLER_H_ +#include #include #include #include +#include +#include +#include #include +#include #include +#include #include +#include +#include +#include +#include #include #include @@ -125,6 +135,44 @@ class ThermalController : public ExtendedControllerBase { susMax1227::SusDataset susSet10; susMax1227::SusDataset susSet11; + lp_var_t tempQ7s = lp_var_t(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE); + lp_var_t battTemp1 = + lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1); + lp_var_t battTemp2 = + lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2); + lp_var_t battTemp3 = + lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3); + lp_var_t battTemp4 = + lp_var_t(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4); + lp_var_t tempRw1 = lp_var_t(objects::RW1, rws::TEMPERATURE_C); + lp_var_t tempRw2 = lp_var_t(objects::RW2, rws::TEMPERATURE_C); + lp_var_t tempRw3 = lp_var_t(objects::RW3, rws::TEMPERATURE_C); + lp_var_t tempRw4 = lp_var_t(objects::RW4, rws::TEMPERATURE_C); + lp_var_t tempStartracker = + lp_var_t(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE); + lp_var_t tempSyrlinksPowerAmplifier = + lp_var_t(objects::SYRLINKS_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER); + lp_var_t tempSyrlinksBasebandBoard = + lp_var_t(objects::SYRLINKS_HANDLER, syrlinks::TEMP_BASEBAND_BOARD); + lp_var_t tempMgt = lp_var_t(objects::IMTQ_HANDLER, imtq::MCU_TEMPERATURE); + lp_vec_t tempAcu = + lp_vec_t(objects::ACU_HANDLER, ACU::pool::ACU_TEMPERATURES); + lp_var_t tempPdu1 = lp_var_t(objects::PDU1_HANDLER, PDU::pool::PDU_TEMPERATURE); + lp_var_t tempPdu2 = lp_var_t(objects::PDU2_HANDLER, PDU::pool::PDU_TEMPERATURE); + lp_var_t temp1P60dock = + lp_var_t(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_1); + lp_var_t temp2P60dock = + lp_var_t(objects::P60DOCK_HANDLER, P60Dock::pool::P60DOCK_TEMPERATURE_2); + lp_var_t tempGyro0 = lp_var_t(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE); + lp_var_t tempGyro1 = lp_var_t(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE); + lp_var_t tempGyro2 = lp_var_t(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE); + lp_var_t tempGyro3 = lp_var_t(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE); + lp_var_t tempMgm0 = + lp_var_t(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS); + lp_var_t tempMgm2 = + lp_var_t(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS); + lp_var_t tempAdcPayloadPcdu = lp_var_t(objects::PLPCDU_HANDLER, plpcdu::TEMP); + // TempLimits TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0); TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0); diff --git a/mission/core/pollingSeqTables.cpp b/mission/core/pollingSeqTables.cpp index cb46bc24..1b8f6e89 100644 --- a/mission/core/pollingSeqTables.cpp +++ b/mission/core/pollingSeqTables.cpp @@ -21,13 +21,15 @@ ReturnValue_t pst::pstSyrlinks(FixedTimeslotTaskIF *thisSequence) { uint32_t length = thisSequence->getPeriodMs(); -#if OBSW_ADD_SYRLINKS == 1 thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); - thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); -#endif + thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::SYRLINKS_HANDLER, length * 0.7, DeviceHandlerIF::GET_READ); static_cast(length); @@ -318,11 +320,23 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg } if (cfg.scheduleStr) { + // 2 COM cycles for full PST for STR. The STR requests 2 packets types in NORMAL mode, this + // ensures we always get an updated STR dataset for a regular normal mode cycle. thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD, + DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, + DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_3_PERIOD, + DeviceHandlerIF::GET_READ); } bool enableAside = true; diff --git a/mission/devices/devicedefinitions/SyrlinksDefinitions.h b/mission/devices/devicedefinitions/SyrlinksDefinitions.h index 0e25501a..b0f1e95e 100644 --- a/mission/devices/devicedefinitions/SyrlinksDefinitions.h +++ b/mission/devices/devicedefinitions/SyrlinksDefinitions.h @@ -10,7 +10,6 @@ enum class ParameterId : uint8_t { DATARATE = 0 }; static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SYRLINKS; -static constexpr Event FDIR_REACTION_IGNORED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM); //! [EXPORT] : [COMMENT] Transmitter is on now. P1: Submode, P2: Current default datarate. static constexpr Event TX_ON = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO); //! [EXPORT] : [COMMENT] Transmitter is off now. diff --git a/mission/system/fdir/SyrlinksFdir.cpp b/mission/system/fdir/SyrlinksFdir.cpp index 2bdbd21d..999b5ad0 100644 --- a/mission/system/fdir/SyrlinksFdir.cpp +++ b/mission/system/fdir/SyrlinksFdir.cpp @@ -23,8 +23,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) { case DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT: // We'll try a recovery as long as defined in MAX_REBOOT. // Might cause some AssemblyBase cycles, so keep number low. - // handleRecovery(event->getEvent()); - triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); + handleRecovery(event->getEvent()); break; case DeviceHandlerIF::DEVICE_INTERPRETING_REPLY_FAILED: case DeviceHandlerIF::DEVICE_READING_REPLY_FAILED: @@ -33,8 +32,7 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) { case DeviceHandlerIF::DEVICE_BUILDING_COMMAND_FAILED: // These faults all mean that there were stupid replies from a device. if (strangeReplyCount.incrementAndCheck()) { - // handleRecovery(event->getEvent()); - triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); + handleRecovery(event->getEvent()); } break; case DeviceHandlerIF::DEVICE_SENDING_COMMAND_FAILED: @@ -48,7 +46,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) { // else if (missedReplyCount.incrementAndCheck()) { handleRecovery(event->getEvent()); - // triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); } break; case StorageManagerIF::GET_DATA_FAILED: @@ -81,7 +78,6 @@ ReturnValue_t SyrlinksFdir::eventReceived(EventMessage* event) { case Fuse::POWER_BELOW_LOW_LIMIT: // Device might got stuck during boot, retry. handleRecovery(event->getEvent()); - triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); break; //****Thermal***** case ThermalComponentIF::COMPONENT_TEMP_LOW: @@ -113,14 +109,12 @@ void SyrlinksFdir::eventConfirmed(EventMessage* event) { case DeviceHandlerIF::DEVICE_REQUESTING_REPLY_FAILED: case DeviceHandlerIF::DEVICE_MISSED_REPLY: if (missedReplyCount.incrementAndCheck()) { - // handleRecovery(event->getEvent()); - triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); + handleRecovery(event->getEvent()); } break; case PowerSwitchIF::SWITCH_WENT_OFF: // This means the switch went off only for one device. - // handleRecovery(event->getEvent()); - triggerEvent(syrlinks::FDIR_REACTION_IGNORED, event->getEvent(), 0); + handleRecovery(event->getEvent()); break; default: break; diff --git a/mission/tmtc/CcsdsIpCoreHandler.cpp b/mission/tmtc/CcsdsIpCoreHandler.cpp index c9493f47..1cb3e894 100644 --- a/mission/tmtc/CcsdsIpCoreHandler.cpp +++ b/mission/tmtc/CcsdsIpCoreHandler.cpp @@ -39,7 +39,6 @@ ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) { } ReturnValue_t CcsdsIpCoreHandler::initialize() { - AcceptsTelecommandsIF* tcDistributor = ObjectManager::instance()->get(tcDestination); if (tcDistributor == nullptr) { @@ -207,6 +206,8 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; } void CcsdsIpCoreHandler::enableTransmit() { + // Reset PTME on each transmit enable. + updateBatPriorityFromParam(); #ifndef TE0720_1CFA gpioIF->pullHigh(ptmeGpios.enableTxClock); gpioIF->pullHigh(ptmeGpios.enableTxData); diff --git a/mission/tmtc/CcsdsIpCoreHandler.h b/mission/tmtc/CcsdsIpCoreHandler.h index 627f357d..8d203081 100644 --- a/mission/tmtc/CcsdsIpCoreHandler.h +++ b/mission/tmtc/CcsdsIpCoreHandler.h @@ -153,7 +153,7 @@ class CcsdsIpCoreHandler : public SystemObject, PtmeConfig& ptmeConfig; PtmeGpios ptmeGpios; // BAT priority bit on by default to enable priority selection mode for the PTME. - uint8_t batPriorityParam = 1; + uint8_t batPriorityParam = 0; bool updateBatPriorityOnTxOff = false; GpioIF* gpioIF = nullptr; diff --git a/mission/tmtc/LiveTmTask.cpp b/mission/tmtc/LiveTmTask.cpp index 53a9f04a..7e6d3de6 100644 --- a/mission/tmtc/LiveTmTask.cpp +++ b/mission/tmtc/LiveTmTask.cpp @@ -11,6 +11,9 @@ ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) { while (true) { // The funnel tasks are scheduled here directly as well. ReturnValue_t result = channel.sendNextTm(); + if (result == DirectTmSinkIF::IS_BUSY) { + sif::error << "Lost live TM, PAPB busy" << std::endl; + } if (result == MessageQueueIF::EMPTY) { if (tmFunnelCd.hasTimedOut()) { pusFunnel.performOperation(0); diff --git a/mission/tmtc/PersistentLogTmStoreTask.cpp b/mission/tmtc/PersistentLogTmStoreTask.cpp index dc17ec58..ccabb16d 100644 --- a/mission/tmtc/PersistentLogTmStoreTask.cpp +++ b/mission/tmtc/PersistentLogTmStoreTask.cpp @@ -13,26 +13,32 @@ PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, Storage miscStoreContext(persTmStore::DUMP_MISC_STORE_DONE) {} ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) { + bool someonesBusy = false; + auto stateHandlingForStore = [&](bool storeIsBusy) { + if (storeIsBusy) { + someonesBusy = true; + } + if (fileHasSwapped) { + someFileWasSwapped = fileHasSwapped; + } + }; while (true) { if (not cyclicStoreCheck()) { continue; } - bool someonesBusy = false; - bool busy = false; - busy = handleOneStore(stores.okStore, okStoreContext); - if (busy) { - someonesBusy = true; - } - busy = handleOneStore(stores.notOkStore, notOkStoreContext); - if (busy) { - someonesBusy = true; - } - busy = handleOneStore(stores.miscStore, miscStoreContext); - if (busy) { - someonesBusy = true; - } + someonesBusy = false; + someFileWasSwapped = false; + stateHandlingForStore(handleOneStore(stores.okStore, okStoreContext)); + stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext)); + stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext)); if (not someonesBusy) { - TaskFactory::delayTask(40); + TaskFactory::delayTask(100); + } else /* and graceDelayDuringDumping.hasTimedOut()*/ { + if (someFileWasSwapped) { + TaskFactory::delayTask(20); + } + // TaskFactory::delayTask(2); + // graceDelayDuringDumping.resetTimer(); } } } diff --git a/mission/tmtc/PersistentLogTmStoreTask.h b/mission/tmtc/PersistentLogTmStoreTask.h index 8cd74f20..99cb9118 100644 --- a/mission/tmtc/PersistentLogTmStoreTask.h +++ b/mission/tmtc/PersistentLogTmStoreTask.h @@ -32,6 +32,8 @@ class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObject DumpContext notOkStoreContext; DumpContext miscStoreContext; Countdown tcHandlingCd = Countdown(400); + Countdown graceDelayDuringDumping = Countdown(200); + bool someFileWasSwapped = false; bool initStoresIfPossible(); }; diff --git a/mission/tmtc/PersistentSingleTmStoreTask.cpp b/mission/tmtc/PersistentSingleTmStoreTask.cpp index 3588b9fd..a814694e 100644 --- a/mission/tmtc/PersistentSingleTmStoreTask.cpp +++ b/mission/tmtc/PersistentSingleTmStoreTask.cpp @@ -17,7 +17,15 @@ ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) { } bool busy = handleOneStore(storeWithQueue, dumpContext); if (not busy) { - TaskFactory::delayTask(40); + TaskFactory::delayTask(100); + } else { + if (fileHasSwapped) { + TaskFactory::delayTask(20); + } + // if (fileHasSwapped and graceDelayDuringDumping.hasTimedOut()) { + // TaskFactory::delayTask(2); + // graceDelayDuringDumping.resetTimer(); + // } } } } diff --git a/mission/tmtc/PersistentSingleTmStoreTask.h b/mission/tmtc/PersistentSingleTmStoreTask.h index b21ddf1d..7a4dd7ca 100644 --- a/mission/tmtc/PersistentSingleTmStoreTask.h +++ b/mission/tmtc/PersistentSingleTmStoreTask.h @@ -19,6 +19,7 @@ class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObj PersistentTmStoreWithTmQueue& storeWithQueue; DumpContext dumpContext; Countdown tcHandlingCd = Countdown(400); + Countdown graceDelayDuringDumping = Countdown(100); bool initStoresIfPossible(); }; diff --git a/mission/tmtc/PersistentTmStore.cpp b/mission/tmtc/PersistentTmStore.cpp index 445eee9d..6cbcac86 100644 --- a/mission/tmtc/PersistentTmStore.cpp +++ b/mission/tmtc/PersistentTmStore.cpp @@ -195,11 +195,7 @@ ReturnValue_t PersistentTmStore::startDumpFromUpTo(uint32_t fromUnixSeconds, dumpParams.fromUnixTime = fromUnixSeconds; dumpParams.untilUnixTime = upToUnixSeconds; state = State::DUMPING; - if (loadNextDumpFile() == DUMP_DONE) { - // State will be set inside the function loading the next file. - return DUMP_DONE; - } - return returnvalue::OK; + return loadNextDumpFile(); } ReturnValue_t PersistentTmStore::loadNextDumpFile() { @@ -218,7 +214,7 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() { } sif::debug << "Path: " << dumpParams.dirEntry.path() << std::endl; - // Can't even read CCSDS header. + // File empty or can't even read CCSDS header. if (dumpParams.fileSize <= 6) { continue; } @@ -247,14 +243,12 @@ ReturnValue_t PersistentTmStore::loadNextDumpFile() { static_cast(dumpParams.fileSize)); // Increment iterator for next cycle. dumpParams.dirIter++; - break; + return returnvalue::OK; } } - if (dumpParams.dirIter == directory_iterator()) { - state = State::IDLE; - return DUMP_DONE; - } - return returnvalue::OK; + // Directory iterator was consumed and we are done. + state = State::IDLE; + return DUMP_DONE; } ReturnValue_t PersistentTmStore::dumpNextPacket(DirectTmSinkIF& tmSink, size_t& dumpedLen, diff --git a/mission/tmtc/TmStoreTaskBase.cpp b/mission/tmtc/TmStoreTaskBase.cpp index d8b6bdcb..eefe9dc6 100644 --- a/mission/tmtc/TmStoreTaskBase.cpp +++ b/mission/tmtc/TmStoreTaskBase.cpp @@ -25,10 +25,12 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store, // Dump TMs when applicable if (store.getState() == PersistentTmStore::State::DUMPING) { size_t dumpedLen = 0; - bool fileHasSwapped; if (not channel.isBusy()) { tmSinkBusyCd.resetTimer(); result = store.dumpNextPacket(channel, dumpedLen, fileHasSwapped); + if (result == DirectTmSinkIF::IS_BUSY) { + sif::warning << "Unexpected PAPB busy" << std::endl; + } if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK) and dumpedLen > 0) { dumpContext.dumpedBytes += dumpedLen; dumpContext.numberOfDumpedPackets += 1; @@ -43,6 +45,13 @@ bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store, } else if (result == returnvalue::OK) { dumpsPerformed = true; } + } else { + dumpContext.ptmeBusyCounter++; + if (dumpContext.ptmeBusyCounter == 50) { + sif::warning << "PTME busy for longer period. Dumped length so far: " + << dumpContext.dumpedBytes << std::endl; + dumpContext.ptmeBusyCounter = 0; + } } if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) { triggerEvent(persTmStore::DUMP_WAS_CANCELLED, store.getObjectId()); diff --git a/mission/tmtc/TmStoreTaskBase.h b/mission/tmtc/TmStoreTaskBase.h index 2d899be3..aa0efbb4 100644 --- a/mission/tmtc/TmStoreTaskBase.h +++ b/mission/tmtc/TmStoreTaskBase.h @@ -16,6 +16,7 @@ class TmStoreTaskBase : public SystemObject { const Event eventIfDone; uint32_t numberOfDumpedPackets = 0; uint32_t dumpedBytes = 0; + uint32_t ptmeBusyCounter = 0; }; TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel, @@ -45,6 +46,7 @@ class TmStoreTaskBase : public SystemObject { Countdown tmSinkBusyCd = Countdown(60 * 1000); VirtualChannel& channel; bool storesInitialized = false; + bool fileHasSwapped = false; SdCardMountedIF& sdcMan; }; diff --git a/mission/tmtc/VirtualChannel.cpp b/mission/tmtc/VirtualChannel.cpp index da6ce13f..4fed30b1 100644 --- a/mission/tmtc/VirtualChannel.cpp +++ b/mission/tmtc/VirtualChannel.cpp @@ -25,4 +25,12 @@ uint8_t VirtualChannel::getVcid() const { return vcId; } const char* VirtualChannel::getName() const { return vcName.c_str(); } -bool VirtualChannel::isBusy() const { return ptme.isBusy(vcId); } +bool VirtualChannel::isBusy() const { + // Data is discarded, so channel is not busy. + if (linkStateProvider.load()) { + return false; + } + return ptme.isBusy(vcId); +} + +void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); } diff --git a/mission/tmtc/VirtualChannel.h b/mission/tmtc/VirtualChannel.h index 983fa448..4cad3305 100644 --- a/mission/tmtc/VirtualChannel.h +++ b/mission/tmtc/VirtualChannel.h @@ -28,6 +28,7 @@ class VirtualChannel : public SystemObject, public VirtualChannelIF { ReturnValue_t sendNextTm(const uint8_t* data, size_t size); bool isBusy() const override; ReturnValue_t write(const uint8_t* data, size_t size) override; + void cancelTransfer() override; uint8_t getVcid() const; const char* getName() const; diff --git a/mission/tmtc/VirtualChannelWithQueue.cpp b/mission/tmtc/VirtualChannelWithQueue.cpp index 884dbf89..c00ccd9c 100644 --- a/mission/tmtc/VirtualChannelWithQueue.cpp +++ b/mission/tmtc/VirtualChannelWithQueue.cpp @@ -36,7 +36,10 @@ ReturnValue_t VirtualChannelWithQueue::sendNextTm() { return result; } - write(data, size); + result = write(data, size); + if (result != returnvalue::OK) { + return result; + } tmStore.deleteData(storeId); if (result != returnvalue::OK) { return result; diff --git a/thirdparty/arcsec_star_tracker b/thirdparty/arcsec_star_tracker index 42907c36..cbb3b24d 160000 --- a/thirdparty/arcsec_star_tracker +++ b/thirdparty/arcsec_star_tracker @@ -1 +1 @@ -Subproject commit 42907c36c58e7133d3d3cbefbf96c1a8e35b60b7 +Subproject commit cbb3b24dc1993b727735fd63576088401ba351ec diff --git a/tmtc b/tmtc index c171654d..93ad3ada 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit c171654d2b18547249ee03ace3a4016e8837cf4a +Subproject commit 93ad3ada7d4f351ae15209a6ffd668a61474ea68