eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into mekf-invalid-reset-counter

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This commit is contained in:
Robin Müller
2023-03-24 15:01:01 +01:00
parent 7bca418db8 82a9dbd632
commit b32e0ef4fb
83 changed files with 1530 additions and 880 deletions
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2
linux/ObjectFactory.cpp
View File

@ -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<power::Switch_t> 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);

63
linux/csp/CspComIF.cpp
View File

@ -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;
}

18
linux/csp/CspComIF.h
View File

@ -2,9 +2,11 @@
#define LINUX_CSP_CSPCOMIF_H_
#include <csp/csp.h>
#include <csp/csp_autoconfig.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <pthread.h>
#include <unordered_map>
#include <vector>
@ -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_ */

2
linux/devices/AcsBoardPolling.cpp
View File

@ -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();

2
linux/devices/AcsBoardPolling.h
View File

@ -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;

3
linux/devices/CMakeLists.txt
View File

@ -11,7 +11,8 @@ target_sources(
ScexDleParser.cpp
ScexHelper.cpp
RwPollingTask.cpp
AcsBoardPolling.cpp)
AcsBoardPolling.cpp
SyrlinksComHandler.cpp)
add_subdirectory(ploc)

2
linux/devices/ImtqPollingTask.cpp
View File

@ -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();

2
linux/devices/ImtqPollingTask.h
View File

@ -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;

2
linux/devices/RwPollingTask.cpp
View File

@ -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();
}
}

2
linux/devices/RwPollingTask.h
View File

@ -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;

13
linux/devices/ScexUartReader.cpp
View File

@ -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;
}

2
linux/devices/SusPolling.cpp
View File

@ -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;

2
linux/devices/SusPolling.h
View File

@ -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;

209
linux/devices/SyrlinksComHandler.cpp Normal file
View File

@ -0,0 +1,209 @@
#include "SyrlinksComHandler.h"
#include <fcntl.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <fsfw_hal/linux/serial/SerialCookie.h>
#include <fsfw_hal/linux/serial/helper.h>
#include <unistd.h>
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<SerialCookie *>(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<ssize_t>(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<void *>(recBuf.data()),
static_cast<unsigned int>(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<int>(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;
}

52
linux/devices/SyrlinksComHandler.h Normal file
View File

@ -0,0 +1,52 @@
#ifndef LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
#define LINUX_DEVICES_SYRLINKSCOMHANDLER_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <termios.h>
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<uint8_t, 2048> recBuf{};
SimpleRingBuffer ringBuf;
std::array<uint8_t, 1024> 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_ */

12
linux/devices/ploc/PlocSupvUartMan.cpp
View File

@ -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;

2
linux/devices/ploc/PlocSupvUartMan.h
View File

@ -246,9 +246,9 @@ class PlocSupvUartManager : public DeviceCommunicationIF,
std::array<uint8_t, 2048> recBuf = {};
std::array<uint8_t, 2048> encodedBuf = {};
std::array<uint8_t, 1200> decodedBuf = {};
std::array<uint8_t, 1200> ipcBuffer = {};
SimpleRingBuffer decodedRingBuf;
FIFO<size_t, MAX_STORED_DECODED_PACKETS> decodedQueue;
std::array<uint8_t, 1200> ipcBuffer = {};
SimpleRingBuffer ipcRingBuf;
FIFO<size_t, MAX_STORED_DECODED_PACKETS> ipcQueue;

75
linux/devices/startracker/ArcsecDatalinkLayer.cpp
View File

@ -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;
}
}

85
linux/devices/startracker/ArcsecDatalinkLayer.h
View File

@ -1,14 +1,14 @@
#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#include <fsfw/container/SimpleRingBuffer.h>
#include <fsfw/devicehandlers/CookieIF.h>
#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;

11
linux/devices/startracker/ArcsecJsonParamBase.cpp
View File

@ -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 "

9
linux/devices/startracker/ArcsecJsonParamBase.h
View File

@ -5,15 +5,12 @@
#include <fstream>
#include <nlohmann/json.hpp>
#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.

4
linux/devices/startracker/CMakeLists.txt
View File

@ -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)

334
linux/devices/startracker/StarTrackerHandler.cpp
View File

@ -1,5 +1,8 @@
#include "StarTrackerHandler.h"
#include <arcsec/client/generated/actionreq.h>
#include <arcsec/client/generated/parameter.h>
#include <arcsec/client/generated/telemetry.h>
#include <fsfw/ipc/QueueFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
@ -8,19 +11,14 @@
#include <thread>
#include "OBSWConfig.h"
#include "StarTrackerJsonCommands.h"
extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
#include <thirdparty/arcsec_star_tracker/client/generated/parameter.h>
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
#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<unsigned int>(*reply) << std::endl;
<< static_cast<unsigned int>(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<const char*>(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<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl;
<< static_cast<unsigned int>(*(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<unsigned int>(*(reply + ACTION_ID_OFFSET)) << " and status "
<< static_cast<unsigned int>(*(rawFrame + ACTION_ID_OFFSET)) << " and status "
<< static_cast<unsigned int>(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<unsigned int>(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<unsigned int>(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<unsigned int>(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;
}
}

56
linux/devices/startracker/StarTrackerHandler.h
View File

@ -2,20 +2,19 @@
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <linux/devices/startracker/StarTrackerJsonCommands.h>
#include <thread>
#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.

436
linux/devices/startracker/StrHelper.cpp → linux/devices/startracker/StrComHandler.cpp
View File

@ -1,6 +1,9 @@
#include "StrHelper.h"
#include <fcntl.h>
#include <fsfw/filesystem/HasFileSystemIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/Stopwatch.h>
#include <linux/devices/startracker/StrComHandler.h>
#include <unistd.h>
#include <filesystem>
#include <fstream>
@ -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<uint32_t>(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<SerialComIF*>(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<uint8_t>(startracker::FirmwareRegions::FIRST);
flashWrite.lastRegion = static_cast<uint8_t>(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<const char*>(datalinkLayer.getReply() + IMAGE_DATA_OFFSET),
CHUNK_SIZE);
file.write(reinterpret_cast<const char*>(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<uint32_t>(internalState));
internalState = InternalState::IDLE;
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(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<char*>(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<char*>(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<uint32_t>(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<uint32_t>(internalState));
internalState = InternalState::IDLE;
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(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<const char*>(datalinkLayer.getReply() + FLASH_READ_DATA_OFFSET),
req.length);
file.write(reinterpret_cast<const char*>(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<unsigned int>(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<SerialCookie*>(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<ssize_t>(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<uint8_t*>(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<unsigned int>(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<unsigned int>(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<void*>(recBuf.data()),
static_cast<unsigned int>(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<int>(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;
}
}
}

154
linux/devices/startracker/StrHelper.h → linux/devices/startracker/StrComHandler.h
View File

@ -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<uint8_t, startracker::MAX_FRAME_SIZE> cmdBuf{};
std::array<uint8_t, 4096> 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_ */

0
linux/devices/startracker/ArcsecJsonKeys.h → linux/devices/startracker/arcsecJsonKeys.h
View File

7
linux/devices/startracker/helpers.cpp Normal file
View File

@ -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]; }

17
linux/devices/startracker/helpers.h Normal file
View File

@ -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_ */

4
linux/devices/startracker/StarTrackerJsonCommands.cpp → linux/devices/startracker/strJsonCommands.cpp
View File

@ -1,6 +1,6 @@
#include "StarTrackerJsonCommands.h"
#include "strJsonCommands.h"
#include "ArcsecJsonKeys.h"
#include "arcsecJsonKeys.h"
Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}

0
linux/devices/startracker/StarTrackerJsonCommands.h → linux/devices/startracker/strJsonCommands.h
View File

18
linux/fsfwconfig/events/translateEvents.cpp
View File

@ -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;

12
linux/fsfwconfig/objects/translateObjects.cpp
View File

@ -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:

69
linux/ipcore/PapbVcInterface.cpp
View File

@ -1,5 +1,6 @@
#include <fsfw_hal/linux/uio/UioMapper.h>
#include <linux/ipcore/PapbVcInterface.h>
#include <unistd.h>
#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<uint32_t>(*(data + idx));
if (pollPapbBusySignal(10, 10) == returnvalue::OK) {
*(vcBaseReg + DATA_REG_OFFSET) = static_cast<uint32_t>(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; }

21
linux/ipcore/PapbVcInterface.h
View File

@ -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

12
linux/ipcore/Ptme.cpp
View File

@ -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<unsigned int>(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();
}

1
linux/ipcore/Ptme.h
View File

@ -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

1
linux/ipcore/PtmeIF.h
View File

@ -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_ */

1
linux/ipcore/VirtualChannelIF.h
View File

@ -18,6 +18,7 @@ class VirtualChannelIF : public DirectTmSinkIF {
virtual ~VirtualChannelIF(){};
virtual ReturnValue_t initialize() = 0;
virtual void cancelTransfer() = 0;
};
#endif /* LINUX_OBC_VCINTERFACEIF_H_ */

8
linux/scheduling.cpp
View File

@ -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);

5
linux/scheduling.h
View File

@ -1,8 +1,13 @@
#pragma once
#include <fsfw/osal/linux/PosixThread.h>
#include <fsfw/tasks/TaskFactory.h>
namespace scheduling {
extern PosixThreadArgs RR_SCHEDULING;
extern PosixThreadArgs NORMAL_SCHEDULING;
void scheduleScexDev(PeriodicTaskIF*& scexDevHandler);
void scheduleScexReader(TaskFactory& factory, PeriodicTaskIF*& scexReaderTask);
void addMpsocSupvHandlers(PeriodicTaskIF* task);