Merge pull request 'Add blob stats TM' (#869) from add-blob-stats-tm into main

Reviewed-on: #869
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -44,10 +44,12 @@ will consitute of a breaking change warranting a new major release:
   rotation rates.
 - Updated QUEST and Sun Vector Params to new values.
 - Removed the satellites's angular momentum from desaturation calculation.
+- Bumped internal `sagittactl` library to v11.11.
 
 ## Added
 
 - Updated STR handler to unlock and allow using the secondary firmware slot.
+- STR handling for new BlobStats TM set.
 
 # [v7.6.1] 2024-02-05
 

linux/acs/StrComHandler.cpp

@@ -270,7 +270,7 @@ ReturnValue_t StrComHandler::performImageDownload() {
       file.close();
       return returnvalue::OK;
     }
-    arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size);
+    prv_arc_pack_download_action_req(&downloadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, downloadReq.position);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
@@ -349,7 +349,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
     }
     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, cmdBuf.data(), &size);
+    prv_arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, uploadReq.position);
     if (result != returnvalue::OK) {
       return returnvalue::FAILED;
@@ -375,7 +375,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
     file.seekg(fullChunks * SIZE_IMAGE_PART, file.beg);
     file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
     file.close();
-    arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
+    prv_arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
     result = sendAndRead(size, uploadReq.position);
     if (result != returnvalue::OK) {
       return returnvalue::FAILED;
@@ -445,7 +445,7 @@ ReturnValue_t StrComHandler::performFlashWrite() {
       bytesWrittenInRegion = 0;
     }
     req.address = bytesWrittenInRegion;
-    arc_pack_write_action_req(&req, cmdBuf.data(), &size);
+    prv_arc_pack_write_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
       return result;
@@ -488,7 +488,7 @@ ReturnValue_t StrComHandler::performFlashWrite() {
     req.length = remainingBytes;
     totalBytesWritten += CHUNK_SIZE;
     bytesWrittenInRegion += remainingBytes;
-    arc_pack_write_action_req(&req, cmdBuf.data(), &size);
+    prv_arc_pack_write_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
       return result;
@@ -536,7 +536,7 @@ ReturnValue_t StrComHandler::performFlashRead() {
     } else {
       req.length = CHUNK_SIZE;
     }
-    arc_pack_read_action_req(&req, cmdBuf.data(), &size);
+    prv_arc_pack_read_action_req(&req, cmdBuf.data(), &size);
     result = sendAndRead(size, req.address);
     if (result != returnvalue::OK) {
       if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
@@ -752,7 +752,7 @@ ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
   for (uint32_t idx = from; idx < to; idx++) {
     unlockReq.region = idx;
     unlockReq.code = startracker::region_secrets::SECRETS[idx];
-    arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size);
+    prv_arc_pack_unlock_action_req(&unlockReq, cmdBuf.data(), &size);
     result = sendAndRead(size, unlockReq.region);
     if (result != returnvalue::OK) {
       return result;
@@ -764,7 +764,7 @@ ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
       return result;
     }
     eraseReq.region = idx;
-    arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size);
+    prv_arc_pack_erase_action_req(&eraseReq, cmdBuf.data(), &size);
     result = sendAndRead(size, eraseReq.region);
     if (result != returnvalue::OK) {
     }

mission/acs/str/ArcsecDatalinkLayer.cpp

@@ -32,7 +32,7 @@ ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedF
     size_t encodedDataSize = 0;
     slip_error_t slipError =
         slip_decode_frame(decodedRxFrame, &rxFrameSize, rxAnalysisBuffer + startIdx,
-                          idx - startIdx + 1, &encodedDataSize, ARC_DEF_SAGITTA_SLIP_ID);
+                          idx - startIdx + 1, &encodedDataSize, ARC_DEF_SAGITTA_SLIP_ID, 0);
     decodeRingBuf.deleteData(idx + 1);
     switch (slipError) {
       case (SLIP_OK): {
@@ -76,7 +76,7 @@ void ArcsecDatalinkLayer::reset() { decodeRingBuf.clear(); }
 
 void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
                                       size_t& size) {
-  slip_encode_frame(data, length, txEncoded, &size, ARC_DEF_SAGITTA_SLIP_ID);
+  slip_encode_frame(data, length, txEncoded, sizeof(txEncoded), &size, ARC_DEF_SAGITTA_SLIP_ID);
   if (txFrame != nullptr) {
     *txFrame = txEncoded;
   }

mission/acs/str/StarTrackerHandler.cpp

@@ -63,6 +63,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
       centroidSet(this),
       centroidsSet(this),
       contrastSet(this),
+      blobStatsSet(this),
       strHelper(strHelper),
       powerSwitch(powerSwitch),
       sdCardIF(sdCardIF),
@@ -572,7 +573,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       Clock::getClock(&tv);
       setTimeRequest.unixTime =
           (static_cast<uint64_t>(tv.tv_sec) * 1000 * 1000) + (static_cast<uint64_t>(tv.tv_usec));
-      arc_pack_settime_action_req(&setTimeRequest, commandBuffer, &rawPacketLen);
+      prv_arc_pack_settime_action_req(&setTimeRequest, commandBuffer, &rawPacketLen);
       size_t serLen = 0;
       // Time in milliseconds. Manual serialization because arcsec API ignores endianness.
       SerializeAdapter::serialize(&setTimeRequest.unixTime, commandBuffer + 2, &serLen,
@@ -597,6 +598,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       prepareRequestContrastTm();
       return returnvalue::OK;
     }
+    case (startracker::REQ_BLOB_STATS): {
+      prepareRequestBlobStatsTm();
+      return returnvalue::OK;
+    }
     case (startracker::BOOT): {
       prepareBootCommand(static_cast<startracker::FirmwareTarget>(firmwareTargetRaw));
       return returnvalue::OK;
@@ -885,6 +890,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::REQ_CONTRAST, 3, &contrastSet,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_BLOB_STATS, 3, &blobStatsSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
 }
 
 ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
@@ -1082,6 +1089,12 @@ void StarTrackerHandler::resetSecondaryTmSet() {
       histogramSet.setValidity(false, true);
     }
   }
+  {
+    PoolReadGuard pg(&blobStatsSet);
+    if (pg.getReadResult() == returnvalue::OK) {
+      histogramSet.setValidity(false, true);
+    }
+  }
 }
 
 void StarTrackerHandler::bootBootloader() {
@@ -1230,6 +1243,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
       result = handleTm(packet, histogramSet, "REQ_HISTO");
       break;
     }
+    case (startracker::REQ_BLOB_STATS): {
+      result = handleTm(packet, blobStatsSet, "REQ_BLOB_STATS");
+      break;
+    }
     case (startracker::SUBSCRIPTION):
     case (startracker::LOGLEVEL):
     case (startracker::LOGSUBSCRIPTION):
@@ -1631,6 +1648,13 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
   localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_C, new PoolEntry<uint32_t>(9));
   localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_D, new PoolEntry<uint32_t>(9));
 
+  localDataPoolMap.emplace(startracker::TICKS_BLOB_STATS, new PoolEntry<uint32_t>());
+  localDataPoolMap.emplace(startracker::TIME_BLOB_STATS, new PoolEntry<uint64_t>());
+  localDataPoolMap.emplace(startracker::PoolIds::BLOB_STATS_NOISE, new PoolEntry<uint8_t>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::BLOB_STATS_THOLD, new PoolEntry<uint8_t>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::BLOB_STATS_LVALID, new PoolEntry<uint8_t>(16));
+  localDataPoolMap.emplace(startracker::PoolIds::BLOB_STATS_OFLOW, new PoolEntry<uint8_t>(16));
+
   poolManager.subscribeForDiagPeriodicPacket(
       subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
@@ -1659,6 +1683,8 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
       subdp::RegularHkPeriodicParams(centroidsSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(contrastSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(blobStatsSet.getSid(), false, 10.0));
   return returnvalue::OK;
 }
 
@@ -1905,6 +1931,10 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandI
       *foundId = startracker::REQ_BLOB;
       break;
     }
+    case (startracker::ID::BLOB_STATS): {
+      *foundId = startracker::REQ_BLOB_STATS;
+      break;
+    }
     case (startracker::ID::BLOBS): {
       *foundId = startracker::REQ_BLOBS;
       break;
@@ -1989,7 +2019,7 @@ ReturnValue_t StarTrackerHandler::executeFlashReadCommand(const uint8_t* command
 void StarTrackerHandler::prepareBootCommand(startracker::FirmwareTarget target) {
   uint32_t length = 0;
   struct BootActionRequest bootRequest = {static_cast<uint8_t>(target)};
-  arc_pack_boot_action_req(&bootRequest, commandBuffer, &length);
+  prv_arc_pack_boot_action_req(&bootRequest, commandBuffer, &length);
   rawPacket = commandBuffer;
   rawPacketLen = length;
 }
@@ -2022,7 +2052,7 @@ ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandD
     return result;
   }
   uint32_t rawCmdLength = 0;
-  arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength);
+  prv_arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength);
   rawPacket = commandBuffer;
   rawPacketLen = rawCmdLength;
   checksumCmd.rememberRegion = req.region;
@@ -2041,7 +2071,7 @@ void StarTrackerHandler::prepareTimeRequest() {
 void StarTrackerHandler::preparePingRequest() {
   uint32_t length = 0;
   struct PingActionRequest pingRequest = {PING_ID};
-  arc_pack_ping_action_req(&pingRequest, commandBuffer, &length);
+  prv_arc_pack_ping_action_req(&pingRequest, commandBuffer, &length);
   rawPacket = commandBuffer;
   rawPacketLen = length;
 }
@@ -2070,7 +2100,7 @@ void StarTrackerHandler::preparePowerRequest() {
 void StarTrackerHandler::prepareSwitchToBootloaderCmd() {
   uint32_t length = 0;
   struct RebootActionRequest rebootReq {};
-  arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
+  prv_arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
   rawPacket = commandBuffer;
   rawPacketLen = length;
 }
@@ -2079,7 +2109,7 @@ void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
   uint32_t length = 0;
   struct CameraActionRequest camReq;
   camReq.actionid = *commandData;
-  arc_pack_camera_action_req(&camReq, commandBuffer, &length);
+  prv_arc_pack_camera_action_req(&camReq, commandBuffer, &length);
   rawPacket = commandBuffer;
   rawPacketLen = length;
 }
@@ -2145,6 +2175,14 @@ ReturnValue_t StarTrackerHandler::prepareRequestCentroidTm() {
   return returnvalue::OK;
 }
 
+ReturnValue_t StarTrackerHandler::prepareRequestBlobStatsTm() {
+  uint32_t length = 0;
+  arc_tm_pack_blobstats_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
 ReturnValue_t StarTrackerHandler::prepareRequestCentroidsTm() {
   uint32_t length = 0;
   arc_tm_pack_centroids_req(commandBuffer, &length);
@@ -2894,6 +2932,7 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
     case startracker::REQ_MATCHED_CENTROIDS:
     case startracker::REQ_BLOB:
     case startracker::REQ_BLOBS:
+    case startracker::REQ_BLOB_STATS:
     case startracker::REQ_CENTROID:
     case startracker::REQ_CENTROIDS:
     case startracker::REQ_CONTRAST: {

mission/acs/str/StarTrackerHandler.h

@@ -216,6 +216,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   startracker::CentroidSet centroidSet;
   startracker::CentroidsSet centroidsSet;
   startracker::ContrastSet contrastSet;
+  startracker::BlobStatsSet blobStatsSet;
 
   // Pointer to object responsible for uploading and downloading images to/from the star tracker
   StrComHandler* strHelper = nullptr;
@@ -470,6 +471,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   ReturnValue_t prepareRequestCentroidTm();
   ReturnValue_t prepareRequestCentroidsTm();
   ReturnValue_t prepareRequestContrastTm();
+  ReturnValue_t prepareRequestBlobStatsTm();
   ReturnValue_t prepareRequestTrackingParams();
   ReturnValue_t prepareRequestValidationParams();
   ReturnValue_t prepareRequestAlgoParams();

mission/acs/str/strHelpers.h

@@ -328,6 +328,13 @@ enum PoolIds : lp_id_t {
   CONTRAST_B,
   CONTRAST_C,
   CONTRAST_D,
+
+  TICKS_BLOB_STATS,
+  TIME_BLOB_STATS,
+  BLOB_STATS_NOISE,
+  BLOB_STATS_THOLD,
+  BLOB_STATS_LVALID,
+  BLOB_STATS_OFLOW,
 };
 
 static const DeviceCommandId_t PING_REQUEST = 0;
@@ -394,7 +401,9 @@ static constexpr DeviceCommandId_t ADD_SECONDARY_TM_TO_NORMAL_MODE = 95;
 static constexpr DeviceCommandId_t RESET_SECONDARY_TM_SET = 96;
 static constexpr DeviceCommandId_t READ_SECONDARY_TM_SET = 97;
 static constexpr DeviceCommandId_t RELOAD_JSON_CFG_FILE = 100;
-static const DeviceCommandId_t FIRMWARE_UPDATE_BACKUP = 101;
+static constexpr DeviceCommandId_t FIRMWARE_UPDATE_BACKUP = 101;
+static constexpr DeviceCommandId_t REQ_BLOB_STATS = 102;
+
 static const DeviceCommandId_t NONE = 0xFFFFFFFF;
 
 static const uint32_t VERSION_SET_ID = REQ_VERSION;
@@ -426,6 +435,7 @@ static const uint32_t BLOBS_SET_ID = REQ_BLOBS;
 static const uint32_t CENTROID_SET_ID = REQ_CENTROID;
 static const uint32_t CENTROIDS_SET_ID = REQ_CENTROIDS;
 static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
+static const uint32_t BLOB_STATS_SET_ID = REQ_BLOB_STATS;
 
 /** Max size of unencoded frame */
 static const size_t MAX_FRAME_SIZE = 1200;
@@ -492,6 +502,7 @@ static constexpr uint8_t CENTROID = 26;
 static constexpr uint8_t CENTROIDS = 37;
 static constexpr uint8_t AUTO_BLOB = 39;
 static constexpr uint8_t MATCHED_CENTROIDS = 40;
+static constexpr uint8_t BLOB_STATS = 49;
 }  // namespace ID
 
 namespace Program {
@@ -1558,6 +1569,23 @@ class CentroidsSet : public StaticLocalDataSet<10> {
       lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
 };
 
+class BlobStatsSet : public StaticLocalDataSet<6> {
+ public:
+  BlobStatsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_STATS_SET_ID) {}
+
+  // Data received from the Centroids Telemetry Set (ID 49)
+  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_BLOB_STATS, this);
+  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_BLOB_STATS, this);
+  lp_vec_t<uint8_t, 16> noise =
+      lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_NOISE, this);
+  lp_vec_t<uint8_t, 16> thold =
+      lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_THOLD, this);
+  lp_vec_t<uint8_t, 16> lvalid =
+      lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_LVALID, this);
+  lp_vec_t<uint8_t, 16> oflow =
+      lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_OFLOW, this);
+};
+
 class ContrastSet : public StaticLocalDataSet<8> {
  public:
   ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}

thirdparty/sagittactl

@@ -1 +1 @@
-Subproject commit 20f32a2f291d00869c693066de02c0257dec7be4
+Subproject commit a558693675dae09aff7ef74242c25f826584c46a

tmtc

@@ -1 +1 @@
-Subproject commit 588d7a8079194c6c51d6ecafd4c940cb1bf0554c
+Subproject commit 6ade001d3d3b3b9c0d2838aa94c3112aaf486a61