Merge branch 'dev-7.5.0' into higher-acs-modes-only-str

mission/controller/AcsController.cpp

@@ -1,12 +1,9 @@
 #include "AcsController.h"
 
-#include <fsfw/datapool/PoolReadGuard.h>
-#include <mission/acs/defs.h>
-#include <mission/config/torquer.h>
-
-AcsController::AcsController(object_id_t objectId, bool enableHkSets)
+AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF &sdcMan)
     : ExtendedControllerBase(objectId),
       enableHkSets(enableHkSets),
+      sdcMan(sdcMan),
       attitudeEstimation(&acsParameters),
       fusedRotationEstimation(&acsParameters),
       guidance(&acsParameters),
@@ -24,8 +21,7 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
       ctrlValData(this),
       actuatorCmdData(this),
       fusedRotRateData(this),
-      fusedRotRateSourcesData(this),
-      tleData(this) {}
+      fusedRotRateSourcesData(this) {}
 
 ReturnValue_t AcsController::initialize() {
   ReturnValue_t result = parameterHelper.initialize();
@@ -69,22 +65,27 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
       if (size != 69 * 2) {
         return INVALID_PARAMETERS;
       }
-      ReturnValue_t result = navigation.updateTle(data, data + 69);
+      ReturnValue_t result = updateTle(data, data + 69, false);
       if (result != returnvalue::OK) {
-        PoolReadGuard pg(&tleData);
-        navigation.updateTle(tleData.line1.value, tleData.line2.value);
         return result;
       }
-      {
-        PoolReadGuard pg(&tleData);
-        if (pg.getReadResult() == returnvalue::OK) {
-          std::memcpy(tleData.line1.value, data, 69);
-          std::memcpy(tleData.line2.value, data + 69, 69);
-          tleData.setValidity(true, true);
-        }
+      result = writeTleToFs(data);
+      if (result != returnvalue::OK) {
+        return result;
       }
       return HasActionsIF::EXECUTION_FINISHED;
     }
+    case (READ_TLE): {
+      uint8_t tle[69 * 2] = {};
+      uint8_t line2[69] = {};
+      ReturnValue_t result = readTleFromFs(tle, line2);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      std::memcpy(tle + 69, line2, 69);
+      actionHelper.reportData(commandedBy, actionId, tle, 69 * 2);
+      return EXECUTION_FINISHED;
+    }
     default: {
       return HasActionsIF::INVALID_ACTION_ID;
     }
@@ -132,6 +133,10 @@ void AcsController::performControlOperation() {
     }
     case InternalState::INITIAL_DELAY: {
       if (initialCountdown.hasTimedOut()) {
+        uint8_t line1[69] = {};
+        uint8_t line2[69] = {};
+        readTleFromFs(line1, line2);
+        updateTle(line1, line2, true);
         internalState = InternalState::READY;
       }
       return;
@@ -816,9 +821,6 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
   localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
   poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0});
-  // TLE Data
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1);
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2);
   return returnvalue::OK;
 }
 
@@ -1046,6 +1048,67 @@ void AcsController::copySusData() {
   }
 }
 
+ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line2, bool fromFile) {
+  ReturnValue_t result = navigation.updateTle(line1, line2);
+  if (result != returnvalue::OK) {
+    if (not fromFile) {
+      uint8_t fileLine1[69] = {};
+      uint8_t fileLine2[69] = {};
+      readTleFromFs(fileLine1, fileLine2);
+      navigation.updateTle(fileLine1, fileLine2);
+    }
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  // Clear existing TLE from file
+  std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc);
+  if (tleFile.is_open()) {
+    tleFile.write(reinterpret_cast<const char *>(tle), 69);
+    tleFile << "\n";
+    tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
+  } else {
+    return WRITE_FILE_FAILED;
+  }
+  tleFile.close();
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  std::error_code e;
+  if (std::filesystem::exists(path, e)) {
+    // Read existing TLE from file
+    std::fstream tleFile = std::fstream(path.c_str(), std::fstream::in);
+    if (tleFile.is_open()) {
+      std::string tleLine1, tleLine2;
+      getline(tleFile, tleLine1);
+      std::memcpy(line1, tleLine1.c_str(), 69);
+      getline(tleFile, tleLine2);
+      std::memcpy(line2, tleLine2.c_str(), 69);
+    } else {
+      triggerEvent(acs::TLE_FILE_READ_FAILED);
+      return READ_FILE_FAILED;
+    }
+    tleFile.close();
+  } else {
+    triggerEvent(acs::TLE_FILE_READ_FAILED);
+    return READ_FILE_FAILED;
+  }
+  return returnvalue::OK;
+}
+
 void AcsController::copyGyrData() {
   {
     PoolReadGuard pg(&sensorValues.gyr0AdisSet);