some more improvements for DLL
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CHANGELOG.md
14
CHANGELOG.md
@ -20,6 +20,20 @@ will consitute of a breaking change warranting a new major release:
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- Bugfix for STR: Some action commands wrongfully declined.
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- STR: No normal command handling while a special request like an image upload is active.
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- STR: Fix weird issues on datalink layer data reception which sometimes occur.
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## Changed
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- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
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device handler.
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- STR: Is now scheduled twice in ACS PST.
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- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap
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a separate UART COM interface anymore.
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## Added
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- Add `reset` function for `ArcsecDatalinkLayer` and use it in `StrComHandler` before going to sleep
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to ensure consistent state of reply reception.
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# [v1.39.0] 2023-03-21
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@ -1,16 +1,16 @@
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#include "ArcsecDatalinkLayer.h"
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ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(4096, true) { slipInit(); }
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ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
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ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
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ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
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size_t& frameLen) {
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size_t currentLen = decodeRingBuf.getAvailableReadData();
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decodeRingBuf.readData(decodedRxFrame, currentLen);
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decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
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for (size_t idx = 0; idx < currentLen; idx++) {
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enum arc_dec_result decResult =
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arc_transport_decode_body(decodedRxFrame[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
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arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
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switch (decResult) {
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case ARC_DEC_INPROGRESS: {
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break;
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@ -52,46 +52,14 @@ ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDa
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return decodeRingBuf.writeData(rawData, rawDataLen);
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}
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void ArcsecDatalinkLayer::slipInit() {
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slipInfo.buffer = rxBuffer;
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slipInfo.maxlength = startracker::MAX_FRAME_SIZE;
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slipInfo.length = 0;
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slipInfo.unescape_next = 0;
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slipInfo.prev_state = SLIP_COMPLETE;
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void ArcsecDatalinkLayer::reset() {
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slipInit();
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decodeRingBuf.clear();
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}
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// ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
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// size_t* bytesLeft) {
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// size_t bytePos = 0;
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// for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
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// enum arc_dec_result decResult =
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// arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedRxFrame, &rxFrameSize);
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// *bytesLeft = rawDataSize - bytePos - 1;
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// switch (decResult) {
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// case ARC_DEC_INPROGRESS: {
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// if (bytePos == rawDataSize - 1) {
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// return DEC_IN_PROGRESS;
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// }
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// continue;
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// }
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// case ARC_DEC_ERROR_FRAME_SHORT:
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// return REPLY_TOO_SHORT;
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// case ARC_DEC_ERROR_CHECKSUM:
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// return CRC_FAILURE;
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// case ARC_DEC_ASYNC:
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// case ARC_DEC_SYNC: {
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// // Reset length of SLIP struct for next frame
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// slipInfo.length = 0;
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// return returnvalue::OK;
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// }
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// default:
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// sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
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// break;
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// return returnvalue::FAILED;
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// }
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// }
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// return returnvalue::FAILED;
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// }
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void ArcsecDatalinkLayer::slipInit() {
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slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
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}
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void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
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size_t& size) {
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@ -25,6 +25,8 @@ class ArcsecDatalinkLayer {
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static const uint8_t STATUS_OK = 0;
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static constexpr size_t BUFFER_LENGTHS = 4096;
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ArcsecDatalinkLayer();
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virtual ~ArcsecDatalinkLayer();
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@ -36,16 +38,17 @@ class ArcsecDatalinkLayer {
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*/
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ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
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ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
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/**
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* @brief Applies decoding to data referenced by rawData pointer
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* TODO: To be deleted soon, replaced by proper buffering.
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* @param rawData Pointer to raw data received from star tracker
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* @param rawDataSize Size of raw data stream
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* @param remainingBytes Number of bytes left
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* Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding
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* frames in the process.
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* @param decodedFrame
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* @param frameLen
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* @return
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* - returnvalue::OK if a frame was found
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* - DEC_IN_PROGRESS if frame decoding is in progress
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* - Anything else is a decoding error
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*/
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// ReturnValue_t decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
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ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
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/**
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* @brief SLIP encodes data pointed to by data pointer.
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@ -55,15 +58,19 @@ class ArcsecDatalinkLayer {
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*/
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void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen);
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void reset();
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private:
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static const uint8_t ID_OFFSET = 1;
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static const uint8_t STATUS_OFFSET = 2;
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// Used by arcsec slip decoding function process received data
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uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
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// User to buffer and analyse data and allow feeding and checking for frames asychronously.
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SimpleRingBuffer decodeRingBuf;
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uint8_t rxAnalysisBuffer[4096];
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uint8_t rxAnalysisBuffer[BUFFER_LENGTHS];
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// Used by arcsec slip decoding function to process received data. This should only be written
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// to or read from by arcsec functions!
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uint8_t rxBufferArc[startracker::MAX_FRAME_SIZE];
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// Decoded frame will be copied to this buffer
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uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
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// Size of decoded frame
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@ -42,6 +42,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
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while (true) {
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lock->lockMutex();
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state = InternalState::SLEEPING;
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datalinkLayer.reset();
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lock->unlockMutex();
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semaphore.acquire();
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switch (state) {
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@ -154,7 +155,9 @@ ReturnValue_t StrComHandler::startImageDownload(std::string path) {
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return returnvalue::OK;
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}
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void StrComHandler::stopProcess() { terminate = true; }
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void StrComHandler::stopProcess() {
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terminate = true;
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}
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void StrComHandler::setDownloadImageName(std::string filename) {
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downloadImage.filename = filename;
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2
thirdparty/arcsec_star_tracker
vendored
2
thirdparty/arcsec_star_tracker
vendored
@ -1 +1 @@
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Subproject commit c535e1494f2fdb54becd7c338fe959c3672298b3
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Subproject commit cbb3b24dc1993b727735fd63576088401ba351ec
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