some more improvements for DLL

CHANGELOG.md

@@ -20,6 +20,20 @@ will consitute of a breaking change warranting a new major release:
 
 - Bugfix for STR: Some action commands wrongfully declined.
 - STR: No normal command handling while a special request like an image upload is active.
+- STR: Fix weird issues on datalink layer data reception which sometimes occur.
+
+## Changed
+
+- STR: Move datalink layer to `StrComHandler` completely. DLL is now completely hidden from
+  device handler.
+- STR: Is now scheduled twice in ACS PST.
+- `StrHelper` renamed to `StrComHandler`, is now a `DeviceHandlerIF` directly and does not wrap
+  a separate UART COM interface anymore.
+
+## Added
+
+- Add `reset` function for `ArcsecDatalinkLayer` and use it in `StrComHandler` before going to sleep
+  to ensure consistent state of reply reception.
 
 # [v1.39.0] 2023-03-21
 

linux/devices/startracker/ArcsecDatalinkLayer.cpp

@@ -1,16 +1,16 @@
 #include "ArcsecDatalinkLayer.h"
 
-ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(4096, true) { slipInit(); }
+ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
 
 ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
 
 ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedFrame,
                                                         size_t& frameLen) {
   size_t currentLen = decodeRingBuf.getAvailableReadData();
-  decodeRingBuf.readData(decodedRxFrame, currentLen);
+  decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
   for (size_t idx = 0; idx < currentLen; idx++) {
     enum arc_dec_result decResult =
-        arc_transport_decode_body(decodedRxFrame[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
+        arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
     switch (decResult) {
       case ARC_DEC_INPROGRESS: {
         break;
@@ -52,46 +52,14 @@ ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDa
   return decodeRingBuf.writeData(rawData, rawDataLen);
 }
 
-void ArcsecDatalinkLayer::slipInit() {
+void ArcsecDatalinkLayer::reset() {
-  slipInfo.buffer = rxBuffer;
+  slipInit();
-  slipInfo.maxlength = startracker::MAX_FRAME_SIZE;
+  decodeRingBuf.clear();
-  slipInfo.length = 0;
-  slipInfo.unescape_next = 0;
-  slipInfo.prev_state = SLIP_COMPLETE;
 }
 
-// ReturnValue_t ArcsecDatalinkLayer::decodeFrame(const uint8_t* rawData, size_t rawDataSize,
+void ArcsecDatalinkLayer::slipInit() {
-//                                                size_t* bytesLeft) {
+  slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
-//   size_t bytePos = 0;
+}
-//   for (bytePos = 0; bytePos < rawDataSize; bytePos++) {
-//     enum arc_dec_result decResult =
-//         arc_transport_decode_body(*(rawData + bytePos), &slipInfo, decodedRxFrame, &rxFrameSize);
-//     *bytesLeft = rawDataSize - bytePos - 1;
-//     switch (decResult) {
-//       case ARC_DEC_INPROGRESS: {
-//         if (bytePos == rawDataSize - 1) {
-//           return DEC_IN_PROGRESS;
-//         }
-//         continue;
-//       }
-//       case ARC_DEC_ERROR_FRAME_SHORT:
-//         return REPLY_TOO_SHORT;
-//       case ARC_DEC_ERROR_CHECKSUM:
-//         return CRC_FAILURE;
-//       case ARC_DEC_ASYNC:
-//       case ARC_DEC_SYNC: {
-//         // Reset length of SLIP struct for next frame
-//         slipInfo.length = 0;
-//         return returnvalue::OK;
-//       }
-//       default:
-//         sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
-//         break;
-//         return returnvalue::FAILED;
-//     }
-//   }
-//   return returnvalue::FAILED;
-// }
 
 void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
                                       size_t& size) {

linux/devices/startracker/ArcsecDatalinkLayer.h

@@ -25,6 +25,8 @@ class ArcsecDatalinkLayer {
 
   static const uint8_t STATUS_OK = 0;
 
+  static constexpr size_t BUFFER_LENGTHS = 4096;
+
   ArcsecDatalinkLayer();
   virtual ~ArcsecDatalinkLayer();
 
@@ -36,16 +38,17 @@ class ArcsecDatalinkLayer {
    */
   ReturnValue_t feedData(const uint8_t* rawData, size_t rawDataLen);
 
-  ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
-
   /**
-   * @brief   Applies decoding to data referenced by rawData pointer
+   * Runs the arcsec datalink layer decoding algorithm on the data in the ring buffer, decoding
-   * TODO: To be deleted soon, replaced by proper buffering.
+   * frames in the process.
-   * @param rawData          Pointer to raw data received from star tracker
+   * @param decodedFrame
-   * @param rawDataSize      Size of raw data stream
+   * @param frameLen
-   * @param remainingBytes   Number of bytes left
+   * @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 decodeFrame(const uint8_t* rawData, size_t rawDataSize, size_t* bytesLeft);
+  ReturnValue_t checkRingBufForFrame(const uint8_t** decodedFrame, size_t& frameLen);
 
   /**
    * @brief   SLIP encodes data pointed to by data pointer.
@@ -55,15 +58,19 @@ class ArcsecDatalinkLayer {
    */
   void encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame, size_t& frameLen);
 
+  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
+  // User to buffer and analyse data and allow feeding and checking for frames asychronously.
-  uint8_t rxBuffer[startracker::MAX_FRAME_SIZE];
   SimpleRingBuffer decodeRingBuf;
-  uint8_t rxAnalysisBuffer[4096];
+  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 decodedRxFrame[startracker::MAX_FRAME_SIZE];
   // Size of decoded frame

linux/devices/startracker/StrComHandler.cpp

@@ -42,6 +42,7 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
   while (true) {
     lock->lockMutex();
     state = InternalState::SLEEPING;
+    datalinkLayer.reset();
     lock->unlockMutex();
     semaphore.acquire();
     switch (state) {
@@ -154,7 +155,9 @@ ReturnValue_t StrComHandler::startImageDownload(std::string path) {
   return returnvalue::OK;
 }
 
-void StrComHandler::stopProcess() { terminate = true; }
+void StrComHandler::stopProcess() {
+  terminate = true;
+}
 
 void StrComHandler::setDownloadImageName(std::string filename) {
   downloadImage.filename = filename;

thirdparty/arcsec_star_tracker

@@ -1 +1 @@
-Subproject commit c535e1494f2fdb54becd7c338fe959c3672298b3
+Subproject commit cbb3b24dc1993b727735fd63576088401ba351ec