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request version command

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This commit is contained in:
Jakob Meier 2021-11-26 15:24:52 +01:00
parent 8b97528afb
commit eb0e9c2a41
3 changed files with 115 additions and 10 deletions
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65
mission/devices/StarTrackerHandler.cpp
View File

@ -12,7 +12,7 @@ extern "C" {
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this) {
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this) {
if (comCookie == NULL) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
}
@ -61,6 +61,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
preparePingRequest();
return RETURN_OK;
}
case (StarTracker::REQ_VERSION): {
prepareVersionRequest();
return RETURN_OK;
}
case (StarTracker::REBOOT): {
prepareRebootCommand();
return RETURN_OK;
@ -80,6 +84,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
* is specified */
this->insertInCommandAndReplyMap(StarTracker::PING_REQUEST, 1, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_VERSION, 1, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandMap(StarTracker::REBOOT);
this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 1, &temperatureSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
@ -124,6 +130,11 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t rema
*foundId = StarTracker::PING_REQUEST;
break;
}
case (static_cast<uint8_t>(StarTracker::REQ_VERSION)): {
*foundLen = decodedLength;
*foundId = StarTracker::PING_REQUEST;
break;
}
case (static_cast<uint8_t>(StarTracker::REQ_TEMPERATURE)): {
*foundLen = decodedLength;
*foundId = StarTracker::REQ_TEMPERATURE;
@ -149,6 +160,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
result = handlePingReply();
break;
}
case (StarTracker::REQ_VERSION): {
result = handleVersionTm();
break;
}
case (StarTracker::REQ_TEMPERATURE): {
handleTemperatureTm();
break;
@ -174,8 +189,13 @@ uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo
ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(StarTracker::TICKS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TICKS_VERSION_SET, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME_VERSION_SET, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::PROGRAM, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::MAJOR, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::MINOR, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TICKS_TEMPERATURE_SET, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME_TEMPERATURE_SET, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>( { 0 }));
@ -204,6 +224,15 @@ void StarTrackerHandler::preparePingRequest() {
rawPacketLen = encLength;
}
void StarTrackerHandler::prepareVersionRequest() {
uint32_t length = 0;
arc_tm_pack_version_req(commandBuffer, &length);
uint32_t encLength = 0;
arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
rawPacket = encBuffer;
rawPacketLen = encLength;
}
void StarTrackerHandler::prepareRebootCommand() {
uint32_t length = 0;
struct RebootActionRequest rebootReq;
@ -240,6 +269,34 @@ ReturnValue_t StarTrackerHandler::handlePingReply() {
return result;
}
ReturnValue_t StarTrackerHandler::handleVersionTm() {
ReturnValue_t result = RETURN_OK;
PoolReadGuard rg(&versionSet);
uint32_t offset = 2;
uint8_t status = *(decodedFrame + offset);
offset += 1;
if(status != StarTracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleTemperatureTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl;
result = TEMPERATURE_REQUEST_FAILED;
return result;
}
versionSet.program = (*decodedFrame + offset);
offset += 1;
versionSet.major = (*decodedFrame + offset);
offset += 1;
versionSet.minor = (*decodedFrame + offset);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
sif::info << "StarTrackerHandler::handleVersionTm: Program: "
<< versionSet.program << std::endl;
sif::info << "StarTrackerHandler::handleVersionTm: Major: "
<< versionSet.major << std::endl;
sif::info << "StarTrackerHandler::handleVersionTm: Minor: "
<< versionSet.minor << std::endl;
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
return result;
}
ReturnValue_t StarTrackerHandler::handleTemperatureTm() {
ReturnValue_t result = RETURN_OK;
PoolReadGuard rg(&temperatureSet);
@ -267,7 +324,7 @@ ReturnValue_t StarTrackerHandler::handleTemperatureTm() {
temperatureSet.mcuTemperature = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
sif::info << "StarTrackerHandler::handleTemperatureTm: Ticks: "
<< temperatureSet.ticks << std::endl;
sif::info << "StarTrackerHandler::handleTemperatureTm: Time: "

11
mission/devices/StarTrackerHandler.h
View File

@ -72,6 +72,7 @@ private:
static const uint32_t PING_ID = 0x55;
StarTracker::TemperatureSet temperatureSet;
StarTracker::VersionSet versionSet;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
uint8_t rxBuffer[StarTracker::MAX_FRAME_SIZE];
@ -98,6 +99,11 @@ private:
*/
void preparePingRequest();
/**
* @brief Fills command buffer with data to request the version telemetry packet
*/
void prepareVersionRequest();
/**
* @brief Fills command buffer with data to reboot star tracker.
*/
@ -113,6 +119,11 @@ private:
* @brief This function handles the telemetry reply of a temperature request.
*/
ReturnValue_t handleTemperatureTm();
/**
* @brief This function handles the telemetry reply of a version request.
*/
ReturnValue_t handleVersionTm();
};
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */

49
mission/devices/devicedefinitions/StarTrackerDefinitions.h
View File

@ -14,24 +14,32 @@ static const uint8_t ADDRESS = 33;
static const uint8_t STATUS_OK = 0;
enum PoolIds: lp_id_t {
TICKS,
TIME,
TICKS_VERSION_SET,
TIME_VERSION_SET,
TICKS_TEMPERATURE_SET,
TIME_TEMPERATURE_SET,
MCU_TEMPERATURE,
CMOS_TEMPERATURE
CMOS_TEMPERATURE,
PROGRAM,
MAJOR,
MINOR
};
static const DeviceCommandId_t PING_REQUEST = 0;
static const DeviceCommandId_t REQ_VERSION = 2;
static const DeviceCommandId_t REBOOT = 7;
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
static const uint8_t TEMPERATURE_SET_ENTRIES = 5;
static const uint8_t TEMPERATURE_SET_ENTRIES = 4;
static const uint8_t VERSION_SET_ENTRIES = 3;
/**
* @brief This dataset can be used to store the temperature of a reaction wheel.
@ -50,16 +58,45 @@ public:
// Ticks is time reference generated by interanl counter of the star tracker
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
PoolIds::TICKS, this);
PoolIds::TICKS_TEMPERATURE_SET, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
PoolIds::TIME, this);
PoolIds::TIME_TEMPERATURE_SET, this);
lp_var_t<float> mcuTemperature = lp_var_t<float>(sid.objectId,
PoolIds::MCU_TEMPERATURE, this);
lp_var_t<float> cmosTemperature = lp_var_t<float>(sid.objectId,
PoolIds::CMOS_TEMPERATURE, this);
};
/**
* @brief Package to store version parameters
*/
class VersionSet:
public StaticLocalDataSet<VERSION_SET_ENTRIES> {
public:
VersionSet(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, VERSION_SET_ID) {
}
VersionSet(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {
}
// Ticks is time reference generated by interanl counter of the star tracker
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId,
PoolIds::TICKS_VERSION_SET, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId,
PoolIds::TIME_VERSION_SET, this);
lp_var_t<uint8_t> program = lp_var_t<uint8_t>(sid.objectId,
PoolIds::PROGRAM, this);
lp_var_t<uint8_t> major = lp_var_t<uint8_t>(sid.objectId,
PoolIds::MAJOR, this);
lp_var_t<uint8_t> minor = lp_var_t<uint8_t>(sid.objectId,
PoolIds::MINOR, this);
};
}
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */