request version command

mission/devices/StarTrackerHandler.cpp

@@ -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::TICKS_VERSION_SET, new PoolEntry<uint32_t>( { 0 }));
-    localDataPoolMap.emplace(StarTracker::TIME, new PoolEntry<uint64_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);

mission/devices/StarTrackerHandler.h

@@ -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_ */

mission/devices/devicedefinitions/StarTrackerDefinitions.h

@@ -14,24 +14,32 @@ static const uint8_t ADDRESS = 33;
 static const uint8_t STATUS_OK = 0;
 
 enum PoolIds: lp_id_t {
-    TICKS,
+    TICKS_VERSION_SET,
-    TIME,
+    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_ */