mission/devices/StarTrackerHandler.cpp

@@ -6,6 +6,7 @@
 
 extern "C" {
     #include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
+    #include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
     #include "common/misc.h"
 }
 
@@ -55,6 +56,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
         const uint8_t * commandData, size_t commandDataLen) {
 
     switch (deviceCommand) {
+    case (StarTracker::PING_REQUEST): {
+        preparePingRequest();
+        return RETURN_OK;
+    }
     case (StarTracker::REQ_TEMPERATURE): {
         prepareTemperatureRequest();
         return RETURN_OK;
@@ -68,6 +73,8 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
 void StarTrackerHandler::fillCommandAndReplyMap() {
     /** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
       * is specified */
+	this->insertInCommandAndReplyMap(StarTracker::PING_REQUEST, 1, nullptr,
+			StarTracker::MAX_FRAME_SIZE * 2 + 2);
 	this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 1, &temperatureSet,
 			StarTracker::MAX_FRAME_SIZE * 2 + 2);
 }
@@ -106,6 +113,11 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t rema
     }
 
     switch (decodedFrame[1]) {
+    case (static_cast<uint8_t>(StarTracker::PING_REQUEST)): {
+        *foundLen = decodedLength;
+        *foundId = StarTracker::PING_REQUEST;
+        break;
+    }
     case (static_cast<uint8_t>(StarTracker::REQ_TEMPERATURE)): {
         *foundLen = decodedLength;
         *foundId = StarTracker::REQ_TEMPERATURE;
@@ -125,6 +137,10 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t rema
 ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
 
     switch (id) {
+    case (StarTracker::PING_REQUEST): {
+        handlePingReply();
+        break;
+    }
     case (StarTracker::REQ_TEMPERATURE): {
         handleTemperatureTm();
         break;
@@ -170,6 +186,16 @@ void StarTrackerHandler::slipInit() {
     slipInfo.prev_state = SLIP_COMPLETE;
 }
 
+void StarTrackerHandler::preparePingRequest() {
+    uint32_t length = 0;
+    struct PingActionRequest pingRequest = {PING_ID};
+    arc_pack_ping_action_req(&pingRequest, commandBuffer, &length);
+    uint32_t encLength = 0;
+    arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
+    rawPacket = encBuffer;
+    rawPacketLen = encLength;
+}
+
 void StarTrackerHandler::prepareTemperatureRequest() {
     uint32_t length = 0;
     arc_tm_pack_temperature_req(commandBuffer, &length);
@@ -179,6 +205,17 @@ void StarTrackerHandler::prepareTemperatureRequest() {
     rawPacketLen = encLength;
 }
 
+void StarTrackerHandler::handlePingReply() {
+    uint32_t pingId = 0;
+    size_t size = 0;
+    const uint8_t* buffer = decodedFrame;
+    SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::BIG);
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
+    sif::info << "Ping status "<< static_cast<unsigned int>(*(decodedFrame + 2)) << std::endl;
+    sif::info << "Ping id "<< pingId << std::endl;
+#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
+}
+
 void StarTrackerHandler::handleTemperatureTm() {
     PoolReadGuard rg(&temperatureSet);
     uint32_t offset = 1;

mission/devices/StarTrackerHandler.h

@@ -2,6 +2,7 @@
 #define MISSION_DEVICES_STARTRACKERHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
 #include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
 #include <thirdparty/arcsec_star_tracker/common/SLIP.h>
 
@@ -64,8 +65,11 @@ private:
     static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
 
     //! [EXPORT] : [COMMENT] Result code of tm reply indicates an error
+
     static const ReturnValue_t TM_REPLY_ERROR = MAKE_RETURN_CODE(0xA0);
-    //! P1: TM id
+
+    // Ping request will reply ping with this ID (data field)
+    static const uint32_t PING_ID = 0x55;
 
     StarTracker::TemperatureSet temperatureSet;
 
@@ -89,8 +93,16 @@ private:
 	 */
 	void slipInit();
 
+	/**
+	 * @brief   Fills command buffer with data to ping the star tracker
+	 */
+	void preparePingRequest();
+	/**
+     * @brief   Fills command buffer with data to request temperature from star tracker
+     */
 	void prepareTemperatureRequest();
 
+	void handlePingReply();
 	/**
 	 * @brief   This function handles the telemetry reply of a temperature request.
 	 */

mission/devices/devicedefinitions/StarTrackerDefinitions.h

@@ -21,6 +21,7 @@ enum PoolIds: lp_id_t {
 
 
 
+static const DeviceCommandId_t PING_REQUEST = 0;
 static const DeviceCommandId_t REQ_TEMPERATURE = 25;
 
 static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;