eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

v1.9.0 #175

Merged
muellerr merged 623 commits from develop into main 2022-03-08 10:32:41 +01:00
Conversation 0 Commits 623 Files Changed 417 +339 -96
10 changed files with 339 additions and 96 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 36d33711a7 - Show all commits

2
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,6 +1,7 @@
#include <sstream>
#include "ObjectFactory.h"
#include "../devices/startracker/StrHelper.h"
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "OBSWConfig.h"
#include "devConf.h"
@ -18,7 +19,6 @@
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/startracker/StrImageLoader.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/callbacks/gnssCallback.h"

2
bsp_q7s/devices/startracker/CMakeLists.txt
View File

@ -3,5 +3,5 @@ target_sources(${TARGET_NAME} PRIVATE
StarTrackerJsonCommands.cpp
ArcsecDatalinkLayer.cpp
ArcsecJsonParamBase.cpp
StrImageLoader.cpp
StrHelper.cpp
)

2
bsp_q7s/devices/startracker/StarTrackerDefinitions.h
View File

@ -4,6 +4,7 @@
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "objects/systemObjectList.h"
#include <fsfw/datapool/PoolReadGuard.h>
@ -844,7 +845,6 @@ public:
sif::info << "ContrastSet::printSet: BinD8: " << this->binD8 << std::endl;
}
};
}
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */

88
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
View File

@ -14,14 +14,14 @@ extern "C" {
}
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie, StrImageLoader* strImageLoader) :
CookieIF * comCookie, StrHelper* strHelper) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this), powerSet(
this), interfaceSet(this), timeSet(this), solutionSet(this), histogramSet(this),
contrastSet(this), strImageLoader(strImageLoader) {
contrastSet(this), strHelper(strHelper) {
if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
}
if (strImageLoader == nullptr) {
if (strHelper == nullptr) {
sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
@ -50,21 +50,21 @@ ReturnValue_t StarTrackerHandler::initialize() {
return result;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(StrImageLoader::IMAGE_UPLOAD_FAILED),
event::getEventId(StrImageLoader::IMAGE_DOWNLOAD_SUCCESSFUL));
event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED),
event::getEventId(StrHelper::FLASH_READ_FAILED));
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events form image"
" loader" << std::endl;
sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from "
" str helper" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = strImageLoader->setComIF(communicationInterface);
result = strHelper->setComIF(communicationInterface);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
strImageLoader->setComCookie(comCookie);
strHelper->setComCookie(comCookie);
return RETURN_OK;
}
@ -75,7 +75,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
switch(actionId) {
case(StarTracker::STOP_IMAGE_LOADER): {
strImageLoader->stopProcess();
strHelper->stopProcess();
return EXECUTION_FINISHED;
}
case(StarTracker::SET_JSON_FILE_NAME): {
@ -89,7 +89,7 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
break;
}
if (imageLoaderExecuting == true) {
if (strHelperExecuting == true) {
return IMAGE_LOADER_EXECUTING;
}
@ -108,12 +108,12 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
if (size > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
result = strImageLoader->startImageUpload(
result = strHelper->startImageUpload(
std::string(reinterpret_cast<const char*>(data), size));
if (result != RETURN_OK) {
return result;
}
imageLoaderExecuting = true;
strHelperExecuting = true;
return EXECUTION_FINISHED;
}
case(StarTracker::DOWNLOAD_IMAGE): {
@ -124,19 +124,32 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
if (size > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
result = strImageLoader->startImageDownload(
result = strHelper->startImageDownload(
std::string(reinterpret_cast<const char*>(data), size));
if (result != RETURN_OK) {
return result;
}
imageLoaderExecuting = true;
strHelperExecuting = true;
return EXECUTION_FINISHED;
}
case(StarTracker::WRITE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) {
return result;
}
result = executeWriteCommand(data, size);
if (result != RETURN_OK) {
return result;
}
strHelperExecuting = true;
return EXECUTION_FINISHED;
}
case(StarTracker::CHANGE_DOWNLOAD_FILE): {
if (size > MAX_FILE_NAME) {
return FILENAME_TOO_LONG;
}
strImageLoader->setDownloadImageName(
strHelper->setDownloadImageName(
std::string(reinterpret_cast<const char*>(data), size));
return EXECUTION_FINISHED;
}
@ -182,7 +195,7 @@ void StarTrackerHandler::doStartUp() {
void StarTrackerHandler::doShutDown() {
// If star tracker is shutdown also stop all running processes in the image loader task
strImageLoader->stopProcess();
strHelper->stopProcess();
setMode(_MODE_POWER_DOWN);
}
@ -751,7 +764,7 @@ size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId){
ReturnValue_t StarTrackerHandler::doSendReadHook() {
// Prevent DHB from polling UART during commands executed by the image loader task
if(imageLoaderExecuting) {
if(strHelperExecuting) {
return RETURN_FAILED;
}
return RETURN_OK;
@ -776,6 +789,10 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId)
*foundId = StarTracker::PING_REQUEST;
break;
}
case (StarTracker::ID::WRITE): {
*foundId = StarTracker::WRITE;
break;
}
case (StarTracker::ID::BOOT): {
*foundId = StarTracker::BOOT;
break;
@ -906,7 +923,7 @@ void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
case objects::STR_IMG_LOADER: {
// All events from image loader signal either that the operation was successful or that it
// failed
imageLoaderExecuting = false;
strHelperExecuting = false;
break;
}
default:
@ -916,6 +933,39 @@ void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
}
}
ReturnValue_t StarTrackerHandler::executeWriteCommand(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
if (commandDataLen < WriteCmd::MIN_LENGTH) {
sif::warning << "StarTrackerHandler::executeWriteCommand: Command too short" << std::endl;
return COMMAND_TOO_SHORT;
}
uint8_t region = *(commandData);
uint32_t address;
size_t size = sizeof(address);
const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&address, addressPtr, &size,
SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed"
<< std::endl;
return result;
}
if (commandDataLen - sizeof(address) - sizeof(region) > MAX_PATH_SIZE) {
sif::warning << "StarTrackerHandler::executeWriteCommand: Received command with invalid"
<< " path and filename" << std::endl;
return FILE_PATH_TOO_LONG;
}
const uint8_t* filePtr = commandData + WriteCmd::FILE_OFFSET;
std::string fullname = std::string(reinterpret_cast<const char*>(filePtr),
commandDataLen - sizeof(address) - sizeof(region));
result = strHelper->startFlashWrite(fullname, region, address);
if (result != RETURN_OK) {
return result;
}
return result;
}
void StarTrackerHandler::prepareBootCommand() {
uint32_t length = 0;
struct BootActionRequest bootRequest = {BOOT_REGION_ID};

28
bsp_q7s/devices/startracker/StarTrackerHandler.h
View File

@ -6,10 +6,10 @@
#include "fsfw/timemanager/Countdown.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include "StrImageLoader.h"
#include "ArcsecDataLinkLayer.h"
#include "StarTrackerDefinitions.h"
#include "ArcsecJsonParamBase.h"
#include "StrHelper.h"
/**
* @brief This is the device handler for the star tracker from arcsec.
@ -33,7 +33,7 @@ public:
* to high to enable the device.
*/
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
StrImageLoader* strImageLoader);
StrHelper* strHelper);
virtual ~StarTrackerHandler();
ReturnValue_t initialize() override;
@ -115,6 +115,8 @@ private:
static const ReturnValue_t TM_REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Status field of contrast reply signals error
static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper execution)
static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
static const size_t MAX_PATH_SIZE = 50;
static const size_t MAX_FILE_NAME = 30;
@ -137,6 +139,14 @@ private:
static const uint32_t MUTEX_TIMEOUT = 20;
static const uint32_t BOOT_TIMEOUT = 1000;
class WriteCmd {
public:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t FILE_OFFSET = 5;
// Minimum length of a write command (region, address and filename)
static const size_t MIN_LENGTH = 7;
};
MessageQueueIF* eventQueue = nullptr;
ArcsecDatalinkLayer dataLinkLayer;
@ -151,7 +161,7 @@ private:
StarTracker::ContrastSet contrastSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrImageLoader* strImageLoader = nullptr;
StrHelper* strHelper = nullptr;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
@ -187,7 +197,7 @@ private:
StartupState startupState = StartupState::IDLE;
bool imageLoaderExecuting = false;
bool strHelperExecuting = false;
/**
* @brief Handles internal state
@ -225,6 +235,16 @@ private:
*/
void handleEvent(EventMessage* eventMessage);
/**
* @brief Executes the write command
*
* @param commandData Pointer to received command data
* @param commandDataLen Size of received command data
*
* @return RETURN_OK if start of execution was successful, otherwise error return value
*/
ReturnValue_t executeWriteCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* @brief Fills command buffer with data to boot image (works only when star tracker is
* in bootloader mode).

186
bsp_q7s/devices/startracker/StrImageLoader.cpp → bsp_q7s/devices/startracker/StrHelper.cpp
View File

@ -1,26 +1,27 @@
#include "StrImageLoader.h"
#include "StrHelper.h"
#include "mission/utility/Timestamp.h"
#include <fstream>
#include <filesystem>
StrImageLoader::StrImageLoader(object_id_t objectId) : SystemObject(objectId){
StrHelper::StrHelper(object_id_t objectId) : SystemObject(objectId){
}
StrImageLoader::~StrImageLoader() {
StrHelper::~StrHelper() {
}
ReturnValue_t StrImageLoader::initialize() {
ReturnValue_t StrHelper::initialize() {
sdcMan = SdCardManager::instance();
if (sdcMan == nullptr) {
sif::warning << "StrImageLoader::initialize: Invalid SD Card Manager" << std::endl;
sif::warning << "StrHelper::initialize: Invalid SD Card Manager" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrImageLoader::performOperation(uint8_t operationCode) {
ReturnValue_t StrHelper::performOperation(uint8_t operationCode) {
ReturnValue_t result = RETURN_OK;
semaphore.acquire();
while(true) {
@ -40,7 +41,7 @@ ReturnValue_t StrImageLoader::performOperation(uint8_t operationCode) {
internalState = InternalState::IDLE;
break;
}
case InternalState::DOWNLOAD_IMAGE:
case InternalState::DOWNLOAD_IMAGE: {
result = performImageDownload();
if (result == RETURN_OK){
triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
@ -51,23 +52,38 @@ ReturnValue_t StrImageLoader::performOperation(uint8_t operationCode) {
internalState = InternalState::IDLE;
break;
}
case InternalState::FLASH_WRITE: {
result = performFlashWrite();
if (result == RETURN_OK){
triggerEvent(FLASH_WRITE_SUCCESSFUL);
}
else {
triggerEvent(FLASH_WRITE_FAILED);
}
internalState = InternalState::IDLE;
break;
}
default:
sif::debug << "StrHelper::performOperation: Invalid state" << std::endl;
break;
}
}
}
ReturnValue_t StrImageLoader::setComIF(DeviceCommunicationIF* communicationInterface_) {
ReturnValue_t StrHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
if (uartComIF == nullptr) {
sif::warning << "StrImageLoader::initialize: Invalid uart com if" << std::endl;
sif::warning << "StrHelper::initialize: Invalid uart com if" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
void StrImageLoader::setComCookie(CookieIF* comCookie_) {
void StrHelper::setComCookie(CookieIF* comCookie_) {
comCookie = comCookie_;
}
ReturnValue_t StrImageLoader::startImageUpload(std::string uploadImage_) {
ReturnValue_t StrHelper::startImageUpload(std::string uploadImage_) {
ReturnValue_t result = checkPath(uploadImage_);
if (result != RETURN_OK) {
return result;
@ -82,7 +98,7 @@ ReturnValue_t StrImageLoader::startImageUpload(std::string uploadImage_) {
return RETURN_OK;
}
ReturnValue_t StrImageLoader::startImageDownload(std::string downloadPath_) {
ReturnValue_t StrHelper::startImageDownload(std::string downloadPath_) {
ReturnValue_t result = checkPath(downloadPath_);
if (result != RETURN_OK) {
return result;
@ -97,15 +113,31 @@ ReturnValue_t StrImageLoader::startImageDownload(std::string downloadPath_) {
return RETURN_OK;
}
void StrImageLoader::stopProcess() {
void StrHelper::stopProcess() {
terminate = true;
}
void StrImageLoader::setDownloadImageName(std::string image) {
void StrHelper::setDownloadImageName(std::string image) {
downloadImage = image;
}
ReturnValue_t StrImageLoader::performImageDownload() {
ReturnValue_t StrHelper::startFlashWrite(std::string flashWriteFile_, uint8_t region,
uint32_t flashWriteAddress) {
ReturnValue_t result = checkPath(flashWriteFile_);
if (result != RETURN_OK) {
return result;
}
flashWriteFile = flashWriteFile_;
if(not std::filesystem::exists(flashWriteFile)) {
return FILE_NOT_EXISTS;
}
internalState = InternalState::FLASH_WRITE;
semaphore.release();
terminate = false;
return RETURN_OK;
}
ReturnValue_t StrHelper::performImageDownload() {
ReturnValue_t result;
struct DownloadActionRequest downloadReq;
uint32_t size = 0;
@ -161,7 +193,7 @@ ReturnValue_t StrImageLoader::performImageDownload() {
return RETURN_OK;
}
ReturnValue_t StrImageLoader::performImageUpload() {
ReturnValue_t StrHelper::performImageUpload() {
ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t imageSize = 0;
@ -169,7 +201,7 @@ ReturnValue_t StrImageLoader::performImageUpload() {
uploadReq.position = 0;
std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
if (not std::filesystem::exists(uploadImage)) {
triggerEvent(IMAGE_FILE_NOT_EXISTS, uploadReq.position);
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
@ -213,7 +245,57 @@ ReturnValue_t StrImageLoader::performImageUpload() {
return RETURN_OK;
}
ReturnValue_t StrImageLoader::sendAndRead(size_t size, uint32_t position) {
ReturnValue_t StrHelper::performFlashWrite() {
ReturnValue_t result = RETURN_OK;
uint32_t size = 0;
uint32_t remainingBytes = 0;
uint32_t fileSize = 0;
struct WriteActionRequest req;
if (not std::filesystem::exists(flashWriteFile)) {
triggerEvent(STR_HELPER_FILE_NOT_EXISTS, static_cast<uint32_t>(internalState));
internalState = InternalState::IDLE;
return RETURN_FAILED;
}
std::ifstream file(flashWriteFile, std::ifstream::binary);
file.seekg(0, file.end);
fileSize = file.tellg();
remainingBytes = fileSize;
req.region = flashWriteRegion;
req.address = flashWriteAddress;
req.length = MAX_FLASH_DATA;
while(remainingBytes >= MAX_FLASH_DATA) {
if (terminate) {
return RETURN_OK;
}
file.seekg(fileSize - remainingBytes, file.beg);
file.read(reinterpret_cast<char*>(req.data), MAX_FLASH_DATA);
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFlashWriteReply(req);
if (result != RETURN_OK) {
return result;
}
remainingBytes = remainingBytes - MAX_FLASH_DATA;
}
file.seekg(fileSize - remainingBytes, file.beg);
file.read(reinterpret_cast<char*>(req.data), remainingBytes);
file.close();
arc_pack_write_action_req(&req, commandBuffer, &size);
result = sendAndRead(size, req.address);
if (result != RETURN_OK) {
return RETURN_FAILED;
}
result = checkFlashWriteReply(req);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::sendAndRead(size_t size, uint32_t parameter) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t decResult = RETURN_OK;
size_t receivedDataLen = 0;
@ -224,8 +306,8 @@ ReturnValue_t StrImageLoader::sendAndRead(size_t size, uint32_t position) {
result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
datalinkLayer.getEncodedLength());
if (result != RETURN_OK) {
sif::warning << "StrImageLoader::sendAndRead: Failed to send packet" << std::endl;
triggerEvent(IMG_LOADER_SENDING_PACKET_FAILED, result, position);
sif::warning << "StrHelper::sendAndRead: Failed to send packet" << std::endl;
triggerEvent(STR_HELPER_SENDING_PACKET_FAILED, result, parameter);
return RETURN_FAILED;
}
decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
@ -233,14 +315,14 @@ ReturnValue_t StrImageLoader::sendAndRead(size_t size, uint32_t position) {
result = uartComIF->requestReceiveMessage(comCookie,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
if (result != RETURN_OK) {
sif::warning << "StrImageLoader::sendAndRead: Failed to request reply" << std::endl;
triggerEvent(IMG_LOADER_REQUESTING_MSG_FAILED, result, position);
sif::warning << "StrHelper::sendAndRead: Failed to request reply" << std::endl;
triggerEvent(STR_HELPER_REQUESTING_MSG_FAILED, result, parameter);
return RETURN_FAILED;
}
result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
if (result != RETURN_OK) {
sif::warning << "StrImageLoader::sendAndRead: Failed to read received message" << std::endl;
triggerEvent(IMG_LOADER_READING_REPLY_FAILED, result, position);
sif::warning << "StrHelper::sendAndRead: Failed to read received message" << std::endl;
triggerEvent(STR_HELPER_READING_REPLY_FAILED, result, parameter);
return RETURN_FAILED;
}
if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
@ -248,7 +330,7 @@ ReturnValue_t StrImageLoader::sendAndRead(size_t size, uint32_t position) {
continue;
}
else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
triggerEvent(IMG_LOADER_NO_REPLY, position);
triggerEvent(STR_HELPER_NO_REPLY, parameter);
return RETURN_FAILED;
}
else {
@ -257,22 +339,22 @@ ReturnValue_t StrImageLoader::sendAndRead(size_t size, uint32_t position) {
decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
if (bytesLeft != 0) {
// This should never happen
sif::warning << "StrImageLoader::sendAndRead: Bytes left after decoding" << std::endl;
triggerEvent(IMG_LOADER_COM_ERROR, result, position);
sif::warning << "StrHelper::sendAndRead: Bytes left after decoding" << std::endl;
triggerEvent(STR_HELPER_COM_ERROR, result, parameter);
return RETURN_FAILED;
}
}
if (decResult != RETURN_OK) {
triggerEvent(IMG_LOADER_DEC_ERROR, decResult, position);
triggerEvent(STR_HELPER_DEC_ERROR, decResult, parameter);
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrImageLoader::checkReply() {
ReturnValue_t StrHelper::checkReply() {
uint8_t type = datalinkLayer.getReplyFrameType();
if (type != TMTC_ACTIONREPLY) {
sif::warning << "StrImageLoader::checkReply: Received reply with invalid type ID"
sif::warning << "StrHelper::checkReply: Received reply with invalid type ID"
<< std::endl;
triggerEvent(INVALID_TYPE_ID);
return RETURN_FAILED;
@ -280,13 +362,13 @@ ReturnValue_t StrImageLoader::checkReply() {
uint8_t status = datalinkLayer.getStatusField();
if (status != ArcsecDatalinkLayer::STATUS_OK) {
triggerEvent(STATUS_ERROR);
sif::warning << "StrImageLoader::checkReply: Status failure" << std::endl;
sif::warning << "StrHelper::checkReply: Status failure" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StrImageLoader::checkReplyPosition(uint32_t expectedPosition) {
ReturnValue_t StrHelper::checkReplyPosition(uint32_t expectedPosition) {
uint32_t receivedPosition = 0;
std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
if (receivedPosition != expectedPosition) {
@ -296,17 +378,51 @@ ReturnValue_t StrImageLoader::checkReplyPosition(uint32_t expectedPosition) {
return RETURN_OK;
}
ReturnValue_t StrImageLoader::checkPath(std::string name) {
ReturnValue_t StrHelper::checkFlashWriteReply(struct WriteActionRequest& req) {
ReturnValue_t result = RETURN_OK;
const uint8_t* data = datalinkLayer.getReply();
uint8_t region = *(data + REGION_OFFSET);
uint32_t address;
const uint8_t* addressData = data + ADDRESS_OFFSET;
size_t size = sizeof(address);
result = SerializeAdapter::deSerialize(&address, &addressData, &size,
SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashWriteReply: Deserialization of address failed"
<< std::endl;
}
uint16_t length;
size = sizeof(length);
const uint8_t* lengthData = data + LENGTH_OFFSET;
result = SerializeAdapter::deSerialize(&length, lengthData, &size,
SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StrHelper::checkFlashWriteReply: Deserialization of length failed"
<< std::endl;
}
if (region != req.region) {
return REGION_MISMATCH;
}
if (address != req.address) {
return ADDRESS_MISMATCH;
}
if (region != req.length) {
return LENGTH_MISMATCH;
}
return RETURN_OK;
}
ReturnValue_t StrHelper::checkPath(std::string name) {
if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT))
== std::string(SdCardManager::SD_0_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrImageLoader::checkPath: SD card 0 not mounted" << std::endl;
sif::warning << "StrHelper::checkPath: SD card 0 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
} else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT))
== std::string(SdCardManager::SD_1_MOUNT_POINT)) {
if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
sif::warning << "StrImageLoader::checkPath: SD card 1 not mounted" << std::endl;
sif::warning << "StrHelper::checkPath: SD card 1 not mounted" << std::endl;
return SD_NOT_MOUNTED;
}
}

121
bsp_q7s/devices/startracker/StrImageLoader.h → bsp_q7s/devices/startracker/StrHelper.h
View File

@ -1,5 +1,5 @@
#ifndef BSP_Q7S_DEVICES_STRIMAGELOADER_H_
#define BSP_Q7S_DEVICES_STRIMAGELOADER_H_
#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
#define BSP_Q7S_DEVICES_STRHELPER_H_
#include <string>
#include "ArcsecDatalinkLayer.h"
@ -17,15 +17,12 @@ extern "C" {
}
/**
* @brief An object of this class runs in a separate task and is responsible for uploading and
* downloading images to/from the star tracker. This is required because uploading and
* downloading via the star tracker handler takes a lot of time because each upload or
* download packet can transport a maximum of 1024 bytes.
* @brief Helper class for the star tracker handler to accelerate large data transfers.
*/
class StrImageLoader: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
class StrHelper: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_IMAGE_LOADER;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] Image upload failed
static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
@ -35,41 +32,50 @@ public:
static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Image download was successful
static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash write procedure successfully
static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Flash write procedure failed
static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Flash read procedure failed
static const Event FLASH_READ_FAILED = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
//!P1: Return code of failed communication interface read call
//!P1: Upload/download position for which the read call failed
static const Event IMG_LOADER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
//!P1: Return code of failed communication interface read call
//!P1: Upload/download position for which the read call failed
static const Event IMG_LOADER_COM_ERROR = MAKE_EVENT(5, severity::LOW);
static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
//!P1: Position of upload or download packet for which no reply was sent
static const Event IMG_LOADER_NO_REPLY = MAKE_EVENT(6, severity::LOW);
static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Received reply with invalid type ID
static const Event INVALID_TYPE_ID = MAKE_EVENT(7, severity::LOW);
static const Event INVALID_TYPE_ID = MAKE_EVENT(11, severity::LOW);
//! [EXPORT] : [COMMENT] Status field in reply signals error
static const Event STATUS_ERROR = MAKE_EVENT(8, severity::LOW);
static const Event STATUS_ERROR = MAKE_EVENT(12, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
//P1: Return value of decoding function
//P2: Position of upload/download packet for which reply decoding failed
static const Event IMG_LOADER_DEC_ERROR = MAKE_EVENT(9, severity::LOW);
//P2: Position of upload/download packet, or address of flash write/read request
static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
//! [EXPORT] : [COMMENT] Position mismatch
//! P1: The expected position and thus the position for which the image upload/download failed
static const Event POSITION_MISMATCH = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Try to upload image but specified image does not exist
static const Event IMAGE_FILE_NOT_EXISTS = MAKE_EVENT(11, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet (download or upload) to star tracker failed
static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
//! [EXPORT] : [COMMENT] Specified file does not exist
//!P1: Internal state of str helper
static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
//!P1: Return code of communication interface sendMessage function
//!P2: Position of upload/download packet for which the transmission failed
static const Event IMG_LOADER_SENDING_PACKET_FAILED = MAKE_EVENT(12, severity::LOW);
//!P2: Position of upload/download packet, or address of flash write/read request for which sending failed
static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//!P1: Return code of failed request
//!P1: Upload/download position for which the request failed
static const Event IMG_LOADER_REQUESTING_MSG_FAILED = MAKE_EVENT(13, severity::LOW);
//!P1: Upload/download position, or address of flash write/read request for which transmission failed
static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);
StrImageLoader(object_id_t objectId);
virtual ~StrImageLoader();
StrHelper(object_id_t objectId);
virtual ~StrHelper();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
@ -93,7 +99,17 @@ public:
ReturnValue_t startImageDownload(std::string downloadPath_);
/**
* @brief Can be used to interrupt a running upload or download process.
* @brief Starts the flash write procedure
*
* @param flashWriteFile_ Full name including absolute path of file to write to flash
* @param region Region ID of flash region to write to
* @param flashWriteAddress Start address of flash write procedure
*/
ReturnValue_t startFlashWrite(std::string flashWriteFile_, uint8_t region,
uint32_t flashWriteAddress);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
@ -104,7 +120,7 @@ public:
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_IMG_LOADER;
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
@ -112,8 +128,14 @@ private:
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Specified path does not exist
static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Failed to create download file
//! [EXPORT] : [COMMENT] Failed to create download image or read flash file
static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
@ -124,13 +146,19 @@ private:
static const uint8_t POS_OFFSET = 2;
static const uint8_t DATA_OFFSET = 5;
static const uint8_t REGION_OFFSET = 2;
static const uint8_t ADDRESS_OFFSET = 3;
static const uint8_t LENGTH_OFFSET = 7;
static const size_t IMAGE_DATA_SIZE = 1024;
static const size_t MAX_FLASH_DATA = 1024;
static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE
DOWNLOAD_IMAGE,
FLASH_WRITE,
FLASH_READ
};
InternalState internalState = InternalState::IDLE;
@ -143,9 +171,20 @@ private:
std::string uploadImage;
// Path where the downloaded image will be stored
std::string downloadPath;
// File which contains data to write when executing the flash write command
std::string flashWriteFile;
// Path where the file containing the read data will be stored
std::string flashReadFilePath = "";
// Default name of downloaded image, can be changed via command
std::string downloadImage = "image";
// Default name of file containing the data read from flash, can be changed via command
std::string flashReadImage = "flashread";
// Will be set with the flash write command
uint8_t flashWriteRegion = 0;
// Will be set with the flash write command and specifies the start address where to write the
// flash data to
uint32_t flashWriteAddress = 0;
SdCardManager* sdcMan = nullptr;
@ -179,13 +218,23 @@ private:
*/
ReturnValue_t performImageDownload();
/**
* @brief Handles flash write procedure
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t performFlashWrite();
/**
* @brief Sends packet to the star tracker and reads reply by using the communication
* interface
*
* @param size Size of data beforehand written to the commandBuffer
* @param parameter Parameter 2 of trigger event function
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t sendAndRead(size_t size, uint32_t position);
ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
/**
* @brief Checks the reply header (type id and status fields)
@ -195,7 +244,7 @@ private:
ReturnValue_t checkReply();
/**
* @brief Checks the position field in a star tracker reply.
* @brief Checks the position field in a star tracker upload/download reply.
*
* @param expectedPosition Value of expected position
*
@ -203,6 +252,14 @@ private:
*/
ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
/**
* @brief Checks the region, address and length value of a flash write reply.
*
* @return RETURN_OK if values match expected values, otherwise appropriate error return
* value.
*/
ReturnValue_t checkFlashWriteReply(struct WriteActionRequest& req);
/**
* @brief Checks if a path points to an sd card and whether the SD card is monuted.
*
@ -211,4 +268,4 @@ private:
ReturnValue_t checkPath(std::string name);
};
#endif /* BSP_Q7S_DEVICES_STRIMAGELOADER_H_ */
#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */

2
common/config/commonClassIds.h
View File

@ -19,7 +19,7 @@ enum commonClassIds: uint8_t {
CCSDS_IP_CORE_BRIDGE, //IPCI
PTME, //PTME
PLOC_UPDATER, //PLUD
STR_IMG_LOADER, //STRIMGL
STR_HELPER, //STRHLP
GOM_SPACE_HANDLER, //GOMS
PLOC_MEMORY_DUMPER, //PLMEMDUMP
PDEC_HANDLER, //PDEC

2
common/config/commonSubsystemIds.h
View File

@ -18,7 +18,7 @@ enum: uint8_t {
PLOC_UPDATER = 117,
PLOC_MEMORY_DUMPER = 118,
PDEC_HANDLER = 119,
STR_IMAGE_LOADER = 120,
STR_HELPER = 120,
COMMON_SUBSYSTEM_ID_END
};
}

2
tmtc

@ -1 +1 @@
Subproject commit 02b6304eba009ee620bfe5f9684262acb0cc4bae
Subproject commit 8a2350971db7a7edd491540820a763e30d2dda3c