fsfw

@@ -1 +1 @@
-Subproject commit 7f6ba5f40b47bc32802efdc4ed41b4bad4b8071b
+Subproject commit 1b7493f945302b3785ceba6e7a34a727e3898a13

linux/devices/startracker/StarTrackerHandler.cpp

@@ -3,7 +3,9 @@
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
+#include <atomic>
 #include <fstream>
+#include <thread>
 
 #include "OBSWConfig.h"
 #include "StarTrackerJsonCommands.h"
@@ -15,6 +17,8 @@ extern "C" {
 #include "common/misc.h"
 }
 
+std::atomic_bool JCFG_DONE(false);
+
 StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                                        const char* jsonFileStr, StrHelper* strHelper,
                                        power::Switch_t powerSwitch)
@@ -62,23 +66,10 @@ ReturnValue_t StarTrackerHandler::initialize() {
     return result;
   }
 
-  // TODO: This takes 200-250ms. Move it into a separate thread, use a mutexed boolean
-  // to check whether init was done. Or move it into the helper class..
-  // Also move update of these classes into the helper class.
-  tracking.init(paramJsonFile);
-  logLevel.init(paramJsonFile);
-  logSubscription.init(paramJsonFile);
-  debugCamera.init(paramJsonFile);
-  algo.init(paramJsonFile);
-  validation.init(paramJsonFile);
-  matching.init(paramJsonFile);
-  lisa.init(paramJsonFile);
-  centroiding.init(paramJsonFile);
-  camera.init(paramJsonFile);
-  imageProcessor.init(paramJsonFile);
-  mounting.init(paramJsonFile);
-  limits.init(paramJsonFile);
-  subscription.init(paramJsonFile);
+  // Spin up a thread to do the JSON initialization, takes 200-250 ms which would
+  // delay whole satellite boot process.
+  jcfgCountdown.resetTimer();
+  jsonCfgTask = std::thread{setUpJsonCfgs, std::ref(jcfgs), paramJsonFile.c_str()};
 
   EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
   if (manager == nullptr) {
@@ -261,8 +252,19 @@ void StarTrackerHandler::doStartUp() {
       // the device handler's submode to the star tracker's mode
       return;
     case StartupState::DONE:
+      if (jcfgCountdown.isBusy()) {
+        startupState = StartupState::WAIT_JCFG;
+        return;
+      }
       startupState = StartupState::IDLE;
       break;
+    case StartupState::WAIT_JCFG: {
+      if (jcfgCountdown.hasTimedOut()) {
+        startupState = StartupState::IDLE;
+        break;
+      }
+      return;
+    }
     default:
       return;
   }
@@ -440,7 +442,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       return returnvalue::OK;
     }
     case (startracker::SUBSCRIPTION): {
-      result = prepareParamCommand(commandData, commandDataLen, subscription);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.subscription);
       return returnvalue::OK;
     }
     case (startracker::REQ_SOLUTION): {
@@ -456,55 +458,55 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       return returnvalue::OK;
     }
     case (startracker::LIMITS): {
-      result = prepareParamCommand(commandData, commandDataLen, limits);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.limits);
       return result;
     }
     case (startracker::MOUNTING): {
-      result = prepareParamCommand(commandData, commandDataLen, mounting);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.mounting);
       return result;
     }
     case (startracker::IMAGE_PROCESSOR): {
-      result = prepareParamCommand(commandData, commandDataLen, imageProcessor);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.imageProcessor);
       return result;
     }
     case (startracker::CAMERA): {
-      result = prepareParamCommand(commandData, commandDataLen, camera);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.camera);
       return result;
     }
     case (startracker::CENTROIDING): {
-      result = prepareParamCommand(commandData, commandDataLen, centroiding);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.centroiding);
       return result;
     }
     case (startracker::LISA): {
-      result = prepareParamCommand(commandData, commandDataLen, lisa);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.lisa);
       return result;
     }
     case (startracker::MATCHING): {
-      result = prepareParamCommand(commandData, commandDataLen, matching);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.matching);
       return result;
     }
     case (startracker::VALIDATION): {
-      result = prepareParamCommand(commandData, commandDataLen, validation);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.validation);
       return result;
     }
     case (startracker::ALGO): {
-      result = prepareParamCommand(commandData, commandDataLen, algo);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.algo);
       return result;
     }
     case (startracker::TRACKING): {
-      result = prepareParamCommand(commandData, commandDataLen, tracking);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.tracking);
       return result;
     }
     case (startracker::LOGLEVEL): {
-      result = prepareParamCommand(commandData, commandDataLen, logLevel);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.logLevel);
       return result;
     }
     case (startracker::LOGSUBSCRIPTION): {
-      result = prepareParamCommand(commandData, commandDataLen, logSubscription);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.logSubscription);
       return result;
     }
     case (startracker::DEBUG_CAMERA): {
-      result = prepareParamCommand(commandData, commandDataLen, debugCamera);
+      result = prepareParamCommand(commandData, commandDataLen, jcfgs.debugCamera);
       return result;
     }
     case (startracker::CHECKSUM): {
@@ -753,6 +755,24 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
   }
 }
 
+void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile) {
+  cfgs.tracking.init(paramJsonFile);
+  cfgs.logLevel.init(paramJsonFile);
+  cfgs.logSubscription.init(paramJsonFile);
+  cfgs.debugCamera.init(paramJsonFile);
+  cfgs.algo.init(paramJsonFile);
+  cfgs.validation.init(paramJsonFile);
+  cfgs.matching.init(paramJsonFile);
+  cfgs.lisa.init(paramJsonFile);
+  cfgs.centroiding.init(paramJsonFile);
+  cfgs.camera.init(paramJsonFile);
+  cfgs.imageProcessor.init(paramJsonFile);
+  cfgs.mounting.init(paramJsonFile);
+  cfgs.limits.init(paramJsonFile);
+  cfgs.subscription.init(paramJsonFile);
+  JCFG_DONE = true;
+}
+
 void StarTrackerHandler::bootBootloader() {
   if (internalState == InternalState::IDLE) {
     internalState = InternalState::BOOT_BOOTLOADER;

linux/devices/startracker/StarTrackerHandler.h

@@ -4,6 +4,8 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <linux/devices/startracker/StarTrackerJsonCommands.h>
 
+#include <thread>
+
 #include "ArcsecDatalinkLayer.h"
 #include "ArcsecJsonParamBase.h"
 #include "OBSWConfig.h"
@@ -217,20 +219,27 @@ class StarTrackerHandler : public DeviceHandlerBase {
   // Loading firmware requires some time and the command will not trigger a reply when executed
   Countdown bootCountdown;
 
-  Tracking tracking;
-  LogLevel logLevel;
-  LogSubscription logSubscription;
-  DebugCamera debugCamera;
-  Algo algo;
-  Validation validation;
-  Matching matching;
-  Lisa lisa;
-  Centroiding centroiding;
-  Camera camera;
-  ImageProcessor imageProcessor;
-  Mounting mounting;
-  Limits limits;
-  Subscription subscription;
+  struct JsonConfigs {
+    Tracking tracking;
+    LogLevel logLevel;
+    LogSubscription logSubscription;
+    DebugCamera debugCamera;
+    Algo algo;
+    Validation validation;
+    Matching matching;
+    Lisa lisa;
+    Centroiding centroiding;
+    Camera camera;
+    ImageProcessor imageProcessor;
+    Mounting mounting;
+    Limits limits;
+    Subscription subscription;
+  };
+  JsonConfigs jcfgs;
+  Countdown jcfgCountdown = Countdown(250);
+  bool commandExecuted = false;
+  std::thread jsonCfgTask;
+  static void setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile);
 
   std::string paramJsonFile;
 
@@ -270,7 +279,14 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   InternalState internalState = InternalState::IDLE;
 
-  enum class StartupState { IDLE, CHECK_PROGRAM, WAIT_CHECK_PROGRAM, BOOT_BOOTLOADER, DONE };
+  enum class StartupState {
+    IDLE,
+    CHECK_PROGRAM,
+    WAIT_CHECK_PROGRAM,
+    BOOT_BOOTLOADER,
+    WAIT_JCFG,
+    DONE
+  };
 
   StartupState startupState = StartupState::IDLE;