Star Tracker : Tweaks and fixes #443
@ -24,6 +24,11 @@ will consitute of a breaking change warranting a new major release:
|
||||
|
||||
## Fixed
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||||
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||||
- Star Tracker: OFF to NORMAL transition now posssible. Requires FSFW bump which sets
|
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transition source modes properly for those transitions.
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FSFW PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/131
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- Star Tracker JSON initialization is now done during object initization instead of redoing it
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when building a command. This avoids missed deadlines issues in the ACS PST.
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- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
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Bump FSFW to allow this.
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- PUS 15 was not scheduled
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|
@ -908,9 +908,23 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
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startracker::MAX_FRAME_SIZE * 2 + 2, UartModes::NON_CANONICAL);
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starTrackerCookie->setNoFixedSizeReply();
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StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
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const char* paramJsonFile = nullptr;
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#ifdef EGSE
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paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
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#else
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#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
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paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
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#else
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paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
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#endif
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#endif
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if (paramJsonFile == nullptr) {
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sif::error << "No valid Star Tracker parameter JSON file" << std::endl;
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}
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auto starTracker =
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new StarTrackerHandler(objects::STAR_TRACKER, objects::UART_COM_IF, starTrackerCookie,
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strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
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paramJsonFile, strHelper, pcdu::PDU1_CH2_STAR_TRACKER_5V);
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starTracker->setPowerSwitcher(pwrSwitcher);
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starTracker->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
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}
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit 7f6ba5f40b47bc32802efdc4ed41b4bad4b8071b
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Subproject commit 1b7493f945302b3785ceba6e7a34a727e3898a13
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@ -5,14 +5,14 @@
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ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
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ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
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ReturnValue_t result = returnvalue::OK;
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result = init(fullname);
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if (result != returnvalue::OK) {
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sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
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<< setName << std::endl;
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return result;
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}
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result = createCommand(buffer);
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// ReturnValue_t result = returnvalue::OK;
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// result = init(fullname);
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// if (result != returnvalue::OK) {
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// sif::warning << "ArcsecJsonParamBase::create: Failed to init parameter command for set "
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// << setName << std::endl;
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// return result;
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// }
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ReturnValue_t result = createCommand(buffer);
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if (result != returnvalue::OK) {
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sif::warning << "ArcsecJsonParamBase::create: Failed to create parameter command for set "
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<< setName << std::endl;
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@ -74,12 +74,17 @@ ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
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<< std::endl;
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return JSON_FILE_NOT_EXISTS;
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}
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createJsonObject(filename);
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result = initSet();
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if (result != returnvalue::OK) {
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return result;
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try {
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createJsonObject(filename);
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result = initSet();
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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} catch (json::exception& e) {
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// TODO: Re-create json file from backup here.
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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void ArcsecJsonParamBase::createJsonObject(const std::string fullname) {
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@ -41,6 +41,17 @@ class ArcsecJsonParamBase {
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*/
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ArcsecJsonParamBase(std::string setName);
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/**
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* @brief Initializes the properties json object and the set json object
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*
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* @param fullname Name including absolute path to json file
|
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* @param setName The name of the set to work on
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*
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* @param return JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
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* returnvalue::OK
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*/
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ReturnValue_t init(const std::string filename);
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/**
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* @brief Fills a buffer with a parameter set
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*
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@ -124,17 +135,6 @@ class ArcsecJsonParamBase {
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*/
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virtual ReturnValue_t createCommand(uint8_t* buffer) = 0;
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/**
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* @brief Initializes the properties json object and the set json object
|
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*
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* @param fullname Name including absolute path to json file
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* @param setName The name of the set to work on
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*
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* @param return JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
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* returnvalue::OK
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*/
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ReturnValue_t init(const std::string filename);
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void createJsonObject(const std::string fullname);
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/**
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|
@ -1,8 +1,11 @@
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#include "StarTrackerHandler.h"
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/timemanager/Stopwatch.h>
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#include <atomic>
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#include <fstream>
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#include <thread>
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#include "OBSWConfig.h"
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#include "StarTrackerJsonCommands.h"
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@ -14,8 +17,11 @@ extern "C" {
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#include "common/misc.h"
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}
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std::atomic_bool JCFG_DONE(false);
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StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
|
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StrHelper* strHelper, power::Switch_t powerSwitch)
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const char* jsonFileStr, StrHelper* strHelper,
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power::Switch_t powerSwitch)
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: DeviceHandlerBase(objectId, comIF, comCookie),
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temperatureSet(this),
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versionSet(this),
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@ -40,6 +46,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
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logSubscriptionSet(this),
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debugCameraSet(this),
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strHelper(strHelper),
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paramJsonFile(jsonFileStr),
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powerSwitch(powerSwitch) {
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if (comCookie == nullptr) {
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sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
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@ -59,6 +66,11 @@ ReturnValue_t StarTrackerHandler::initialize() {
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return result;
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}
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// Spin up a thread to do the JSON initialization, takes 200-250 ms which would
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// delay whole satellite boot process.
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jcfgCountdown.resetTimer();
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jsonCfgTask = std::thread{setUpJsonCfgs, std::ref(jcfgs), paramJsonFile.c_str()};
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -240,8 +252,19 @@ void StarTrackerHandler::doStartUp() {
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// the device handler's submode to the star tracker's mode
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return;
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case StartupState::DONE:
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if (jcfgCountdown.isBusy()) {
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startupState = StartupState::WAIT_JCFG;
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return;
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}
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startupState = StartupState::IDLE;
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break;
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case StartupState::WAIT_JCFG: {
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if (jcfgCountdown.hasTimedOut()) {
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startupState = StartupState::IDLE;
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break;
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}
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return;
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}
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default:
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return;
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}
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@ -419,8 +442,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
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return returnvalue::OK;
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}
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case (startracker::SUBSCRIPTION): {
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Subscription subscription;
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result = prepareParamCommand(commandData, commandDataLen, subscription);
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result = prepareParamCommand(commandData, commandDataLen, jcfgs.subscription);
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return returnvalue::OK;
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}
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case (startracker::REQ_SOLUTION): {
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@ -436,68 +458,55 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
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return returnvalue::OK;
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}
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case (startracker::LIMITS): {
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Limits limits;
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result = prepareParamCommand(commandData, commandDataLen, limits);
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result = prepareParamCommand(commandData, commandDataLen, jcfgs.limits);
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return result;
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}
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case (startracker::MOUNTING): {
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Mounting mounting;
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result = prepareParamCommand(commandData, commandDataLen, mounting);
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result = prepareParamCommand(commandData, commandDataLen, jcfgs.mounting);
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return result;
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}
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case (startracker::IMAGE_PROCESSOR): {
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ImageProcessor imageProcessor;
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result = prepareParamCommand(commandData, commandDataLen, imageProcessor);
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result = prepareParamCommand(commandData, commandDataLen, jcfgs.imageProcessor);
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||||
return result;
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||||
}
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||||
case (startracker::CAMERA): {
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Camera camera;
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||||
result = prepareParamCommand(commandData, commandDataLen, camera);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.camera);
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return result;
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}
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case (startracker::CENTROIDING): {
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Centroiding centroiding;
|
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result = prepareParamCommand(commandData, commandDataLen, centroiding);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.centroiding);
|
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return result;
|
||||
}
|
||||
case (startracker::LISA): {
|
||||
Lisa lisa;
|
||||
result = prepareParamCommand(commandData, commandDataLen, lisa);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.lisa);
|
||||
return result;
|
||||
}
|
||||
case (startracker::MATCHING): {
|
||||
Matching matching;
|
||||
result = prepareParamCommand(commandData, commandDataLen, matching);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.matching);
|
||||
return result;
|
||||
}
|
||||
case (startracker::VALIDATION): {
|
||||
Validation validation;
|
||||
result = prepareParamCommand(commandData, commandDataLen, validation);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.validation);
|
||||
return result;
|
||||
}
|
||||
case (startracker::ALGO): {
|
||||
Algo algo;
|
||||
result = prepareParamCommand(commandData, commandDataLen, algo);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.algo);
|
||||
return result;
|
||||
}
|
||||
case (startracker::TRACKING): {
|
||||
Tracking tracking;
|
||||
result = prepareParamCommand(commandData, commandDataLen, tracking);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.tracking);
|
||||
return result;
|
||||
}
|
||||
case (startracker::LOGLEVEL): {
|
||||
LogLevel logLevel;
|
||||
result = prepareParamCommand(commandData, commandDataLen, logLevel);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.logLevel);
|
||||
return result;
|
||||
}
|
||||
case (startracker::LOGSUBSCRIPTION): {
|
||||
LogSubscription logSubscription;
|
||||
result = prepareParamCommand(commandData, commandDataLen, logSubscription);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.logSubscription);
|
||||
return result;
|
||||
}
|
||||
case (startracker::DEBUG_CAMERA): {
|
||||
DebugCamera debugCamera;
|
||||
result = prepareParamCommand(commandData, commandDataLen, debugCamera);
|
||||
result = prepareParamCommand(commandData, commandDataLen, jcfgs.debugCamera);
|
||||
return result;
|
||||
}
|
||||
case (startracker::CHECKSUM): {
|
||||
@ -746,6 +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;
|
||||
@ -1650,6 +1677,7 @@ void StarTrackerHandler::prepareHistogramRequest() {
|
||||
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
|
||||
size_t commandDataLen,
|
||||
ArcsecJsonParamBase& paramSet) {
|
||||
Stopwatch watch;
|
||||
ReturnValue_t result = returnvalue::OK;
|
||||
if (commandDataLen > MAX_PATH_SIZE) {
|
||||
return FILE_PATH_TOO_LONG;
|
||||
|
@ -2,6 +2,9 @@
|
||||
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
|
||||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <linux/devices/startracker/StarTrackerJsonCommands.h>
|
||||
|
||||
#include <thread>
|
||||
|
||||
#include "ArcsecDatalinkLayer.h"
|
||||
#include "ArcsecJsonParamBase.h"
|
||||
@ -35,7 +38,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
|
||||
* to high to enable the device.
|
||||
*/
|
||||
StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
|
||||
StrHelper* strHelper, power::Switch_t powerSwitch);
|
||||
const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch);
|
||||
virtual ~StarTrackerHandler();
|
||||
|
||||
ReturnValue_t initialize() override;
|
||||
@ -216,15 +219,29 @@ class StarTrackerHandler : public DeviceHandlerBase {
|
||||
// Loading firmware requires some time and the command will not trigger a reply when executed
|
||||
Countdown bootCountdown;
|
||||
|
||||
#ifdef EGSE
|
||||
std::string paramJsonFile = "/home/pi/arcsec/json/flight-config.json";
|
||||
#else
|
||||
#if OBSW_STAR_TRACKER_GROUND_CONFIG == 1
|
||||
std::string paramJsonFile = "/mnt/sd0/startracker/ground-config.json";
|
||||
#else
|
||||
std::string paramJsonFile = "/mnt/sd0/startracker/flight-config.json";
|
||||
#endif
|
||||
#endif
|
||||
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;
|
||||
|
||||
enum class NormalState { TEMPERATURE_REQUEST, SOLUTION_REQUEST };
|
||||
|
||||
@ -262,7 +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;
|
||||
|
||||
|
2
thirdparty/arcsec_star_tracker
vendored
2
thirdparty/arcsec_star_tracker
vendored
@ -1 +1 @@
|
||||
Subproject commit 93e93965e2c6405170b62c523dea1990db02d2ad
|
||||
Subproject commit 42907c36c58e7133d3d3cbefbf96c1a8e35b60b7
|
Loading…
Reference in New Issue
Block a user