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str transition fixes #498

Merged
muellerr merged 9 commits from bugfix_str_mode_transitions into develop 2023-03-20 17:56:11 +01:00
Conversation 0 Commits 9 Files Changed 4 +146 -128
2 changed files with 146 additions and 128 deletions
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189
linux/devices/startracker/StarTrackerHandler.cpp
View File

@ -268,18 +268,17 @@ void StarTrackerHandler::doStartUp() {
default:
return;
}
startupState = StartupState::IDLE;
startupState = StartupState::DONE;
internalState = InternalState::IDLE;
boot = true;
setMode(_MODE_TO_ON);
}
void StarTrackerHandler::doShutDown() {
// If the star tracker is shutdown also stop all running processes in the image loader task
strHelper->stopProcess();
boot = false;
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
setMode(_MODE_POWER_DOWN);
}
@ -303,81 +302,103 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::BOOT:
case InternalState::BOOT_FIRMWARE: {
if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
return NOTHING_TO_SEND;
}
if (bootState == FwBootState::NONE) {
*id = startracker::BOOT;
bootCountdown.setTimeout(BOOT_TIMEOUT);
internalState = InternalState::BOOT_DELAY;
bootState = FwBootState::BOOT_DELAY;
return buildCommandFromCommand(*id, nullptr, 0);
case InternalState::REQ_VERSION:
internalState = InternalState::VERIFY_BOOT;
}
if (bootState == FwBootState::BOOT_DELAY) {
if (bootCountdown.isBusy()) {
return NOTHING_TO_SEND;
}
bootState = FwBootState::REQ_VERSION;
}
switch (bootState) {
case (FwBootState::REQ_VERSION): {
bootState = FwBootState::VERIFY_BOOT;
// Again read program to check if firmware boot was successful
*id = startracker::REQ_VERSION;
return buildCommandFromCommand(*id, nullptr, 0);
case InternalState::LOGLEVEL:
internalState = InternalState::WAIT_FOR_EXECUTION;
}
case (FwBootState::LOGLEVEL): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LOGLEVEL;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::LIMITS:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case (FwBootState::LIMITS): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LIMITS;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::TRACKING:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case (FwBootState::TRACKING): {
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::TRACKING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::MOUNTING:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
}
case FwBootState::MOUNTING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::MOUNTING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::IMAGE_PROCESSOR:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::IMAGE_PROCESSOR:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::IMAGE_PROCESSOR;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::CAMERA:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::CAMERA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::CAMERA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::CENTROIDING:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::CENTROIDING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::CENTROIDING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::LISA:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::LISA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LISA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::MATCHING:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::MATCHING:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::MATCHING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::VALIDATION:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::VALIDATION:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::VALIDATION;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::ALGO:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::ALGO:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::ALGO;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::LOG_SUBSCRIPTION:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::LOG_SUBSCRIPTION:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::LOGSUBSCRIPTION;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case InternalState::DEBUG_CAMERA:
internalState = InternalState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
case FwBootState::DEBUG_CAMERA:
bootState = FwBootState::WAIT_FOR_EXECUTION;
*id = startracker::DEBUG_CAMERA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
return buildCommandFromCommand(
*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
default: {
sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
return NOTHING_TO_SEND;
}
}
}
case InternalState::BOOT_BOOTLOADER:
internalState = InternalState::BOOTLOADER_CHECK;
*id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
@ -711,7 +732,7 @@ void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
// We hide that the transition to submode firmware actually goes through the submode bootloader.
// This is because the startracker always starts in bootloader mode but we want to allow direct
// transitions to firmware mode.
if (boot) {
if (startupState == StartupState::DONE) {
subModeFrom = SUBMODE_BOOTLOADER;
}
if (dhbSubmode == SUBMODE_NONE) {
@ -746,13 +767,10 @@ void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFr
void StarTrackerHandler::bootFirmware(Mode_t toMode) {
switch (internalState) {
case InternalState::IDLE:
internalState = InternalState::BOOT;
sif::info << "STR: Booting to firmware mode" << std::endl;
internalState = InternalState::BOOT_FIRMWARE;
break;
case InternalState::BOOT_DELAY:
if (bootCountdown.hasTimedOut()) {
sif::info << "STR: Starting firmware boot" << std::endl;
internalState = InternalState::REQ_VERSION;
}
case InternalState::BOOT_FIRMWARE:
break;
case InternalState::FAILED_FIRMWARE_BOOT:
internalState = InternalState::IDLE;
@ -763,7 +781,9 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
} else {
setMode(toMode, SUBMODE_FIRMWARE);
}
sif::info << "STR: Firmware boot success" << std::endl;
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
break;
default:
return;
@ -791,10 +811,11 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
void StarTrackerHandler::bootBootloader() {
if (internalState == InternalState::IDLE) {
internalState = InternalState::BOOT_BOOTLOADER;
} else if (internalState == InternalState::BOOTING_BOOTLOADER_FAILED) {
} else if (internalState == InternalState::FAILED_BOOTLOADER_BOOT) {
internalState = InternalState::IDLE;
} else if (internalState == InternalState::DONE) {
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
setMode(MODE_ON);
}
}
@ -1949,7 +1970,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
startupState = StartupState::DONE;
}
if (internalState == InternalState::VERIFY_BOOT) {
if (bootState == FwBootState::VERIFY_BOOT) {
sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
// Device handler will run into timeout and fall back to transition source mode
triggerEvent(BOOTING_FIRMWARE_FAILED_EVENT);
@ -1962,11 +1983,11 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
startupState = StartupState::BOOT_BOOTLOADER;
}
if (internalState == InternalState::VERIFY_BOOT) {
internalState = InternalState::LOGLEVEL;
if (bootState == FwBootState::VERIFY_BOOT) {
bootState = FwBootState::LOGLEVEL;
} else if (internalState == InternalState::BOOTLOADER_CHECK) {
triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
internalState = InternalState::BOOTING_BOOTLOADER_FAILED;
internalState = InternalState::FAILED_BOOTLOADER_BOOT;
}
break;
default:
@ -2040,55 +2061,55 @@ ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dat
void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
switch (*parameterId) {
case (startracker::ID::LOG_LEVEL): {
internalState = InternalState::LIMITS;
bootState = FwBootState::LIMITS;
break;
}
case (startracker::ID::LIMITS): {
internalState = InternalState::TRACKING;
bootState = FwBootState::TRACKING;
break;
}
case (startracker::ID::TRACKING): {
internalState = InternalState::MOUNTING;
bootState = FwBootState::MOUNTING;
break;
}
case (startracker::ID::MOUNTING): {
internalState = InternalState::IMAGE_PROCESSOR;
bootState = FwBootState::IMAGE_PROCESSOR;
break;
}
case (startracker::ID::IMAGE_PROCESSOR): {
internalState = InternalState::CAMERA;
bootState = FwBootState::CAMERA;
break;
}
case (startracker::ID::CAMERA): {
internalState = InternalState::CENTROIDING;
bootState = FwBootState::CENTROIDING;
break;
}
case (startracker::ID::CENTROIDING): {
internalState = InternalState::LISA;
bootState = FwBootState::LISA;
break;
}
case (startracker::ID::LISA): {
internalState = InternalState::MATCHING;
bootState = FwBootState::MATCHING;
break;
}
case (startracker::ID::MATCHING): {
internalState = InternalState::VALIDATION;
bootState = FwBootState::VALIDATION;
break;
}
case (startracker::ID::VALIDATION): {
internalState = InternalState::ALGO;
bootState = FwBootState::ALGO;
break;
}
case (startracker::ID::ALGO): {
internalState = InternalState::LOG_SUBSCRIPTION;
bootState = FwBootState::LOG_SUBSCRIPTION;
break;
}
case (startracker::ID::LOG_SUBSCRIPTION): {
internalState = InternalState::DEBUG_CAMERA;
bootState = FwBootState::DEBUG_CAMERA;
break;
}
case (startracker::ID::DEBUG_CAMERA): {
sif::info << "Star Tracker configuration done" << std::endl;
bootState = FwBootState::NONE;
internalState = InternalState::DONE;
break;
}

47
linux/devices/startracker/StarTrackerHandler.h
View File

@ -211,7 +211,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrHelper* strHelper = nullptr;
bool boot = false;
uint8_t commandBuffer[startracker::MAX_FRAME_SIZE];
@ -247,14 +246,31 @@ class StarTrackerHandler : public DeviceHandlerBase {
NormalState normalState = NormalState::TEMPERATURE_REQUEST;
enum class StartupState {
IDLE,
CHECK_PROGRAM,
WAIT_CHECK_PROGRAM,
BOOT_BOOTLOADER,
WAIT_JCFG,
DONE
};
StartupState startupState = StartupState::IDLE;
enum class InternalState {
IDLE,
BOOT,
BOOT_FIRMWARE,
DONE,
FAILED_FIRMWARE_BOOT,
BOOT_BOOTLOADER,
BOOTLOADER_CHECK,
FAILED_BOOTLOADER_BOOT
};
enum class FwBootState {
NONE,
BOOT_DELAY,
REQ_VERSION,
VERIFY_BOOT,
STARTUP_CHECK,
BOOT_DELAY,
FIRMWARE_CHECK,
LOGLEVEL,
LIMITS,
TRACKING,
@ -270,30 +286,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
LOG_SUBSCRIPTION,
DEBUG_CAMERA,
WAIT_FOR_EXECUTION,
DONE,
FAILED_FIRMWARE_BOOT,
BOOT_BOOTLOADER,
BOOTLOADER_CHECK,
BOOTING_BOOTLOADER_FAILED
};
enum class CfgSetupState {
};
FwBootState bootState = FwBootState::NONE;
InternalState internalState = InternalState::IDLE;
enum class StartupState {
IDLE,
CHECK_PROGRAM,
WAIT_CHECK_PROGRAM,
BOOT_BOOTLOADER,
WAIT_JCFG,
DONE
};
StartupState startupState = StartupState::IDLE;
bool strHelperExecuting = false;
const power::Switch_t powerSwitch = power::NO_SWITCH;