2023-04-14 18:55:13 +02:00
7 changed files with 48 additions and 38 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -17,7 +17,7 @@ will consitute of a breaking change warranting a new major release:
 # [unreleased]

 - q7s-package: v2.5.0
- STR firmware was updated to v10.3
+- STR firmware was updated to v10.7. `wire` library still needs to be updated.

 ## Fixed

@ -27,6 +27,9 @@ will consitute of a breaking change warranting a new major release:
 - Bugfix for STR where an invalid reply was received for special requests
  like firmware updates.
 - Bugfix for shell command executors in command controller which lead to a crash.
+- Important bugfix for STR solution set. Missing STR mode u8 parameter.
+- Fix for STR image download.
+- Possible fix for STR image upload.
 - Fixed regression where the reply result for ACS board and SUS board devices was set to FAILED
  even when going to OFF mode. In that case, it has to be set to OK so the device handler can
  complete the OFF transition.
--- a/bsp_q7s/core/CoreController.cpp
+++ b/bsp_q7s/core/CoreController.cpp
@ -369,7 +369,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
      return actionReboot(data, size);
    }
    case (EXECUTE_SHELL_CMD_BLOCKING): {
-      std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
+      std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
      int result = std::system(cmdToExecute.c_str());
      if (result != 0) {
        // TODO: Data reply with returnalue maybe?
@ -378,7 +378,7 @@ ReturnValue_t CoreController::executeAction(ActionId_t actionId, MessageQueueId_
      return EXECUTION_FINISHED;
    }
    case (EXECUTE_SHELL_CMD_NON_BLOCKING): {
-      std::string cmdToExecute = std::string(reinterpret_cast<const char*>(data), size);
+      std::string cmdToExecute = std::string(reinterpret_cast<const char *>(data), size);
      if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING or
          shellCmdIsExecuting) {
        return HasActionsIF::IS_BUSY;
--- a/linux/acs/StrComHandler.cpp
+++ b/linux/acs/StrComHandler.cpp
@ -17,6 +17,10 @@
 #include "mission/utility/ProgressPrinter.h"
 #include "mission/utility/Timestamp.h"

+extern "C" {
+#include <sagitta/client/actionreq.h>
+}
+
 using namespace returnvalue;

 StrComHandler::StrComHandler(object_id_t objectId) : SystemObject(objectId) {
@ -305,6 +309,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
  uint32_t imageSize = 0;
  struct UploadActionRequest uploadReq;
  uploadReq.position = 0;
+  size_t writtenBytes = 0;
 #ifdef XIPHOS_Q7S
  if (not sdcMan->getActiveSdCard()) {
    return HasFileSystemIF::FILESYSTEM_INACTIVE;
@ -327,7 +332,9 @@ ReturnValue_t StrComHandler::performImageUpload() {
 #if OBSW_DEBUG_STARTRACKER == 1
  ProgressPrinter progressPrinter("Image upload", imageSize);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
-  while ((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
+  size_t fullChunks = imageSize / SIZE_IMAGE_PART;
+  size_t remainder = imageSize % SIZE_IMAGE_PART;
+  for (size_t idx = 0; idx < fullChunks; idx++) {
    if (terminate) {
      return returnvalue::OK;
    }
@ -346,6 +353,7 @@ ReturnValue_t StrComHandler::performImageUpload() {
    progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
 #endif /* OBSW_DEBUG_STARTRACKER == 1 */
    uploadReq.position++;
+    writtenBytes += SIZE_IMAGE_PART;

    // This does a bit of delaying roughly every second
    if (uploadReq.position % 50 == 0) {
@ -353,20 +361,20 @@ ReturnValue_t StrComHandler::performImageUpload() {
      TaskFactory::delayTask(2);
    }
  }
-  std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
-  uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
-  file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
-  file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
-  file.close();
-  uploadReq.position++;
-  arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
-  result = sendAndRead(size, uploadReq.position);
-  if (result != returnvalue::OK) {
-    return returnvalue::FAILED;
-  }
-  result = checkActionReply(replyLen);
-  if (result != returnvalue::OK) {
-    return result;
+  if (remainder > 0) {
+    std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
+    file.seekg(fullChunks * SIZE_IMAGE_PART, file.beg);
+    file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
+    file.close();
+    arc_pack_upload_action_req(&uploadReq, cmdBuf.data(), &size);
+    result = sendAndRead(size, uploadReq.position);
+    if (result != returnvalue::OK) {
+      return returnvalue::FAILED;
+    }
+    result = checkActionReply(replyLen);
+    if (result != returnvalue::OK) {
+      return result;
+    }
  }
 #if OBSW_DEBUG_STARTRACKER == 1
  progressPrinter.print((uploadReq.position + 1) * SIZE_IMAGE_PART);
--- a/linux/acs/StrComHandler.h
+++ b/linux/acs/StrComHandler.h
@ -18,10 +18,6 @@
 #include "fsfw/tasks/ExecutableObjectIF.h"
 #include "fsfw_hal/linux/serial/SerialComIF.h"

-extern "C" {
-#include <sagitta/client/arc_client.h>
-}
-
 /**
 * @brief   Helper class for the star tracker handler to accelerate large data transfers.
 *
@ -176,7 +172,7 @@ class StrComHandler : public SystemObject, public DeviceCommunicationIF, public
  static const uint32_t FLASH_REGION_SIZE = 0x20000;

  struct ImageDownload {
-    static const uint32_t LAST_POSITION = 4095;
+    static const uint32_t LAST_POSITION = 4096;
  };

  static const uint32_t MAX_POLLS = 10000;
--- a/mission/acs/str/StarTrackerHandler.cpp
+++ b/mission/acs/str/StarTrackerHandler.cpp
@ -1084,6 +1084,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
  localDataPoolMap.emplace(startracker::LISA_QZ, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(startracker::LISA_PERC_CLOSE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(startracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
+  localDataPoolMap.emplace(startracker::STR_MODE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(startracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(startracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(startracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));
--- a/mission/acs/str/arcsecJsonKeys.h
+++ b/mission/acs/str/arcsecJsonKeys.h
@ -9,7 +9,7 @@ static const char PROPERTIES[] = "properties";
 static const char NAME[] = "name";
 static const char VALUE[] = "value";

-static const char LIMITS[] = "limits";
+static const char LIMITS[] = "Limits";
 static const char ACTION[] = "action";
 static const char FPGA18CURRENT[] = "FPGA18Current";
 static const char FPGA25CURRENT[] = "FPGA25Current";
@ -22,20 +22,20 @@ static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
 static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
 static const char MCU_TEMPERATURE[] = "MCUTemperature";

-static const char MOUNTING[] = "mounting";
+static const char MOUNTING[] = "Mounting";
 static const char qw[] = "qw";
 static const char qx[] = "qx";
 static const char qy[] = "qy";
 static const char qz[] = "qz";

-static const char IMAGE_PROCESSOR[] = "imageprocessor";
+static const char IMAGE_PROCESSOR[] = "ImageProcessor";
 static const char IMAGE_PROCESSOR_MODE[] = "mode";
 static const char STORE[] = "store";
 static const char SIGNAL_THRESHOLD[] = "signalThreshold";
 static const char IMAGE_PROCESSOR_DARK_THRESHOLD[] = "darkThreshold";
 static const char BACKGROUND_COMPENSATION[] = "backgroundcompensation";

-static const char CAMERA[] = "camera";
+static const char CAMERA[] = "Camera";
 static const char MODE[] = "mode";
 static const char FOCALLENGTH[] = "focallength";
 static const char EXPOSURE[] = "exposure";
@ -77,7 +77,7 @@ static const char ENABLE_HISTOGRAM[] = "enableHistogram";
 static const char ENABLE_CONTRAST[] = "enableContrast";
 static const char BIN_MODE[] = "binMode";

-static const char CENTROIDING[] = "centroiding";
+static const char CENTROIDING[] = "Centroiding";
 static const char ENABLE_FILTER[] = "enableFilter";
 static const char MAX_QUALITY[] = "maxquality";
 static const char DARK_THRESHOLD[] = "darkthreshold";
@ -92,7 +92,7 @@ static const char TRANSMATRIX_01[] = "transmatrix01";
 static const char TRANSMATRIX_10[] = "transmatrix10";
 static const char TRANSMATRIX_11[] = "transmatrix11";

-static const char LISA[] = "lisa";
+static const char LISA[] = "LISA";
 static const char LISA_MODE[] = "mode";
 static const char PREFILTER_DIST_THRESHOLD[] = "prefilterDistThreshold";
 static const char PREFILTER_ANGLE_THRESHOLD[] = "prefilterAngleThreshold";
@ -108,29 +108,29 @@ static const char MAX_COMBINATIONS[] = "max_combinations";
 static const char NR_STARS_STOP[] = "nr_stars_stop";
 static const char FRACTION_CLOSE_STOP[] = "fraction_close_stop";

-static const char MATCHING[] = "matching";
+static const char MATCHING[] = "Matching";
 static const char SQUARED_DISTANCE_LIMIT[] = "squaredDistanceLimit";
 static const char SQUARED_SHIFT_LIMIT[] = "squaredShiftLimit";

-static const char VALIDATION[] = "validation";
+static const char VALIDATION[] = "Validation";
 static const char STABLE_COUNT[] = "stable_count";
 static const char MAX_DIFFERENCE[] = "max_difference";
 static const char MIN_TRACKER_CONFIDENCE[] = "min_trackerConfidence";
 static const char MIN_MATCHED_STARS[] = "min_matchedStars";

-static const char TRACKING[] = "tracking";
+static const char TRACKING[] = "Tracking";
 static const char THIN_LIMIT[] = "thinLimit";
 static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
 static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
 static const char TRACKER_CHOICE[] = "trackerChoice";

-static const char ALGO[] = "algo";
+static const char ALGO[] = "Algo";
 static const char L2T_MIN_CONFIDENCE[] = "l2t_minConfidence";
 static const char L2T_MIN_MATCHED[] = "l2t_minMatched";
 static const char T2L_MIN_CONFIDENCE[] = "t2l_minConfidence";
 static const char T2L_MIN_MATCHED[] = "t2l_minMatched";

-static const char LOGLEVEL[] = "loglevel";
+static const char LOGLEVEL[] = "LogLevel";
 static const char LOGLEVEL1[] = "loglevel1";
 static const char LOGLEVEL2[] = "loglevel2";
 static const char LOGLEVEL3[] = "loglevel3";
@ -148,7 +148,7 @@ static const char LOGLEVEL14[] = "loglevel14";
 static const char LOGLEVEL15[] = "loglevel15";
 static const char LOGLEVEL16[] = "loglevel16";

-static const char SUBSCRIPTION[] = "subscription";
+static const char SUBSCRIPTION[] = "Subscription";
 static const char TELEMETRY_1[] = "telemetry1";
 static const char TELEMETRY_2[] = "telemetry2";
 static const char TELEMETRY_3[] = "telemetry3";
@ -166,13 +166,13 @@ static const char TELEMETRY_14[] = "telemetry14";
 static const char TELEMETRY_15[] = "telemetry15";
 static const char TELEMETRY_16[] = "telemetry16";

-static const char LOG_SUBSCRIPTION[] = "logsubscription";
+static const char LOG_SUBSCRIPTION[] = "LogSubscription";
 static const char LEVEL1[] = "level1";
 static const char MODULE1[] = "module1";
 static const char LEVEL2[] = "level2";
 static const char MODULE2[] = "module2";

-static const char DEBUG_CAMERA[] = "debugcamera";
+static const char DEBUG_CAMERA[] = "DebugCamera";
 static const char TIMING[] = "timing";
 static const char TEST[] = "test";

--- a/mission/acs/str/strHelpers.h
+++ b/mission/acs/str/strHelpers.h
@ -91,6 +91,7 @@ enum PoolIds : lp_id_t {
  LISA_QZ,
  LISA_PERC_CLOSE,
  LISA_NR_CLOSE,
+  STR_MODE,
  TRUST_WORTHY,
  STABLE_COUNT,
  SOLUTION_STRATEGY,
@ -358,7 +359,7 @@ static const uint8_t VERSION_SET_ENTRIES = 5;
 static const uint8_t INTERFACE_SET_ENTRIES = 4;
 static const uint8_t POWER_SET_ENTRIES = 18;
 static const uint8_t TIME_SET_ENTRIES = 4;
-static const uint8_t SOLUTION_SET_ENTRIES = 23;
+static const uint8_t SOLUTION_SET_ENTRIES = 25;
 static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
 static const uint8_t CHECKSUM_SET_ENTRIES = 1;
 static const uint8_t CAMERA_SET_ENTRIES = 24;
@ -682,6 +683,7 @@ class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
      lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE, this);
  // Number of close stars in LISA solution
  lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
+  lp_var_t<uint8_t> strMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::STR_MODE, this);
  // Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
  lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
  // Number of times the validation criteria was met