mission/acs/str/ArcsecDatalinkLayer.cpp

@@ -1,6 +1,7 @@
 #include "ArcsecDatalinkLayer.h"
 
 extern "C" {
+#include <wire/common/SLIP.h>
 #include <wire/common/misc.h>
 }
 
@@ -15,35 +16,73 @@ ReturnValue_t ArcsecDatalinkLayer::checkRingBufForFrame(const uint8_t** decodedF
     return DEC_IN_PROGRESS;
   }
   decodeRingBuf.readData(rxAnalysisBuffer, currentLen);
+
+  bool startFound = false;
+  size_t startIdx = 0;
   for (size_t idx = 0; idx < currentLen; idx++) {
-    enum arc_dec_result decResult =
-        arc_transport_decode_body(rxAnalysisBuffer[idx], &slipInfo, decodedRxFrame, &rxFrameSize);
-    switch (decResult) {
-      case ARC_DEC_INPROGRESS: {
-        break;
+    if (rxAnalysisBuffer[idx] != SLIP_START_AND_END) {
+      continue;
     }
-      case ARC_DEC_ERROR: {
-        decodeRingBuf.deleteData(idx);
-        return returnvalue::FAILED;
+    if (not startFound) {
+      startFound = true;
+      startIdx = idx;
+      continue;
     }
-      case ARC_DEC_ASYNC:
-      case ARC_DEC_SYNC: {
-        // Reset length of SLIP struct for next frame
-        slipInfo.length = 0;
-        if (decodedFrame != nullptr) {
-          *decodedFrame = decodedRxFrame;
-        }
-        frameLen = rxFrameSize;
-        decodeRingBuf.deleteData(idx);
+    // Now we can try decoding the whole frame.
+    size_t encodedDataSize = 0;
+    // TODO: Find SLIP ID
+    slip_error_t slipError = slip_decode_frame(
+        decodedRxFrame, &rxFrameSize, rxAnalysisBuffer + startIdx,
+        sizeof(rxAnalysisBuffer) - startIdx, &encodedDataSize, ARC_DEF_SAGITTA_SLIP_ID);
+    decodeRingBuf.deleteData(idx + 1);
+    switch (slipError) {
+      case (SLIP_OK): {
         return returnvalue::OK;
       }
-      default:
-        sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
-        break;
+      case (SLIP_BAD_CRC): {
+        return CRC_FAILURE;
+      }
+      case (SLIP_OVERFLOW): {
+        return SLIP_OVERFLOW_RETVAL;
+      }
+      // Should not happen, we searched for start and end marker..
+      case (SLIP_NO_END): {
+        return returnvalue::FAILED;
+      }
+      case (SLIP_ID_MISMATCH): {
+        return SLIP_ID_MISSMATCH_RETVAL;
+      }
+      default: {
         return returnvalue::FAILED;
       }
     }
-  decodeRingBuf.deleteData(currentLen);
+  }
+  //    switch (decResult) {
+  //      case ARC_DEC_INPROGRESS: {
+  //        break;
+  //      }
+  //      case ARC_DEC_ERROR: {
+  //        decodeRingBuf.deleteData(idx);
+  //        return returnvalue::FAILED;
+  //      }
+  //      case ARC_DEC_ASYNC:
+  //      case ARC_DEC_SYNC: {
+  //        // Reset length of SLIP struct for next frame
+  //        slipInfo.length = 0;
+  //        if (decodedFrame != nullptr) {
+  //          *decodedFrame = decodedRxFrame;
+  //        }
+  //        frameLen = rxFrameSize;
+  //        decodeRingBuf.deleteData(idx);
+  //        return returnvalue::OK;
+  //      }
+  //      default:
+  //        sif::debug << "ArcsecDatalinkLayer::decodeFrame: Unknown result code" << std::endl;
+  //        break;
+  //        return returnvalue::FAILED;
+  //    }
+  //  }
+  //  decodeRingBuf.deleteData(currentLen);
   return DEC_IN_PROGRESS;
 }
 
@@ -57,17 +96,17 @@ ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDa
 }
 
 void ArcsecDatalinkLayer::reset() {
-  slipInit();
+  // slipInit();
   decodeRingBuf.clear();
 }
 
-void ArcsecDatalinkLayer::slipInit() {
-  slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
-}
+// void ArcsecDatalinkLayer::slipInit() {
+//   slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
+// }
 
 void ArcsecDatalinkLayer::encodeFrame(const uint8_t* data, size_t length, const uint8_t** txFrame,
                                       size_t& size) {
-  arc_transport_encode_body(data, length, txEncoded, &size);
+  slip_encode_frame(data, length, txEncoded, &size, ARC_DEF_SAGITTA_SLIP_ID);
   if (txFrame != nullptr) {
     *txFrame = txEncoded;
   }

mission/acs/str/ArcsecDatalinkLayer.h

@@ -25,6 +25,8 @@ class ArcsecDatalinkLayer {
   static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xA1);
   //! [EXPORT] : [COMMENT] Detected CRC failure in received frame
   static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA2);
+  static const ReturnValue_t SLIP_OVERFLOW_RETVAL = MAKE_RETURN_CODE(0xA3);
+  static const ReturnValue_t SLIP_ID_MISSMATCH_RETVAL = MAKE_RETURN_CODE(0xA4);
 
   static const uint8_t STATUS_OK = 0;
 
@@ -77,7 +79,7 @@ class ArcsecDatalinkLayer {
   // Decoded frame will be copied to this buffer
   uint8_t decodedRxFrame[startracker::MAX_FRAME_SIZE];
   // Size of decoded frame
-  uint32_t rxFrameSize = 0;
+  size_t rxFrameSize = 0;
 
   // Buffer where encoded frames will be stored. First byte of encoded frame represents type of
   // reply
@@ -85,7 +87,7 @@ class ArcsecDatalinkLayer {
   // Size of encoded frame
   uint32_t txFrameSize = 0;
 
-  slip_decode_state slipInfo;
+  // slip_decode_state slipInfo;
 
   void slipInit();
 };

mission/acs/str/StarTrackerHandler.cpp

@@ -5,7 +5,11 @@
 #include <mission/acs/str/strJsonCommands.h>
 
 extern "C" {
-#include <sagitta/client/arc_client.h>
+#include <sagitta/client/actionreq.h>
+#include <sagitta/client/client_tm_structs.h>
+#include <sagitta/client/parameter.h>
+#include <sagitta/client/telemetry.h>
+#include <wire/common/genericstructs.h>
 }
 
 #include <atomic>

thirdparty/sagittactl

@@ -1 +1 @@
-Subproject commit 29e876671a72fcdb0b393e2f692303725f00724f
+Subproject commit 11829cdacf764f4e5f6bc6755be3096e92f146f1