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Update sagittactl to v10.7 #605

Merged
muellerr merged 9 commits from update_sagittactl_v10.7 into develop 2023-04-16 11:25:39 +02:00
Conversation 0 Commits 9 Files Changed 6 +61 -44
6 changed files with 61 additions and 44 deletions
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67
mission/acs/str/ArcsecDatalinkLayer.cpp
View File

@ -1,10 +1,11 @@
#include "ArcsecDatalinkLayer.h"
extern "C" {
#include <wire/common/SLIP.h>
#include <wire/common/misc.h>
}
ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) { slipInit(); }
ArcsecDatalinkLayer::ArcsecDatalinkLayer() : decodeRingBuf(BUFFER_LENGTHS, true) {}
ArcsecDatalinkLayer::~ArcsecDatalinkLayer() {}
@ -15,35 +16,50 @@ 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;
}
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 (rxAnalysisBuffer[idx] != SLIP_START_AND_END) {
continue;
}
if (not startFound) {
startFound = true;
startIdx = idx;
continue;
}
// Now we can try decoding the whole frame.
size_t encodedDataSize = 0;
slip_error_t slipError =
slip_decode_frame(decodedRxFrame, &rxFrameSize, rxAnalysisBuffer + startIdx,
idx - startIdx + 1, &encodedDataSize, ARC_DEF_SAGITTA_SLIP_ID);
decodeRingBuf.deleteData(idx + 1);
switch (slipError) {
case (SLIP_OK): {
if (decodedFrame != nullptr) {
*decodedFrame = decodedRxFrame;
}
frameLen = rxFrameSize;
decodeRingBuf.deleteData(idx);
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);
return DEC_IN_PROGRESS;
}
@ -56,18 +72,11 @@ ReturnValue_t ArcsecDatalinkLayer::feedData(const uint8_t* rawData, size_t rawDa
return decodeRingBuf.writeData(rawData, rawDataLen);
}
void ArcsecDatalinkLayer::reset() {
slipInit();
decodeRingBuf.clear();
}
void ArcsecDatalinkLayer::slipInit() {
slip_decode_init(rxBufferArc, sizeof(rxBufferArc), &slipInfo);
}
void ArcsecDatalinkLayer::reset() { decodeRingBuf.clear(); }
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;
}

6
mission/acs/str/ArcsecDatalinkLayer.h
View File

@ -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();
};

25
mission/acs/str/StarTrackerHandler.cpp
View File

@ -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>
@ -880,7 +884,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
switch (id) {
case (startracker::REQ_TIME): {
result = handleTm(packet, timeSet, startracker::TimeSet::SIZE);
result = handleTm(packet, timeSet, startracker::TimeSet::SIZE, "REQ_TIME");
break;
}
case (startracker::PING_REQUEST): {
@ -895,7 +899,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_VERSION): {
result = handleTm(packet, versionSet, startracker::VersionSet::SIZE);
result = handleTm(packet, versionSet, startracker::VersionSet::SIZE, "REQ_VERSION");
if (result != returnvalue::OK) {
return result;
}
@ -906,23 +910,23 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_INTERFACE): {
result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE);
result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE, "REQ_INTERFACE");
break;
}
case (startracker::REQ_POWER): {
result = handleTm(packet, powerSet, startracker::PowerSet::SIZE);
result = handleTm(packet, powerSet, startracker::PowerSet::SIZE, "REQ_POWER");
break;
}
case (startracker::REQ_SOLUTION): {
result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE);
result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE, "REQ_SOLUTION");
break;
}
case (startracker::REQ_TEMPERATURE): {
result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE);
result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE, "REQ_TEMP");
break;
}
case (startracker::REQ_HISTOGRAM): {
result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE);
result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE, "REQ_HISTO");
break;
}
case (startracker::SUBSCRIPTION):
@ -1972,7 +1976,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
}
ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
size_t size) {
size_t size, const char* context) {
ReturnValue_t result = returnvalue::OK;
uint8_t status = startracker::getStatusField(rawFrame);
if (status != startracker::STATUS_OK) {
@ -1988,7 +1992,8 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
dataset.setValidityBufferGeneration(false);
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed" << std::endl;
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context
<< std::endl;
}
dataset.setValidityBufferGeneration(true);
dataset.setValidity(true, true);

3
mission/acs/str/StarTrackerHandler.h
View File

@ -481,7 +481,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
*
* @return returnvalue::OK if successful, otherwise error return value
*/
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size);
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size,
const char* context);
/**
* @brief Checks if star tracker is in valid mode for executing the received command.

2
mission/acs/str/strHelpers.h
View File

@ -641,7 +641,7 @@ class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
*/
class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
public:
static const size_t SIZE = 78;
static const size_t SIZE = 79;
SolutionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SOLUTION_SET_ID) {}

2
thirdparty/sagittactl vendored

@ -1 +1 @@
Subproject commit 29e876671a72fcdb0b393e2f692303725f00724f
Subproject commit 2c066bfbe9ef8d6b00e142b8f48d45988a469618