#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_ #define MISSION_DEVICES_STARTRACKERHANDLER_H_ #include #include #include #include "ArcsecDatalinkLayer.h" #include "ArcsecJsonParamBase.h" #include "OBSWConfig.h" #include "StrHelper.h" #include "devices/powerSwitcherList.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/src/fsfw/serialize/SerializeAdapter.h" #include "fsfw/timemanager/Countdown.h" #include "linux/devices/devicedefinitions/StarTrackerDefinitions.h" #include "thirdparty/arcsec_star_tracker/common/SLIP.h" /** * @brief This is the device handler for the star tracker from arcsec. * * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/ * Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/ * Sagitta%201.0%20Datapack&fileid=659181 * @author J. Meier */ class StarTrackerHandler : public DeviceHandlerBase { public: /** * @brief Constructor * * @param objectId * @param comIF * @param comCookie * @param gpioComIF Pointer to gpio communication interface * @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled * to high to enable the device. */ StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, const char* jsonFileStr, StrHelper* strHelper, power::Switch_t powerSwitch); virtual ~StarTrackerHandler(); ReturnValue_t initialize() override; /** * @brief Overwrite this function from DHB to handle commands executed by the str image * loader task. */ ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, size_t size) override; void performOperationHook() override; Submode_t getInitialSubmode() override; static const Submode_t SUBMODE_BOOTLOADER = 1; static const Submode_t SUBMODE_FIRMWARE = 2; protected: void doStartUp() override; void doShutDown() override; ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override; ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override; void fillCommandAndReplyMap() override; ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData, size_t commandDataLen) override; ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override; ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId, size_t* foundLen) override; ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override; void setNormalDatapoolEntriesInvalid() override; uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) override; /** * @brief Overwritten here to always read all available data from theSerialComIF. */ virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override; virtual ReturnValue_t doSendReadHook() override; ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override; virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override; private: static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER; //! [EXPORT] : [COMMENT] Status in temperature reply signals error static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0); //! [EXPORT] : [COMMENT] Ping command failed static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1); //! [EXPORT] : [COMMENT] Status in version reply signals error static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA2); //! [EXPORT] : [COMMENT] Status in interface reply signals error static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA3); //! [EXPORT] : [COMMENT] Status in power reply signals error static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA4); //! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA5); //! [EXPORT] : [COMMENT] Status of reply to action command signals error static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA6); //! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xA7); //! [EXPORT] : [COMMENT] Name of file received with command is too long static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA8); //! [EXPORT] : [COMMENT] Received version reply with invalid program ID static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xA9); //! [EXPORT] : [COMMENT] Status field reply signals error static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAA); //! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper //! execution) static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAB); //! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters) static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAC); //! [EXPORT] : [COMMENT] Region mismatch between send and received data static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xAD); //! [EXPORT] : [COMMENT] Address mismatch between send and received data static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xAE); //! [EXPORT] : [COMMENT] Length field mismatch between send and received data static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xAF); //! [EXPORT] : [COMMENT] Specified file does not exist static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB0); //! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB1); //! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB2); //! [EXPORT] : [COMMENT] Received reply is too short static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB3); //! [EXPORT] : [COMMENT] Received reply with invalid CRC static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB4); //! [EXPORT] : [COMMENT] Star tracker handler currently executing a command and using the //! communication interface static const ReturnValue_t STR_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB5); //! [EXPORT] : [COMMENT] Star tracker is already in firmware mode static const ReturnValue_t STARTRACKER_ALREADY_BOOTED = MAKE_RETURN_CODE(0xB6); //! [EXPORT] : [COMMENT] Star tracker is in firmware mode but must be in bootloader mode to //! execute this command static const ReturnValue_t STARTRACKER_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xB7); //! [EXPORT] : [COMMENT] Star tracker is in bootloader mode but must be in firmware mode to //! execute this command static const ReturnValue_t STARTRACKER_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xB8); static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER; //! [EXPORT] : [COMMENT] Failed to boot firmware static const Event BOOTING_FIRMWARE_FAILED_EVENT = MAKE_EVENT(1, severity::LOW); //! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW); static const size_t MAX_PATH_SIZE = 50; static const size_t MAX_FILE_NAME = 30; static const uint8_t STATUS_OFFSET = 1; static const uint8_t PARAMS_OFFSET = 1; static const uint8_t TICKS_OFFSET = 2; static const uint8_t TIME_OFFSET = 6; static const uint8_t TM_DATA_FIELD_OFFSET = 14; static const uint8_t PARAMETER_ID_OFFSET = 0; static const uint8_t ACTION_ID_OFFSET = 0; static const uint8_t ACTION_DATA_OFFSET = 2; // Ping request will reply ping with this ID (data field) static const uint32_t PING_ID = 0x55; static const uint32_t BOOT_REGION_ID = 1; static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING; static const uint32_t MUTEX_TIMEOUT = 20; static const uint32_t BOOT_TIMEOUT = 1000; static const uint32_t DEFAULT_TRANSITION_DELAY = 15000; struct FlashReadCmd { // Minimum length of a read command (region, length and filename) static const size_t MIN_LENGTH = 7; }; struct ChecksumCmd { static const uint8_t ADDRESS_OFFSET = 1; static const uint8_t LENGTH_OFFSET = 5; // Length of checksum command static const size_t LENGTH = 9; uint8_t rememberRegion = 0; uint32_t rememberAddress = 0; uint32_t rememberLength = 0; }; ChecksumCmd checksumCmd; MessageQueueIF* eventQueue = nullptr; ArcsecDatalinkLayer dataLinkLayer; startracker::TemperatureSet temperatureSet; startracker::VersionSet versionSet; startracker::PowerSet powerSet; startracker::InterfaceSet interfaceSet; startracker::TimeSet timeSet; startracker::SolutionSet solutionSet; startracker::HistogramSet histogramSet; startracker::ChecksumSet checksumSet; startracker::CameraSet cameraSet; startracker::LimitsSet limitsSet; startracker::LogLevelSet loglevelSet; startracker::MountingSet mountingSet; startracker::ImageProcessorSet imageProcessorSet; startracker::CentroidingSet centroidingSet; startracker::LisaSet lisaSet; startracker::MatchingSet matchingSet; startracker::TrackingSet trackingSet; startracker::ValidationSet validationSet; startracker::AlgoSet algoSet; startracker::SubscriptionSet subscriptionSet; startracker::LogSubscriptionSet logSubscriptionSet; startracker::DebugCameraSet debugCameraSet; // Pointer to object responsible for uploading and downloading images to/from the star tracker StrHelper* strHelper = nullptr; uint8_t commandBuffer[startracker::MAX_FRAME_SIZE]; // Countdown to insert delay for star tracker to switch from bootloader to firmware program // Loading firmware requires some time and the command will not trigger a reply when executed Countdown bootCountdown; 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 }; 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_FIRMWARE, DONE, FAILED_FIRMWARE_BOOT, BOOT_BOOTLOADER, BOOTLOADER_CHECK, FAILED_BOOTLOADER_BOOT }; enum class FwBootState { NONE, BOOT_DELAY, REQ_VERSION, VERIFY_BOOT, LOGLEVEL, LIMITS, TRACKING, MOUNTING, IMAGE_PROCESSOR, CAMERA, BLOB, CENTROIDING, LISA, MATCHING, VALIDATION, ALGO, LOG_SUBSCRIPTION, DEBUG_CAMERA, WAIT_FOR_EXECUTION, }; FwBootState bootState = FwBootState::NONE; InternalState internalState = InternalState::IDLE; bool strHelperExecuting = false; const power::Switch_t powerSwitch = power::NO_SWITCH; /** * @brief Handles internal state */ void handleInternalState(); /** * @brief Checks mode for commands requiring MODE_ON of MODE_NORMAL for execution. * * @param actionId Action id of command to execute */ ReturnValue_t checkMode(ActionId_t actionId); /** * @brief This function initializes the serial link ip protocol struct slipInfo. */ void slipInit(); ReturnValue_t scanForActionReply(DeviceCommandId_t* foundId); ReturnValue_t scanForSetParameterReply(DeviceCommandId_t* foundId); ReturnValue_t scanForGetParameterReply(DeviceCommandId_t* foundId); ReturnValue_t scanForTmReply(DeviceCommandId_t* foundId); /** * @brief Fills command buffer with data to ping the star tracker */ void preparePingRequest(); /** * @brief Fills command buffer with data to request the time telemetry. */ void prepareTimeRequest(); /** * @brief Handles all received event messages */ void handleEvent(EventMessage* eventMessage); /** * @brief Extracts information for flash-read-command from TC data and starts execution of * flash-read-procedure * * @param commandData Pointer to received command data * @param commandDataLen Size of received command data * * @return returnvalue::OK if start of execution was successful, otherwise error return value */ ReturnValue_t executeFlashReadCommand(const uint8_t* commandData, size_t commandDataLen); /** * @brief Fills command buffer with data to boot image (works only when star tracker is * in bootloader mode). */ void prepareBootCommand(); /** * @brief Fills command buffer with command to get the checksum of a flash part */ ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen); /** * @brief Fills the command buffer with the command to take an image. */ void prepareTakeImageCommand(const uint8_t* commandData); /** * @brief Fills command buffer with data to request the version telemetry packet */ void prepareVersionRequest(); /** * @brief Fills the command buffer with data to request the interface telemetry packet. */ void prepareInterfaceRequest(); /** * @brief Fills the command buffer with data to request the power telemetry packet. */ void preparePowerRequest(); /** * @brief Fills command buffer with data to reboot star tracker. */ void prepareSwitchToBootloaderCmd(); /** * @brief Fills command buffer with data to subscribe to a telemetry packet. * * @param tmId The ID of the telemetry packet to subscribe to */ void prepareSubscriptionCommand(const uint8_t* tmId); /** * @brief Fills command buffer with data to request solution telemtry packet (contains * attitude information) */ void prepareSolutionRequest(); /** * @brief Fills command buffer with data to request temperature from star tracker */ void prepareTemperatureRequest(); /** * @brief Fills command buffer with data to request histogram */ void prepareHistogramRequest(); /** * @brief Reads parameters from json file specified by string in commandData and * prepares the command to apply the parameter set to the star tracker * * @param commandData Contains string with file name * @param commandDataLen Length of command * @param paramSet The object defining the command generation * * @return returnvalue::OK if successful, otherwise error return Value */ ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen, ArcsecJsonParamBase& paramSet); /** * @brief The following function will fill the command buffer with the command to request * a parameter set. */ ReturnValue_t prepareRequestCameraParams(); ReturnValue_t prepareRequestLimitsParams(); ReturnValue_t prepareRequestLogLevelParams(); ReturnValue_t prepareRequestMountingParams(); ReturnValue_t prepareRequestImageProcessorParams(); ReturnValue_t prepareRequestCentroidingParams(); ReturnValue_t prepareRequestLisaParams(); ReturnValue_t prepareRequestMatchingParams(); ReturnValue_t prepareRequestTrackingParams(); ReturnValue_t prepareRequestValidationParams(); ReturnValue_t prepareRequestAlgoParams(); ReturnValue_t prepareRequestSubscriptionParams(); ReturnValue_t prepareRequestLogSubscriptionParams(); ReturnValue_t prepareRequestDebugCameraParams(); /** * @brief Handles action replies with datasets. */ ReturnValue_t handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size); /** * @brief Default function to handle action replies */ ReturnValue_t handleActionReply(); /** * @brief Handles reply to upload centroid command */ ReturnValue_t handleUploadCentroidReply(); /** * @brief Handles reply to checksum command */ ReturnValue_t handleChecksumReply(); /** * @brief Handles all set parameter replies */ ReturnValue_t handleSetParamReply(); ReturnValue_t handlePingReply(); ReturnValue_t handleParamRequest(LocalPoolDataSetBase& dataset, size_t size); /** * @brief Checks the loaded program by means of the version set */ ReturnValue_t checkProgram(); /** * @brief Handles the startup state machine */ void handleStartup(const uint8_t* parameterId); /** * @brief Handles telemtry replies and fills the appropriate dataset * * @param dataset Dataset where reply data will be written to * @param size Size of the dataset * * @return returnvalue::OK if successful, otherwise error return value */ ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size); /** * @brief Checks if star tracker is in valid mode for executing the received command. * * @param actioId Id of received command * * @return returnvalue::OK if star tracker is in valid mode, otherwise error return value */ ReturnValue_t checkCommand(ActionId_t actionId); void doOnTransition(Submode_t subModeFrom); void doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom); void bootFirmware(Mode_t toMode); void bootBootloader(); }; #endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */