178 lines
7.1 KiB
C++
178 lines
7.1 KiB
C++
#ifndef BSP_Q7S_DEVICES_STRIMAGELOADER_H_
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#define BSP_Q7S_DEVICES_STRIMAGELOADER_H_
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#include <string>
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#include "ArcsecDatalinkLayer.h"
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#include "fsfw/osal/linux/BinarySemaphore.h"
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
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#include "fsfw/devicehandlers/CookieIF.h"
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extern "C" {
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#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
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#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
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}
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/**
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* @brief An object of this class runs in a separate task and is responsible for uploading and
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* downloading images to/from the star tracker. This is required because uploading and
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* downloading via the star tracker handler takes a lot of time because each upload or
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* download packet can transport a maximum of 1024 bytes.
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*/
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class StrImageLoader: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
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public:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_IMAGE_LOADER;
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//! [EXPORT] : [COMMENT] Try to upload image but specified image does not exist
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static const Event IMAGE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
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//! [EXPORT] : [COMMENT] Sending packet (download or upload) to star tracker failed
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//!P1: Return code of communication interface sendMessage function
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//!P2: Position of upload/download packet for which the transmission failed
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static const Event IMG_LOADER_SENDING_PACKET_FAILED = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
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//!P1: Return code of failed request
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//!P1: Upload/download position for which the request failed
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static const Event IMG_LOADER_REQUESTING_MSG_FAILED = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] Uploading image to star tracker was successful
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static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
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//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
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//!P1: Return code of failed communication interface read call
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//!P1: Upload/download position for which the read call failed
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static const Event IMG_LOADER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
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//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
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//!P1: Return code of failed communication interface read call
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//!P1: Upload/download position for which the read call failed
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static const Event IMG_LOADER_COM_ERROR = MAKE_EVENT(5, severity::LOW);
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//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
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//!P1: Position of upload or download packet for which no reply was sent
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static const Event IMG_LOADER_NO_REPLY = MAKE_EVENT(6, severity::LOW);
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//! [EXPORT] : [COMMENT] Received reply with invalid type ID
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static const Event INVALID_TYPE_ID = MAKE_EVENT(7, severity::LOW);
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//! [EXPORT] : [COMMENT] Status field in reply signals error
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static const Event STATUS_ERROR = MAKE_EVENT(8, severity::LOW);
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//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
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//P1: Return value of decoding function
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//P2: Position of upload/download packet for which reply decoding failed
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static const Event IMG_LOADER_DEC_ERROR = MAKE_EVENT(9, severity::LOW);
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//! [EXPORT] : [COMMENT] Image download was successful
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static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(10, severity::LOW);
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//! [EXPORT] : [COMMENT] Position mismatch
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//! P1: The expected position and thus the position for which the image upload/download failed
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static const Event POSITION_MISMATCH = MAKE_EVENT(11, severity::LOW);
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StrImageLoader(object_id_t objectId);
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virtual ~StrImageLoader();
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ReturnValue_t initialize() override;
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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void setComIF(DeviceCommunicationIF* communicationInterface_);
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void setComCookie(CookieIF* comCookie_);
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/**
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* @brief Starts sequence to upload image to star tracker
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*
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* @param image Name including absolute path if to image to upload. Must be previously
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* transferred to the OBC with the CFDP protocoll.
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*/
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ReturnValue_t startImageUpload(std::string image);
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/**
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* @brief Calling this function initiates the download of an image from the star tracker.
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*/
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void startImageDownload(std::string downloadImage_);
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_IMG_LOADER;
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//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
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static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
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static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
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// Size of one image part which can be sent per action request
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static const size_t SIZE_IMAGE_PART = 1024;
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static const uint32_t LAST_POSITION = 4095;
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static const uint32_t MAX_POLLS = 10000;
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static const uint8_t POS_OFFSET = 2;
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static const uint8_t DATA_OFFSET = 5;
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static const size_t IMAGE_DATA_SIZE = 1024;
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enum class InternalState {
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IDLE,
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UPLOAD_IMAGE,
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DOWNLOAD_IMAGE
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};
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InternalState internalState = InternalState::IDLE;
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ArcsecDatalinkLayer datalinkLayer;
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BinarySemaphore semaphore;
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// Name including absolute path of image to upload
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std::string uploadImage;
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// Name including the absolute path of downloaded image
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std::string downloadImage;
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SdCardManager* sdcMan = nullptr;
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uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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/**
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* Communication object responsible for low level access of star tracker
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* Must be set by star tracker handler
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*/
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DeviceCommunicationIF * communicationInterface = nullptr;
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// Communication cookie. Must be set by the star tracker handler
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CookieIF* comCookie = nullptr;
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// Queue id of raw data receiver
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MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
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/**
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* @brief Performs image uploading
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*/
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ReturnValue_t performImageUpload();
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/**
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* @bried Performs download of last taken image from the star tracker.
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*/
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ReturnValue_t performImageDownload();
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/**
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* @brief Sends packet to the star tracker and reads reply by using the communication
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* interface
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*
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* @return RETURN_OK if successful, otherwise RETURN_FAILED
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*/
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ReturnValue_t sendAndRead(size_t size, uint32_t position);
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/**
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* @brief Checks the reply header (type id and status fields)
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*
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* @return RETURN_OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
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*/
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ReturnValue_t checkReply();
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/**
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* @brief Checks the position field in a star tracker reply.
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*
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* @param expectedPosition Value of expected position
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*
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* @return RETURN_OK if received position matches expected position, otherwise RETURN_FAILED
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*/
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ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
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};
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#endif /* BSP_Q7S_DEVICES_STRIMAGELOADER_H_ */
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