eive-obsw/mission/devices/StarTrackerHandler.cpp

217 lines
7.3 KiB
C++

#include "StarTrackerHandler.h"
#include "OBSWConfig.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
#include "common/misc.h"
}
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this) {
if (comCookie == NULL) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
}
slipInit();
}
StarTrackerHandler::~StarTrackerHandler() {
}
void StarTrackerHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
void StarTrackerHandler::doShutDown() {
}
ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
switch (internalState) {
case InternalState::TEMPERATURE_REQUEST:
*id = StarTracker::REQ_TEMPERATURE;
break;
default:
sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
<< std::endl;
break;
}
return buildCommandFromCommand(*id, NULL, 0);
}
ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
return NOTHING_TO_SEND;
}
ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) {
switch (deviceCommand) {
case (StarTracker::REQ_TEMPERATURE): {
prepareTemperatureRequest();
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void StarTrackerHandler::fillCommandAndReplyMap() {
/** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
* is specified */
this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 1, &temperatureSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
uint32_t decodedLength = 0;
for (size_t idx = 0; idx < remainingSize; idx++) {
enum arc_dec_result decResult = arc_transport_decode_body(*(start + idx), &slipInfo,
decodedFrame, &decodedLength);
switch (decResult) {
case ARC_DEC_INPROGRESS: {
continue;
}
case ARC_DEC_ASYNC: {
sif::debug << "StarTrackerHandler::scanForReply: Received asychronous tm" << std::endl;
/** No asynchronous replies are expected as of now */
return RETURN_FAILED;
}
case ARC_DEC_ERROR_FRAME_SHORT:
return REPLY_TOO_SHORT;
case ARC_DEC_ERROR_CHECKSUM:
return CRC_FAILURE;
case ARC_DEC_SYNC: {
/** Reset length of SLIP struct for next frame */
slipInfo.length = 0;
break;
}
default:
sif::debug << "StarTrackerHandler::scanForReply: Unknown result code" << std::endl;
break;
}
}
switch (decodedFrame[1]) {
case (static_cast<uint8_t>(StarTracker::REQ_TEMPERATURE)): {
*foundLen = decodedLength;
*foundId = StarTracker::REQ_TEMPERATURE;
break;
}
default: {
sif::debug << "StarTrackerHandler::scanForReply: Reply contains invalid reply id"
<< std::endl;
return RETURN_FAILED;
break;
}
}
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case (StarTracker::REQ_TEMPERATURE): {
handleTemperatureTm();
break;
}
default: {
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return RETURN_OK;
}
void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {
}
uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
}
ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(StarTracker::STATUS, new PoolEntry<uint8_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TICKS, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>( { 0 }));
localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>( { 0 }));
return RETURN_OK;
}
size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId){
return StarTracker::MAX_FRAME_SIZE;
}
void StarTrackerHandler::slipInit() {
slipInfo.buffer = rxBuffer;
slipInfo.maxlength = StarTracker::MAX_FRAME_SIZE;
slipInfo.length = 0;
slipInfo.unescape_next = 0;
slipInfo.prev_state = SLIP_COMPLETE;
}
void StarTrackerHandler::prepareTemperatureRequest() {
uint32_t length = 0;
arc_tm_pack_temperature_req(commandBuffer, &length);
uint32_t encLength = 0;
arc_transport_encode_body(commandBuffer, length, encBuffer, &encLength);
rawPacket = encBuffer;
rawPacketLen = encLength;
}
void StarTrackerHandler::handleTemperatureTm() {
PoolReadGuard rg(&temperatureSet);
uint32_t offset = 1;
temperatureSet.status = *(decodedFrame + offset);
offset += 1;
if(temperatureSet.status.value != 0) {
sif::warning << "StarTrackerHandler::handleTemperatureTm: Reply error: "
<< static_cast<unsigned int>(temperatureSet.status.value) << std::endl;
triggerEvent(TM_REPLY_ERROR, temperatureSet.status.value);
}
temperatureSet.ticks = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
offset += 4;
temperatureSet.time = static_cast<uint64_t>(*(decodedFrame + offset)) << 56
| static_cast<uint64_t>(*(decodedFrame + offset + 1)) << 48
| static_cast<uint64_t>(*(decodedFrame + offset + 2)) << 40
| static_cast<uint64_t>(*(decodedFrame + offset + 3)) << 32
| *(decodedFrame + offset + 4) << 24 | *(decodedFrame + offset + 5) << 16
| *(decodedFrame + offset + 6) << 8 | *(decodedFrame + offset + 7);
offset += 8;
temperatureSet.mcuTemperature = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
offset += 4;
temperatureSet.cmosTemperature = *(decodedFrame + offset) << 24
| *(decodedFrame + offset + 1) << 16 | *(decodedFrame + offset + 2) << 8
| *(decodedFrame + offset + 3);
#if OBSW_VERBOSE_LEVEL >= 1 && START_TRACKER_DEBUG == 1
sif::info << "StarTrackerHandler::handleTemperatureTm: MCU Temperature: "
<< temperatureSet.mcuTemperature << " °C" << std::endl;
sif::info << "StarTrackerHandler::handleTemperatureTm: CMOS Temperature: "
<< temperatureSet.mcuTemperature << " °C" << std::endl;
#endif
}