1284 lines
51 KiB
C++
1284 lines
51 KiB
C++
#include <fstream>
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#include "StarTrackerHandler.h"
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#include "OBSWConfig.h"
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#include "StarTrackerJsonCommands.h"
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/ipc/QueueFactory.h>
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extern "C" {
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#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
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#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
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#include "common/misc.h"
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}
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StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
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CookieIF * comCookie, StrHelper* strHelper) :
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DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this), powerSet(
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this), interfaceSet(this), timeSet(this), solutionSet(this), histogramSet(this),
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contrastSet(this), strHelper(strHelper) {
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if (comCookie == nullptr) {
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sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
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}
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if (strHelper == nullptr) {
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sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
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}
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eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
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}
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StarTrackerHandler::~StarTrackerHandler() {
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}
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ReturnValue_t StarTrackerHandler::initialize() {
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ReturnValue_t result = RETURN_OK;
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result = DeviceHandlerBase::initialize();
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if (result != RETURN_OK) {
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return result;
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}
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
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objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "StarTrackerHandler::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;;
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}
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result = manager->registerListener(eventQueue->getId());
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if (result != RETURN_OK) {
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return result;
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}
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result = manager->subscribeToEventRange(eventQueue->getId(),
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event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED),
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event::getEventId(StrHelper::FLASH_READ_FAILED));
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if (result != RETURN_OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from "
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" str helper" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = strHelper->setComIF(communicationInterface);
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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strHelper->setComCookie(comCookie);
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return RETURN_OK;
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}
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ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result = RETURN_OK;
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switch(actionId) {
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case(StarTracker::STOP_IMAGE_LOADER): {
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strHelper->stopProcess();
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return EXECUTION_FINISHED;
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}
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case(StarTracker::SET_JSON_FILE_NAME): {
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if (size > MAX_PATH_SIZE) {
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return FILE_PATH_TOO_LONG;
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}
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paramJsonFile = std::string(reinterpret_cast<const char*>(data), size);
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return EXECUTION_FINISHED;
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}
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default:
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break;
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}
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if (strHelperExecuting == true) {
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return IMAGE_LOADER_EXECUTING;
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}
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result = checkMode(actionId);
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if (result != RETURN_OK) {
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return result;
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}
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// Intercept image loader commands which do not follow the common DHB communication flow
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switch(actionId) {
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case(StarTracker::UPLOAD_IMAGE): {
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result = DeviceHandlerBase::acceptExternalDeviceCommands();
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if (result != RETURN_OK) {
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return result;
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}
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if (size > MAX_PATH_SIZE) {
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return FILE_PATH_TOO_LONG;
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}
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result = strHelper->startImageUpload(
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std::string(reinterpret_cast<const char*>(data), size));
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if (result != RETURN_OK) {
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return result;
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}
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strHelperExecuting = true;
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return EXECUTION_FINISHED;
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}
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case(StarTracker::DOWNLOAD_IMAGE): {
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result = DeviceHandlerBase::acceptExternalDeviceCommands();
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if (result != RETURN_OK) {
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return result;
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}
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if (size > MAX_PATH_SIZE) {
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return FILE_PATH_TOO_LONG;
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}
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result = strHelper->startImageDownload(
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std::string(reinterpret_cast<const char*>(data), size));
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if (result != RETURN_OK) {
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return result;
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}
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strHelperExecuting = true;
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return EXECUTION_FINISHED;
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}
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case(StarTracker::WRITE): {
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result = DeviceHandlerBase::acceptExternalDeviceCommands();
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if (result != RETURN_OK) {
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return result;
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}
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result = executeWriteCommand(data, size);
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if (result != RETURN_OK) {
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return result;
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}
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strHelperExecuting = true;
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return EXECUTION_FINISHED;
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}
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case(StarTracker::CHANGE_DOWNLOAD_FILE): {
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if (size > MAX_FILE_NAME) {
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return FILENAME_TOO_LONG;
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}
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strHelper->setDownloadImageName(
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std::string(reinterpret_cast<const char*>(data), size));
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return EXECUTION_FINISHED;
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}
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default:
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break;
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}
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return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
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}
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void StarTrackerHandler::performOperationHook() {
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event);
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result == RETURN_OK; result = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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handleEvent(&event);
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break;
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default:
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sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message"
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<< std::endl;
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break;
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}
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}
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}
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void StarTrackerHandler::doStartUp() {
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switch(startupState) {
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case StartupState::IDLE:
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startupState = StartupState::CHECK_BOOT_STATE;
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return;
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case StartupState::BOOT_DELAY:
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if (bootCountdown.hasTimedOut()) {
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startupState = StartupState::LIMITS;
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}
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return;
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case StartupState::DONE:
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break;
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default:
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return;
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}
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setMode(_MODE_TO_ON);
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}
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void StarTrackerHandler::doShutDown() {
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// If star tracker is shutdown also stop all running processes in the image loader task
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strHelper->stopProcess();
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setMode(_MODE_POWER_DOWN);
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}
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void StarTrackerHandler::doOffActivity() {
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startupState = StartupState::IDLE;
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}
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ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
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switch (internalState) {
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case InternalState::TEMPERATURE_REQUEST:
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*id = StarTracker::REQ_TEMPERATURE;
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break;
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default:
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sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
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<< std::endl;
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break;
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
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if (mode != _MODE_START_UP) {
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return NOTHING_TO_SEND;
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}
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switch (startupState) {
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case StartupState::CHECK_BOOT_STATE:
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*id = StarTracker::REQ_VERSION;
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startupState = StartupState::WAIT_FOR_EXECUTION;
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return buildCommandFromCommand(*id, nullptr, 0);
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case StartupState::BOOT:
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*id = StarTracker::BOOT;
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bootCountdown.setTimeout(BOOT_TIMEOUT);
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startupState = StartupState::BOOT_DELAY;
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return buildCommandFromCommand(*id, nullptr, 0);
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case StartupState::LIMITS:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::LIMITS;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::TRACKING:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::TRACKING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::MOUNTING:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::MOUNTING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::CAMERA:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::CAMERA;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::BLOB:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::BLOB;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::CENTROIDING:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::CENTROIDING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::LISA:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::LISA;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::MATCHING:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::MATCHING;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::VALIDATION:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::VALIDATION;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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case StartupState::ALGO:
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startupState = StartupState::WAIT_FOR_EXECUTION;
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*id = StarTracker::ALGO;
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return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
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paramJsonFile.size());
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default:
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break;
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}
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return NOTHING_TO_SEND;
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}
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ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t * commandData, size_t commandDataLen) {
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ReturnValue_t result = RETURN_OK;
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switch (deviceCommand) {
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case (StarTracker::PING_REQUEST): {
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preparePingRequest();
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return RETURN_OK;
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}
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case (StarTracker::REQ_TIME): {
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prepareTimeRequest();
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return RETURN_OK;
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}
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case (StarTracker::BOOT): {
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prepareBootCommand();
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return RETURN_OK;
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}
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case (StarTracker::REQ_VERSION): {
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prepareVersionRequest();
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return RETURN_OK;
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}
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case (StarTracker::REQ_INTERFACE): {
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prepareInterfaceRequest();
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return RETURN_OK;
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}
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case (StarTracker::REQ_POWER): {
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preparePowerRequest();
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return RETURN_OK;
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}
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case (StarTracker::SWITCH_TO_BOOTLOADER_PROGRAM): {
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prepareRebootCommand();
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return RETURN_OK;
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}
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case (StarTracker::TAKE_IMAGE): {
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prepareTakeImageCommand(commandData);
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return RETURN_OK;
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}
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case (StarTracker::SUBSCRIBE_TO_TM): {
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prepareSubscriptionCommand(commandData);
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return RETURN_OK;
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}
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case (StarTracker::REQ_SOLUTION): {
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prepareSolutionRequest();
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return RETURN_OK;
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}
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case (StarTracker::REQ_TEMPERATURE): {
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prepareTemperatureRequest();
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return RETURN_OK;
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}
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case (StarTracker::REQ_HISTOGRAM): {
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prepareHistogramRequest();
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return RETURN_OK;
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}
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case (StarTracker::REQ_CONTRAST): {
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prepareContrastRequest();
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return RETURN_OK;
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}
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case (StarTracker::RESET_ERROR): {
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prepareErrorResetRequest();
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return RETURN_OK;
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}
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case (StarTracker::LIMITS): {
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Limits limits;
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result = prepareParamCommand(commandData, commandDataLen, limits);
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return result;
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}
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case (StarTracker::MOUNTING): {
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Mounting mounting;
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result = prepareParamCommand(commandData, commandDataLen, mounting);
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return result;
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}
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case (StarTracker::CAMERA): {
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Camera camera;
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result = prepareParamCommand(commandData, commandDataLen, camera);
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return result;
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}
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case (StarTracker::BLOB): {
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Blob blob;
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result = prepareParamCommand(commandData, commandDataLen, blob);
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return result;
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}
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case (StarTracker::CENTROIDING): {
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Centroiding centroiding;
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result = prepareParamCommand(commandData, commandDataLen, centroiding);
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return result;
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}
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case (StarTracker::LISA): {
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Lisa lisa;
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result = prepareParamCommand(commandData, commandDataLen, lisa);
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return result;
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}
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case (StarTracker::MATCHING): {
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Matching matching;
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result = prepareParamCommand(commandData, commandDataLen, matching);
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return result;
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}
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case (StarTracker::VALIDATION): {
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Validation validation;
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result = prepareParamCommand(commandData, commandDataLen, validation);
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return result;
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}
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case (StarTracker::ALGO): {
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Algo algo;
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result = prepareParamCommand(commandData, commandDataLen, algo);
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return result;
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}
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case (StarTracker::TRACKING): {
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Tracking tracking;
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result = prepareParamCommand(commandData, commandDataLen, tracking);
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return result;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void StarTrackerHandler::fillCommandAndReplyMap() {
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/** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
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* is specified */
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this->insertInCommandAndReplyMap(StarTracker::PING_REQUEST, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandMap(StarTracker::BOOT);
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this->insertInCommandAndReplyMap(StarTracker::REQ_VERSION, 3, &versionSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_TIME, 3, &timeSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandMap(StarTracker::UPLOAD_IMAGE);
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this->insertInCommandMap(StarTracker::DOWNLOAD_IMAGE);
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this->insertInCommandAndReplyMap(StarTracker::REQ_POWER, 3, &powerSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_INTERFACE, 3, &interfaceSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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// Reboot has no reply. Star tracker reboots immediately
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this->insertInCommandMap(StarTracker::SWITCH_TO_BOOTLOADER_PROGRAM);
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this->insertInCommandAndReplyMap(StarTracker::SUBSCRIBE_TO_TM, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_SOLUTION, 3, &solutionSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 3, &temperatureSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_HISTOGRAM, 3, &histogramSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_CONTRAST, 3, &contrastSet,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::LIMITS, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::MOUNTING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::CAMERA, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::BLOB, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::CENTROIDING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::LISA, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::MATCHING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::TRACKING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::VALIDATION, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::ALGO, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::TAKE_IMAGE, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::RESET_ERROR, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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}
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ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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ReturnValue_t result = RETURN_OK;
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size_t bytesLeft = 0;
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result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft);
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switch(result) {
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case ArcsecDatalinkLayer::DEC_IN_PROGRESS: {
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remainingSize = bytesLeft;
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// Need a second doSendRead pass to reaa in whole packet
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return IGNORE_REPLY_DATA;
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}
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case RETURN_OK: {
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break;
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}
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default:
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remainingSize = bytesLeft;
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return result;
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}
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switch (dataLinkLayer.getReplyFrameType()) {
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case TMTC_ACTIONREPLY: {
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*foundLen = remainingSize - bytesLeft;
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result = scanForActionReply(foundId);
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break;
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}
|
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case TMTC_SETPARAMREPLY: {
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*foundLen = remainingSize - bytesLeft;
|
|
result = scanForParameterReply(foundId);
|
|
break;
|
|
}
|
|
case TMTC_TELEMETRYREPLYA:
|
|
case TMTC_TELEMETRYREPLY: {
|
|
*foundLen = remainingSize - bytesLeft;
|
|
result = scanForTmReply(foundId);
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "StarTrackerHandler::scanForReply: Reply has invalid type id" << std::endl;
|
|
result = RETURN_FAILED;
|
|
}
|
|
}
|
|
|
|
remainingSize = bytesLeft;
|
|
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
|
|
|
|
ReturnValue_t result = RETURN_OK;
|
|
|
|
switch (id) {
|
|
case (StarTracker::SUBSCRIBE_TO_TM): {
|
|
result = handleSetParamReply();
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_TIME): {
|
|
result = handleTm(timeSet, StarTracker::TimeSet::SIZE);
|
|
break;
|
|
}
|
|
case (StarTracker::PING_REQUEST): {
|
|
result = handlePingReply();
|
|
break;
|
|
}
|
|
case (StarTracker::BOOT): {
|
|
result = handleActionReply();
|
|
break;
|
|
}
|
|
case (StarTracker::RESET_ERROR): {
|
|
result = handleActionReply();
|
|
break;
|
|
}
|
|
case (StarTracker::TAKE_IMAGE): {
|
|
result = handleActionReply();
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_VERSION): {
|
|
result = handleTm(versionSet, StarTracker::VersionSet::SIZE);
|
|
if (result != RETURN_OK) {
|
|
return result;
|
|
}
|
|
result = checkProgram();
|
|
if (result != RETURN_OK) {
|
|
return result;
|
|
}
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_INTERFACE): {
|
|
result = handleTm(interfaceSet, StarTracker::InterfaceSet::SIZE);
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_POWER): {
|
|
result = handleTm(powerSet, StarTracker::PowerSet::SIZE);
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_SOLUTION): {
|
|
result = handleTm(solutionSet, StarTracker::SolutionSet::SIZE);
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_TEMPERATURE): {
|
|
result = handleTm(temperatureSet, StarTracker::TemperatureSet::SIZE);
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_HISTOGRAM): {
|
|
result = handleTm(histogramSet, StarTracker::HistogramSet::SIZE);
|
|
break;
|
|
}
|
|
case (StarTracker::REQ_CONTRAST): {
|
|
result = handleTm(contrastSet, StarTracker::ContrastSet::SIZE);
|
|
break;
|
|
}
|
|
case (StarTracker::LIMITS):
|
|
case (StarTracker::MOUNTING):
|
|
case (StarTracker::CAMERA):
|
|
case (StarTracker::BLOB):
|
|
case (StarTracker::CENTROIDING):
|
|
case (StarTracker::LISA):
|
|
case (StarTracker::MATCHING):
|
|
case (StarTracker::TRACKING):
|
|
case (StarTracker::VALIDATION):
|
|
case (StarTracker::ALGO): {
|
|
result = handleSetParamReply();
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id:" << id
|
|
<< std::endl;
|
|
result = DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {
|
|
|
|
}
|
|
|
|
uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
|
|
return 20000;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) {
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_TIME_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_TIME_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::RUN_TIME, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::UNIX_TIME, new PoolEntry<uint64_t>( { 0 }));
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_VERSION_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_VERSION_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::PROGRAM, new PoolEntry<uint8_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::MAJOR, new PoolEntry<uint8_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::MINOR, new PoolEntry<uint8_t>( { 0 }));
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_INTERFACE_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_INTERFACE_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::FRAME_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CHECKSUM_ERROR_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::SET_PARAM_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::SET_PARAM_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::PARAM_REQUEST_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::PARAM_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::REQ_TM_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TM_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::ACTION_REQ_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::ACTION_REPLY_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_POWER_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_POWER_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::MCU_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::MCU_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::FPGA_CORE_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::FPGA_CORE_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::FPGA_18_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::FPGA_18_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::FPGA_25_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::FPGA_25_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_21_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_21_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_PIX_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_PIX_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_33_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_33_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_RES_CURRENT, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMV_RES_VOLTAGE, new PoolEntry<float>( { 0 }));
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_TEMPERATURE_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_TEMPERATURE_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>( { 0 }));
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CALI_QW, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CALI_QX, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CALI_QY, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CALI_QZ, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TRACK_CONFIDENCE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TRACK_QW, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TRACK_QX, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TRACK_QY, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TRACK_QZ, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TRACK_REMOVED, new PoolEntry<uint8_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::STARS_CENTROIDED, new PoolEntry<uint8_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::LISA_QW, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::LISA_QX, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::LISA_QY, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::LISA_QZ, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::LISA_PERC_CLOSE, new PoolEntry<float>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TRUST_WORTHY, new PoolEntry<uint8_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::STABLE_COUNT, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>( { 0 }));
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_HISTOGRAM_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_HISTOGRAM_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA8, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB8, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC8, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND8, new PoolEntry<uint32_t>( { 0 }));
|
|
|
|
localDataPoolMap.emplace(StarTracker::TICKS_CONTRAST_SET, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::TIME_CONTRAST_SET, new PoolEntry<uint64_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA8, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB8, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND0, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND1, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND2, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND3, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND4, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND5, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND6, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND7, new PoolEntry<uint32_t>( { 0 }));
|
|
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND8, new PoolEntry<uint32_t>( { 0 }));
|
|
|
|
return RETURN_OK;
|
|
}
|
|
|
|
size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId){
|
|
return StarTracker::MAX_FRAME_SIZE;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::doSendReadHook() {
|
|
// Prevent DHB from polling UART during commands executed by the image loader task
|
|
if(strHelperExecuting) {
|
|
return RETURN_FAILED;
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
|
|
switch(actionId) {
|
|
case StarTracker::UPLOAD_IMAGE:
|
|
case StarTracker::DOWNLOAD_IMAGE: {
|
|
return DeviceHandlerBase::acceptExternalDeviceCommands();
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId) {
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
switch (*reply) {
|
|
case (StarTracker::ID::PING): {
|
|
*foundId = StarTracker::PING_REQUEST;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::WRITE): {
|
|
*foundId = StarTracker::WRITE;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::BOOT): {
|
|
*foundId = StarTracker::BOOT;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::TAKE_IMAGE): {
|
|
*foundId = StarTracker::TAKE_IMAGE;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::UPLOAD_IMAGE): {
|
|
*foundId = StarTracker::UPLOAD_IMAGE;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::ERROR_RESET): {
|
|
*foundId = StarTracker::RESET_ERROR;
|
|
break;
|
|
}
|
|
default:
|
|
sif::warning << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
|
|
<< std::endl;
|
|
return RETURN_FAILED;
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t *foundId) {
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
switch (*reply) {
|
|
case (StarTracker::ID::SUBSCRIBE): {
|
|
*foundId = StarTracker::SUBSCRIBE_TO_TM;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::LIMITS): {
|
|
*foundId = StarTracker::LIMITS;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::MOUNTING): {
|
|
*foundId = StarTracker::MOUNTING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::CAMERA): {
|
|
*foundId = StarTracker::CAMERA;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::BLOB): {
|
|
*foundId = StarTracker::BLOB;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::CENTROIDING): {
|
|
*foundId = StarTracker::CENTROIDING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::LISA): {
|
|
*foundId = StarTracker::LISA;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::MATCHING): {
|
|
*foundId = StarTracker::MATCHING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::TRACKING): {
|
|
*foundId = StarTracker::TRACKING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::VALIDATION): {
|
|
*foundId = StarTracker::VALIDATION;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::ALGO): {
|
|
*foundId = StarTracker::ALGO;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
|
|
<< std::endl;
|
|
return RETURN_FAILED;
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t *foundId) {
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
switch (*reply) {
|
|
case (StarTracker::ID::VERSION): {
|
|
*foundId = StarTracker::REQ_VERSION;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::INTERFACE): {
|
|
*foundId = StarTracker::REQ_INTERFACE;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::POWER): {
|
|
*foundId = StarTracker::REQ_POWER;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::TEMPERATURE): {
|
|
*foundId = StarTracker::REQ_TEMPERATURE;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::HISTOGRAM): {
|
|
*foundId = StarTracker::REQ_HISTOGRAM;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::CONTRAST): {
|
|
*foundId = StarTracker::REQ_CONTRAST;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::TIME): {
|
|
*foundId = StarTracker::REQ_TIME;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::SOLUTION): {
|
|
*foundId = StarTracker::REQ_SOLUTION;
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id"
|
|
<< std::endl;
|
|
return RETURN_FAILED;
|
|
break;
|
|
}
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
|
|
object_id_t objectId = eventMessage->getReporter();
|
|
switch(objectId){
|
|
case objects::STR_IMG_LOADER: {
|
|
// All events from image loader signal either that the operation was successful or that it
|
|
// failed
|
|
strHelperExecuting = false;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "StarTrackerHandler::handleEvent: Did not subscribe to this event"
|
|
<< std::endl;
|
|
break;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::executeWriteCommand(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
if (commandDataLen < WriteCmd::MIN_LENGTH) {
|
|
sif::warning << "StarTrackerHandler::executeWriteCommand: Command too short" << std::endl;
|
|
return COMMAND_TOO_SHORT;
|
|
}
|
|
uint8_t region = *(commandData);
|
|
uint32_t address;
|
|
size_t size = sizeof(address);
|
|
const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET;
|
|
result = SerializeAdapter::deSerialize(&address, addressPtr, &size,
|
|
SerializeIF::Endianness::LITTLE);
|
|
if (result != RETURN_OK) {
|
|
sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
if (commandDataLen - sizeof(address) - sizeof(region) > MAX_PATH_SIZE) {
|
|
sif::warning << "StarTrackerHandler::executeWriteCommand: Received command with invalid"
|
|
<< " path and filename" << std::endl;
|
|
return FILE_PATH_TOO_LONG;
|
|
}
|
|
const uint8_t* filePtr = commandData + WriteCmd::FILE_OFFSET;
|
|
std::string fullname = std::string(reinterpret_cast<const char*>(filePtr),
|
|
commandDataLen - sizeof(address) - sizeof(region));
|
|
result = strHelper->startFlashWrite(fullname, region, address);
|
|
if (result != RETURN_OK) {
|
|
return result;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
void StarTrackerHandler::prepareBootCommand() {
|
|
uint32_t length = 0;
|
|
struct BootActionRequest bootRequest = {BOOT_REGION_ID};
|
|
arc_pack_boot_action_req(&bootRequest, commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareTimeRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_time_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::preparePingRequest() {
|
|
uint32_t length = 0;
|
|
struct PingActionRequest pingRequest = {PING_ID};
|
|
arc_pack_ping_action_req(&pingRequest, commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareVersionRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_version_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareInterfaceRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_interface_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::preparePowerRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_power_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareRebootCommand() {
|
|
uint32_t length = 0;
|
|
struct RebootActionRequest rebootReq;
|
|
arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
|
|
uint32_t length = 0;
|
|
struct CameraActionRequest camReq;
|
|
camReq.actionid = *commandData;
|
|
arc_pack_camera_action_req(&camReq, commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareSubscriptionCommand(const uint8_t* tmId) {
|
|
uint32_t length = 18;
|
|
commandBuffer[0] = TMTC_SETPARAMREQ;
|
|
commandBuffer[1] = StarTracker::ID::SUBSCRIBE;
|
|
// Fill all other fields with invalid tm id
|
|
commandBuffer[2] = *tmId;
|
|
commandBuffer[3] = 0;
|
|
commandBuffer[4] = 0;
|
|
commandBuffer[5] = 0;
|
|
commandBuffer[6] = 0;
|
|
commandBuffer[7] = 0;
|
|
commandBuffer[8] = 0;
|
|
commandBuffer[9] = 0;
|
|
commandBuffer[10] = 0;
|
|
commandBuffer[11] = 0;
|
|
commandBuffer[12] = 0;
|
|
commandBuffer[13] = 0;
|
|
commandBuffer[14] = 0;
|
|
commandBuffer[15] = 0;
|
|
commandBuffer[16] = 0;
|
|
commandBuffer[17] = 0;
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareSolutionRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_solution_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareTemperatureRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_temperature_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareHistogramRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_histogram_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareContrastRequest() {
|
|
uint32_t length = 0;
|
|
arc_tm_pack_contrast_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
void StarTrackerHandler::prepareErrorResetRequest() {
|
|
uint32_t length = 0;
|
|
struct ResetErrorSignalActionRequest req;
|
|
arc_pack_reseterrorsignal_action_req(&req, commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
|
|
size_t commandDataLen, ArcsecJsonParamBase& paramSet) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
if (commandDataLen > MAX_PATH_SIZE) {
|
|
return FILE_PATH_TOO_LONG;
|
|
}
|
|
std::string fullName(reinterpret_cast<const char*>(commandData), commandDataLen);
|
|
|
|
result = paramSet.create(fullName, commandBuffer);
|
|
if (result != RETURN_OK) {
|
|
sif::warning << "StarTrackerHandler::prepareParamCommand: Failed to create parameter "
|
|
"command" << std::endl;
|
|
return result;
|
|
}
|
|
dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handleSetParamReply() {
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
uint8_t status = *(reply + STATUS_OFFSET);
|
|
if (status != StarTracker::STATUS_OK) {
|
|
sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
|
|
" command with parameter ID" <<
|
|
static_cast<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl;
|
|
if (startupState != StartupState::IDLE) {
|
|
startupState = StartupState::IDLE;
|
|
}
|
|
return SET_PARAM_FAILED;
|
|
}
|
|
if (startupState != StartupState::IDLE) {
|
|
handleStartup(reply + PARAMETER_ID_OFFSET);
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handleActionReply() {
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
uint8_t status = *(reply + STATUS_OFFSET);
|
|
if (status != StarTracker::STATUS_OK) {
|
|
sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
|
|
<< " command with action ID "
|
|
<< static_cast<unsigned int>(*(reply + ACTION_ID_OFFSET))
|
|
<< " and status "<< static_cast<unsigned int>(status) << std::endl;
|
|
return ACTION_FAILED;
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handlePingReply() {
|
|
ReturnValue_t result = RETURN_OK;
|
|
uint32_t pingId = 0;
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
uint8_t status = dataLinkLayer.getStatusField();
|
|
const uint8_t* buffer = reply + ACTION_DATA_OFFSET;
|
|
size_t size = sizeof(pingId);
|
|
SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE);
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
|
sif::info << "StarTracker: Ping status: "<< static_cast<unsigned int>(status) << std::endl;
|
|
sif::info << "Ping id: 0x"<< std::hex << pingId << std::endl;
|
|
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
|
|
if (status != StarTracker::STATUS_OK || pingId != PING_ID) {
|
|
sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl;
|
|
result = PING_FAILED;
|
|
}
|
|
else {
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
|
sif::info << "StarTracker: Ping successful" << std::endl;
|
|
#endif
|
|
}
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::checkProgram() {
|
|
PoolReadGuard pg(&versionSet);
|
|
switch(versionSet.program.value) {
|
|
case StarTracker::Program::BOOTLOADER:
|
|
// Star tracker currently in bootloader program. Need to send boot command to switch to
|
|
// firmware program
|
|
if (startupState != StartupState::IDLE) {
|
|
startupState = StartupState::BOOT;
|
|
}
|
|
break;
|
|
case StarTracker::Program::FIRMWARE:
|
|
// Firmware already booted
|
|
if (startupState != StartupState::IDLE) {
|
|
startupState = StartupState::LIMITS;
|
|
}
|
|
break;
|
|
default:
|
|
sif::warning << "StarTrackerHandler::checkProgram: Version set has invalid program ID"
|
|
<< std::endl;
|
|
return INVALID_PROGRAM;
|
|
}
|
|
return RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) {
|
|
ReturnValue_t result = RETURN_OK;
|
|
uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
|
|
if(status != StarTracker::STATUS_OK) {
|
|
sif::warning << "StarTrackerHandler::handleTm: Reply error: "
|
|
<< static_cast<unsigned int>(status) << std::endl;
|
|
return TM_REPLY_ERROR;
|
|
}
|
|
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != RETURN_OK) {
|
|
return result;
|
|
}
|
|
const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET;
|
|
dataset.setValidityBufferGeneration(false);
|
|
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
|
|
if (result != RETURN_OK) {
|
|
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed"
|
|
<< std::endl;
|
|
}
|
|
dataset.setValidityBufferGeneration(true);
|
|
dataset.setValidity(true, true);
|
|
result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != RETURN_OK) {
|
|
return result;
|
|
}
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
|
dataset.printSet();
|
|
#endif
|
|
return result;
|
|
}
|
|
|
|
void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
|
|
switch(*parameterId) {
|
|
case (StarTracker::ID::LIMITS): {
|
|
startupState = StartupState::TRACKING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::TRACKING): {
|
|
startupState = StartupState::MOUNTING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::MOUNTING): {
|
|
startupState = StartupState::CAMERA;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::CAMERA): {
|
|
startupState = StartupState::BLOB;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::BLOB): {
|
|
startupState = StartupState::CENTROIDING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::CENTROIDING): {
|
|
startupState = StartupState::LISA;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::LISA): {
|
|
startupState = StartupState::MATCHING;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::MATCHING): {
|
|
startupState = StartupState::VALIDATION;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::VALIDATION): {
|
|
startupState = StartupState::ALGO;
|
|
break;
|
|
}
|
|
case (StarTracker::ID::ALGO): {
|
|
startupState = StartupState::DONE;
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
|
|
<< " parameter ID" << std::endl;
|
|
break;
|
|
}
|
|
}
|
|
}
|