2168 lines
87 KiB
C++
2168 lines
87 KiB
C++
#include "StarTrackerHandler.h"
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/timemanager/Stopwatch.h>
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#include <atomic>
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#include <fstream>
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#include <thread>
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#include "OBSWConfig.h"
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#include "StarTrackerJsonCommands.h"
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extern "C" {
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#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
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#include <thirdparty/arcsec_star_tracker/client/generated/parameter.h>
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#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
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#include "common/misc.h"
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}
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std::atomic_bool JCFG_DONE(false);
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StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
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const char* jsonFileStr, StrHelper* strHelper,
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power::Switch_t powerSwitch)
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: DeviceHandlerBase(objectId, comIF, comCookie),
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temperatureSet(this),
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versionSet(this),
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powerSet(this),
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interfaceSet(this),
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timeSet(this),
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solutionSet(this),
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histogramSet(this),
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checksumSet(this),
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cameraSet(this),
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limitsSet(this),
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loglevelSet(this),
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mountingSet(this),
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imageProcessorSet(this),
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centroidingSet(this),
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lisaSet(this),
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matchingSet(this),
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trackingSet(this),
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validationSet(this),
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algoSet(this),
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subscriptionSet(this),
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logSubscriptionSet(this),
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debugCameraSet(this),
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strHelper(strHelper),
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paramJsonFile(jsonFileStr),
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powerSwitch(powerSwitch) {
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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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ReturnValue_t StarTrackerHandler::initialize() {
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ReturnValue_t result = returnvalue::OK;
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result = DeviceHandlerBase::initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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// Spin up a thread to do the JSON initialization, takes 200-250 ms which would
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// delay whole satellite boot process.
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jcfgCountdown.resetTimer();
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jsonCfgTask = std::thread{setUpJsonCfgs, std::ref(jcfgs), paramJsonFile.c_str()};
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(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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}
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result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::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::FIRMWARE_UPDATE_FAILED));
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if (result != returnvalue::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"
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<< 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 != returnvalue::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 returnvalue::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 = returnvalue::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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case (startracker::DISABLE_TIMESTAMP_GENERATION):
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strHelper->disableTimestamping();
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return EXECUTION_FINISHED;
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case (startracker::ENABLE_TIMESTAMP_GENERATION):
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strHelper->enableTimestamping();
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return EXECUTION_FINISHED;
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default:
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break;
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}
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if (strHelperHandlingSpecialRequest == true) {
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return STR_HELPER_EXECUTING;
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}
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result = checkMode(actionId);
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if (result != returnvalue::OK) {
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return result;
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}
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result = checkCommand(actionId);
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if (result != returnvalue::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 != returnvalue::OK) {
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return result;
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}
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if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
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return FILE_PATH_TOO_LONG;
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}
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result = strHelper->startImageUpload(std::string(reinterpret_cast<const char*>(data), size));
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if (result != returnvalue::OK) {
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return result;
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}
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strHelperHandlingSpecialRequest = 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 != returnvalue::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 =
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strHelper->startImageDownload(std::string(reinterpret_cast<const char*>(data), size));
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if (result != returnvalue::OK) {
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return result;
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}
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strHelperHandlingSpecialRequest = true;
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return EXECUTION_FINISHED;
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}
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case (startracker::FLASH_READ): {
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result = DeviceHandlerBase::acceptExternalDeviceCommands();
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if (result != returnvalue::OK) {
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return result;
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}
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result = executeFlashReadCommand(data, size);
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if (result != returnvalue::OK) {
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return result;
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}
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strHelperHandlingSpecialRequest = true;
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return EXECUTION_FINISHED;
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}
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case (startracker::CHANGE_IMAGE_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(std::string(reinterpret_cast<const char*>(data), size));
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return EXECUTION_FINISHED;
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}
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case (startracker::SET_FLASH_READ_FILENAME): {
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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->setFlashReadFilename(std::string(reinterpret_cast<const char*>(data), size));
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return EXECUTION_FINISHED;
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}
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case (startracker::FIRMWARE_UPDATE): {
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result = DeviceHandlerBase::acceptExternalDeviceCommands();
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if (result != returnvalue::OK) {
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return result;
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}
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if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
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return FILE_PATH_TOO_LONG;
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}
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result =
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strHelper->startFirmwareUpdate(std::string(reinterpret_cast<const char*>(data), size));
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if (result != returnvalue::OK) {
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return result;
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}
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strHelperHandlingSpecialRequest = true;
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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); result == returnvalue::OK;
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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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Submode_t StarTrackerHandler::getInitialSubmode() { return SUBMODE_BOOTLOADER; }
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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_PROGRAM;
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return;
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case StartupState::BOOT_BOOTLOADER:
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// This step is required in case the star tracker is already in firmware mode to harmonize
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// the device handler's submode to the star tracker's mode
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return;
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case StartupState::DONE:
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if (jcfgCountdown.isBusy()) {
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startupState = StartupState::WAIT_JCFG;
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return;
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}
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startupState = StartupState::IDLE;
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break;
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case StartupState::WAIT_JCFG: {
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if (jcfgCountdown.hasTimedOut()) {
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startupState = StartupState::IDLE;
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break;
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}
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return;
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}
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default:
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return;
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}
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startupState = StartupState::DONE;
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internalState = InternalState::IDLE;
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setMode(_MODE_TO_ON);
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}
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void StarTrackerHandler::doShutDown() {
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// If the star tracker is shutdown also stop all running processes in the image loader task
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strHelper->stopProcess();
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internalState = InternalState::IDLE;
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startupState = StartupState::IDLE;
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bootState = FwBootState::NONE;
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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if (strHelperHandlingSpecialRequest) {
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return NOTHING_TO_SEND;
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}
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switch (normalState) {
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case NormalState::TEMPERATURE_REQUEST:
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*id = startracker::REQ_TEMPERATURE;
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normalState = NormalState::SOLUTION_REQUEST;
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break;
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case NormalState::SOLUTION_REQUEST:
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*id = startracker::REQ_SOLUTION;
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normalState = NormalState::TEMPERATURE_REQUEST;
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break;
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default:
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sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid normal step"
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<< std::endl;
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return NOTHING_TO_SEND;
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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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switch (internalState) {
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case InternalState::BOOT_FIRMWARE: {
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if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
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return NOTHING_TO_SEND;
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}
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if (bootState == FwBootState::NONE) {
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*id = startracker::BOOT;
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bootCountdown.setTimeout(BOOT_TIMEOUT);
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bootState = FwBootState::BOOT_DELAY;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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if (bootState == FwBootState::BOOT_DELAY) {
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if (bootCountdown.isBusy()) {
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return NOTHING_TO_SEND;
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}
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bootState = FwBootState::REQ_VERSION;
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}
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switch (bootState) {
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case (FwBootState::REQ_VERSION): {
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bootState = FwBootState::VERIFY_BOOT;
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// Again read program to check if firmware boot was successful
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*id = startracker::REQ_VERSION;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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case (FwBootState::LOGLEVEL): {
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LOGLEVEL;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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}
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case (FwBootState::LIMITS): {
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LIMITS;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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}
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case (FwBootState::TRACKING): {
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::TRACKING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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}
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case FwBootState::MOUNTING:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::MOUNTING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::IMAGE_PROCESSOR:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::IMAGE_PROCESSOR;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::CAMERA:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::CAMERA;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::CENTROIDING:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::CENTROIDING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::LISA:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LISA;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::MATCHING:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::MATCHING;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::VALIDATION:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::VALIDATION;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::ALGO:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::ALGO;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::LOG_SUBSCRIPTION:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::LOGSUBSCRIPTION;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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case FwBootState::DEBUG_CAMERA:
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bootState = FwBootState::WAIT_FOR_EXECUTION;
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*id = startracker::DEBUG_CAMERA;
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return buildCommandFromCommand(
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*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
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default: {
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sif::error << "STR: Unexpected boot state" << (int)bootState << std::endl;
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return NOTHING_TO_SEND;
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}
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}
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}
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case InternalState::BOOT_BOOTLOADER:
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internalState = InternalState::BOOTLOADER_CHECK;
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*id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
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return buildCommandFromCommand(*id, nullptr, 0);
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case InternalState::BOOTLOADER_CHECK:
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*id = startracker::REQ_VERSION;
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return buildCommandFromCommand(*id, nullptr, 0);
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default:
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break;
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}
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switch (startupState) {
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case StartupState::CHECK_PROGRAM:
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startupState = StartupState::WAIT_CHECK_PROGRAM;
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*id = startracker::REQ_VERSION;
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return buildCommandFromCommand(*id, nullptr, 0);
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break;
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case StartupState::BOOT_BOOTLOADER:
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startupState = StartupState::CHECK_PROGRAM;
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*id = startracker::SWITCH_TO_BOOTLOADER_PROGRAM;
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return buildCommandFromCommand(*id, nullptr, 0);
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break;
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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,
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size_t commandDataLen) {
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ReturnValue_t result = returnvalue::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 returnvalue::OK;
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}
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case (startracker::REQ_TIME): {
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prepareTimeRequest();
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return returnvalue::OK;
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}
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case (startracker::BOOT): {
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prepareBootCommand();
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return returnvalue::OK;
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}
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case (startracker::REQ_VERSION): {
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prepareVersionRequest();
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return returnvalue::OK;
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}
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case (startracker::REQ_INTERFACE): {
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prepareInterfaceRequest();
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return returnvalue::OK;
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}
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case (startracker::REQ_POWER): {
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preparePowerRequest();
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return returnvalue::OK;
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}
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case (startracker::SWITCH_TO_BOOTLOADER_PROGRAM): {
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prepareSwitchToBootloaderCmd();
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return returnvalue::OK;
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}
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case (startracker::TAKE_IMAGE): {
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prepareTakeImageCommand(commandData);
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return returnvalue::OK;
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}
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case (startracker::SUBSCRIPTION): {
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result = prepareParamCommand(commandData, commandDataLen, jcfgs.subscription);
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return returnvalue::OK;
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}
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case (startracker::REQ_SOLUTION): {
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prepareSolutionRequest();
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return returnvalue::OK;
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}
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case (startracker::REQ_TEMPERATURE): {
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prepareTemperatureRequest();
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return returnvalue::OK;
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}
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case (startracker::REQ_HISTOGRAM): {
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prepareHistogramRequest();
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return returnvalue::OK;
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}
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case (startracker::LIMITS): {
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result = prepareParamCommand(commandData, commandDataLen, jcfgs.limits);
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return result;
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}
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case (startracker::MOUNTING): {
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result = prepareParamCommand(commandData, commandDataLen, jcfgs.mounting);
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return result;
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}
|
|
case (startracker::IMAGE_PROCESSOR): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.imageProcessor);
|
|
return result;
|
|
}
|
|
case (startracker::CAMERA): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.camera);
|
|
return result;
|
|
}
|
|
case (startracker::CENTROIDING): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.centroiding);
|
|
return result;
|
|
}
|
|
case (startracker::LISA): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.lisa);
|
|
return result;
|
|
}
|
|
case (startracker::MATCHING): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.matching);
|
|
return result;
|
|
}
|
|
case (startracker::VALIDATION): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.validation);
|
|
return result;
|
|
}
|
|
case (startracker::ALGO): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.algo);
|
|
return result;
|
|
}
|
|
case (startracker::TRACKING): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.tracking);
|
|
return result;
|
|
}
|
|
case (startracker::LOGLEVEL): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.logLevel);
|
|
return result;
|
|
}
|
|
case (startracker::LOGSUBSCRIPTION): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.logSubscription);
|
|
return result;
|
|
}
|
|
case (startracker::DEBUG_CAMERA): {
|
|
result = prepareParamCommand(commandData, commandDataLen, jcfgs.debugCamera);
|
|
return result;
|
|
}
|
|
case (startracker::CHECKSUM): {
|
|
result = prepareChecksumCommand(commandData, commandDataLen);
|
|
return result;
|
|
}
|
|
case (startracker::REQ_CAMERA): {
|
|
result = prepareRequestCameraParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_LIMITS): {
|
|
result = prepareRequestLimitsParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_LOG_LEVEL): {
|
|
result = prepareRequestLogLevelParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_MOUNTING): {
|
|
result = prepareRequestMountingParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_IMAGE_PROCESSOR): {
|
|
result = prepareRequestImageProcessorParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_CENTROIDING): {
|
|
result = prepareRequestCentroidingParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_LISA): {
|
|
result = prepareRequestLisaParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_MATCHING): {
|
|
result = prepareRequestMatchingParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_TRACKING): {
|
|
result = prepareRequestTrackingParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_VALIDATION): {
|
|
result = prepareRequestValidationParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_ALGO): {
|
|
result = prepareRequestAlgoParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_SUBSCRIPTION): {
|
|
result = prepareRequestSubscriptionParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_LOG_SUBSCRIPTION): {
|
|
result = prepareRequestLogSubscriptionParams();
|
|
return result;
|
|
}
|
|
case (startracker::REQ_DEBUG_CAMERA): {
|
|
result = prepareRequestDebugCameraParams();
|
|
return result;
|
|
}
|
|
default:
|
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
|
}
|
|
return returnvalue::FAILED;
|
|
}
|
|
|
|
void StarTrackerHandler::fillCommandAndReplyMap() {
|
|
/** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
|
|
* is specified */
|
|
this->insertInCommandAndReplyMap(startracker::PING_REQUEST, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandMap(startracker::BOOT);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_VERSION, 3, &versionSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_TIME, 3, &timeSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandMap(startracker::UPLOAD_IMAGE);
|
|
this->insertInCommandMap(startracker::DOWNLOAD_IMAGE);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_POWER, 3, &powerSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_INTERFACE, 3, &interfaceSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
// Reboot has no reply. Star tracker reboots immediately
|
|
this->insertInCommandMap(startracker::SWITCH_TO_BOOTLOADER_PROGRAM);
|
|
this->insertInCommandAndReplyMap(startracker::SUBSCRIPTION, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_SOLUTION, 3, &solutionSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_TEMPERATURE, 3, &temperatureSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_HISTOGRAM, 3, &histogramSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::LOGLEVEL, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::LOGSUBSCRIPTION, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::DEBUG_CAMERA, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::LIMITS, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::MOUNTING, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::IMAGE_PROCESSOR, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::CAMERA, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::CENTROIDING, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::LISA, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::MATCHING, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::TRACKING, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::VALIDATION, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::ALGO, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::TAKE_IMAGE, 3, nullptr,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::CHECKSUM, 3, &checksumSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_CAMERA, 3, &cameraSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_LIMITS, 3, &limitsSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_LOG_LEVEL, 3, &loglevelSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_MOUNTING, 3, &mountingSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_IMAGE_PROCESSOR, 3, &imageProcessorSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_CENTROIDING, 3, ¢roidingSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_LISA, 3, &lisaSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_MATCHING, 3, &matchingSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_TRACKING, 3, &trackingSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_VALIDATION, 3, &validationSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_ALGO, 3, &algoSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_SUBSCRIPTION, 3, &subscriptionSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_LOG_SUBSCRIPTION, 3, &logSubscriptionSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
this->insertInCommandAndReplyMap(startracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet,
|
|
startracker::MAX_FRAME_SIZE * 2 + 2);
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
|
|
if (getMode() == MODE_NORMAL && mode == MODE_ON) {
|
|
return TRANS_NOT_ALLOWED;
|
|
}
|
|
switch (mode) {
|
|
case MODE_OFF:
|
|
case MODE_NORMAL:
|
|
case MODE_RAW:
|
|
if (submode == SUBMODE_NONE) {
|
|
return returnvalue::OK;
|
|
} else {
|
|
return INVALID_SUBMODE;
|
|
}
|
|
case MODE_ON:
|
|
if (submode == SUBMODE_BOOTLOADER || submode == SUBMODE_FIRMWARE) {
|
|
return returnvalue::OK;
|
|
} else {
|
|
return INVALID_SUBMODE;
|
|
}
|
|
default:
|
|
return HasModesIF::INVALID_MODE;
|
|
}
|
|
}
|
|
|
|
void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
|
switch (getMode()) {
|
|
case _MODE_TO_ON:
|
|
doOnTransition(subModeFrom);
|
|
break;
|
|
case _MODE_TO_RAW:
|
|
setMode(MODE_RAW);
|
|
break;
|
|
case _MODE_TO_NORMAL:
|
|
doNormalTransition(modeFrom, subModeFrom);
|
|
break;
|
|
case _MODE_POWER_DOWN:
|
|
internalState = InternalState::IDLE;
|
|
startupState = StartupState::IDLE;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
|
|
uint8_t dhbSubmode = getSubmode();
|
|
// We hide that the transition to submode firmware actually goes through the submode bootloader.
|
|
// This is because the startracker always starts in bootloader mode but we want to allow direct
|
|
// transitions to firmware mode.
|
|
if (startupState == StartupState::DONE) {
|
|
subModeFrom = SUBMODE_BOOTLOADER;
|
|
}
|
|
if (dhbSubmode == SUBMODE_NONE) {
|
|
bootFirmware(MODE_ON);
|
|
}
|
|
if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_FIRMWARE) {
|
|
bootBootloader();
|
|
} else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_FIRMWARE) {
|
|
setMode(MODE_ON);
|
|
} else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_BOOTLOADER) {
|
|
bootFirmware(MODE_ON);
|
|
} else if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_BOOTLOADER) {
|
|
setMode(MODE_ON);
|
|
} else if (dhbSubmode == SUBMODE_BOOTLOADER && subModeFrom == SUBMODE_NONE) {
|
|
setMode(MODE_ON);
|
|
} else if (dhbSubmode == SUBMODE_FIRMWARE && subModeFrom == SUBMODE_NONE) {
|
|
setMode(MODE_ON);
|
|
}
|
|
}
|
|
|
|
void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
|
if (subModeFrom == SUBMODE_FIRMWARE) {
|
|
setMode(MODE_NORMAL);
|
|
} else if (subModeFrom == SUBMODE_BOOTLOADER) {
|
|
bootFirmware(MODE_NORMAL);
|
|
} else if (modeFrom == MODE_NORMAL && subModeFrom == SUBMODE_NONE) {
|
|
// Device handler already in mode normal
|
|
setMode(MODE_NORMAL);
|
|
}
|
|
}
|
|
|
|
void StarTrackerHandler::bootFirmware(Mode_t toMode) {
|
|
switch (internalState) {
|
|
case InternalState::IDLE:
|
|
sif::info << "STR: Booting to firmware mode" << std::endl;
|
|
internalState = InternalState::BOOT_FIRMWARE;
|
|
break;
|
|
case InternalState::BOOT_FIRMWARE:
|
|
break;
|
|
case InternalState::FAILED_FIRMWARE_BOOT:
|
|
internalState = InternalState::IDLE;
|
|
break;
|
|
case InternalState::DONE:
|
|
if (toMode == MODE_NORMAL) {
|
|
setMode(toMode, 0);
|
|
} else {
|
|
setMode(toMode, SUBMODE_FIRMWARE);
|
|
}
|
|
sif::info << "STR: Firmware boot success" << std::endl;
|
|
internalState = InternalState::IDLE;
|
|
startupState = StartupState::IDLE;
|
|
break;
|
|
default:
|
|
return;
|
|
}
|
|
}
|
|
|
|
void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonFile) {
|
|
cfgs.tracking.init(paramJsonFile);
|
|
cfgs.logLevel.init(paramJsonFile);
|
|
cfgs.logSubscription.init(paramJsonFile);
|
|
cfgs.debugCamera.init(paramJsonFile);
|
|
cfgs.algo.init(paramJsonFile);
|
|
cfgs.validation.init(paramJsonFile);
|
|
cfgs.matching.init(paramJsonFile);
|
|
cfgs.lisa.init(paramJsonFile);
|
|
cfgs.centroiding.init(paramJsonFile);
|
|
cfgs.camera.init(paramJsonFile);
|
|
cfgs.imageProcessor.init(paramJsonFile);
|
|
cfgs.mounting.init(paramJsonFile);
|
|
cfgs.limits.init(paramJsonFile);
|
|
cfgs.subscription.init(paramJsonFile);
|
|
JCFG_DONE = true;
|
|
}
|
|
|
|
void StarTrackerHandler::bootBootloader() {
|
|
if (internalState == InternalState::IDLE) {
|
|
internalState = InternalState::BOOT_BOOTLOADER;
|
|
} else if (internalState == InternalState::FAILED_BOOTLOADER_BOOT) {
|
|
internalState = InternalState::IDLE;
|
|
} else if (internalState == InternalState::DONE) {
|
|
internalState = InternalState::IDLE;
|
|
startupState = StartupState::IDLE;
|
|
setMode(MODE_ON);
|
|
}
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
|
|
DeviceCommandId_t* foundId, size_t* foundLen) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
size_t bytesLeft = 0;
|
|
|
|
result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft);
|
|
switch (result) {
|
|
case ArcsecDatalinkLayer::DEC_IN_PROGRESS: {
|
|
remainingSize = bytesLeft;
|
|
// Need a second doSendRead pass to reaa in whole packet
|
|
return IGNORE_REPLY_DATA;
|
|
}
|
|
case returnvalue::OK: {
|
|
break;
|
|
}
|
|
default:
|
|
remainingSize = bytesLeft;
|
|
return result;
|
|
}
|
|
|
|
switch (dataLinkLayer.getReplyFrameType()) {
|
|
case TMTC_ACTIONREPLY: {
|
|
*foundLen = remainingSize - bytesLeft;
|
|
result = scanForActionReply(foundId);
|
|
break;
|
|
}
|
|
case TMTC_SETPARAMREPLY: {
|
|
*foundLen = remainingSize - bytesLeft;
|
|
result = scanForSetParameterReply(foundId);
|
|
break;
|
|
}
|
|
case TMTC_PARAMREPLY: {
|
|
*foundLen = remainingSize - bytesLeft;
|
|
result = scanForGetParameterReply(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 = returnvalue::FAILED;
|
|
}
|
|
}
|
|
|
|
remainingSize = bytesLeft;
|
|
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
|
|
const uint8_t* packet) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
|
|
switch (id) {
|
|
case (startracker::REQ_TIME): {
|
|
result = handleTm(timeSet, startracker::TimeSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::PING_REQUEST): {
|
|
result = handlePingReply();
|
|
break;
|
|
}
|
|
case (startracker::BOOT):
|
|
case (startracker::TAKE_IMAGE):
|
|
break;
|
|
case (startracker::CHECKSUM): {
|
|
result = handleChecksumReply();
|
|
break;
|
|
}
|
|
case (startracker::REQ_VERSION): {
|
|
result = handleTm(versionSet, startracker::VersionSet::SIZE);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
result = checkProgram();
|
|
if (result != returnvalue::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::SUBSCRIPTION):
|
|
case (startracker::LOGLEVEL):
|
|
case (startracker::LOGSUBSCRIPTION):
|
|
case (startracker::DEBUG_CAMERA):
|
|
case (startracker::LIMITS):
|
|
case (startracker::MOUNTING):
|
|
case (startracker::CAMERA):
|
|
case (startracker::CENTROIDING):
|
|
case (startracker::LISA):
|
|
case (startracker::MATCHING):
|
|
case (startracker::TRACKING):
|
|
case (startracker::VALIDATION):
|
|
case (startracker::IMAGE_PROCESSOR):
|
|
case (startracker::ALGO): {
|
|
result = handleSetParamReply();
|
|
break;
|
|
}
|
|
case (startracker::REQ_CAMERA): {
|
|
handleParamRequest(cameraSet, startracker::CameraSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_LIMITS): {
|
|
handleParamRequest(limitsSet, startracker::LimitsSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_LOG_LEVEL): {
|
|
handleParamRequest(loglevelSet, startracker::LogLevelSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_MOUNTING): {
|
|
handleParamRequest(mountingSet, startracker::MountingSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_IMAGE_PROCESSOR): {
|
|
handleParamRequest(imageProcessorSet, startracker::ImageProcessorSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_CENTROIDING): {
|
|
handleParamRequest(centroidingSet, startracker::CentroidingSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_LISA): {
|
|
handleParamRequest(lisaSet, startracker::LisaSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_MATCHING): {
|
|
handleParamRequest(matchingSet, startracker::MatchingSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_TRACKING): {
|
|
handleParamRequest(trackingSet, startracker::TrackingSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_VALIDATION): {
|
|
handleParamRequest(validationSet, startracker::ValidationSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_ALGO): {
|
|
handleParamRequest(algoSet, startracker::AlgoSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_SUBSCRIPTION): {
|
|
handleParamRequest(subscriptionSet, startracker::SubscriptionSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_LOG_SUBSCRIPTION): {
|
|
handleParamRequest(logSubscriptionSet, startracker::LogSubscriptionSet::SIZE);
|
|
break;
|
|
}
|
|
case (startracker::REQ_DEBUG_CAMERA): {
|
|
handleParamRequest(debugCameraSet, startracker::DebugCameraSet::SIZE);
|
|
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 DEFAULT_TRANSITION_DELAY;
|
|
}
|
|
|
|
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::FPGA_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::CAMERA_MODE, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::FOCALLENGTH, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::EXPOSURE, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::INTERVAL, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CAMERA_OFFSET, new PoolEntry<int16_t>({0}));
|
|
localDataPoolMap.emplace(startracker::PGAGAIN, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::ADCGAIN, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG1, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL1, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG2, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL2, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG3, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL3, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG4, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL4, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG5, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL5, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG6, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL6, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG7, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL7, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_REG8, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_VAL8, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CAM_FREQ_1, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::LIMITS_ACTION, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_FPGA18CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_FPGA25CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_FPGA10CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_MCUCURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_CMOS21CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_CMOSPIXCURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_CMOS33CURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_CMOSVRESCURRENT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LIMITS_CMOSTEMPERATURE, new PoolEntry<float>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL1, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL2, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL3, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL4, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL5, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL6, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL7, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL8, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL9, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL10, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL11, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL12, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL13, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL14, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL15, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOGLEVEL16, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::MOUNTING_QW, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::MOUNTING_QX, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::MOUNTING_QY, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::MOUNTING_QZ, new PoolEntry<float>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::IMAGE_PROCESSOR_MODE, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::IMAGE_PROCESSOR_STORE, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::IMAGE_PROCESSOR_SIGNALTHRESHOLD,
|
|
new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(startracker::IMAGE_PROCESSOR_DARKTHRESHOLD,
|
|
new PoolEntry<uint16_t>({0}));
|
|
localDataPoolMap.emplace(startracker::IMAGE_PROCESSOR_BACKGROUNDCOMPENSATION,
|
|
new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_ENABLE_FILTER, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_MAX_QUALITY, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_DARK_THRESHOLD, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_MIN_QUALITY, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_MAX_INTENSITY, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_MIN_INTENSITY, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_MAX_MAGNITUDE, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_GAUSSIAN_CMAX, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_GAUSSIAN_CMIN, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_TRANSMATRIX00, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_TRANSMATRIX01, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_TRANSMATRIX10, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::CENTROIDING_TRANSMATRIX11, new PoolEntry<float>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::LISA_MODE, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_PREFILTER_DIST_THRESHOLD, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_PREFILTER_ANGLE_THRESHOLD, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_FOV_WIDTH, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_FOV_HEIGHT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_FLOAT_STAR_LIMIT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_CLOSE_STAR_LIMIT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_RATING_WEIGHT_CLOSE_STAR_COUNT,
|
|
new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_RATING_WEIGHT_FRACTION_CLOSE,
|
|
new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_RATING_WEIGHT_MEAN_SUM, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_RATING_WEIGHT_DB_STAR_COUNT,
|
|
new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_MAX_COMBINATIONS, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_NR_STARS_STOP, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LISA_FRACTION_CLOSE_STOP, new PoolEntry<float>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::MATCHING_SQUARED_DISTANCE_LIMIT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::MATCHING_SQUARED_SHIFT_LIMIT, new PoolEntry<float>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::TRACKING_THIN_LIMIT, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::TRACKING_OUTLIER_THRESHOLD, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::TRACKING_OUTLIER_THRESHOLD_QUEST,
|
|
new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::TRACKING_TRACKER_CHOICE, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::VALIDATION_STABLE_COUNT, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::VALIDATION_MAX_DIFFERENCE, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::VALIDATION_MIN_TRACKER_CONFIDENCE,
|
|
new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::VALIDATION_MIN_MATCHED_STARS, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::ALGO_MODE, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::ALGO_I2T_MIN_CONFIDENCE, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::ALGO_I2T_MIN_MATCHED, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::ALGO_I2L_MIN_CONFIDENCE, new PoolEntry<float>({0}));
|
|
localDataPoolMap.emplace(startracker::ALGO_I2L_MIN_MATCHED, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM1, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM2, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM3, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM4, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM5, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM6, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM7, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM8, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM9, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM10, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM11, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM12, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM13, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM14, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM15, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::SUBSCRIPTION_TM16, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::LOG_SUBSCRIPTION_LEVEL1, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOG_SUBSCRIPTION_MODULE1, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOG_SUBSCRIPTION_LEVEL2, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(startracker::LOG_SUBSCRIPTION_MODULE2, new PoolEntry<uint8_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::DEBUG_CAMERA_TIMING, new PoolEntry<uint32_t>({0}));
|
|
localDataPoolMap.emplace(startracker::DEBUG_CAMERA_TEST, new PoolEntry<uint32_t>({0}));
|
|
|
|
localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
|
|
|
|
poolManager.subscribeForDiagPeriodicPacket(
|
|
subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(powerSet.getSid(), false, 10.0));
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(interfaceSet.getSid(), false, 10.0));
|
|
poolManager.subscribeForDiagPeriodicPacket(
|
|
subdp::DiagnosticsHkPeriodicParams(solutionSet.getSid(), false, 5.0));
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(cameraSet.getSid(), false, 10.0));
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(histogramSet.getSid(), false, 10.0));
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
|
|
return returnvalue::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 (strHelperHandlingSpecialRequest) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
|
|
if (powerSwitch == power::NO_SWITCH) {
|
|
return DeviceHandlerBase::NO_SWITCH;
|
|
}
|
|
*numberOfSwitches = 1;
|
|
*switches = &powerSwitch;
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
|
|
switch (actionId) {
|
|
case startracker::UPLOAD_IMAGE:
|
|
case startracker::DOWNLOAD_IMAGE:
|
|
case startracker::FLASH_READ:
|
|
case startracker::FIRMWARE_UPDATE: {
|
|
return DeviceHandlerBase::acceptExternalDeviceCommands();
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
return returnvalue::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::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::CHECKSUM): {
|
|
*foundId = startracker::CHECKSUM;
|
|
break;
|
|
}
|
|
default:
|
|
sif::warning << "StarTrackerHandler::scanForActionReply: Unknown parameter reply id"
|
|
<< std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) {
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
switch (*reply) {
|
|
case (startracker::ID::SUBSCRIPTION): {
|
|
*foundId = startracker::SUBSCRIPTION;
|
|
break;
|
|
}
|
|
case (startracker::ID::LIMITS): {
|
|
*foundId = startracker::LIMITS;
|
|
break;
|
|
}
|
|
case (startracker::ID::MOUNTING): {
|
|
*foundId = startracker::MOUNTING;
|
|
break;
|
|
}
|
|
case (startracker::ID::IMAGE_PROCESSOR): {
|
|
*foundId = startracker::IMAGE_PROCESSOR;
|
|
break;
|
|
}
|
|
case (startracker::ID::CAMERA): {
|
|
*foundId = startracker::CAMERA;
|
|
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;
|
|
}
|
|
case (startracker::ID::LOG_LEVEL): {
|
|
*foundId = startracker::LOGLEVEL;
|
|
break;
|
|
}
|
|
case (startracker::ID::DEBUG_CAMERA): {
|
|
*foundId = startracker::DEBUG_CAMERA;
|
|
break;
|
|
}
|
|
case (startracker::ID::LOG_SUBSCRIPTION): {
|
|
*foundId = startracker::LOGSUBSCRIPTION;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
|
|
<< std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* foundId) {
|
|
const uint8_t* reply = dataLinkLayer.getReply();
|
|
switch (*reply) {
|
|
case (startracker::ID::CAMERA): {
|
|
*foundId = startracker::REQ_CAMERA;
|
|
break;
|
|
}
|
|
case (startracker::ID::LIMITS): {
|
|
*foundId = startracker::REQ_LIMITS;
|
|
break;
|
|
}
|
|
case (startracker::ID::LOG_LEVEL): {
|
|
*foundId = startracker::REQ_LOG_LEVEL;
|
|
break;
|
|
}
|
|
case (startracker::ID::MOUNTING): {
|
|
*foundId = startracker::REQ_MOUNTING;
|
|
break;
|
|
}
|
|
case (startracker::ID::IMAGE_PROCESSOR): {
|
|
*foundId = startracker::REQ_IMAGE_PROCESSOR;
|
|
break;
|
|
}
|
|
case (startracker::ID::CENTROIDING): {
|
|
*foundId = startracker::REQ_CENTROIDING;
|
|
break;
|
|
}
|
|
case (startracker::ID::LISA): {
|
|
*foundId = startracker::REQ_LISA;
|
|
break;
|
|
}
|
|
case (startracker::ID::MATCHING): {
|
|
*foundId = startracker::REQ_MATCHING;
|
|
break;
|
|
}
|
|
case (startracker::ID::TRACKING): {
|
|
*foundId = startracker::REQ_TRACKING;
|
|
break;
|
|
}
|
|
case (startracker::ID::VALIDATION): {
|
|
*foundId = startracker::REQ_VALIDATION;
|
|
break;
|
|
}
|
|
case (startracker::ID::ALGO): {
|
|
*foundId = startracker::REQ_ALGO;
|
|
break;
|
|
}
|
|
case (startracker::ID::SUBSCRIPTION): {
|
|
*foundId = startracker::REQ_SUBSCRIPTION;
|
|
break;
|
|
}
|
|
case (startracker::ID::LOG_SUBSCRIPTION): {
|
|
*foundId = startracker::REQ_LOG_SUBSCRIPTION;
|
|
break;
|
|
}
|
|
case (startracker::ID::DEBUG_CAMERA): {
|
|
*foundId = startracker::REQ_DEBUG_CAMERA;
|
|
break;
|
|
}
|
|
default: {
|
|
sif::warning << "tarTrackerHandler::scanForGetParameterReply: UnkNown ID" << std::endl;
|
|
return returnvalue::FAILED;
|
|
break;
|
|
}
|
|
}
|
|
return returnvalue::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::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: "
|
|
<< static_cast<unsigned int>(*reply) << std::endl;
|
|
return returnvalue::FAILED;
|
|
break;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
|
|
object_id_t objectId = eventMessage->getReporter();
|
|
switch (objectId) {
|
|
case objects::STR_HELPER: {
|
|
// All events from image loader signal either that the operation was successful or that it
|
|
// failed
|
|
strHelperHandlingSpecialRequest = false;
|
|
break;
|
|
}
|
|
default:
|
|
sif::debug << "StarTrackerHandler::handleEvent: Did not subscribe to this event" << std::endl;
|
|
break;
|
|
}
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::executeFlashReadCommand(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
if (commandDataLen < FlashReadCmd::MIN_LENGTH) {
|
|
sif::warning << "StarTrackerHandler::executeFlashReadCommand: Command too short" << std::endl;
|
|
return COMMAND_TOO_SHORT;
|
|
}
|
|
uint8_t startRegion = *(commandData);
|
|
uint32_t length;
|
|
size_t size = sizeof(length);
|
|
const uint8_t* lengthPtr = commandData + sizeof(startRegion);
|
|
result = SerializeAdapter::deSerialize(&length, lengthPtr, &size, SerializeIF::Endianness::BIG);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "StarTrackerHandler::executeFlashReadCommand: Deserialization of length failed"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
if (commandDataLen - sizeof(startRegion) - sizeof(length) > MAX_PATH_SIZE) {
|
|
sif::warning << "StarTrackerHandler::executeFlashReadCommand: Received command with invalid"
|
|
<< " path and filename" << std::endl;
|
|
return FILE_PATH_TOO_LONG;
|
|
}
|
|
const uint8_t* filePtr = commandData + sizeof(startRegion) + sizeof(length);
|
|
std::string fullname = std::string(reinterpret_cast<const char*>(filePtr),
|
|
commandDataLen - sizeof(startRegion) - sizeof(length));
|
|
result = strHelper->startFlashRead(fullname, startRegion, length);
|
|
if (result != returnvalue::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();
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
struct ChecksumActionRequest req;
|
|
ReturnValue_t result = returnvalue::OK;
|
|
if (commandDataLen != ChecksumCmd::LENGTH) {
|
|
sif::warning << "StarTrackerHandler::prepareChecksumCommand: Invalid length" << std::endl;
|
|
return INVALID_LENGTH;
|
|
}
|
|
req.region = *(commandData);
|
|
size_t size = sizeof(req.address);
|
|
const uint8_t* addressPtr = commandData + ChecksumCmd::ADDRESS_OFFSET;
|
|
result =
|
|
SerializeAdapter::deSerialize(&req.address, addressPtr, &size, SerializeIF::Endianness::BIG);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of address "
|
|
<< "failed" << std::endl;
|
|
return result;
|
|
}
|
|
size = sizeof(req.length);
|
|
const uint8_t* lengthPtr = commandData + ChecksumCmd::LENGTH_OFFSET;
|
|
result =
|
|
SerializeAdapter::deSerialize(&req.length, lengthPtr, &size, SerializeIF::Endianness::BIG);
|
|
if (result != returnvalue::OK) {
|
|
sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of length failed"
|
|
<< std::endl;
|
|
return result;
|
|
}
|
|
uint32_t rawCmdLength = 0;
|
|
arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength);
|
|
dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
checksumCmd.rememberRegion = req.region;
|
|
checksumCmd.rememberAddress = req.address;
|
|
checksumCmd.rememberLength = req.length;
|
|
return result;
|
|
}
|
|
|
|
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::prepareSwitchToBootloaderCmd() {
|
|
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::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();
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
|
|
size_t commandDataLen,
|
|
ArcsecJsonParamBase& paramSet) {
|
|
// Stopwatch watch;
|
|
ReturnValue_t result = returnvalue::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 != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_camera_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_limits_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestLogLevelParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_loglevel_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestMountingParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_mounting_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestImageProcessorParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_imageprocessor_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestCentroidingParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_centroiding_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestLisaParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_lisa_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestMatchingParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_matching_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestTrackingParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_tracking_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestValidationParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_validation_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestAlgoParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_algo_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestSubscriptionParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_subscription_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestLogSubscriptionParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_logsubscription_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::prepareRequestDebugCameraParams() {
|
|
uint32_t length = 0;
|
|
arc_pack_debugcamera_parameter_req(commandBuffer, &length);
|
|
dataLinkLayer.encodeFrame(commandBuffer, length);
|
|
rawPacket = dataLinkLayer.getEncodedFrame();
|
|
rawPacketLen = dataLinkLayer.getEncodedLength();
|
|
return returnvalue::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 (internalState != InternalState::IDLE) {
|
|
internalState = InternalState::IDLE;
|
|
}
|
|
return SET_PARAM_FAILED;
|
|
}
|
|
if (internalState != InternalState::IDLE) {
|
|
handleStartup(reply + PARAMETER_ID_OFFSET);
|
|
}
|
|
return returnvalue::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 returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handleChecksumReply() {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = handleActionReply();
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
|
|
startracker::ChecksumReply checksumReply(replyData);
|
|
if (checksumReply.getRegion() != checksumCmd.rememberRegion) {
|
|
sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl;
|
|
return REGION_MISMATCH;
|
|
}
|
|
if (checksumReply.getAddress() != checksumCmd.rememberAddress) {
|
|
sif::warning << "StarTrackerHandler::handleChecksumReply: Address mismatch" << std::endl;
|
|
return ADDRESS_MISMATCH;
|
|
}
|
|
if (checksumReply.getLength() != checksumCmd.rememberLength) {
|
|
sif::warning << "StarTrackerHandler::handleChecksumReply: Length mismatch" << std::endl;
|
|
return LENGTH_MISSMATCH;
|
|
}
|
|
PoolReadGuard rg(&checksumSet);
|
|
checksumSet.checksum = checksumReply.getChecksum();
|
|
handleDeviceTm(checksumSet, startracker::CHECKSUM);
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
|
checksumReply.printChecksum();
|
|
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& dataset, size_t size) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
const uint8_t* reply = dataLinkLayer.getReply() + PARAMS_OFFSET;
|
|
dataset.setValidityBufferGeneration(false);
|
|
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "StarTrackerHandler::handleParamRequest Deserialization failed" << std::endl;
|
|
}
|
|
dataset.setValidityBufferGeneration(true);
|
|
dataset.setValidity(true, true);
|
|
result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
|
dataset.printSet();
|
|
#endif
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handlePingReply() {
|
|
ReturnValue_t result = returnvalue::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:
|
|
if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
|
|
startupState = StartupState::DONE;
|
|
}
|
|
if (bootState == FwBootState::VERIFY_BOOT) {
|
|
sif::warning << "StarTrackerHandler::checkProgram: Failed to boot firmware" << std::endl;
|
|
// Device handler will run into timeout and fall back to transition source mode
|
|
triggerEvent(BOOTING_FIRMWARE_FAILED_EVENT);
|
|
internalState = InternalState::FAILED_FIRMWARE_BOOT;
|
|
} else if (internalState == InternalState::BOOTLOADER_CHECK) {
|
|
internalState = InternalState::DONE;
|
|
}
|
|
break;
|
|
case startracker::Program::FIRMWARE:
|
|
if (startupState == StartupState::WAIT_CHECK_PROGRAM) {
|
|
startupState = StartupState::BOOT_BOOTLOADER;
|
|
}
|
|
if (bootState == FwBootState::VERIFY_BOOT) {
|
|
bootState = FwBootState::LOGLEVEL;
|
|
} else if (internalState == InternalState::BOOTLOADER_CHECK) {
|
|
triggerEvent(BOOTING_BOOTLOADER_FAILED_EVENT);
|
|
internalState = InternalState::FAILED_BOOTLOADER_BOOT;
|
|
}
|
|
break;
|
|
default:
|
|
sif::warning << "StarTrackerHandler::checkProgram: Version set has invalid program ID"
|
|
<< std::endl;
|
|
return INVALID_PROGRAM;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) {
|
|
ReturnValue_t result = returnvalue::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 REPLY_ERROR;
|
|
}
|
|
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET;
|
|
dataset.setValidityBufferGeneration(false);
|
|
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
|
|
if (result != returnvalue::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 != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
|
|
dataset.printSet();
|
|
#endif
|
|
return result;
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) {
|
|
ReturnValue_t result = returnvalue::OK;
|
|
uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
|
|
if (status != startracker::STATUS_OK) {
|
|
sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: "
|
|
<< static_cast<unsigned int>(status) << std::endl;
|
|
return REPLY_ERROR;
|
|
}
|
|
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
const uint8_t* reply = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
|
|
dataset.setValidityBufferGeneration(false);
|
|
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
|
|
if (result != returnvalue::OK) {
|
|
sif::warning << "StarTrackerHandler::handleActionReplySet Deserialization failed" << std::endl;
|
|
}
|
|
dataset.setValidityBufferGeneration(true);
|
|
dataset.setValidity(true, true);
|
|
result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
|
|
if (result != returnvalue::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::LOG_LEVEL): {
|
|
bootState = FwBootState::LIMITS;
|
|
break;
|
|
}
|
|
case (startracker::ID::LIMITS): {
|
|
bootState = FwBootState::TRACKING;
|
|
break;
|
|
}
|
|
case (startracker::ID::TRACKING): {
|
|
bootState = FwBootState::MOUNTING;
|
|
break;
|
|
}
|
|
case (startracker::ID::MOUNTING): {
|
|
bootState = FwBootState::IMAGE_PROCESSOR;
|
|
break;
|
|
}
|
|
case (startracker::ID::IMAGE_PROCESSOR): {
|
|
bootState = FwBootState::CAMERA;
|
|
break;
|
|
}
|
|
case (startracker::ID::CAMERA): {
|
|
bootState = FwBootState::CENTROIDING;
|
|
break;
|
|
}
|
|
case (startracker::ID::CENTROIDING): {
|
|
bootState = FwBootState::LISA;
|
|
break;
|
|
}
|
|
case (startracker::ID::LISA): {
|
|
bootState = FwBootState::MATCHING;
|
|
break;
|
|
}
|
|
case (startracker::ID::MATCHING): {
|
|
bootState = FwBootState::VALIDATION;
|
|
break;
|
|
}
|
|
case (startracker::ID::VALIDATION): {
|
|
bootState = FwBootState::ALGO;
|
|
break;
|
|
}
|
|
case (startracker::ID::ALGO): {
|
|
bootState = FwBootState::LOG_SUBSCRIPTION;
|
|
break;
|
|
}
|
|
case (startracker::ID::LOG_SUBSCRIPTION): {
|
|
bootState = FwBootState::DEBUG_CAMERA;
|
|
break;
|
|
}
|
|
case (startracker::ID::DEBUG_CAMERA): {
|
|
bootState = FwBootState::NONE;
|
|
internalState = InternalState::DONE;
|
|
break;
|
|
}
|
|
default: {
|
|
sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
|
|
<< " parameter ID" << std::endl;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
|
|
switch (actionId) {
|
|
case startracker::REQ_INTERFACE:
|
|
case startracker::REQ_TIME:
|
|
case startracker::SWITCH_TO_BOOTLOADER_PROGRAM:
|
|
case startracker::DOWNLOAD_IMAGE:
|
|
case startracker::UPLOAD_IMAGE:
|
|
case startracker::REQ_POWER:
|
|
case startracker::TAKE_IMAGE:
|
|
case startracker::REQ_SOLUTION:
|
|
case startracker::REQ_TEMPERATURE:
|
|
case startracker::REQ_HISTOGRAM:
|
|
case startracker::REQ_CAMERA:
|
|
case startracker::REQ_LIMITS:
|
|
case startracker::REQ_LOG_LEVEL:
|
|
case startracker::REQ_MOUNTING:
|
|
case startracker::REQ_IMAGE_PROCESSOR:
|
|
case startracker::REQ_CENTROIDING:
|
|
case startracker::REQ_LISA:
|
|
case startracker::REQ_MATCHING:
|
|
case startracker::REQ_TRACKING:
|
|
case startracker::REQ_VALIDATION:
|
|
case startracker::REQ_ALGO:
|
|
case startracker::REQ_SUBSCRIPTION:
|
|
case startracker::REQ_LOG_SUBSCRIPTION:
|
|
case startracker::REQ_DEBUG_CAMERA:
|
|
if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
|
|
return STARTRACKER_NOT_RUNNING_FIRMWARE;
|
|
}
|
|
break;
|
|
case startracker::FIRMWARE_UPDATE:
|
|
case startracker::FLASH_READ:
|
|
if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) {
|
|
return STARTRACKER_NOT_RUNNING_BOOTLOADER;
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|