315 lines
11 KiB
C++
315 lines
11 KiB
C++
#include "StrImageLoader.h"
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#include "mission/utility/Timestamp.h"
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#include <fstream>
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#include <filesystem>
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StrImageLoader::StrImageLoader(object_id_t objectId) : SystemObject(objectId){
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}
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StrImageLoader::~StrImageLoader() {
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}
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ReturnValue_t StrImageLoader::initialize() {
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sdcMan = SdCardManager::instance();
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if (sdcMan == nullptr) {
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sif::warning << "StrImageLoader::initialize: Invalid SD Card Manager" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t StrImageLoader::performOperation(uint8_t operationCode) {
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ReturnValue_t result = RETURN_OK;
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semaphore.acquire();
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while(true) {
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switch(internalState) {
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case InternalState::IDLE: {
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semaphore.acquire();
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break;
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}
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case InternalState::UPLOAD_IMAGE: {
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result = performImageUpload();
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if (result == RETURN_OK){
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triggerEvent(IMAGE_UPLOAD_SUCCESSFUL);
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}
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else {
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triggerEvent(IMAGE_UPLOAD_FAILED);
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}
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internalState = InternalState::IDLE;
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break;
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}
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case InternalState::DOWNLOAD_IMAGE:
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result = performImageDownload();
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if (result == RETURN_OK){
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triggerEvent(IMAGE_DOWNLOAD_SUCCESSFUL);
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}
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else {
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triggerEvent(IMAGE_DOWNLOAD_FAILED);
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}
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internalState = InternalState::IDLE;
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break;
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}
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}
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}
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ReturnValue_t StrImageLoader::setComIF(DeviceCommunicationIF* communicationInterface_) {
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uartComIF = dynamic_cast<UartComIF*>(communicationInterface_);
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if (uartComIF == nullptr) {
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sif::warning << "StrImageLoader::initialize: Invalid uart com if" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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void StrImageLoader::setComCookie(CookieIF* comCookie_) {
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comCookie = comCookie_;
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}
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ReturnValue_t StrImageLoader::startImageUpload(std::string uploadImage_) {
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ReturnValue_t result = checkPath(uploadImage_);
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if (result != RETURN_OK) {
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return result;
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}
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uploadImage = uploadImage_;
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if(not std::filesystem::exists(uploadImage)) {
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return FILE_NOT_EXISTS;
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}
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internalState = InternalState::UPLOAD_IMAGE;
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semaphore.release();
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terminate = false;
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return RETURN_OK;
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}
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ReturnValue_t StrImageLoader::startImageDownload(std::string downloadPath_) {
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ReturnValue_t result = checkPath(downloadPath_);
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if (result != RETURN_OK) {
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return result;
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}
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if(not std::filesystem::exists(downloadPath_)) {
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return PATH_NOT_EXISTS;
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}
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downloadPath = downloadPath_;
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internalState = InternalState::DOWNLOAD_IMAGE;
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terminate = false;
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semaphore.release();
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return RETURN_OK;
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}
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void StrImageLoader::stopProcess() {
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terminate = true;
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}
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void StrImageLoader::setDownloadImageName(std::string image) {
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downloadImage = image;
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}
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ReturnValue_t StrImageLoader::performImageDownload() {
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ReturnValue_t result;
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struct DownloadActionRequest downloadReq;
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uint32_t size = 0;
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uint32_t retries = 0;
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Timestamp timestamp;
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std::string image = downloadPath + "/" + timestamp.str() + downloadImage ;
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std::ofstream file(image, std::ios_base::app | std::ios_base::out);
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if(not std::filesystem::exists(image)) {
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return FILE_CREATION_FAILED;
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}
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downloadReq.position = 0;
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while(downloadReq.position < LAST_POSITION) {
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if (terminate) {
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return RETURN_OK;
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}
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arc_pack_download_action_req(&downloadReq, commandBuffer, &size);
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result = sendAndRead(size, downloadReq.position);
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if (result != RETURN_OK) {
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if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
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uartComIF->flushUartRxBuffer(comCookie);
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retries++;
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continue;
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}
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file.close();
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return result;
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}
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result = checkReply();
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if (result != RETURN_OK) {
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if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
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uartComIF->flushUartRxBuffer(comCookie);
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retries++;
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continue;
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}
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file.close();
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return result;
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}
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result = checkReplyPosition(downloadReq.position);
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if (result != RETURN_OK) {
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if (retries < CONFIG_MAX_DOWNLOAD_RETRIES) {
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uartComIF->flushUartRxBuffer(comCookie);
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retries++;
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continue;
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}
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file.close();
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return result;
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}
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file.write(reinterpret_cast<const char*>(datalinkLayer.getReply() + DATA_OFFSET),
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IMAGE_DATA_SIZE);
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downloadReq.position++;
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retries = 0;
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}
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file.close();
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return RETURN_OK;
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}
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ReturnValue_t StrImageLoader::performImageUpload() {
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ReturnValue_t result = RETURN_OK;
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uint32_t size = 0;
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uint32_t imageSize = 0;
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struct UploadActionRequest uploadReq;
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uploadReq.position = 0;
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std::memset(&uploadReq.data, 0, sizeof(uploadReq.data));
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if (not std::filesystem::exists(uploadImage)) {
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triggerEvent(IMAGE_FILE_NOT_EXISTS, uploadReq.position);
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internalState = InternalState::IDLE;
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return RETURN_FAILED;
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}
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std::ifstream file(uploadImage, std::ifstream::binary);
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// Set position of next character to end of file input stream
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file.seekg(0, file.end);
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// tellg returns position of character in input stream
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imageSize = file.tellg();
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while((uploadReq.position + 1) * SIZE_IMAGE_PART < imageSize) {
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if (terminate) {
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return RETURN_OK;
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}
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file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
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file.read(reinterpret_cast<char*>(uploadReq.data), SIZE_IMAGE_PART);
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arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
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result = sendAndRead(size, uploadReq.position);
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if (result != RETURN_OK) {
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return RETURN_FAILED;
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}
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result = checkReply();
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if (result != RETURN_OK) {
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return result;
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}
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uploadReq.position++;
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}
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std::memset(uploadReq.data, 0, sizeof(uploadReq.data));
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uint32_t remainder = imageSize - uploadReq.position * SIZE_IMAGE_PART;
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file.seekg(uploadReq.position * SIZE_IMAGE_PART, file.beg);
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file.read(reinterpret_cast<char*>(uploadReq.data), remainder);
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file.close();
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uploadReq.position++;
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arc_pack_upload_action_req(&uploadReq, commandBuffer, &size);
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result = sendAndRead(size, uploadReq.position);
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if (result != RETURN_OK) {
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return RETURN_FAILED;
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}
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result = checkReply();
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if (result != RETURN_OK) {
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return result;
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}
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return RETURN_OK;
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}
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ReturnValue_t StrImageLoader::sendAndRead(size_t size, uint32_t position) {
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ReturnValue_t result = RETURN_OK;
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ReturnValue_t decResult = RETURN_OK;
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size_t receivedDataLen = 0;
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uint8_t *receivedData = nullptr;
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size_t bytesLeft = 0;
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uint32_t missedReplies = 0;
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datalinkLayer.encodeFrame(commandBuffer, size);
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result = uartComIF->sendMessage(comCookie, datalinkLayer.getEncodedFrame(),
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datalinkLayer.getEncodedLength());
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if (result != RETURN_OK) {
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sif::warning << "StrImageLoader::sendAndRead: Failed to send packet" << std::endl;
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triggerEvent(IMG_LOADER_SENDING_PACKET_FAILED, result, position);
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return RETURN_FAILED;
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}
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decResult = ArcsecDatalinkLayer::DEC_IN_PROGRESS;
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while (decResult == ArcsecDatalinkLayer::DEC_IN_PROGRESS) {
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result = uartComIF->requestReceiveMessage(comCookie,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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if (result != RETURN_OK) {
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sif::warning << "StrImageLoader::sendAndRead: Failed to request reply" << std::endl;
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triggerEvent(IMG_LOADER_REQUESTING_MSG_FAILED, result, position);
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return RETURN_FAILED;
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}
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result = uartComIF->readReceivedMessage(comCookie, &receivedData, &receivedDataLen);
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if (result != RETURN_OK) {
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sif::warning << "StrImageLoader::sendAndRead: Failed to read received message" << std::endl;
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triggerEvent(IMG_LOADER_READING_REPLY_FAILED, result, position);
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return RETURN_FAILED;
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}
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if (receivedDataLen == 0 && missedReplies < MAX_POLLS) {
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missedReplies++;
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continue;
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}
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else if ((receivedDataLen == 0) && (missedReplies >= MAX_POLLS)) {
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triggerEvent(IMG_LOADER_NO_REPLY, position);
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return RETURN_FAILED;
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}
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else {
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missedReplies = 0;
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}
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decResult = datalinkLayer.decodeFrame(receivedData, receivedDataLen, &bytesLeft);
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if (bytesLeft != 0) {
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// This should never happen
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sif::warning << "StrImageLoader::sendAndRead: Bytes left after decoding" << std::endl;
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triggerEvent(IMG_LOADER_COM_ERROR, result, position);
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return RETURN_FAILED;
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}
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}
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if (decResult != RETURN_OK) {
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triggerEvent(IMG_LOADER_DEC_ERROR, decResult, position);
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t StrImageLoader::checkReply() {
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uint8_t type = datalinkLayer.getReplyFrameType();
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if (type != TMTC_ACTIONREPLY) {
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sif::warning << "StrImageLoader::checkReply: Received reply with invalid type ID"
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<< std::endl;
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triggerEvent(INVALID_TYPE_ID);
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return RETURN_FAILED;
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}
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uint8_t status = datalinkLayer.getStatusField();
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if (status != ArcsecDatalinkLayer::STATUS_OK) {
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triggerEvent(STATUS_ERROR);
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sif::warning << "StrImageLoader::checkReply: Status failure" << std::endl;
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t StrImageLoader::checkReplyPosition(uint32_t expectedPosition) {
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uint32_t receivedPosition = 0;
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std::memcpy(&receivedPosition, datalinkLayer.getReply() + POS_OFFSET, sizeof(receivedPosition));
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if (receivedPosition != expectedPosition) {
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triggerEvent(POSITION_MISMATCH, receivedPosition);
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t StrImageLoader::checkPath(std::string name) {
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if (name.substr(0, sizeof(SdCardManager::SD_0_MOUNT_POINT))
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== std::string(SdCardManager::SD_0_MOUNT_POINT)) {
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if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "StrImageLoader::checkPath: SD card 0 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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} else if (name.substr(0, sizeof(SdCardManager::SD_1_MOUNT_POINT))
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== std::string(SdCardManager::SD_1_MOUNT_POINT)) {
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if (!sdcMan->isSdCardMounted(sd::SLOT_0)) {
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sif::warning << "StrImageLoader::checkPath: SD card 1 not mounted" << std::endl;
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return SD_NOT_MOUNTED;
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}
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}
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return RETURN_OK;
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}
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