eive-obsw/bsp_q7s/devices/startracker/StrImageLoader.h
2021-12-14 19:24:31 +01:00

215 lines
8.7 KiB
C++

#ifndef BSP_Q7S_DEVICES_STRIMAGELOADER_H_
#define BSP_Q7S_DEVICES_STRIMAGELOADER_H_
#include <string>
#include "ArcsecDatalinkLayer.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw/devicehandlers/CookieIF.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
}
/**
* @brief An object of this class runs in a separate task and is responsible for uploading and
* downloading images to/from the star tracker. This is required because uploading and
* downloading via the star tracker handler takes a lot of time because each upload or
* download packet can transport a maximum of 1024 bytes.
*/
class StrImageLoader: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_IMAGE_LOADER;
//! [EXPORT] : [COMMENT] Image upload failed
static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
//! [EXPORT] : [COMMENT] Image download failed
static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Uploading image to star tracker was successful
static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Image download was successful
static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
//!P1: Return code of failed communication interface read call
//!P1: Upload/download position for which the read call failed
static const Event IMG_LOADER_READING_REPLY_FAILED = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
//!P1: Return code of failed communication interface read call
//!P1: Upload/download position for which the read call failed
static const Event IMG_LOADER_COM_ERROR = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
//!P1: Position of upload or download packet for which no reply was sent
static const Event IMG_LOADER_NO_REPLY = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Received reply with invalid type ID
static const Event INVALID_TYPE_ID = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Status field in reply signals error
static const Event STATUS_ERROR = MAKE_EVENT(8, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
//P1: Return value of decoding function
//P2: Position of upload/download packet for which reply decoding failed
static const Event IMG_LOADER_DEC_ERROR = MAKE_EVENT(9, severity::LOW);
//! [EXPORT] : [COMMENT] Position mismatch
//! P1: The expected position and thus the position for which the image upload/download failed
static const Event POSITION_MISMATCH = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Try to upload image but specified image does not exist
static const Event IMAGE_FILE_NOT_EXISTS = MAKE_EVENT(11, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet (download or upload) to star tracker failed
//!P1: Return code of communication interface sendMessage function
//!P2: Position of upload/download packet for which the transmission failed
static const Event IMG_LOADER_SENDING_PACKET_FAILED = MAKE_EVENT(12, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//!P1: Return code of failed request
//!P1: Upload/download position for which the request failed
static const Event IMG_LOADER_REQUESTING_MSG_FAILED = MAKE_EVENT(13, severity::LOW);
StrImageLoader(object_id_t objectId);
virtual ~StrImageLoader();
ReturnValue_t initialize() override;
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
void setComCookie(CookieIF* comCookie_);
/**
* @brief Starts sequence to upload image to star tracker
*
* @param image Name including absolute path if to image to upload. Must be previously
* transferred to the OBC with the CFDP protocoll.
*/
ReturnValue_t startImageUpload(std::string uploadImage_);
/**
* @brief Calling this function initiates the download of an image from the star tracker.
*
* @param Name of the image which will be created
*/
ReturnValue_t startImageDownload(std::string downloadPath_);
/**
* @brief Can be used to interrupt a running upload or download process.
*/
void stopProcess();
/**
* @brief Changes the dafault name of downloaded images
*/
void setDownloadImageName(std::string image);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_IMG_LOADER;
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
//! [EXPORT] : [COMMENT] Specified path does not exist
static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
//! [EXPORT] : [COMMENT] Failed to create download file
static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
// Size of one image part which can be sent per action request
static const size_t SIZE_IMAGE_PART = 1024;
static const uint32_t LAST_POSITION = 4095;
static const uint32_t MAX_POLLS = 10000;
static const uint8_t POS_OFFSET = 2;
static const uint8_t DATA_OFFSET = 5;
static const size_t IMAGE_DATA_SIZE = 1024;
static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE
};
InternalState internalState = InternalState::IDLE;
ArcsecDatalinkLayer datalinkLayer;
BinarySemaphore semaphore;
// Name including absolute path of image to upload
std::string uploadImage;
// Path where the downloaded image will be stored
std::string downloadPath;
// Default name of downloaded image, can be changed via command
std::string downloadImage = "image";
SdCardManager* sdcMan = nullptr;
uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
bool terminate = false;
/**
* UART communication object responsible for low level access of star tracker
* Must be set by star tracker handler
*/
UartComIF* uartComIF = nullptr;
// Communication cookie. Must be set by the star tracker handler
CookieIF* comCookie = nullptr;
// Queue id of raw data receiver
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
/**
* @brief Performs image uploading
*/
ReturnValue_t performImageUpload();
/**
* @brief Performs download of last taken image from the star tracker.
*
* @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
* In case the download of one position fails, the same packet will be again
* requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
* the download will be stopped.
*/
ReturnValue_t performImageDownload();
/**
* @brief Sends packet to the star tracker and reads reply by using the communication
* interface
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t sendAndRead(size_t size, uint32_t position);
/**
* @brief Checks the reply header (type id and status fields)
*
* @return RETURN_OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
*/
ReturnValue_t checkReply();
/**
* @brief Checks the position field in a star tracker reply.
*
* @param expectedPosition Value of expected position
*
* @return RETURN_OK if received position matches expected position, otherwise RETURN_FAILED
*/
ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
/**
* @brief Checks if a path points to an sd card and whether the SD card is monuted.
*
* @return SD_NOT_MOUNTED id SD card is not mounted, otherwise RETURN_OK
*/
ReturnValue_t checkPath(std::string name);
};
#endif /* BSP_Q7S_DEVICES_STRIMAGELOADER_H_ */