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356 lines
12 KiB
C++
356 lines
12 KiB
C++
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
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#define MISSION_DEVICES_STARTRACKERHANDLER_H_
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
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#include "fsfw/timemanager/Countdown.h"
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#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include "ArcsecDatalinkLayer.h"
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#include "StarTrackerDefinitions.h"
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#include "ArcsecJsonParamBase.h"
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#include "StrHelper.h"
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/**
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* @brief This is the device handler for the star tracker from arcsec.
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*
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* @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
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* Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
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* Sagitta%201.0%20Datapack&fileid=659181
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* @author J. Meier
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*/
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class StarTrackerHandler: public DeviceHandlerBase {
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public:
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/**
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* @brief Constructor
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*
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* @param objectId
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* @param comIF
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* @param comCookie
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* @param gpioComIF Pointer to gpio communication interface
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* @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled
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* to high to enable the device.
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*/
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StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
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StrHelper* strHelper);
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virtual ~StarTrackerHandler();
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ReturnValue_t initialize() override;
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/**
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* @brief Overwrite this function from DHB to handle commands executed by the str image
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* loader task.
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*/
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ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) override;
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void performOperationHook() override;
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protected:
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void doStartUp() override;
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void doShutDown() override;
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void doOffActivity() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t * commandData,size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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/**
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* @brief Overwritten here to always read all available data from the UartComIF.
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*/
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virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand) override;
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virtual ReturnValue_t doSendReadHook() override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] Received reply is too short
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static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB0);
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//! [EXPORT] : [COMMENT] Received reply with invalid CRC
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB1);
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//! [EXPORT] : [COMMENT] Image loader executing
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static const ReturnValue_t IMAGE_LOADER_EXECUTING = MAKE_RETURN_CODE(0xB2);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] Status in temperature reply signals error
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static const ReturnValue_t TEMPERATURE_REQ_FAILED = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Ping command failed
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static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Status in version reply signals error
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static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
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//! [EXPORT] : [COMMENT] Status in interface reply signals error
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static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
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//! [EXPORT] : [COMMENT] Status in power reply signals error
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static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
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//! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
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static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
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//! [EXPORT] : [COMMENT] Status of reply to action command signals error
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static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid length
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static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid position field
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static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
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static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid length
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static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xAA);
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//! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
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static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xAB);
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//! [EXPORT] : [COMMENT] Name of file received with command is too long
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static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
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//! [EXPORT] : [COMMENT] Received version reply with invalid program ID
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static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
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//! [EXPORT] : [COMMENT] Status field of tm reply signals error
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static const ReturnValue_t TM_REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
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//! [EXPORT] : [COMMENT] Status field of contrast reply signals error
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static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
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//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper execution)
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static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
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static const size_t MAX_PATH_SIZE = 50;
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static const size_t MAX_FILE_NAME = 30;
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// position (uint32) + 1024 image data
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static const size_t UPLOAD_COMMAND_LEN = 1028;
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// Max valid position value in upload image command
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static const uint16_t MAX_POSITION= 4095;
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static const uint8_t STATUS_OFFSET = 1;
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static const uint8_t TICKS_OFFSET = 2;
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static const uint8_t TIME_OFFSET = 6;
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static const uint8_t TM_DATA_FIELD_OFFSET = 14;
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static const uint8_t PARAMETER_ID_OFFSET = 0;
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static const uint8_t ACTION_ID_OFFSET = 0;
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static const uint8_t ACTION_DATA_OFFSET = 2;
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// Ping request will reply ping with this ID (data field)
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static const uint32_t PING_ID = 0x55;
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static const uint32_t BOOT_REGION_ID = 1;
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static const MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
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static const uint32_t MUTEX_TIMEOUT = 20;
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static const uint32_t BOOT_TIMEOUT = 1000;
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class WriteCmd {
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public:
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static const uint8_t ADDRESS_OFFSET = 1;
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static const uint8_t FILE_OFFSET = 5;
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// Minimum length of a write command (region, address and filename)
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static const size_t MIN_LENGTH = 7;
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};
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MessageQueueIF* eventQueue = nullptr;
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ArcsecDatalinkLayer dataLinkLayer;
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StarTracker::TemperatureSet temperatureSet;
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StarTracker::VersionSet versionSet;
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StarTracker::PowerSet powerSet;
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StarTracker::InterfaceSet interfaceSet;
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StarTracker::TimeSet timeSet;
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StarTracker::SolutionSet solutionSet;
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StarTracker::HistogramSet histogramSet;
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StarTracker::ContrastSet contrastSet;
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// Pointer to object responsible for uploading and downloading images to/from the star tracker
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StrHelper* strHelper = nullptr;
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uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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// Countdown to insert delay for star tracker to switch from bootloader to firmware program
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Countdown bootCountdown;
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std::string paramJsonFile = "/mnt/sd0/startracker/full.json";
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enum class InternalState {
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TEMPERATURE_REQUEST
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};
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InternalState internalState = InternalState::TEMPERATURE_REQUEST;
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enum class StartupState {
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IDLE,
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CHECK_BOOT_STATE,
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BOOT,
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BOOT_DELAY,
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LIMITS,
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TRACKING,
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MOUNTING,
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CAMERA,
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BLOB,
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CENTROIDING,
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LISA,
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MATCHING,
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VALIDATION,
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ALGO,
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WAIT_FOR_EXECUTION,
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DONE
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};
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StartupState startupState = StartupState::IDLE;
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bool strHelperExecuting = false;
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/**
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* @brief Handles internal state
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*/
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void handleInternalState();
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/**
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* @brief Checks mode for commands requiring MODE_ON of MODE_NORMAL for execution.
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*
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* @param actionId Action id of command to execute
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*/
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ReturnValue_t checkMode(ActionId_t actionId);
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/**
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* @brief This function initializes the serial link ip protocol struct slipInfo.
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*/
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void slipInit();
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ReturnValue_t scanForActionReply(DeviceCommandId_t *foundId);
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ReturnValue_t scanForParameterReply(DeviceCommandId_t *foundId);
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ReturnValue_t scanForTmReply(DeviceCommandId_t *foundId);
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/**
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* @brief Fills command buffer with data to ping the star tracker
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*/
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void preparePingRequest();
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/**
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* @brief Fills command buffer with data to request the time telemetry.
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*/
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void prepareTimeRequest();
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/**
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* @brief Handles all received event messages
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*/
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void handleEvent(EventMessage* eventMessage);
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/**
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* @brief Executes the write command
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*
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* @param commandData Pointer to received command data
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* @param commandDataLen Size of received command data
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*
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* @return RETURN_OK if start of execution was successful, otherwise error return value
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*/
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ReturnValue_t executeWriteCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills command buffer with data to boot image (works only when star tracker is
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* in bootloader mode).
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*/
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void prepareBootCommand();
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/**
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* @brief Fills the command buffer with the command to take an image.
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*/
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void prepareTakeImageCommand(const uint8_t* commandData);
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/**
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* @brief Fills command buffer with data to request the version telemetry packet
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*/
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void prepareVersionRequest();
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/**
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* @brief Fills the command buffer with data to request the interface telemetry packet.
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*/
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void prepareInterfaceRequest();
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/**
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* @brief Fills the command buffer with data to request the power telemetry packet.
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*/
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void preparePowerRequest();
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/**
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* @brief Fills command buffer with data to reboot star tracker.
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*/
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void prepareRebootCommand();
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/**
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* @brief Fills command buffer with data to subscribe to a telemetry packet.
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*
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* @param tmId The ID of the telemetry packet to subscribe to
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*/
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void prepareSubscriptionCommand(const uint8_t* tmId);
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/**
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* @brief Fills command buffer with data to request solution telemtry packet (contains
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* attitude information)
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*/
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void prepareSolutionRequest();
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/**
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* @brief Fills command buffer with data to request temperature from star tracker
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*/
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void prepareTemperatureRequest();
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/**
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* @brief Fills command buffer with data to request histogram
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*/
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void prepareHistogramRequest();
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void prepareContrastRequest();
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/**
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* @brief Fills command buffer with command to reset the error signal of the star tracker
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*/
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void prepareErrorResetRequest();
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/**
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* @brief Reads parameters from json file specified by string in commandData and
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* prepares the command to apply the parameter set to the star tracker
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*
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* @param commandData Contains string with file name
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* @param commandDataLen Length of command
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* @param paramSet The object defining the command generation
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*
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* @return RETURN_OK if successful, otherwise error return Value
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*/
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ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
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ArcsecJsonParamBase& paramSet);
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/**
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* @brief Default function to handle action replies
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*/
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ReturnValue_t handleActionReply();
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/**
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* @brief Handles all set parameter replies
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*/
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ReturnValue_t handleSetParamReply();
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ReturnValue_t handlePingReply();
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/**
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* @brief Checks the loaded program by means of the version set
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*/
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ReturnValue_t checkProgram();
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/**
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* @brief Handles the startup state machine
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*/
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void handleStartup(const uint8_t* parameterId);
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/**
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* @brief Handles telemtry replies and fills the appropriate dataset
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*
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* @param dataset Dataset where reply data will be written to
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* @param size Size of the dataset
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*
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* @return RETURN_OK if successful, otherwise error return value
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*/
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ReturnValue_t handleTm(LocalPoolDataSetBase& dataset, size_t size);
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};
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#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */
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