eive-obsw/bsp_q7s/devices/startracker/StrHelper.h
Jakob Meier 14dec1d700
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2021-12-23 18:33:31 +01:00

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C++

#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
#define BSP_Q7S_DEVICES_STRHELPER_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 Helper class for the star tracker handler to accelerate large data transfers.
*/
class StrHelper: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
public:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
//! [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] Finished flash write procedure successfully
static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Flash write procedure failed
static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Flash read procedure failed
static const Event FLASH_READ_FAILED = MAKE_EVENT(7, 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 STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(8, 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 STR_HELPER_COM_ERROR = MAKE_EVENT(9, 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 STR_HELPER_NO_REPLY = MAKE_EVENT(10, severity::LOW);
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
//P1: Return value of decoding function
//P2: Position of upload/download packet, or address of flash write/read request
static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(11, 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(12, severity::LOW);
//! [EXPORT] : [COMMENT] Specified file does not exist
//!P1: Internal state of str helper
static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(13, severity::LOW);
//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
//!P1: Return code of communication interface sendMessage function
//!P2: Position of upload/download packet, or address of flash write/read request for which sending failed
static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(14, severity::LOW);
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
//!P1: Return code of failed request
//!P1: Upload/download position, or address of flash write/read request for which transmission failed
static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(15, severity::LOW);
StrHelper(object_id_t objectId);
virtual ~StrHelper();
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 Starts the flash write procedure
*
* @param flashWriteFile_ Full name including absolute path of file to write to flash
* @param region Region ID of flash region to write to
* @param address Start address of flash write procedure
*/
ReturnValue_t startFlashWrite(std::string flashWriteFile_, uint8_t region,
uint32_t address);
/**
* @brief Starts the flash read procedure
*
* @param flashWriteFile_ Full name including absolute path of file to write to flash
* @param region Region ID of flash region to read from
* @param flashWriteAddress Start address of flash section to read
* @param length Number of bytes to read from flash
*/
ReturnValue_t startFlashRead(std::string flashReadPath_, uint8_t region,
uint32_t address, uint32_t length);
/**
* @brief Can be used to interrupt a running data transfer.
*/
void stopProcess();
/**
* @brief Changes the dafault name of downloaded images
*/
void setDownloadImageName(std::string image);
/**
* @brief Sets the name of the file which will be created to store the data read from flash
*/
void setFlashReadFilename(std::string filename);
private:
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
//! [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 image or read flash file
static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
//! [EXPORT] : [COMMENT] Status field in reply signals error
static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(0xA7);
//! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(0xA8);
// 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 IMAGE_DATA_OFFSET = 5;
static const uint8_t FLASH_READ_DATA_OFFSET = 8;
static const uint8_t REGION_OFFSET = 2;
static const uint8_t ADDRESS_OFFSET = 3;
static const uint8_t LENGTH_OFFSET = 7;
static const size_t IMAGE_DATA_SIZE = 1024;
static const size_t MAX_FLASH_DATA = 1024;
static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
enum class InternalState {
IDLE,
UPLOAD_IMAGE,
DOWNLOAD_IMAGE,
FLASH_WRITE,
FLASH_READ
};
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;
// File which contains data to write when executing the flash write command
std::string flashWriteFile;
// Path where the file containing the read data will be stored
std::string flashReadPath = "";
// Default name of downloaded image, can be changed via command
std::string downloadImage = "image.bin";
// Default name of file containing the data read from flash, can be changed via command
std::string flashReadFile = "flashread.bin";
// Will be set with the flash write command
uint8_t flashWriteRegion = 0;
// Will be set with the flash write command and specifies the start address where to write the
// flash data to
uint32_t flashWriteAddress = 0;
// Will be set with the flash read command
uint8_t flashReadRegion = 0;
// Will be set with the flash read command and specifies the start address of the flash section
// to read
uint32_t flashReadAddress = 0;
// Number of bytes to read from flash
uint32_t flashReadSize = 0;
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 Handles flash write procedure
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t performFlashWrite();
/**
* @brief Sends a sequence of commands to the star tracker to read larger parts from the
* flash memory.
*/
ReturnValue_t performFlashRead();
/**
* @brief Sends packet to the star tracker and reads reply by using the communication
* interface
*
* @param size Size of data beforehand written to the commandBuffer
* @param parameter Parameter 2 of trigger event function
*
* @return RETURN_OK if successful, otherwise RETURN_FAILED
*/
ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
/**
* @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 upload/download 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 the region, address and length value of a flash write or read reply.
*
* @return RETURN_OK if values match expected values, otherwise appropriate error return
* value.
*/
ReturnValue_t checkFlashActionReply(uint8_t region_, uint32_t address_, uint16_t length_);
/**
* @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_STRHELPER_H_ */