eive-obsw/bsp_q7s/devices/startracker/StarTrackerHandler.cpp
Jakob Meier 421866b739
Some checks failed
EIVE/eive-obsw/pipeline/head There was a failure building this commit
str write command fix
2021-12-21 17:28:24 +01:00

1284 lines
51 KiB
C++

#include <fstream>
#include "StarTrackerHandler.h"
#include "OBSWConfig.h"
#include "StarTrackerJsonCommands.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/ipc/QueueFactory.h>
extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
#include "common/misc.h"
}
StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie, StrHelper* strHelper) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this), powerSet(
this), interfaceSet(this), timeSet(this), solutionSet(this), histogramSet(this),
contrastSet(this), strHelper(strHelper) {
if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
}
if (strHelper == nullptr) {
sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}
StarTrackerHandler::~StarTrackerHandler() {
}
ReturnValue_t StarTrackerHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(
objects::EVENT_MANAGER);
if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "StarTrackerHandler::initialize: Invalid event manager" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;;
}
result = manager->registerListener(eventQueue->getId());
if (result != RETURN_OK) {
return result;
}
result = manager->subscribeToEventRange(eventQueue->getId(),
event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED),
event::getEventId(StrHelper::FLASH_READ_FAILED));
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from "
" str helper" << std::endl;
#endif
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = strHelper->setComIF(communicationInterface);
if (result != RETURN_OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
strHelper->setComCookie(comCookie);
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
const uint8_t* data, size_t size) {
ReturnValue_t result = RETURN_OK;
switch(actionId) {
case(StarTracker::STOP_IMAGE_LOADER): {
strHelper->stopProcess();
return EXECUTION_FINISHED;
}
case(StarTracker::SET_JSON_FILE_NAME): {
if (size > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
paramJsonFile = std::string(reinterpret_cast<const char*>(data), size);
return EXECUTION_FINISHED;
}
default:
break;
}
if (strHelperExecuting == true) {
return IMAGE_LOADER_EXECUTING;
}
result = checkMode(actionId);
if (result != RETURN_OK) {
return result;
}
// Intercept image loader commands which do not follow the common DHB communication flow
switch(actionId) {
case(StarTracker::UPLOAD_IMAGE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) {
return result;
}
if (size > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
result = strHelper->startImageUpload(
std::string(reinterpret_cast<const char*>(data), size));
if (result != RETURN_OK) {
return result;
}
strHelperExecuting = true;
return EXECUTION_FINISHED;
}
case(StarTracker::DOWNLOAD_IMAGE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) {
return result;
}
if (size > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
result = strHelper->startImageDownload(
std::string(reinterpret_cast<const char*>(data), size));
if (result != RETURN_OK) {
return result;
}
strHelperExecuting = true;
return EXECUTION_FINISHED;
}
case(StarTracker::WRITE): {
result = DeviceHandlerBase::acceptExternalDeviceCommands();
if (result != RETURN_OK) {
return result;
}
result = executeWriteCommand(data, size);
if (result != RETURN_OK) {
return result;
}
strHelperExecuting = true;
return EXECUTION_FINISHED;
}
case(StarTracker::CHANGE_DOWNLOAD_FILE): {
if (size > MAX_FILE_NAME) {
return FILENAME_TOO_LONG;
}
strHelper->setDownloadImageName(
std::string(reinterpret_cast<const char*>(data), size));
return EXECUTION_FINISHED;
}
default:
break;
}
return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
}
void StarTrackerHandler::performOperationHook() {
EventMessage event;
for (ReturnValue_t result = eventQueue->receiveMessage(&event);
result == RETURN_OK; result = eventQueue->receiveMessage(&event)) {
switch (event.getMessageId()) {
case EventMessage::EVENT_MESSAGE:
handleEvent(&event);
break;
default:
sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message"
<< std::endl;
break;
}
}
}
void StarTrackerHandler::doStartUp() {
switch(startupState) {
case StartupState::IDLE:
startupState = StartupState::CHECK_BOOT_STATE;
return;
case StartupState::BOOT_DELAY:
if (bootCountdown.hasTimedOut()) {
startupState = StartupState::LIMITS;
}
return;
case StartupState::DONE:
break;
default:
return;
}
setMode(_MODE_TO_ON);
}
void StarTrackerHandler::doShutDown() {
// If star tracker is shutdown also stop all running processes in the image loader task
strHelper->stopProcess();
setMode(_MODE_POWER_DOWN);
}
void StarTrackerHandler::doOffActivity() {
startupState = StartupState::IDLE;
}
ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
switch (internalState) {
case InternalState::TEMPERATURE_REQUEST:
*id = StarTracker::REQ_TEMPERATURE;
break;
default:
sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
<< std::endl;
break;
}
return buildCommandFromCommand(*id, NULL, 0);
}
ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
if (mode != _MODE_START_UP) {
return NOTHING_TO_SEND;
}
switch (startupState) {
case StartupState::CHECK_BOOT_STATE:
*id = StarTracker::REQ_VERSION;
startupState = StartupState::WAIT_FOR_EXECUTION;
return buildCommandFromCommand(*id, nullptr, 0);
case StartupState::BOOT:
*id = StarTracker::BOOT;
bootCountdown.setTimeout(BOOT_TIMEOUT);
startupState = StartupState::BOOT_DELAY;
return buildCommandFromCommand(*id, nullptr, 0);
case StartupState::LIMITS:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::LIMITS;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::TRACKING:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::TRACKING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::MOUNTING:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::MOUNTING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::CAMERA:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::CAMERA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::BLOB:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::BLOB;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::CENTROIDING:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::CENTROIDING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::LISA:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::LISA;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::MATCHING:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::MATCHING;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::VALIDATION:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::VALIDATION;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
case StartupState::ALGO:
startupState = StartupState::WAIT_FOR_EXECUTION;
*id = StarTracker::ALGO;
return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
paramJsonFile.size());
default:
break;
}
return NOTHING_TO_SEND;
}
ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t * commandData, size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
switch (deviceCommand) {
case (StarTracker::PING_REQUEST): {
preparePingRequest();
return RETURN_OK;
}
case (StarTracker::REQ_TIME): {
prepareTimeRequest();
return RETURN_OK;
}
case (StarTracker::BOOT): {
prepareBootCommand();
return RETURN_OK;
}
case (StarTracker::REQ_VERSION): {
prepareVersionRequest();
return RETURN_OK;
}
case (StarTracker::REQ_INTERFACE): {
prepareInterfaceRequest();
return RETURN_OK;
}
case (StarTracker::REQ_POWER): {
preparePowerRequest();
return RETURN_OK;
}
case (StarTracker::SWITCH_TO_BOOTLOADER_PROGRAM): {
prepareRebootCommand();
return RETURN_OK;
}
case (StarTracker::TAKE_IMAGE): {
prepareTakeImageCommand(commandData);
return RETURN_OK;
}
case (StarTracker::SUBSCRIBE_TO_TM): {
prepareSubscriptionCommand(commandData);
return RETURN_OK;
}
case (StarTracker::REQ_SOLUTION): {
prepareSolutionRequest();
return RETURN_OK;
}
case (StarTracker::REQ_TEMPERATURE): {
prepareTemperatureRequest();
return RETURN_OK;
}
case (StarTracker::REQ_HISTOGRAM): {
prepareHistogramRequest();
return RETURN_OK;
}
case (StarTracker::REQ_CONTRAST): {
prepareContrastRequest();
return RETURN_OK;
}
case (StarTracker::RESET_ERROR): {
prepareErrorResetRequest();
return RETURN_OK;
}
case (StarTracker::LIMITS): {
Limits limits;
result = prepareParamCommand(commandData, commandDataLen, limits);
return result;
}
case (StarTracker::MOUNTING): {
Mounting mounting;
result = prepareParamCommand(commandData, commandDataLen, mounting);
return result;
}
case (StarTracker::CAMERA): {
Camera camera;
result = prepareParamCommand(commandData, commandDataLen, camera);
return result;
}
case (StarTracker::BLOB): {
Blob blob;
result = prepareParamCommand(commandData, commandDataLen, blob);
return result;
}
case (StarTracker::CENTROIDING): {
Centroiding centroiding;
result = prepareParamCommand(commandData, commandDataLen, centroiding);
return result;
}
case (StarTracker::LISA): {
Lisa lisa;
result = prepareParamCommand(commandData, commandDataLen, lisa);
return result;
}
case (StarTracker::MATCHING): {
Matching matching;
result = prepareParamCommand(commandData, commandDataLen, matching);
return result;
}
case (StarTracker::VALIDATION): {
Validation validation;
result = prepareParamCommand(commandData, commandDataLen, validation);
return result;
}
case (StarTracker::ALGO): {
Algo algo;
result = prepareParamCommand(commandData, commandDataLen, algo);
return result;
}
case (StarTracker::TRACKING): {
Tracking tracking;
result = prepareParamCommand(commandData, commandDataLen, tracking);
return result;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_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::SUBSCRIBE_TO_TM, 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::REQ_CONTRAST, 3, &contrastSet,
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::CAMERA, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::BLOB, 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::RESET_ERROR, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
ReturnValue_t result = RETURN_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 RETURN_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 = scanForParameterReply(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 = RETURN_FAILED;
}
}
remainingSize = bytesLeft;
return result;
}
ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = RETURN_OK;
switch (id) {
case (StarTracker::SUBSCRIBE_TO_TM): {
result = handleSetParamReply();
break;
}
case (StarTracker::REQ_TIME): {
result = handleTm(timeSet, StarTracker::TimeSet::SIZE);
break;
}
case (StarTracker::PING_REQUEST): {
result = handlePingReply();
break;
}
case (StarTracker::BOOT): {
result = handleActionReply();
break;
}
case (StarTracker::RESET_ERROR): {
result = handleActionReply();
break;
}
case (StarTracker::TAKE_IMAGE): {
result = handleActionReply();
break;
}
case (StarTracker::REQ_VERSION): {
result = handleTm(versionSet, StarTracker::VersionSet::SIZE);
if (result != RETURN_OK) {
return result;
}
result = checkProgram();
if (result != RETURN_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::REQ_CONTRAST): {
result = handleTm(contrastSet, StarTracker::ContrastSet::SIZE);
break;
}
case (StarTracker::LIMITS):
case (StarTracker::MOUNTING):
case (StarTracker::CAMERA):
case (StarTracker::BLOB):
case (StarTracker::CENTROIDING):
case (StarTracker::LISA):
case (StarTracker::MATCHING):
case (StarTracker::TRACKING):
case (StarTracker::VALIDATION):
case (StarTracker::ALGO): {
result = handleSetParamReply();
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 20000;
}
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::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::TICKS_CONTRAST_SET, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::TIME_CONTRAST_SET, new PoolEntry<uint64_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINA8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINB8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND0, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND1, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND2, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND3, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND4, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND5, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND6, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND7, new PoolEntry<uint32_t>( { 0 }));
localDataPoolMap.emplace(StarTracker::CONTRAST_BIND8, new PoolEntry<uint32_t>( { 0 }));
return RETURN_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(strHelperExecuting) {
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
switch(actionId) {
case StarTracker::UPLOAD_IMAGE:
case StarTracker::DOWNLOAD_IMAGE: {
return DeviceHandlerBase::acceptExternalDeviceCommands();
default:
break;
}
}
return RETURN_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::WRITE): {
*foundId = StarTracker::WRITE;
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::ERROR_RESET): {
*foundId = StarTracker::RESET_ERROR;
break;
}
default:
sif::warning << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
<< std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t *foundId) {
const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) {
case (StarTracker::ID::SUBSCRIBE): {
*foundId = StarTracker::SUBSCRIBE_TO_TM;
break;
}
case (StarTracker::ID::LIMITS): {
*foundId = StarTracker::LIMITS;
break;
}
case (StarTracker::ID::MOUNTING): {
*foundId = StarTracker::MOUNTING;
break;
}
case (StarTracker::ID::CAMERA): {
*foundId = StarTracker::CAMERA;
break;
}
case (StarTracker::ID::BLOB): {
*foundId = StarTracker::BLOB;
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;
}
default:
sif::debug << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
<< std::endl;
return RETURN_FAILED;
}
return RETURN_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::CONTRAST): {
*foundId = StarTracker::REQ_CONTRAST;
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"
<< std::endl;
return RETURN_FAILED;
break;
}
}
return RETURN_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
strHelperExecuting = false;
break;
}
default:
sif::debug << "StarTrackerHandler::handleEvent: Did not subscribe to this event"
<< std::endl;
break;
}
}
ReturnValue_t StarTrackerHandler::executeWriteCommand(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
if (commandDataLen < WriteCmd::MIN_LENGTH) {
sif::warning << "StarTrackerHandler::executeWriteCommand: Command too short" << std::endl;
return COMMAND_TOO_SHORT;
}
uint8_t region = *(commandData);
uint32_t address;
size_t size = sizeof(address);
const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET;
result = SerializeAdapter::deSerialize(&address, addressPtr, &size,
SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed"
<< std::endl;
return result;
}
if (commandDataLen - sizeof(address) - sizeof(region) > MAX_PATH_SIZE) {
sif::warning << "StarTrackerHandler::executeWriteCommand: Received command with invalid"
<< " path and filename" << std::endl;
return FILE_PATH_TOO_LONG;
}
const uint8_t* filePtr = commandData + WriteCmd::FILE_OFFSET;
std::string fullname = std::string(reinterpret_cast<const char*>(filePtr),
commandDataLen - sizeof(address) - sizeof(region));
result = strHelper->startFlashWrite(fullname, region, address);
if (result != RETURN_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();
}
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::prepareRebootCommand() {
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::prepareSubscriptionCommand(const uint8_t* tmId) {
uint32_t length = 18;
commandBuffer[0] = TMTC_SETPARAMREQ;
commandBuffer[1] = StarTracker::ID::SUBSCRIBE;
// Fill all other fields with invalid tm id
commandBuffer[2] = *tmId;
commandBuffer[3] = 0;
commandBuffer[4] = 0;
commandBuffer[5] = 0;
commandBuffer[6] = 0;
commandBuffer[7] = 0;
commandBuffer[8] = 0;
commandBuffer[9] = 0;
commandBuffer[10] = 0;
commandBuffer[11] = 0;
commandBuffer[12] = 0;
commandBuffer[13] = 0;
commandBuffer[14] = 0;
commandBuffer[15] = 0;
commandBuffer[16] = 0;
commandBuffer[17] = 0;
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();
}
void StarTrackerHandler::prepareContrastRequest() {
uint32_t length = 0;
arc_tm_pack_contrast_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
}
void StarTrackerHandler::prepareErrorResetRequest() {
uint32_t length = 0;
struct ResetErrorSignalActionRequest req;
arc_pack_reseterrorsignal_action_req(&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) {
ReturnValue_t result = RETURN_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 != RETURN_OK) {
sif::warning << "StarTrackerHandler::prepareParamCommand: Failed to create parameter "
"command" << std::endl;
return result;
}
dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_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 (startupState != StartupState::IDLE) {
startupState = StartupState::IDLE;
}
return SET_PARAM_FAILED;
}
if (startupState != StartupState::IDLE) {
handleStartup(reply + PARAMETER_ID_OFFSET);
}
return RETURN_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 RETURN_OK;
}
ReturnValue_t StarTrackerHandler::handlePingReply() {
ReturnValue_t result = RETURN_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:
// Star tracker currently in bootloader program. Need to send boot command to switch to
// firmware program
if (startupState != StartupState::IDLE) {
startupState = StartupState::BOOT;
}
break;
case StarTracker::Program::FIRMWARE:
// Firmware already booted
if (startupState != StartupState::IDLE) {
startupState = StartupState::LIMITS;
}
break;
default:
sif::warning << "StarTrackerHandler::checkProgram: Version set has invalid program ID"
<< std::endl;
return INVALID_PROGRAM;
}
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) {
ReturnValue_t result = RETURN_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 TM_REPLY_ERROR;
}
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
if (result != RETURN_OK) {
return result;
}
const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET;
dataset.setValidityBufferGeneration(false);
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_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 != RETURN_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::LIMITS): {
startupState = StartupState::TRACKING;
break;
}
case (StarTracker::ID::TRACKING): {
startupState = StartupState::MOUNTING;
break;
}
case (StarTracker::ID::MOUNTING): {
startupState = StartupState::CAMERA;
break;
}
case (StarTracker::ID::CAMERA): {
startupState = StartupState::BLOB;
break;
}
case (StarTracker::ID::BLOB): {
startupState = StartupState::CENTROIDING;
break;
}
case (StarTracker::ID::CENTROIDING): {
startupState = StartupState::LISA;
break;
}
case (StarTracker::ID::LISA): {
startupState = StartupState::MATCHING;
break;
}
case (StarTracker::ID::MATCHING): {
startupState = StartupState::VALIDATION;
break;
}
case (StarTracker::ID::VALIDATION): {
startupState = StartupState::ALGO;
break;
}
case (StarTracker::ID::ALGO): {
startupState = StartupState::DONE;
break;
}
default: {
sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
<< " parameter ID" << std::endl;
break;
}
}
}