272 lines
11 KiB
C++
272 lines
11 KiB
C++
#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
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#define BSP_Q7S_DEVICES_STRHELPER_H_
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#include <string>
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#include "ArcsecDatalinkLayer.h"
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#include "fsfw/osal/linux/BinarySemaphore.h"
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#include "bsp_q7s/memory/SdCardManager.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/tasks/ExecutableObjectIF.h"
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#include "fsfw_hal/linux/uart/UartComIF.h"
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#include "fsfw/devicehandlers/CookieIF.h"
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extern "C" {
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#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
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#include "thirdparty/arcsec_star_tracker/client/generated/actionreq.h"
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}
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/**
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* @brief Helper class for the star tracker handler to accelerate large data transfers.
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*/
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class StrHelper: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
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public:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
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//! [EXPORT] : [COMMENT] Image upload failed
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static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
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//! [EXPORT] : [COMMENT] Image download failed
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static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] Uploading image to star tracker was successful
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static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] Image download was successful
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static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
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//! [EXPORT] : [COMMENT] Finished flash write procedure successfully
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static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
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//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
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static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
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//! [EXPORT] : [COMMENT] Flash write procedure failed
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static const Event FLASH_WRITE_FAILED = MAKE_EVENT(6, severity::LOW);
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//! [EXPORT] : [COMMENT] Flash read procedure failed
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static const Event FLASH_READ_FAILED = MAKE_EVENT(7, severity::LOW);
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//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
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//!P1: Return code of failed communication interface read call
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//!P1: Upload/download position for which the read call failed
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static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(8, severity::LOW);
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//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
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//!P1: Return code of failed communication interface read call
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//!P1: Upload/download position for which the read call failed
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static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(9, severity::LOW);
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//! [EXPORT] : [COMMENT] Star tracker did not send replies (maybe device is powered off)
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//!P1: Position of upload or download packet for which no reply was sent
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static const Event STR_HELPER_NO_REPLY = MAKE_EVENT(10, severity::LOW);
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//! [EXPORT] : [COMMENT] Received reply with invalid type ID
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static const Event INVALID_TYPE_ID = MAKE_EVENT(11, severity::LOW);
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//! [EXPORT] : [COMMENT] Status field in reply signals error
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static const Event STATUS_ERROR = MAKE_EVENT(12, severity::LOW);
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//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
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//P1: Return value of decoding function
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//P2: Position of upload/download packet, or address of flash write/read request
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static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
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//! [EXPORT] : [COMMENT] Position mismatch
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//! P1: The expected position and thus the position for which the image upload/download failed
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static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
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//! [EXPORT] : [COMMENT] Specified file does not exist
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//!P1: Internal state of str helper
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static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
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//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
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//!P1: Return code of communication interface sendMessage function
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//!P2: Position of upload/download packet, or address of flash write/read request for which sending failed
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static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
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//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
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//!P1: Return code of failed request
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//!P1: Upload/download position, or address of flash write/read request for which transmission failed
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static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);
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StrHelper(object_id_t objectId);
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virtual ~StrHelper();
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ReturnValue_t initialize() override;
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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ReturnValue_t setComIF(DeviceCommunicationIF* communicationInterface_);
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void setComCookie(CookieIF* comCookie_);
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/**
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* @brief Starts sequence to upload image to star tracker
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*
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* @param image Name including absolute path if to image to upload. Must be previously
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* transferred to the OBC with the CFDP protocoll.
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*/
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ReturnValue_t startImageUpload(std::string uploadImage_);
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/**
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* @brief Calling this function initiates the download of an image from the star tracker.
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*
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* @param Name of the image which will be created
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*/
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ReturnValue_t startImageDownload(std::string downloadPath_);
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/**
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* @brief Starts the flash write procedure
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*
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* @param flashWriteFile_ Full name including absolute path of file to write to flash
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* @param region Region ID of flash region to write to
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* @param flashWriteAddress Start address of flash write procedure
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*/
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ReturnValue_t startFlashWrite(std::string flashWriteFile_, uint8_t region,
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uint32_t flashWriteAddress);
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/**
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* @brief Can be used to interrupt a running data transfer.
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*/
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void stopProcess();
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/**
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* @brief Changes the dafault name of downloaded images
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*/
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void setDownloadImageName(std::string image);
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
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//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
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static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(0xA0);
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//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
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static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Specified path does not exist
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static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(0xA2);
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//! [EXPORT] : [COMMENT] Failed to create download image or read flash file
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static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(0xA3);
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//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
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static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xA4);
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//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
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static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xA5);
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//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
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static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(0xA6);
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// Size of one image part which can be sent per action request
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static const size_t SIZE_IMAGE_PART = 1024;
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static const uint32_t LAST_POSITION = 4095;
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static const uint32_t MAX_POLLS = 10000;
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static const uint8_t POS_OFFSET = 2;
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static const uint8_t DATA_OFFSET = 5;
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static const uint8_t REGION_OFFSET = 2;
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static const uint8_t ADDRESS_OFFSET = 3;
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static const uint8_t LENGTH_OFFSET = 7;
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static const size_t IMAGE_DATA_SIZE = 1024;
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static const size_t MAX_FLASH_DATA = 1024;
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static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
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enum class InternalState {
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IDLE,
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UPLOAD_IMAGE,
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DOWNLOAD_IMAGE,
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FLASH_WRITE,
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FLASH_READ
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};
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InternalState internalState = InternalState::IDLE;
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ArcsecDatalinkLayer datalinkLayer;
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BinarySemaphore semaphore;
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// Name including absolute path of image to upload
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std::string uploadImage;
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// Path where the downloaded image will be stored
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std::string downloadPath;
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// File which contains data to write when executing the flash write command
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std::string flashWriteFile;
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// Path where the file containing the read data will be stored
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std::string flashReadFilePath = "";
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// Default name of downloaded image, can be changed via command
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std::string downloadImage = "image";
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// Default name of file containing the data read from flash, can be changed via command
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std::string flashReadImage = "flashread";
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// Will be set with the flash write command
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uint8_t flashWriteRegion = 0;
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// Will be set with the flash write command and specifies the start address where to write the
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// flash data to
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uint32_t flashWriteAddress = 0;
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SdCardManager* sdcMan = nullptr;
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uint8_t commandBuffer[StarTracker::MAX_FRAME_SIZE];
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bool terminate = false;
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/**
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* UART communication object responsible for low level access of star tracker
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* Must be set by star tracker handler
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*/
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UartComIF* uartComIF = nullptr;
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// Communication cookie. Must be set by the star tracker handler
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CookieIF* comCookie = nullptr;
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// Queue id of raw data receiver
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MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
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/**
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* @brief Performs image uploading
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*/
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ReturnValue_t performImageUpload();
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/**
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* @brief Performs download of last taken image from the star tracker.
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*
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* @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
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* In case the download of one position fails, the same packet will be again
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* requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
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* the download will be stopped.
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*/
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ReturnValue_t performImageDownload();
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/**
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* @brief Handles flash write procedure
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*
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* @return RETURN_OK if successful, otherwise RETURN_FAILED
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*/
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ReturnValue_t performFlashWrite();
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/**
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* @brief Sends packet to the star tracker and reads reply by using the communication
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* interface
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*
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* @param size Size of data beforehand written to the commandBuffer
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* @param parameter Parameter 2 of trigger event function
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*
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* @return RETURN_OK if successful, otherwise RETURN_FAILED
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*/
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ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
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/**
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* @brief Checks the reply header (type id and status fields)
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*
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* @return RETURN_OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
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*/
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ReturnValue_t checkReply();
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/**
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* @brief Checks the position field in a star tracker upload/download reply.
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*
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* @param expectedPosition Value of expected position
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*
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* @return RETURN_OK if received position matches expected position, otherwise RETURN_FAILED
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*/
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ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
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/**
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* @brief Checks the region, address and length value of a flash write reply.
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*
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* @return RETURN_OK if values match expected values, otherwise appropriate error return
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* value.
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*/
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ReturnValue_t checkFlashWriteReply(struct WriteActionRequest& req);
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/**
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* @brief Checks if a path points to an sd card and whether the SD card is monuted.
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*
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* @return SD_NOT_MOUNTED id SD card is not mounted, otherwise RETURN_OK
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*/
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ReturnValue_t checkPath(std::string name);
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};
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#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */
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