564 lines
21 KiB
C++
564 lines
21 KiB
C++
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
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#define MISSION_DEVICES_STARTRACKERHANDLER_H_
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <linux/acs/StrComHandler.h>
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#include <mission/acs/str/ArcsecJsonParamBase.h>
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#include <mission/acs/str/strHelpers.h>
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#include <mission/acs/str/strJsonCommands.h>
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#include <thirdparty/sagittactl/wire/common/genericstructs.h>
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#include <set>
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#include <thread>
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "fsfw/timemanager/Countdown.h"
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extern "C" {
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#include <wire/common/genericstructs.h>
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}
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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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* @note The STR code is a chaotic inconsistent mess and should be re-written with a simpler base
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* class. DO NOT USE THIS AS REFERENCE. Stay away from it.
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* @author J. Meier, R. Mueller
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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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StrComHandler* strHelper, power::Switch_t powerSwitch,
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startracker::SdCardConfigPathGetter& cfgPathGetter, SdCardMountedIF& sdCardIF);
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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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Submode_t getInitialSubmode() override;
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ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues, uint16_t startAtIndex) override;
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protected:
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void doStartUp() override;
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void doShutDown() 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, const uint8_t* commandData,
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size_t commandDataLen) override;
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ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
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ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
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size_t* foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, 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 theSerialComIF.
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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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ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
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virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) 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] 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(0xA2);
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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(0xA3);
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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(0xA4);
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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(0xA5);
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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(0xA6);
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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(0xA7);
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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(0xA8);
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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(0xA9);
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//! [EXPORT] : [COMMENT] Status field reply signals error
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static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAA);
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//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
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//! execution)
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static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAB);
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//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
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static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAC);
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//! [EXPORT] : [COMMENT] Region mismatch between send and received data
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static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xAD);
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//! [EXPORT] : [COMMENT] Address mismatch between send and received data
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static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xAE);
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//! [EXPORT] : [COMMENT] Length field mismatch between send and received data
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static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xAF);
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//! [EXPORT] : [COMMENT] Specified file does not exist
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static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB0);
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//! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
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static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB1);
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//! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
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static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB2);
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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(0xB3);
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//! [EXPORT] : [COMMENT] Received reply with invalid CRC
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB4);
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//! [EXPORT] : [COMMENT] Star tracker handler currently executing a command and using the
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//! communication interface
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static const ReturnValue_t STR_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB5);
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//! [EXPORT] : [COMMENT] Star tracker is already in firmware mode
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static const ReturnValue_t STARTRACKER_ALREADY_BOOTED = MAKE_RETURN_CODE(0xB6);
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//! [EXPORT] : [COMMENT] Star tracker must be in firmware mode to run this command
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static const ReturnValue_t STARTRACKER_NOT_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xB7);
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//! [EXPORT] : [COMMENT] Star tracker must be in bootloader mode to run this command
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static const ReturnValue_t STARTRACKER_NOT_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xB8);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
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//! [EXPORT] : [COMMENT] Failed to boot firmware
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static const Event BOOTING_FIRMWARE_FAILED_EVENT = MAKE_EVENT(1, severity::LOW);
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//! [EXPORT] : [COMMENT] Failed to boot star tracker into bootloader mode
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static const Event BOOTING_BOOTLOADER_FAILED_EVENT = MAKE_EVENT(2, severity::LOW);
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//! [EXPORT] : [COMMENT] Received COM error. P1: Communication Error ID (datasheet p32)
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static constexpr Event COM_ERROR_REPLY_RECEIVED = MAKE_EVENT(3, severity::LOW);
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static const uint8_t STATUS_OFFSET = 2;
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static const uint8_t PARAMS_OFFSET = 2;
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static const uint8_t TICKS_OFFSET = 3;
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static const uint8_t TIME_OFFSET = 7;
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static const uint8_t TM_PARAM_OFFSET = 15;
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static const uint8_t PARAMETER_ID_OFFSET = 1;
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static const uint8_t ACTION_ID_OFFSET = 1;
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static const uint8_t ACTION_DATA_OFFSET = 3;
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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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uint8_t firmwareTargetRaw = static_cast<uint8_t>(startracker::FirmwareTarget::MAIN);
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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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static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
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struct FlashReadCmd {
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// Minimum length of a read command (region, length and filename)
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static const size_t MIN_LENGTH = 7;
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};
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struct ChecksumCmd {
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static const uint8_t ADDRESS_OFFSET = 1;
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static const uint8_t LENGTH_OFFSET = 5;
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// Length of checksum command
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static const size_t LENGTH = 9;
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uint8_t rememberRegion = 0;
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uint32_t rememberAddress = 0;
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uint32_t rememberLength = 0;
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};
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ChecksumCmd checksumCmd;
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MessageQueueIF* eventQueue = nullptr;
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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::ChecksumSet checksumSet;
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startracker::CameraSet cameraSet;
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startracker::LimitsSet limitsSet;
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startracker::LogLevelSet loglevelSet;
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startracker::MountingSet mountingSet;
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startracker::ImageProcessorSet imageProcessorSet;
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startracker::CentroidingSet centroidingSet;
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startracker::LisaSet lisaSet;
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startracker::MatchingSet matchingSet;
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startracker::TrackingSet trackingSet;
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startracker::ValidationSet validationSet;
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startracker::AlgoSet algoSet;
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startracker::SubscriptionSet subscriptionSet;
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startracker::LogSubscriptionSet logSubscriptionSet;
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startracker::DebugCameraSet debugCameraSet;
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startracker::AutoBlobSet autoBlobSet;
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startracker::MatchedCentroidsSet matchedCentroidsSet;
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startracker::BlobSet blobSet;
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startracker::BlobsSet blobsSet;
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startracker::CentroidSet centroidSet;
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startracker::CentroidsSet centroidsSet;
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startracker::ContrastSet contrastSet;
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startracker::BlobStatsSet blobStatsSet;
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// Pointer to object responsible for uploading and downloading images to/from the star tracker
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StrComHandler* 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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// Loading firmware requires some time and the command will not trigger a reply when executed
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Countdown bootCountdown;
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struct JsonConfigs {
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Tracking tracking;
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LogLevel logLevel;
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LogSubscription logSubscription;
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DebugCamera debugCamera;
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Algo algo;
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Validation validation;
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Matching matching;
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Lisa lisa;
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Centroiding centroiding;
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Camera camera;
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ImageProcessor imageProcessor;
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Mounting mounting;
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Limits limits;
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Subscription subscription;
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AutoThreshold autoThreshold;
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};
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bool jcfgPending = false;
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JsonConfigs jcfgs;
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Countdown jcfgCountdown = Countdown(1000);
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bool commandExecuted = false;
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std::thread jsonCfgTask;
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static void setUpJsonCfgs(JsonConfigs& cfgs, std::string paramJsonFile);
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std::string paramJsonFile;
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enum class NormalState { SECONDARY_REQUEST, SOLUTION_REQUEST };
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NormalState normalState = NormalState::SECONDARY_REQUEST;
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enum class StartupState {
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IDLE,
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CHECK_PROGRAM,
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WAIT_CHECK_PROGRAM,
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BOOT_BOOTLOADER,
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WAIT_JCFG,
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DONE
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};
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StartupState startupState = StartupState::IDLE;
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enum class InternalState {
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IDLE,
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BOOT_FIRMWARE,
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DONE,
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FAILED_FIRMWARE_BOOT,
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BOOT_BOOTLOADER,
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BOOTLOADER_CHECK,
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FAILED_BOOTLOADER_BOOT
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};
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enum class FwBootState {
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NONE,
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BOOT_DELAY,
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REQ_VERSION,
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VERIFY_BOOT,
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SET_TIME,
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LOGLEVEL,
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LIMITS,
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TRACKING,
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MOUNTING,
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IMAGE_PROCESSOR,
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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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LOG_SUBSCRIPTION,
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DEBUG_CAMERA,
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AUTO_THRESHOLD,
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WAIT_FOR_EXECUTION,
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RETRY_CFG_CMD
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};
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FwBootState bootState = FwBootState::NONE;
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InternalState internalState = InternalState::IDLE;
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bool reinitNextSetParam = false;
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bool strHelperHandlingSpecialRequest = false;
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const power::Switch_t powerSwitch = power::NO_SWITCH;
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size_t fullPacketLen = 0;
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std::set<DeviceCommandId_t> additionalRequestedTm{};
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std::set<DeviceCommandId_t>::iterator currentSecondaryTmIter;
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SdCardMountedIF& sdCardIF;
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startracker::SdCardConfigPathGetter& cfgPathGetter;
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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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void loadTargetFirmwareFromPersistentCfg();
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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(uint8_t replyId, DeviceCommandId_t* foundId);
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ReturnValue_t scanForSetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
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ReturnValue_t scanForGetParameterReply(uint8_t replyId, DeviceCommandId_t* foundId);
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ReturnValue_t scanForTmReply(uint8_t replyId, 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 Extracts information for flash-read-command from TC data and starts execution of
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* flash-read-procedure
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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 returnvalue::OK if start of execution was successful, otherwise error return value
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*/
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ReturnValue_t executeFlashReadCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* Add a TM request to the list of telemetry which will be polled in the secondary step of
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* the device communication.
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* @param cmd
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*/
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void addSecondaryTmForNormalMode(DeviceCommandId_t cmd);
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/**
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* Reset the secondary set, which will only contain a TEMPERATURE set request after the reset.
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*/
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void resetSecondaryTmSet();
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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(startracker::FirmwareTarget target);
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/**
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* @brief Fills command buffer with command to get the checksum of a flash part
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*/
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ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
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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 prepareSwitchToBootloaderCmd();
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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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/**
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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 returnvalue::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, bool reinitSet);
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/**
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* @brief The following function will fill the command buffer with the command to request
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* a parameter set.
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*/
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ReturnValue_t prepareRequestCameraParams();
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ReturnValue_t prepareRequestLimitsParams();
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ReturnValue_t prepareRequestLogLevelParams();
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ReturnValue_t prepareRequestMountingParams();
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ReturnValue_t prepareRequestImageProcessorParams();
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ReturnValue_t prepareRequestCentroidingParams();
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ReturnValue_t prepareRequestLisaParams();
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ReturnValue_t prepareRequestMatchingParams();
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ReturnValue_t prepareRequestAutoBlobTm();
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ReturnValue_t prepareRequestMatchedCentroidsTm();
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ReturnValue_t prepareRequestBlobTm();
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ReturnValue_t prepareRequestBlobsTm();
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|
ReturnValue_t prepareRequestCentroidTm();
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|
ReturnValue_t prepareRequestCentroidsTm();
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|
ReturnValue_t prepareRequestContrastTm();
|
|
ReturnValue_t prepareRequestBlobStatsTm();
|
|
ReturnValue_t prepareRequestTrackingParams();
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|
ReturnValue_t prepareRequestValidationParams();
|
|
ReturnValue_t prepareRequestAlgoParams();
|
|
ReturnValue_t prepareRequestSubscriptionParams();
|
|
ReturnValue_t prepareRequestLogSubscriptionParams();
|
|
ReturnValue_t prepareRequestDebugCameraParams();
|
|
|
|
/**
|
|
* @brief Handles action replies with datasets.
|
|
*/
|
|
ReturnValue_t handleActionReplySet(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
|
|
size_t size);
|
|
|
|
/**
|
|
* @brief Default function to handle action replies
|
|
*/
|
|
ReturnValue_t handleActionReply(const uint8_t* rawFrame);
|
|
|
|
/**
|
|
* @brief Handles reply to upload centroid command
|
|
*/
|
|
ReturnValue_t handleUploadCentroidReply();
|
|
|
|
/**
|
|
* @brief Handles reply to checksum command
|
|
*/
|
|
ReturnValue_t handleChecksumReply(const uint8_t* rawFrame);
|
|
|
|
/**
|
|
* @brief Handles all set parameter replies
|
|
*/
|
|
ReturnValue_t handleSetParamReply(const uint8_t* rawFrame);
|
|
|
|
ReturnValue_t handlePingReply(const uint8_t* rawFrame);
|
|
|
|
ReturnValue_t handleParamRequest(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
|
|
size_t size);
|
|
|
|
/**
|
|
* @brief Checks the loaded program by means of the version set
|
|
*/
|
|
ReturnValue_t checkProgram();
|
|
|
|
/**
|
|
* @brief Handles the startup state machine
|
|
*/
|
|
void handleStartup(uint8_t tmType, uint8_t parameterId);
|
|
|
|
ReturnValue_t statusFieldCheck(const uint8_t* rawFrame);
|
|
/**
|
|
* @brief Handles telemtry replies and fills the appropriate dataset
|
|
*
|
|
* @param dataset Dataset where reply data will be written to
|
|
* @param size Size of the dataset
|
|
*
|
|
* @return returnvalue::OK if successful, otherwise error return value
|
|
*/
|
|
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
|
|
const char* context);
|
|
|
|
ReturnValue_t handleSolution(const uint8_t* rawFrame);
|
|
ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
|
|
ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
|
|
ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
|
|
ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);
|
|
ReturnValue_t handleCentroidTm(const uint8_t* rawFrame);
|
|
ReturnValue_t handleCentroidsTm(const uint8_t* rawFrame);
|
|
|
|
/**
|
|
* @brief Checks if star tracker is in valid mode for executing the received command.
|
|
*
|
|
* @param actioId Id of received command
|
|
*
|
|
* @return returnvalue::OK if star tracker is in valid mode, otherwise error return value
|
|
*/
|
|
ReturnValue_t checkCommand(ActionId_t actionId);
|
|
|
|
void doOnTransition(Submode_t subModeFrom);
|
|
void doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom);
|
|
void bootFirmware(Mode_t toMode);
|
|
void bootBootloader();
|
|
bool reloadJsonCfgFile();
|
|
ReturnValue_t acceptExternalDeviceCommands() override;
|
|
|
|
ReturnValue_t handleFirmwareUpdateCommand(const uint8_t* data, size_t size,
|
|
startracker::FirmwareTarget target);
|
|
};
|
|
|
|
#endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */
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