104 lines
4.0 KiB
C++
104 lines
4.0 KiB
C++
#ifndef BSP_Q7S_DEVICES_STRIMAGELOADER_H_
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#define BSP_Q7S_DEVICES_STRIMAGELOADER_H_
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#include <string>
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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 "bsp_q7s/devices/ArcsecDatalinkLayer.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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/**
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* @brief An object of this class runs in a separate task and is responsible for uploading and
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* downloading images to/from the star tracker. This is required because uploading and
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* downloading via the star tracker handler takes a lot of time because each upload or
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* download packet can transport a maximum of 1024 bytes.
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*/
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class StrImageLoader: public SystemObject, public ExecutableObjectIF, public HasReturnvaluesIF {
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public:
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_IMAGE_LOADER;
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//! [EXPORT] : [COMMENT] Try to upload image but specified image does not exist
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static const Event IMAGE_FILE_NOT_EXISTS = MAKE_EVENT(0, severity::LOW);
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//! [EXPORT] : [COMMENT] Sending image upload 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 packet for which the transmission failed
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static const Event SENDING_UPLOAD_PACKET_FAILED = MAKE_EVENT(1, 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 position for which the request failed
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static const Event UPLOAD_REQUESTING_MSG_FAILED = MAKE_EVENT(2, 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(3, 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 position for which the read call failed
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static const Event UPLOAD_READING_REPLY_FAILED = MAKE_EVENT(3, 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 position for which the read call failed
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static const Event UPLOAD_COM_ERROR = MAKE_EVENT(4, severity::LOW);
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StrImageLoader(object_id_t objectId);
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virtual ~StrImageLoader();
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ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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void 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 image);
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::STR_IMG_LOADER;
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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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// 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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enum class InternalState {
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IDLE,
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UPLOAD_IMAGE,
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DOWNLOAD_IMAGE
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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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// Absolute path and name to image to upload
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std::string uploadImage;
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SdCardManager* sdcMan = nullptr;
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/**
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* 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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DeviceCommunicationIF * communicationInterface = 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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/**
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* @brief Performs image uploading
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*/
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ReturnValue_t uploadImage();
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};
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#endif /* BSP_Q7S_DEVICES_STRIMAGELOADER_H_ */
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