379 lines
14 KiB
C++
379 lines
14 KiB
C++
#ifndef BSP_Q7S_DEVICES_STRHELPER_H_
|
|
#define BSP_Q7S_DEVICES_STRHELPER_H_
|
|
|
|
#include <string>
|
|
|
|
#include "ArcsecDatalinkLayer.h"
|
|
#include "OBSWConfig.h"
|
|
|
|
#ifdef XIPHOS_Q7S
|
|
#include "bsp_q7s/fs/SdCardManager.h"
|
|
#endif
|
|
|
|
#include "arcsec/client/generated/actionreq.h"
|
|
#include "arcsec/common/generated/tmtcstructs.h"
|
|
#include "fsfw/devicehandlers/CookieIF.h"
|
|
#include "fsfw/objectmanager/SystemObject.h"
|
|
#include "fsfw/osal/linux/BinarySemaphore.h"
|
|
#include "fsfw/returnvalues/returnvalue.h"
|
|
#include "fsfw/tasks/ExecutableObjectIF.h"
|
|
#include "fsfw_hal/linux/serial/SerialComIF.h"
|
|
|
|
/**
|
|
* @brief Helper class for the star tracker handler to accelerate large data transfers.
|
|
*
|
|
* @author J. Meier
|
|
*/
|
|
class StrComHandler : public SystemObject, public DeviceCommunicationIF, public ExecutableObjectIF {
|
|
public:
|
|
static const uint8_t INTERFACE_ID = CLASS_ID::STR_HELPER;
|
|
|
|
//! [EXPORT] : [COMMENT] SD card specified in path string not mounted
|
|
static const ReturnValue_t SD_NOT_MOUNTED = MAKE_RETURN_CODE(1);
|
|
//! [EXPORT] : [COMMENT] Specified file does not exist on filesystem
|
|
static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(2);
|
|
//! [EXPORT] : [COMMENT] Specified path does not exist
|
|
static const ReturnValue_t PATH_NOT_EXISTS = MAKE_RETURN_CODE(3);
|
|
//! [EXPORT] : [COMMENT] Failed to create download image or read flash file
|
|
static const ReturnValue_t FILE_CREATION_FAILED = MAKE_RETURN_CODE(4);
|
|
//! [EXPORT] : [COMMENT] Region in flash write/read reply does not match expected region
|
|
static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(5);
|
|
//! [EXPORT] : [COMMENT] Address in flash write/read reply does not match expected address
|
|
static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(6);
|
|
//! [EXPORT] : [COMMENT] Length in flash write/read reply does not match expected length
|
|
static const ReturnValue_t LENGTH_MISMATCH = MAKE_RETURN_CODE(7);
|
|
//! [EXPORT] : [COMMENT] Status field in reply signals error
|
|
static const ReturnValue_t STATUS_ERROR = MAKE_RETURN_CODE(8);
|
|
//! [EXPORT] : [COMMENT] Reply has invalid type ID (should be of action reply type)
|
|
static const ReturnValue_t INVALID_TYPE_ID = MAKE_RETURN_CODE(9);
|
|
static const ReturnValue_t RECEPTION_TIMEOUT = MAKE_RETURN_CODE(10);
|
|
static const ReturnValue_t DECODING_ERROR = MAKE_RETURN_CODE(11);
|
|
|
|
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HELPER;
|
|
|
|
//! [EXPORT] : [COMMENT] Image upload failed
|
|
static const Event IMAGE_UPLOAD_FAILED = MAKE_EVENT(0, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Image download failed
|
|
static const Event IMAGE_DOWNLOAD_FAILED = MAKE_EVENT(1, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Uploading image to star tracker was successfulop
|
|
static const Event IMAGE_UPLOAD_SUCCESSFUL = MAKE_EVENT(2, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Image download was successful
|
|
static const Event IMAGE_DOWNLOAD_SUCCESSFUL = MAKE_EVENT(3, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Finished flash write procedure successfully
|
|
static const Event FLASH_WRITE_SUCCESSFUL = MAKE_EVENT(4, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Finished flash read procedure successfully
|
|
static const Event FLASH_READ_SUCCESSFUL = MAKE_EVENT(5, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Flash read procedure failed
|
|
static const Event FLASH_READ_FAILED = MAKE_EVENT(6, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Firmware update was successful
|
|
static const Event FIRMWARE_UPDATE_SUCCESSFUL = MAKE_EVENT(7, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Firmware update failed
|
|
static const Event FIRMWARE_UPDATE_FAILED = MAKE_EVENT(8, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Failed to read communication interface reply data
|
|
//! P1: Return code of failed communication interface read call
|
|
//! P1: Upload/download position for which the read call failed
|
|
static const Event STR_HELPER_READING_REPLY_FAILED = MAKE_EVENT(9, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Unexpected stop of decoding sequence
|
|
//! P1: Return code of failed communication interface read call
|
|
//! P1: Upload/download position for which the read call failed
|
|
static const Event STR_HELPER_COM_ERROR = MAKE_EVENT(10, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Star tracker did not send a valid reply for a certain timeout.
|
|
//! P1: Position of upload or download packet for which the packet wa sent. P2: Timeout
|
|
static const Event STR_COM_REPLY_TIMEOUT = MAKE_EVENT(11, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Error during decoding of received reply occurred
|
|
//! P1: Return value of decoding function
|
|
//! P2: Position of upload/download packet, or address of flash write/read request
|
|
static const Event STR_HELPER_DEC_ERROR = MAKE_EVENT(13, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Position mismatch
|
|
//! P1: The expected position and thus the position for which the image upload/download failed
|
|
static const Event POSITION_MISMATCH = MAKE_EVENT(14, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Specified file does not exist
|
|
//! P1: Internal state of str helper
|
|
static const Event STR_HELPER_FILE_NOT_EXISTS = MAKE_EVENT(15, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Sending packet to star tracker failed
|
|
//! P1: Return code of communication interface sendMessage function
|
|
//! P2: Position of upload/download packet, or address of flash write/read request for which
|
|
//! sending failed
|
|
static const Event STR_HELPER_SENDING_PACKET_FAILED = MAKE_EVENT(16, severity::LOW);
|
|
//! [EXPORT] : [COMMENT] Communication interface requesting reply failed
|
|
//! P1: Return code of failed request
|
|
//! P1: Upload/download position, or address of flash write/read request for which transmission
|
|
//! failed
|
|
static const Event STR_HELPER_REQUESTING_MSG_FAILED = MAKE_EVENT(17, severity::LOW);
|
|
|
|
StrComHandler(object_id_t objectId);
|
|
virtual ~StrComHandler();
|
|
|
|
ReturnValue_t initialize() override;
|
|
ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
|
|
|
/**
|
|
* @brief Starts sequence to upload image to star tracker
|
|
*
|
|
* @param uploadImage_ Name including absolute path of the image to upload. Must be previously
|
|
* transferred to the OBC with the CFDP protocol.
|
|
*/
|
|
ReturnValue_t startImageUpload(std::string uploadImage_);
|
|
|
|
/**
|
|
* @brief Calling this function initiates the download of an image from the star tracker.
|
|
*
|
|
* @param path Path where downloaded image will be stored
|
|
*/
|
|
ReturnValue_t startImageDownload(std::string path);
|
|
|
|
/**
|
|
* @brief Will start the firmware update
|
|
*
|
|
* @param fullname Full name including absolute path of file containing firmware
|
|
* update.
|
|
*/
|
|
ReturnValue_t startFirmwareUpdate(std::string fullname);
|
|
|
|
/**
|
|
* @brief Starts the flash read procedure
|
|
*
|
|
* @param path Path where file with read flash data will be created
|
|
* @param startRegion Region form where to start reading
|
|
* @param length Number of bytes to read from flash
|
|
*/
|
|
ReturnValue_t startFlashRead(std::string path, uint8_t startRegion, uint32_t length);
|
|
|
|
/**
|
|
* @brief Can be used to interrupt a running data transfer.
|
|
*/
|
|
void stopProcess();
|
|
|
|
/**
|
|
* @brief Changes the dafault name of downloaded images
|
|
*/
|
|
void setDownloadImageName(std::string filename);
|
|
|
|
/**
|
|
* @brief Sets the name of the file which will be created to store the data read from flash
|
|
*/
|
|
void setFlashReadFilename(std::string filename);
|
|
|
|
/**
|
|
* @brief Disables timestamp generation when new file is created
|
|
*/
|
|
void disableTimestamping();
|
|
|
|
/**
|
|
* @brief Enables timestamp generation when new file is created
|
|
*/
|
|
void enableTimestamping();
|
|
|
|
private:
|
|
//! [EXPORT] : [SKIP]
|
|
static constexpr ReturnValue_t NO_SERIAL_DATA_READ = MAKE_RETURN_CODE(128);
|
|
|
|
// Size of one image part which can be sent per action request
|
|
static const size_t SIZE_IMAGE_PART = 1024;
|
|
static const uint32_t FLASH_REGION_SIZE = 0x20000;
|
|
|
|
struct ImageDownload {
|
|
static const uint32_t LAST_POSITION = 4095;
|
|
};
|
|
|
|
static const uint32_t MAX_POLLS = 10000;
|
|
|
|
static const uint8_t ACTION_DATA_OFFSET = 3;
|
|
static const uint8_t POS_OFFSET = 3;
|
|
static const uint8_t IMAGE_DATA_OFFSET = 6;
|
|
static const uint8_t FLASH_READ_DATA_OFFSET = 9;
|
|
static const uint8_t REGION_OFFSET = 3;
|
|
static const uint8_t ADDRESS_OFFSET = 4;
|
|
static const size_t CHUNK_SIZE = 1024;
|
|
static const size_t CONFIG_MAX_DOWNLOAD_RETRIES = 3;
|
|
static const uint32_t FLASH_ERASE_DELAY = 500;
|
|
|
|
enum class InternalState {
|
|
SLEEPING,
|
|
POLL_ONE_REPLY,
|
|
UPLOAD_IMAGE,
|
|
DOWNLOAD_IMAGE,
|
|
FLASH_READ,
|
|
FIRMWARE_UPDATE
|
|
};
|
|
|
|
InternalState state = InternalState::SLEEPING;
|
|
|
|
ArcsecDatalinkLayer datalinkLayer;
|
|
|
|
MutexIF *lock;
|
|
BinarySemaphore semaphore;
|
|
|
|
Countdown replyTimeout = Countdown(20);
|
|
|
|
struct UploadImage {
|
|
// Name including absolute path of image to upload
|
|
std::string uploadFile;
|
|
};
|
|
UploadImage uploadImage;
|
|
|
|
struct DownloadImage {
|
|
// Path where the downloaded image will be stored
|
|
std::string path;
|
|
// Default name of downloaded image, can be changed via command
|
|
std::string filename = "image.bin";
|
|
};
|
|
DownloadImage downloadImage;
|
|
|
|
struct FlashWrite {
|
|
// File which contains data to write when executing the flash write command
|
|
std::string fullname;
|
|
// The first region to write to
|
|
uint8_t firstRegion = 0;
|
|
// Maximum region the flash write command is allowed to write to
|
|
uint8_t lastRegion = 0;
|
|
// Will be set with the flash write command and specifies the start address where to write the
|
|
// flash data to
|
|
uint32_t address = 0;
|
|
};
|
|
FlashWrite flashWrite;
|
|
|
|
struct FlashRead {
|
|
// Path where the file containing the read data will be stored
|
|
std::string path = "";
|
|
// Default name of file containing the data read from flash, can be changed via command
|
|
std::string filename = "flashread.bin";
|
|
// Will be set with the flash read command
|
|
uint8_t startRegion = 0;
|
|
// Number of bytes to read from flash
|
|
uint32_t size = 0;
|
|
};
|
|
FlashRead flashRead;
|
|
|
|
#ifdef XIPHOS_Q7S
|
|
SdCardManager *sdcMan = nullptr;
|
|
#endif
|
|
|
|
std::array<uint8_t, startracker::MAX_FRAME_SIZE> cmdBuf{};
|
|
std::array<uint8_t, 4096> recBuf{};
|
|
|
|
bool replyWasReceived = false;
|
|
const uint8_t *replyPtr = nullptr;
|
|
size_t replyLen = 0;
|
|
ReturnValue_t replyResult = returnvalue::OK;
|
|
|
|
bool terminate = false;
|
|
|
|
#ifdef EGSE
|
|
bool timestamping = false;
|
|
#else
|
|
bool timestamping = true;
|
|
#endif
|
|
|
|
int serialPort = 0;
|
|
struct termios tty = {};
|
|
|
|
// Queue id of raw data receiver
|
|
MessageQueueId_t rawDataReceiver = MessageQueueIF::NO_QUEUE;
|
|
|
|
ReturnValue_t initializeInterface(CookieIF *cookie) override;
|
|
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
|
|
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
|
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
|
|
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
|
|
|
|
ReturnValue_t handleSerialReception();
|
|
|
|
/**
|
|
* @brief Performs image uploading
|
|
*/
|
|
ReturnValue_t performImageUpload();
|
|
|
|
/**
|
|
* @brief Performs firmware update
|
|
*
|
|
* @return returnvalue::OK if successful, otherwise error return value
|
|
*/
|
|
ReturnValue_t performFirmwareUpdate();
|
|
|
|
/**
|
|
* @brief Performs download of last taken image from the star tracker.
|
|
*
|
|
* @details Download is split over multiple packets transporting each a maximum of 1024 bytes.
|
|
* In case the download of one position fails, the same packet will be again
|
|
* requested. If the download of the packet fails CONFIG_MAX_DOWNLOAD_RETRIES times,
|
|
* the download will be stopped.
|
|
*/
|
|
ReturnValue_t performImageDownload();
|
|
|
|
/**
|
|
* @brief Handles flash write procedure
|
|
*
|
|
* @param ID of first region to write to
|
|
*
|
|
* @return returnvalue::OK if successful, otherwise returnvalue::FAILED
|
|
*/
|
|
ReturnValue_t performFlashWrite();
|
|
|
|
/**
|
|
* @brief Sends a sequence of commands to the star tracker to read larger parts from the
|
|
* flash memory.
|
|
*/
|
|
ReturnValue_t performFlashRead();
|
|
|
|
/**
|
|
* @brief Sends packet to the star tracker and reads reply by using the communication
|
|
* interface
|
|
* @details
|
|
* The reply frame is stored in the data link layer helper. A pointer to the start of the frame
|
|
* is assigned to the @replyPtr member of this class. The frame length will be assigned to
|
|
* the @replyLen member.
|
|
* @param size Size of data beforehand written to the commandBuffer
|
|
* @param parameter Parameter 2 of trigger event function
|
|
*
|
|
* @return returnvalue::OK if successful, otherwise returnvalue::FAILED
|
|
*/
|
|
ReturnValue_t sendAndRead(size_t size, uint32_t parameter);
|
|
|
|
/**
|
|
* @brief Checks the header (type id and status fields) of the action reply
|
|
*
|
|
* @return returnvalue::OK if reply confirms success of packet transfer, otherwise REUTRN_FAILED
|
|
*/
|
|
ReturnValue_t checkActionReply(size_t replySize);
|
|
|
|
/**
|
|
* @brief Checks the position field in a star tracker upload/download reply.
|
|
*
|
|
* @param expectedPosition Value of expected position
|
|
*
|
|
* @return returnvalue::OK if received position matches expected position, otherwise
|
|
* returnvalue::FAILED
|
|
*/
|
|
ReturnValue_t checkReplyPosition(uint32_t expectedPosition);
|
|
|
|
#ifdef XIPHOS_Q7S
|
|
/**
|
|
* @brief Checks if a path points to an sd card and whether the SD card is monuted.
|
|
*
|
|
* @return SD_NOT_MOUNTED id SD card is not mounted, otherwise returnvalue::OK
|
|
*/
|
|
ReturnValue_t checkPath(std::string name);
|
|
#endif
|
|
|
|
/**
|
|
* @brief Unlocks a range of flash regions
|
|
*
|
|
* @param from First region in range to unlock
|
|
* @param to Last region in range to unlock
|
|
*
|
|
*/
|
|
ReturnValue_t unlockAndEraseRegions(uint32_t from, uint32_t to);
|
|
|
|
/**
|
|
* The reply frame is stored in the data link layer helper. A pointer to the start of the frame
|
|
* is assigned to the @replyPtr member of this class. The frame length will be assigned to
|
|
* the @replyLen member.
|
|
* @param failParameter
|
|
* @return
|
|
*/
|
|
ReturnValue_t readOneReply(uint32_t failParameter);
|
|
};
|
|
|
|
#endif /* BSP_Q7S_DEVICES_STRHELPER_H_ */
|