eive-obsw/bsp_q7s/devices/startracker/StarTrackerDefinitions.h

#ifndef MISSION_STARTRACKER_DEFINITIONS_H_
#define MISSION_STARTRACKER_DEFINITIONS_H_

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>

#include "objects/systemObjectList.h"

namespace StarTracker {

/** This is the address of the star tracker */
static const uint8_t ADDRESS = 33;

static const uint8_t STATUS_OK = 0;

enum PoolIds : lp_id_t {
  TICKS_TIME_SET,
  TIME_TIME_SET,
  RUN_TIME,
  UNIX_TIME,
  TICKS_VERSION_SET,
  TIME_VERSION_SET,
  PROGRAM,
  MAJOR,
  MINOR,
  TICKS_INTERFACE_SET,
  TIME_INTERFACE_SET,
  FRAME_COUNT,
  CHECKSUM_ERROR_COUNT,
  SET_PARAM_COUNT,
  SET_PARAM_REPLY_COUNT,
  PARAM_REQUEST_COUNT,
  PARAM_REPLY_COUNT,
  REQ_TM_COUNT,
  TM_REPLY_COUNT,
  ACTION_REQ_COUNT,
  ACTION_REPLY_COUNT,
  TICKS_POWER_SET,
  TIME_POWER_SET,
  MCU_CURRENT,
  MCU_VOLTAGE,
  FPGA_CORE_CURRENT,
  FPGA_CORE_VOLTAGE,
  FPGA_18_CURRENT,
  FPGA_18_VOLTAGE,
  FPGA_25_CURRENT,
  FPGA_25_VOLTAGE,
  CMV_21_CURRENT,
  CMV_21_VOLTAGE,
  CMV_PIX_CURRENT,
  CMV_PIX_VOLTAGE,
  CMV_33_CURRENT,
  CMV_33_VOLTAGE,
  CMV_RES_CURRENT,
  CMV_RES_VOLTAGE,
  TICKS_TEMPERATURE_SET,
  TIME_TEMPERATURE_SET,
  MCU_TEMPERATURE,
  CMOS_TEMPERATURE,
  TICKS_SOLUTION_SET,
  TIME_SOLUTION_SET,
  CALI_QW,
  CALI_QX,
  CALI_QY,
  CALI_QZ,
  TRACK_CONFIDENCE,
  TRACK_QW,
  TRACK_QX,
  TRACK_QY,
  TRACK_QZ,
  TRACK_REMOVED,
  STARS_CENTROIDED,
  STARS_MATCHED_DATABASE,
  LISA_QW,
  LISA_QX,
  LISA_QY,
  LISA_QZ,
  LISA_PERC_CLOSE,
  LISA_NR_CLOSE,
  TRUST_WORTHY,
  STABLE_COUNT,
  SOLUTION_STRATEGY,
  TICKS_HISTOGRAM_SET,
  TIME_HISTOGRAM_SET,
  HISTOGRAM_BINA0,
  HISTOGRAM_BINA1,
  HISTOGRAM_BINA2,
  HISTOGRAM_BINA3,
  HISTOGRAM_BINA4,
  HISTOGRAM_BINA5,
  HISTOGRAM_BINA6,
  HISTOGRAM_BINA7,
  HISTOGRAM_BINA8,
  HISTOGRAM_BINB0,
  HISTOGRAM_BINB1,
  HISTOGRAM_BINB2,
  HISTOGRAM_BINB3,
  HISTOGRAM_BINB4,
  HISTOGRAM_BINB5,
  HISTOGRAM_BINB6,
  HISTOGRAM_BINB7,
  HISTOGRAM_BINB8,
  HISTOGRAM_BINC0,
  HISTOGRAM_BINC1,
  HISTOGRAM_BINC2,
  HISTOGRAM_BINC3,
  HISTOGRAM_BINC4,
  HISTOGRAM_BINC5,
  HISTOGRAM_BINC6,
  HISTOGRAM_BINC7,
  HISTOGRAM_BINC8,
  HISTOGRAM_BIND0,
  HISTOGRAM_BIND1,
  HISTOGRAM_BIND2,
  HISTOGRAM_BIND3,
  HISTOGRAM_BIND4,
  HISTOGRAM_BIND5,
  HISTOGRAM_BIND6,
  HISTOGRAM_BIND7,
  HISTOGRAM_BIND8,
  TICKS_CONTRAST_SET,
  TIME_CONTRAST_SET,
  CONTRAST_BINA0,
  CONTRAST_BINA1,
  CONTRAST_BINA2,
  CONTRAST_BINA3,
  CONTRAST_BINA4,
  CONTRAST_BINA5,
  CONTRAST_BINA6,
  CONTRAST_BINA7,
  CONTRAST_BINA8,
  CONTRAST_BINB0,
  CONTRAST_BINB1,
  CONTRAST_BINB2,
  CONTRAST_BINB3,
  CONTRAST_BINB4,
  CONTRAST_BINB5,
  CONTRAST_BINB6,
  CONTRAST_BINB7,
  CONTRAST_BINB8,
  CONTRAST_BINC0,
  CONTRAST_BINC1,
  CONTRAST_BINC2,
  CONTRAST_BINC3,
  CONTRAST_BINC4,
  CONTRAST_BINC5,
  CONTRAST_BINC6,
  CONTRAST_BINC7,
  CONTRAST_BINC8,
  CONTRAST_BIND0,
  CONTRAST_BIND1,
  CONTRAST_BIND2,
  CONTRAST_BIND3,
  CONTRAST_BIND4,
  CONTRAST_BIND5,
  CONTRAST_BIND6,
  CONTRAST_BIND7,
  CONTRAST_BIND8,
  CHKSUM,
  DWL_ID,
  DWL_PIXX,
  DWL_PIXY,
  DWL_X_UNCORRECTED,
  DWL_Y_UNCORRECTED,
  DWL_X_CORRECTED,
  DWL_Y_CORRECTED,
  DWL_MAGNITUDE,
  DWL_CXA,
  DWL_CYA,
  DWL_QUALITY,
  MATCHEDSTR_ID,
  MATCHEDSTR_CAMFPX,
  MATCHEDSTR_CAMFPY,
  MATCHEDSTR_CAMCARTX,
  MATCHEDSTR_CAMCARTY,
  MATCHEDSTR_CAMCARTZ,
  MATCHEDSTR_CAMMAGNITUDE,
  MATCHEDSTR_DBFPX,
  MATCHEDSTR_DBFPY,
  MATCHEDSTR_DBCARTX,
  MATCHEDSTR_DBCARTY,
  MATCHEDSTR_DBCARTZ,
  MATCHEDSTR_DBMAGNITUDE,
  MATCHEDSTR_CATALOGID,
  DBIMAGE_ID,
  DBIMAGE_PIXX,
  DBIMAGE_PIXY,
  DBIMAGE_X,
  DBIMAGE_Y,
  DBIMAGE_MAGNITUDE,
  BLOBPIX_ID,
  BLOBPIX_X,
  BLOBPIX_Y,
  BLOBPIX_TOT_VAL,
  BLOBPIX_IN_USE,
  BLOBPIX_BRIGHT_NEIGHBOURS,
  BLOBPIX_REGION
};

static const DeviceCommandId_t PING_REQUEST = 0;
// Boots image (works only in bootloader mode)
static const DeviceCommandId_t BOOT = 1;
static const DeviceCommandId_t REQ_VERSION = 2;
static const DeviceCommandId_t REQ_INTERFACE = 3;
static const DeviceCommandId_t REQ_TIME = 4;
static const DeviceCommandId_t ERASE = 5;
static const DeviceCommandId_t UNLOCK = 6;
static const DeviceCommandId_t SWITCH_TO_BOOTLOADER_PROGRAM = 7;
static const DeviceCommandId_t DOWNLOAD_IMAGE = 9;
static const DeviceCommandId_t UPLOAD_IMAGE = 10;
static const DeviceCommandId_t REQ_POWER = 11;
static const DeviceCommandId_t TAKE_IMAGE = 15;
static const DeviceCommandId_t DOWNLOAD_CENTROID = 16;
static const DeviceCommandId_t UPLOAD_CENTROID = 17;
static const DeviceCommandId_t SUBSCRIBE_TO_TM = 18;
static const DeviceCommandId_t REQ_SOLUTION = 24;
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const DeviceCommandId_t REQ_HISTOGRAM = 28;
static const DeviceCommandId_t REQ_CONTRAST = 29;
static const DeviceCommandId_t LIMITS = 40;
static const DeviceCommandId_t MOUNTING = 41;
static const DeviceCommandId_t CAMERA = 42;
static const DeviceCommandId_t BLOB = 43;
static const DeviceCommandId_t CENTROIDING = 44;
static const DeviceCommandId_t LISA = 45;
static const DeviceCommandId_t MATCHING = 46;
static const DeviceCommandId_t TRACKING = 47;
static const DeviceCommandId_t VALIDATION = 48;
static const DeviceCommandId_t ALGO = 49;
static const DeviceCommandId_t CHECKSUM = 50;
static const DeviceCommandId_t READ = 51;
static const DeviceCommandId_t WRITE = 52;
static const DeviceCommandId_t DOWNLOAD_MATCHED_STAR = 53;
static const DeviceCommandId_t STOP_IMAGE_LOADER = 55;
static const DeviceCommandId_t RESET_ERROR = 56;
static const DeviceCommandId_t CHANGE_DOWNLOAD_FILE = 57;
static const DeviceCommandId_t SET_JSON_FILE_NAME = 58;
static const DeviceCommandId_t SET_READ_FILENAME = 59;
static const DeviceCommandId_t SET_TIME = 60;
static const DeviceCommandId_t DOWNLOAD_DBIMAGE = 61;
static const DeviceCommandId_t DOWNLOAD_BLOBPIXEL = 62;
static const DeviceCommandId_t DOWNLOAD_FPGA_IMAGE = 63;
static const DeviceCommandId_t CHANGE_FPGA_DOWNLOAD_FILE = 64;
static const DeviceCommandId_t UPLOAD_FPGA_IMAGE = 65;
static const DeviceCommandId_t FPGA_ACTION = 66;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;

static const uint32_t VERSION_SET_ID = REQ_VERSION;
static const uint32_t INTERFACE_SET_ID = REQ_INTERFACE;
static const uint32_t POWER_SET_ID = REQ_POWER;
static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
static const uint32_t TIME_SET_ID = REQ_TIME;
static const uint32_t SOLUTION_SET_ID = REQ_SOLUTION;
static const uint32_t HISTOGRAM_SET_ID = REQ_HISTOGRAM;
static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
static const uint32_t CHECKSUM_SET_ID = CHECKSUM;
static const uint32_t DOWNLOADCENTROID_SET_ID = DOWNLOAD_CENTROID;
static const uint32_t DOWNLOAD_MATCHED_STAR_SET_ID = DOWNLOAD_MATCHED_STAR;
static const uint32_t DOWNLOAD_DBIMAGE_SET_ID = DOWNLOAD_DBIMAGE;
static const uint32_t DOWNLOAD_BLOBPIXEL_SET_ID = DOWNLOAD_BLOBPIXEL;

/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;

static const uint8_t TEMPERATURE_SET_ENTRIES = 4;
static const uint8_t VERSION_SET_ENTRIES = 5;
static const uint8_t INTERFACE_SET_ENTRIES = 4;
static const uint8_t POWER_SET_ENTRIES = 18;
static const uint8_t TIME_SET_ENTRIES = 4;
static const uint8_t SOLUTION_SET_ENTRIES = 23;
static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
static const uint8_t CONTRAST_SET_ENTRIES = 38;
static const uint8_t CHECKSUM_SET_ENTRIES = 1;
static const uint8_t DOWNLOAD_CENTROID_SET_ENTRIES = 11;
static const uint8_t DOWNLOAD_MATCHED_STAR_SET_ENTRIES = 14;
static const uint8_t DOWNLOAD_DBIMAGE_SET_ENTRIES = 6;
static const uint8_t DOWNLOAD_BLOBPIXEL_SET_ENTRIES = 7;

// Action, parameter and telemetry IDs
namespace ID {
static const uint8_t PING = 0;
static const uint8_t BOOT = 1;
static const uint8_t VERSION = 2;
static const uint8_t INTERFACE = 3;
static const uint8_t LIMITS = 5;
static const uint8_t MOUNTING = 6;
static const uint8_t CAMERA = 9;
static const uint8_t BLOB = 10;
static const uint8_t CENTROIDING = 11;
static const uint8_t LISA = 12;
static const uint8_t MATCHING = 13;
static const uint8_t TRACKING = 14;
static const uint8_t VALIDATION = 15;
static const uint8_t ALGO = 16;
static const uint8_t REBOOT = 7;
static const uint8_t UPLOAD_IMAGE = 10;
static const uint8_t POWER = 11;
static const uint8_t SET_TIME = 14;
static const uint8_t SUBSCRIBE = 18;
static const uint8_t SOLUTION = 24;
static const uint8_t TEMPERATURE = 25;
static const uint8_t HISTOGRAM = 28;
static const uint8_t CONTRAST = 29;
static const uint8_t TIME = 1;
static const uint8_t WRITE = 2;
static const uint8_t READ = 3;
static const uint8_t CHECKSUM = 4;
static const uint8_t ERASE = 5;
static const uint8_t UNLOCK = 6;
static const uint8_t TAKE_IMAGE = 15;
static const uint8_t ERROR_RESET = 12;
static const uint8_t DOWNLOAD_CENTROID = 16;
static const uint8_t UPLOAD_CENTROID = 17;
static const uint8_t DOWNLOAD_MATCHED_STAR = 18;
static const uint8_t DOWNLOAD_DBIMAGE = 19;
static const uint8_t DOWNLOAD_BLOBPIXEL = 24;
static const uint8_t FPGA_ACTION = 22;
}  // namespace ID

namespace Program {
static const uint8_t BOOTLOADER = 1;
static const uint8_t FIRMWARE = 2;
}  // namespace Program

/**
 * @brief   This dataset can be used to store the temperature of a reaction wheel.
 */
class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
 public:
  static const size_t SIZE = 20;

  TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}

  TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}

  // Ticks is time reference generated by internal counter of the star tracker
  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_TEMPERATURE_SET, this);
  /** Unix time in microseconds */
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_TEMPERATURE_SET, this);
  lp_var_t<float> mcuTemperature = lp_var_t<float>(sid.objectId, PoolIds::MCU_TEMPERATURE, this);
  lp_var_t<float> cmosTemperature = lp_var_t<float>(sid.objectId, PoolIds::CMOS_TEMPERATURE, this);

  void printSet() {
    sif::info << "TemperatureSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "TemperatureSet::printSet: Time: " << this->time << " us" << std::endl;
    sif::info << "TemperatureSet::printSet: MCU Temperature: " << this->mcuTemperature << " °C"
              << std::endl;
    sif::info << "TemperatureSet::printSet: CMOS Temperature: " << this->cmosTemperature << " °C"
              << std::endl;
  }
};

/**
 * @brief   Package to store version parameters
 */
class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
 public:
  static const size_t SIZE = 15;

  VersionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, VERSION_SET_ID) {}

  VersionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {}

  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_VERSION_SET, this);
  /** Unix time in microseconds */
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_VERSION_SET, this);
  lp_var_t<uint8_t> program = lp_var_t<uint8_t>(sid.objectId, PoolIds::PROGRAM, this);
  lp_var_t<uint8_t> major = lp_var_t<uint8_t>(sid.objectId, PoolIds::MAJOR, this);
  lp_var_t<uint8_t> minor = lp_var_t<uint8_t>(sid.objectId, PoolIds::MINOR, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "VersionSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "VersionSet::printSet: Unix Time: " << this->time << " us" << std::endl;
    sif::info << "VersionSet::printSet: Program: " << static_cast<unsigned int>(this->program.value)
              << std::endl;
    sif::info << "VersionSet::printSet: Major: " << static_cast<unsigned int>(this->major.value)
              << std::endl;
    sif::info << "VersionSet::printSet: Minor: " << static_cast<unsigned int>(this->minor.value)
              << std::endl;
  }
};

/**
 * @brief   Dataset to store the interface telemtry data.
 */
class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
 public:
  static const size_t SIZE = 20;

  InterfaceSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}

  InterfaceSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}

  // Ticks is time reference generated by interanl counter of the star tracker
  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_INTERFACE_SET, this);
  /** Unix time in microseconds */
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_INTERFACE_SET, this);
  lp_var_t<uint32_t> frameCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::FRAME_COUNT, this);
  lp_var_t<uint32_t> checksumerrorCount =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::CHECKSUM_ERROR_COUNT, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "InterfaceSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "InterfaceSet::printSet: Time: " << this->time << " us" << std::endl;
    sif::info << "InterfaceSet::printSet: Frame Count: " << this->frameCount << std::endl;
    sif::info << "InterfaceSet::printSet: Checksum Error Count: " << this->checksumerrorCount
              << std::endl;
  }
};

/**
 * @brief   Dataset to store the data of the power telemetry reply.
 */
class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
 public:
  static const size_t SIZE = 76;

  PowerSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}

  PowerSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}

  // Ticks is time reference generated by interanl counter of the star tracker
  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_POWER_SET, this);
  /** Unix time in microseconds */
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_POWER_SET, this);
  lp_var_t<float> mcuCurrent = lp_var_t<float>(sid.objectId, PoolIds::MCU_CURRENT, this);
  lp_var_t<float> mcuVoltage = lp_var_t<float>(sid.objectId, PoolIds::MCU_VOLTAGE, this);
  lp_var_t<float> fpgaCoreCurrent = lp_var_t<float>(sid.objectId, PoolIds::FPGA_CORE_CURRENT, this);
  lp_var_t<float> fpgaCoreVoltage = lp_var_t<float>(sid.objectId, PoolIds::FPGA_CORE_VOLTAGE, this);
  lp_var_t<float> fpga18Current = lp_var_t<float>(sid.objectId, PoolIds::FPGA_18_CURRENT, this);
  lp_var_t<float> fpga18Voltage = lp_var_t<float>(sid.objectId, PoolIds::FPGA_18_VOLTAGE, this);
  lp_var_t<float> fpga25Current = lp_var_t<float>(sid.objectId, PoolIds::FPGA_25_CURRENT, this);
  lp_var_t<float> fpga25Voltage = lp_var_t<float>(sid.objectId, PoolIds::FPGA_25_VOLTAGE, this);
  lp_var_t<float> cmv21Current = lp_var_t<float>(sid.objectId, PoolIds::CMV_21_CURRENT, this);
  lp_var_t<float> cmv21Voltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_21_VOLTAGE, this);
  lp_var_t<float> cmvPixCurrent = lp_var_t<float>(sid.objectId, PoolIds::CMV_PIX_CURRENT, this);
  lp_var_t<float> cmvPixVoltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_PIX_VOLTAGE, this);
  lp_var_t<float> cmv33Current = lp_var_t<float>(sid.objectId, PoolIds::CMV_33_CURRENT, this);
  lp_var_t<float> cmv33Voltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_33_VOLTAGE, this);
  lp_var_t<float> cmvResCurrent = lp_var_t<float>(sid.objectId, PoolIds::CMV_RES_CURRENT, this);
  lp_var_t<float> cmvResVoltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_RES_VOLTAGE, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "PowerSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "PowerSet::printSet: Time: " << this->time << " us" << std::endl;
    sif::info << "PowerSet::printSet: MCU Current: " << this->mcuCurrent << " A" << std::endl;
    sif::info << "PowerSet::printSet: MCU Voltage: " << this->mcuVoltage << " V" << std::endl;
    sif::info << "PowerSet::printSet: FPGA Core current: " << this->fpgaCoreCurrent << " A"
              << std::endl;
    sif::info << "PowerSet::printSet: FPGA Core voltage: " << this->fpgaCoreVoltage << " V"
              << std::endl;
    sif::info << "PowerSet::printSet: FPGA 18 current: " << this->fpga18Current << " A"
              << std::endl;
    sif::info << "PowerSet::printSet: FPGA 18 voltage: " << this->fpga18Voltage << " V"
              << std::endl;
    sif::info << "PowerSet::printSet: FPGA 25 current: " << this->fpga25Current << " A"
              << std::endl;
    sif::info << "PowerSet::printSet: FPGA 25 voltage: " << this->fpga25Voltage << " V"
              << std::endl;
    sif::info << "PowerSet::printSet: CMV 21 current: " << this->cmv21Current << " A" << std::endl;
    sif::info << "PowerSet::printSet: CMV 21 voltage: " << this->cmv21Voltage << " V" << std::endl;
    sif::info << "PowerSet::printSet: CMV Pix current: " << this->cmvPixCurrent << " A"
              << std::endl;
    sif::info << "PowerSet::printSet: CMV Pix voltage: " << this->cmvPixVoltage << " V"
              << std::endl;
    sif::info << "PowerSet::printSet: CMV 33 current: " << this->cmv33Current << " A" << std::endl;
    sif::info << "PowerSet::printSet: CMV 33 voltage: " << this->cmv33Voltage << " V" << std::endl;
    sif::info << "PowerSet::printSet: CMV Res current: " << this->cmvResCurrent << " A"
              << std::endl;
    sif::info << "PowerSet::printSet: CMV Res voltage: " << this->cmvResVoltage << " V"
              << std::endl;
  }
};

/**
 * @brief   Data set to store the time telemetry packet.
 */
class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
 public:
  static const size_t SIZE = 24;

  TimeSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TIME_SET_ID) {}

  TimeSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {}

  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_TIME_SET, this);
  /** Unix time in microseconds */
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_TIME_SET, this);
  // Number of milliseconds since processor start-up
  lp_var_t<uint32_t> runTime = lp_var_t<uint32_t>(sid.objectId, PoolIds::RUN_TIME, this);
  // Unix time in seconds?? --> maybe typo in datasheet. Seems to be microseconds
  lp_var_t<uint64_t> unixTime = lp_var_t<uint64_t>(sid.objectId, PoolIds::UNIX_TIME, this);
  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "TimeSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "TimeSet::printSet: Time (time stamp): " << this->time << " us" << std::endl;
    sif::info << "TimeSet::printSet: Run Time: " << this->runTime << " ms" << std::endl;
    sif::info << "TimeSet::printSet: Unix Time: " << this->unixTime << " s" << std::endl;
  }
};

/**
 * @brief   The solution dataset is the main dataset of the star tracker and contains the
 *          attitude information.
 */
class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
 public:
  static const size_t SIZE = 78;

  SolutionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SOLUTION_SET_ID) {}

  SolutionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {}

  // Ticks timestamp
  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_SOLUTION_SET, this);
  /// Unix time stamp
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
  // Calibrated quaternion (takes into account the mounting quaternion), typically same as
  // track q values
  lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId, PoolIds::CALI_QW, this);
  lp_var_t<float> caliQx = lp_var_t<float>(sid.objectId, PoolIds::CALI_QX, this);
  lp_var_t<float> caliQy = lp_var_t<float>(sid.objectId, PoolIds::CALI_QY, this);
  lp_var_t<float> caliQz = lp_var_t<float>(sid.objectId, PoolIds::CALI_QZ, this);
  // The lower this value the more confidence that the star tracker solution is correct
  lp_var_t<float> trackConfidence = lp_var_t<float>(sid.objectId, PoolIds::TRACK_CONFIDENCE, this);
  // Estimated attitude of spacecraft
  lp_var_t<float> trackQw = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QW, this);
  lp_var_t<float> trackQx = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QX, this);
  lp_var_t<float> trackQy = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QY, this);
  lp_var_t<float> trackQz = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QZ, this);
  // Number of stars removed from tracking solution
  lp_var_t<uint8_t> trackRemoved = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRACK_REMOVED, this);
  // Number of stars for which a valid centroid was found
  lp_var_t<uint8_t> starsCentroided =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::STARS_CENTROIDED, this);
  // Number of stars that matched to a database star
  lp_var_t<uint8_t> starsMatchedDatabase =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::STARS_MATCHED_DATABASE, this);
  // Result of LISA (lost in space algorithm), searches for stars without prior knowledge of
  // attitude
  lp_var_t<float> lisaQw = lp_var_t<float>(sid.objectId, PoolIds::LISA_QW, this);
  lp_var_t<float> lisaQx = lp_var_t<float>(sid.objectId, PoolIds::LISA_QX, this);
  lp_var_t<float> lisaQy = lp_var_t<float>(sid.objectId, PoolIds::LISA_QY, this);
  lp_var_t<float> lisaQz = lp_var_t<float>(sid.objectId, PoolIds::LISA_QZ, this);
  // Percentage of close stars in LISA solution
  lp_var_t<float> lisaPercentageClose =
      lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE, this);
  // Number of close stars in LISA solution
  lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
  // Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
  lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
  // Number of times the validation criteria was met
  lp_var_t<uint32_t> stableCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::STABLE_COUNT, this);
  // Shows the autonomous mode used to obtain the star tracker attitude
  lp_var_t<uint8_t> solutionStrategy =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::SOLUTION_STRATEGY, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "SolutionSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "SolutionSet::printSet: Time: " << this->time << std::endl;
    sif::info << "SolutionSet::printSet: Calibrated quaternion Qw: " << this->caliQw << std::endl;
    sif::info << "SolutionSet::printSet: Calibrated quaternion Qx: " << this->caliQx << std::endl;
    sif::info << "SolutionSet::printSet: Calibrated quaternion Qy: " << this->caliQy << std::endl;
    sif::info << "SolutionSet::printSet: Calibrated quaternion Qz: " << this->caliQz << std::endl;
    sif::info << "SolutionSet::printSet: Track confidence: " << this->trackConfidence << std::endl;
    sif::info << "SolutionSet::printSet: Track Qw: " << this->trackQw << std::endl;
    sif::info << "SolutionSet::printSet: Track Qx: " << this->trackQx << std::endl;
    sif::info << "SolutionSet::printSet: Track Qy: " << this->trackQy << std::endl;
    sif::info << "SolutionSet::printSet: Track Qz: " << this->trackQz << std::endl;
    sif::info << "SolutionSet::printSet: Track removed: "
              << static_cast<unsigned int>(this->trackRemoved.value) << std::endl;
    sif::info << "SolutionSet::printSet: Number of stars centroided: "
              << static_cast<unsigned int>(this->starsCentroided.value) << std::endl;
    sif::info << "SolutionSet::printSet: Number of stars matched database: "
              << static_cast<unsigned int>(this->starsMatchedDatabase.value) << std::endl;
    sif::info << "SolutionSet::printSet: LISA Qw: " << this->lisaQw << std::endl;
    sif::info << "SolutionSet::printSet: LISA Qx: " << this->lisaQx << std::endl;
    sif::info << "SolutionSet::printSet: LISA Qy: " << this->lisaQy << std::endl;
    sif::info << "SolutionSet::printSet: LISA Qz: " << this->lisaQz << std::endl;
    sif::info << "SolutionSet::printSet: LISA Percentage close: " << this->lisaPercentageClose
              << std::endl;
    sif::info << "SolutionSet::printSet: LISA number of close stars: "
              << static_cast<unsigned int>(this->lisaNrClose.value) << std::endl;
    sif::info << "SolutionSet::printSet: Is trust worthy: "
              << static_cast<unsigned int>(this->isTrustWorthy.value) << std::endl;
    sif::info << "SolutionSet::printSet: Stable count: " << this->stableCount << std::endl;
    sif::info << "SolutionSet::printSet: Solution strategy: "
              << static_cast<unsigned int>(this->solutionStrategy.value) << std::endl;
  }
};

/**
 * @brief   Dataset to store the histogram
 */
class HistogramSet : public StaticLocalDataSet<HISTOGRAM_SET_ENTRIES> {
 public:
  // Size of dataset
  static const size_t SIZE = 156;

  HistogramSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HISTOGRAM_SET_ID) {}

  HistogramSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HISTOGRAM_SET_ID)) {}

  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_HISTOGRAM_SET, this);
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_HISTOGRAM_SET, this);
  lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA0, this);
  lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA1, this);
  lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA2, this);
  lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA3, this);
  lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA4, this);
  lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA5, this);
  lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA6, this);
  lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA7, this);
  lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA8, this);
  lp_var_t<uint32_t> binB0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB0, this);
  lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB1, this);
  lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB2, this);
  lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB3, this);
  lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB4, this);
  lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB5, this);
  lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB6, this);
  lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB7, this);
  lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB8, this);
  lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC0, this);
  lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC1, this);
  lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC2, this);
  lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC3, this);
  lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC4, this);
  lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC5, this);
  lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC6, this);
  lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC7, this);
  lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC8, this);
  lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND0, this);
  lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND1, this);
  lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND2, this);
  lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND3, this);
  lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND4, this);
  lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND5, this);
  lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND6, this);
  lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND7, this);
  lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND8, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "HistogramSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "HistogramSet::printSet: Time (time stamp): " << this->time << " us" << std::endl;
    sif::info << "HistogramSet::printSet: BinA0: " << this->binA0 << std::endl;
    sif::info << "HistogramSet::printSet: BinA1: " << this->binA1 << std::endl;
    sif::info << "HistogramSet::printSet: BinA2: " << this->binA2 << std::endl;
    sif::info << "HistogramSet::printSet: BinA3: " << this->binA3 << std::endl;
    sif::info << "HistogramSet::printSet: BinA4: " << this->binA4 << std::endl;
    sif::info << "HistogramSet::printSet: BinA5: " << this->binA5 << std::endl;
    sif::info << "HistogramSet::printSet: BinA6: " << this->binA6 << std::endl;
    sif::info << "HistogramSet::printSet: BinA7: " << this->binA7 << std::endl;
    sif::info << "HistogramSet::printSet: BinA8: " << this->binA8 << std::endl;
    sif::info << "HistogramSet::printSet: BinB0: " << this->binB0 << std::endl;
    sif::info << "HistogramSet::printSet: BinB1: " << this->binB1 << std::endl;
    sif::info << "HistogramSet::printSet: BinB2: " << this->binB2 << std::endl;
    sif::info << "HistogramSet::printSet: BinB3: " << this->binB3 << std::endl;
    sif::info << "HistogramSet::printSet: BinB4: " << this->binB4 << std::endl;
    sif::info << "HistogramSet::printSet: BinB5: " << this->binB5 << std::endl;
    sif::info << "HistogramSet::printSet: BinB6: " << this->binB6 << std::endl;
    sif::info << "HistogramSet::printSet: BinB7: " << this->binB7 << std::endl;
    sif::info << "HistogramSet::printSet: BinB8: " << this->binB8 << std::endl;
    sif::info << "HistogramSet::printSet: BinC0: " << this->binC0 << std::endl;
    sif::info << "HistogramSet::printSet: BinC1: " << this->binC1 << std::endl;
    sif::info << "HistogramSet::printSet: BinC2: " << this->binC2 << std::endl;
    sif::info << "HistogramSet::printSet: BinC3: " << this->binC3 << std::endl;
    sif::info << "HistogramSet::printSet: BinC4: " << this->binC4 << std::endl;
    sif::info << "HistogramSet::printSet: BinC5: " << this->binC5 << std::endl;
    sif::info << "HistogramSet::printSet: BinC6: " << this->binC6 << std::endl;
    sif::info << "HistogramSet::printSet: BinC7: " << this->binC7 << std::endl;
    sif::info << "HistogramSet::printSet: BinC8: " << this->binC8 << std::endl;
    sif::info << "HistogramSet::printSet: BinD0: " << this->binD0 << std::endl;
    sif::info << "HistogramSet::printSet: BinD1: " << this->binD1 << std::endl;
    sif::info << "HistogramSet::printSet: BinD2: " << this->binD2 << std::endl;
    sif::info << "HistogramSet::printSet: BinD3: " << this->binD3 << std::endl;
    sif::info << "HistogramSet::printSet: BinD4: " << this->binD4 << std::endl;
    sif::info << "HistogramSet::printSet: BinD5: " << this->binD5 << std::endl;
    sif::info << "HistogramSet::printSet: BinD6: " << this->binD6 << std::endl;
    sif::info << "HistogramSet::printSet: BinD7: " << this->binD7 << std::endl;
    sif::info << "HistogramSet::printSet: BinD8: " << this->binD8 << std::endl;
  }
};

/**
 * @brief   Dataset to store the contrast telemetry data
 */
class ContrastSet : public StaticLocalDataSet<CONTRAST_SET_ENTRIES> {
 public:
  // Size of dataset
  static const size_t SIZE = 156;

  ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}

  ContrastSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, CONTRAST_SET_ID)) {}

  lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_CONTRAST_SET, this);
  lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_CONTRAST_SET, this);
  lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA0, this);
  lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA1, this);
  lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA2, this);
  lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA3, this);
  lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA4, this);
  lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA5, this);
  lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA6, this);
  lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA7, this);
  lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA8, this);
  lp_var_t<uint32_t> binb0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB0, this);
  lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB1, this);
  lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB2, this);
  lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB3, this);
  lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB4, this);
  lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB5, this);
  lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB6, this);
  lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB7, this);
  lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB8, this);
  lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC0, this);
  lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC1, this);
  lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC2, this);
  lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC3, this);
  lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC4, this);
  lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC5, this);
  lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC6, this);
  lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC7, this);
  lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC8, this);
  lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND0, this);
  lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND1, this);
  lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND2, this);
  lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND3, this);
  lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND4, this);
  lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND5, this);
  lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND6, this);
  lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND7, this);
  lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND8, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "ContrastSet::printSet: Ticks: " << this->ticks << std::endl;
    sif::info << "ContrastSet::printSet: Time (time stamp): " << this->time << " us" << std::endl;
    sif::info << "ContrastSet::printSet: BinA0: " << this->binA0 << std::endl;
    sif::info << "ContrastSet::printSet: BinA1: " << this->binA1 << std::endl;
    sif::info << "ContrastSet::printSet: BinA2: " << this->binA2 << std::endl;
    sif::info << "ContrastSet::printSet: BinA3: " << this->binA3 << std::endl;
    sif::info << "ContrastSet::printSet: BinA4: " << this->binA4 << std::endl;
    sif::info << "ContrastSet::printSet: BinA5: " << this->binA5 << std::endl;
    sif::info << "ContrastSet::printSet: BinA6: " << this->binA6 << std::endl;
    sif::info << "ContrastSet::printSet: BinA7: " << this->binA7 << std::endl;
    sif::info << "ContrastSet::printSet: BinA8: " << this->binA8 << std::endl;
    sif::info << "ContrastSet::printSet: BinB0: " << this->binA0 << std::endl;
    sif::info << "ContrastSet::printSet: BinB1: " << this->binB1 << std::endl;
    sif::info << "ContrastSet::printSet: BinB2: " << this->binB2 << std::endl;
    sif::info << "ContrastSet::printSet: BinB3: " << this->binB3 << std::endl;
    sif::info << "ContrastSet::printSet: BinB4: " << this->binB4 << std::endl;
    sif::info << "ContrastSet::printSet: BinB5: " << this->binB5 << std::endl;
    sif::info << "ContrastSet::printSet: BinB6: " << this->binB6 << std::endl;
    sif::info << "ContrastSet::printSet: BinB7: " << this->binB7 << std::endl;
    sif::info << "ContrastSet::printSet: BinB8: " << this->binB8 << std::endl;
    sif::info << "ContrastSet::printSet: BinC0: " << this->binC0 << std::endl;
    sif::info << "ContrastSet::printSet: BinC1: " << this->binC1 << std::endl;
    sif::info << "ContrastSet::printSet: BinC2: " << this->binC2 << std::endl;
    sif::info << "ContrastSet::printSet: BinC3: " << this->binC3 << std::endl;
    sif::info << "ContrastSet::printSet: BinC4: " << this->binC4 << std::endl;
    sif::info << "ContrastSet::printSet: BinC5: " << this->binC5 << std::endl;
    sif::info << "ContrastSet::printSet: BinC6: " << this->binC6 << std::endl;
    sif::info << "ContrastSet::printSet: BinC7: " << this->binC7 << std::endl;
    sif::info << "ContrastSet::printSet: BinC8: " << this->binC8 << std::endl;
    sif::info << "ContrastSet::printSet: BinD0: " << this->binD0 << std::endl;
    sif::info << "ContrastSet::printSet: BinD1: " << this->binD1 << std::endl;
    sif::info << "ContrastSet::printSet: BinD2: " << this->binD2 << std::endl;
    sif::info << "ContrastSet::printSet: BinD3: " << this->binD3 << std::endl;
    sif::info << "ContrastSet::printSet: BinD4: " << this->binD4 << std::endl;
    sif::info << "ContrastSet::printSet: BinD5: " << this->binD5 << std::endl;
    sif::info << "ContrastSet::printSet: BinD6: " << this->binD6 << std::endl;
    sif::info << "ContrastSet::printSet: BinD7: " << this->binD7 << std::endl;
    sif::info << "ContrastSet::printSet: BinD8: " << this->binD8 << std::endl;
  }
};

/**
 * @brief   Helper Class to extract information from bytestream.
 */
class ChecksumReply {
 public:
  /**
   * @brief   Constructor
   *
   * @param datafield Pointer to datafield in reply buffer
   *
   */
  ChecksumReply(const uint8_t* datafield) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    region = *(datafield);
    const uint8_t* addressData = datafield + ADDRESS_OFFSET;
    size_t size = sizeof(address);
    result = SerializeAdapter::deSerialize(&address, &addressData, &size,
                                           SerializeIF::Endianness::LITTLE);
    if (result != HasReturnvaluesIF::RETURN_OK) {
      sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize address" << std::endl;
    }
    const uint8_t* lengthData = datafield + LENGTH_OFFSET;
    size = sizeof(length);
    result =
        SerializeAdapter::deSerialize(&length, &lengthData, &size, SerializeIF::Endianness::LITTLE);
    if (result != HasReturnvaluesIF::RETURN_OK) {
      sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize length" << std::endl;
    }
    const uint8_t* checksumData = datafield + CHECKSUM_OFFSET;
    size = sizeof(checksum);
    result = SerializeAdapter::deSerialize(&checksum, &checksumData, &size,
                                           SerializeIF::Endianness::LITTLE);
    if (result != HasReturnvaluesIF::RETURN_OK) {
      sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize checksum" << std::endl;
    }
  }

  uint8_t getRegion() { return region; }

  uint32_t getAddress() { return address; }

  uint32_t getLength() { return length; }

  uint32_t getChecksum() { return checksum; }

  void printChecksum() {
    sif::info << "ChecksumReply::printChecksum: 0x" << std::hex << checksum << std::endl;
  }

 private:
  static const uint8_t ADDRESS_OFFSET = 1;
  static const uint8_t LENGTH_OFFSET = 5;
  static const uint8_t CHECKSUM_OFFSET = 9;

  uint8_t region = 0;
  uint32_t address = 0;
  uint32_t length = 0;
  uint32_t checksum = 0;
};

class EraseReply {
 public:
  EraseReply(const uint8_t* datafield) { region = *datafield; }

  uint8_t getRegion() { return region; }

 private:
  uint8_t region = 0;
};

class ChecksumSet : public StaticLocalDataSet<CHECKSUM_SET_ENTRIES> {
 public:
  // Size of dataset
  static const size_t SIZE = 156;

  ChecksumSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CHECKSUM_SET_ID) {}

  ChecksumSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, CHECKSUM_SET_ID)) {}

  lp_var_t<uint32_t> checksum = lp_var_t<uint32_t>(sid.objectId, PoolIds::CHKSUM, this);
};

/**
 * @brief   Dataset to store download centroid response
 */
class DownloadCentroidSet : public StaticLocalDataSet<DOWNLOAD_CENTROID_SET_ENTRIES> {
 public:
  // Size of dataset
  static const size_t SIZE = 34;

  DownloadCentroidSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, DOWNLOADCENTROID_SET_ID) {}

  DownloadCentroidSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, DOWNLOADCENTROID_SET_ID)) {}

  lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::DWL_ID, this);
  lp_var_t<float> pixx = lp_var_t<float>(sid.objectId, PoolIds::DWL_PIXX, this);
  lp_var_t<float> pixy = lp_var_t<float>(sid.objectId, PoolIds::DWL_PIXY, this);
  lp_var_t<float> xUncorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_X_UNCORRECTED, this);
  lp_var_t<float> yUncorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_Y_UNCORRECTED, this);
  lp_var_t<float> xCorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_X_CORRECTED, this);
  lp_var_t<float> yCorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_Y_CORRECTED, this);
  lp_var_t<uint8_t> magnitude = lp_var_t<uint8_t>(sid.objectId, PoolIds::DWL_MAGNITUDE, this);
  lp_var_t<float> cxa = lp_var_t<float>(sid.objectId, PoolIds::DWL_CXA, this);
  lp_var_t<float> cya = lp_var_t<float>(sid.objectId, PoolIds::DWL_CYA, this);
  lp_var_t<float> quality = lp_var_t<float>(sid.objectId, PoolIds::DWL_QUALITY, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "ContrastSet::printSet: id: " << static_cast<unsigned int>(this->id.value)
              << std::endl;
    sif::info << "ContrastSet::printSet: pixx: " << this->pixx << std::endl;
    sif::info << "ContrastSet::printSet: pixy: " << this->pixy << std::endl;
    sif::info << "ContrastSet::printSet: xUncorrected: " << this->xUncorrected << std::endl;
    sif::info << "ContrastSet::printSet: yUncorrected: " << this->yUncorrected << std::endl;
    sif::info << "ContrastSet::printSet: xCorrected: " << this->xCorrected << std::endl;
    sif::info << "ContrastSet::printSet: yCorrected: " << this->yCorrected << std::endl;
    sif::info << "ContrastSet::printSet: magnitude: " << this->magnitude << std::endl;
    sif::info << "ContrastSet::printSet: cxa: " << this->cxa << std::endl;
    sif::info << "ContrastSet::printSet: cya: " << this->cya << std::endl;
    sif::info << "ContrastSet::printSet: quality: " << this->quality << std::endl;
  }
};

namespace UploadCentroidKeys {
static const char id[] = "id";
static const char pixx[] = "pixx";
static const char pixy[] = "pixy";
static const char x_uncorrected[] = "x_uncorrected";
static const char y_uncorrected[] = "y_uncorrected";
static const char x_corrected[] = "x_corrected";
static const char y_corrected[] = "y_corrected";
static const char magnitude[] = "magnitude";
static const char cxa[] = "cxa";
static const char cya[] = "cya";
static const char quality[] = "quality";
};  // namespace UploadCentroidKeys

/**
 * @brief   Dataset to store matched star information
 */
class DownloadMatchedStar : public StaticLocalDataSet<DOWNLOAD_MATCHED_STAR_SET_ENTRIES> {
 public:
  // Size of dataset
  static const size_t SIZE = 53;

  DownloadMatchedStar(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, DOWNLOAD_MATCHED_STAR_SET_ID) {}

  DownloadMatchedStar(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, DOWNLOAD_MATCHED_STAR_SET_ID)) {}

  lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::MATCHEDSTR_ID, this);
  lp_var_t<float> camfpx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMFPX, this);
  lp_var_t<float> camfpy = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMFPY, this);
  lp_var_t<float> camcartx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMCARTX, this);
  lp_var_t<float> camcarty = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMCARTY, this);
  lp_var_t<float> camcartz = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMCARTZ, this);
  lp_var_t<float> cammagnitude =
      lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMMAGNITUDE, this);
  lp_var_t<float> dbfpx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBFPX, this);
  lp_var_t<float> dbfpy = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBFPY, this);
  lp_var_t<float> dbcartx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBCARTX, this);
  lp_var_t<float> dbcarty = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBCARTY, this);
  lp_var_t<float> dbcartz = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBCARTZ, this);
  lp_var_t<float> dbmagnitude =
      lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBMAGNITUDE, this);
  lp_var_t<uint32_t> catalogid =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::MATCHEDSTR_CATALOGID, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "DownloadMatchedStar::printSet: id: " << static_cast<unsigned int>(this->id.value)
              << std::endl;
    sif::info << "DownloadMatchedStar::printSet: camfpx: " << this->camfpx << std::endl;
    sif::info << "DownloadMatchedStar::printSet: camfpy: " << this->camfpy << std::endl;
    sif::info << "DownloadMatchedStar::printSet: camcartx: " << this->camcartx << std::endl;
    sif::info << "DownloadMatchedStar::printSet: camcarty: " << this->camcarty << std::endl;
    sif::info << "DownloadMatchedStar::printSet: camcartz: " << this->camcartz << std::endl;
    sif::info << "DownloadMatchedStar::printSet: cammagnitude: " << this->cammagnitude << std::endl;
    sif::info << "DownloadMatchedStar::printSet: dbfpx: " << this->dbfpx << std::endl;
    sif::info << "DownloadMatchedStar::printSet: dbfpy: " << this->dbfpy << std::endl;
    sif::info << "DownloadMatchedStar::printSet: dbcartx: " << this->dbcartx << std::endl;
    sif::info << "DownloadMatchedStar::printSet: dbcarty: " << this->dbcarty << std::endl;
    sif::info << "DownloadMatchedStar::printSet: dbcartz: " << this->dbcartz << std::endl;
    sif::info << "DownloadMatchedStar::printSet: dbmagnitude: " << this->dbmagnitude << std::endl;
    sif::info << "DownloadMatchedStar::printSet: catalogid: " << this->catalogid << std::endl;
  }
};

/**
 * @brief   Dataset to store the response to the DownloadDBImage request
 */
class DownloadDBImage : public StaticLocalDataSet<DOWNLOAD_DBIMAGE_SET_ENTRIES> {
 public:
  // Size of dataset
  static const size_t SIZE = 21;

  DownloadDBImage(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, DOWNLOAD_DBIMAGE_SET_ID) {}

  DownloadDBImage(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, DOWNLOAD_DBIMAGE_SET_ID)) {}

  lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::DBIMAGE_ID, this);
  lp_var_t<float> pixx = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_PIXX, this);
  lp_var_t<float> pixy = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_PIXY, this);
  lp_var_t<float> x = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_X, this);
  lp_var_t<float> y = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_Y, this);
  lp_var_t<float> magnitude = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_MAGNITUDE, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "DownloadDBImage::printSet: id: " << static_cast<unsigned int>(this->id.value)
              << std::endl;
    sif::info << "DownloadDBImage::printSet: pixx: " << this->pixx << std::endl;
    sif::info << "DownloadDBImage::printSet: pixy: " << this->pixy << std::endl;
    sif::info << "DownloadDBImage::printSet: x: " << this->x << std::endl;
    sif::info << "DownloadDBImage::printSet: y: " << this->y << std::endl;
    sif::info << "DownloadDBImage::printSet: magnitude: " << this->magnitude << std::endl;
  }
};

/**
 * @brief   Dataset to store the response to the download blob pixel action request
 */
class DownloadBlobPixel : public StaticLocalDataSet<DOWNLOAD_BLOBPIXEL_SET_ENTRIES> {
 public:
  // Size of dataset
  static const size_t SIZE = 22;

  DownloadBlobPixel(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, DOWNLOAD_BLOBPIXEL_SET_ID) {}

  DownloadBlobPixel(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, DOWNLOAD_BLOBPIXEL_SET_ENTRIES)) {}

  lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOBPIX_ID, this);
  lp_var_t<uint32_t> x = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_X, this);
  lp_var_t<uint32_t> y = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_Y, this);
  lp_var_t<uint32_t> totalValue = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_TOT_VAL, this);
  lp_var_t<uint8_t> inUse = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOBPIX_IN_USE, this);
  lp_var_t<uint32_t> brightNeighbours =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_BRIGHT_NEIGHBOURS, this);
  lp_var_t<uint32_t> region = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_REGION, this);

  void printSet() {
    PoolReadGuard rg(this);
    sif::info << "DownloadBlobPixel::printSet: id: " << static_cast<unsigned int>(this->id.value)
              << std::endl;
    sif::info << "DownloadBlobPixel::printSet: x: " << this->x << std::endl;
    sif::info << "DownloadBlobPixel::printSet: y: " << this->y << std::endl;
    sif::info << "DownloadBlobPixel::printSet: totalValue: " << this->totalValue << std::endl;
    sif::info << "DownloadBlobPixel::printSet: inUse: "
              << static_cast<unsigned int>(this->inUse.value) << std::endl;
    sif::info << "DownloadBlobPixel::printSet: brightNeighbours: " << this->brightNeighbours
              << std::endl;
    sif::info << "DownloadBlobPixel::printSet: region: " << this->region << std::endl;
  }
};
}  // namespace StarTracker
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */