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

#ifndef MISSION_STARTRACKER_DEFINITIONS_H_
#define MISSION_STARTRACKER_DEFINITIONS_H_

#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "objects/systemObjectList.h"
#include <fsfw/datapool/PoolReadGuard.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 Program {
    static const uint8_t BOOTLOADER = 1;
    static const uint8_t FIRMWARE = 2;
}

/**
 * @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: "
                << std::dec << 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 = 38;

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

/**
 * @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;
    }
};
}
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */