From 07e68bd05b444261860d8fe651bc1deef0e5f16b Mon Sep 17 00:00:00 2001 From: Jakob Meier Date: Wed, 9 Feb 2022 19:46:12 +0100 Subject: [PATCH] param request wip --- .../StarTrackerDefinitions.h | 6 +- .../startracker/StarTrackerHandler.cpp | 71 +++++++++++++++---- .../devices/startracker/StarTrackerHandler.h | 12 ++++ 3 files changed, 71 insertions(+), 18 deletions(-) diff --git a/linux/devices/devicedefinitions/StarTrackerDefinitions.h b/linux/devices/devicedefinitions/StarTrackerDefinitions.h index 5f669fc9..4e80bf42 100644 --- a/linux/devices/devicedefinitions/StarTrackerDefinitions.h +++ b/linux/devices/devicedefinitions/StarTrackerDefinitions.h @@ -1845,10 +1845,8 @@ class DebugCameraSet : public StaticLocalDataSet { : StaticLocalDataSet(sid_t(objectId, DEBUG_CAMERA_SET_ID)) {} void printSet() { - sif::info << "DebugCameraSet::printSet: level 1: " - << static_cast(this->level1) << std::endl; - sif::info << "DebugCameraSet::printSet: module 1: " - << static_cast(this->module1) << std::endl; + sif::info << "DebugCameraSet::printSet: level 1: " << this->timing << std::endl; + sif::info << "DebugCameraSet::printSet: module 1: " << this->test << std::endl; } }; } // namespace StarTracker diff --git a/linux/devices/startracker/StarTrackerHandler.cpp b/linux/devices/startracker/StarTrackerHandler.cpp index 044dd0d7..a24284bf 100644 --- a/linux/devices/startracker/StarTrackerHandler.cpp +++ b/linux/devices/startracker/StarTrackerHandler.cpp @@ -36,6 +36,18 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, downloadBlobPixel(this), cameraSet(this), limitsSet(this), + loglevelSet(this), + mountingSet(this), + imageProcessorSet(this), + centroidingSet(this), + lisaSet(this), + matchingSet(this), + trackingSet(this), + validationSet(this), + algoSet(this), + subscriptionSet(this), + logSubscriptionSet(this), + debugCameraSet(this), strHelper(strHelper) { if (comCookie == nullptr) { sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl; @@ -639,33 +651,33 @@ void StarTrackerHandler::fillCommandAndReplyMap() { StarTracker::MAX_FRAME_SIZE * 2 + 2); this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA, 3, &cameraSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, &limitsSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_LEVEL, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_LEVEL, 3, &loglevelSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_MOUNTING, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_MOUNTING, 3, &mountingSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_IMAGE_PROCESSOR, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_IMAGE_PROCESSOR, 3, &imageProcessorSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_CENTROIDING, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_CENTROIDING, 3, ¢roidingSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_LISA, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_LISA, 3, &lisaSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_MATCHING, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_MATCHING, 3, &matchingSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_TRACKING, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_TRACKING, 3, &trackingSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_VALIDATION, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_VALIDATION, 3, &validationSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_ALGO, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_ALGO, 3, &algoSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_SUBSCRIPTION, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_SUBSCRIPTION, 3, &subscriptionSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_SUBSCRIPTION, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_SUBSCRIPTION, 3, &logSubscriptionSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); - this->insertInCommandAndReplyMap(StarTracker::REQ_DEBUG_CAMERA, 3, nullptr, + this->insertInCommandAndReplyMap(StarTracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet, StarTracker::MAX_FRAME_SIZE * 2 + 2); } @@ -1142,6 +1154,37 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_TRACKER_CONFIDENCE, new PoolEntry({0})); localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_MATCHED_STARS, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::ALGO_MODE, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::ALGO_I2T_MIN_CONFIDENCE, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::ALGO_I2T_MIN_MATCHED, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::ALGO_I2L_MIN_CONFIDENCE, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::ALGO_I2L_MIN_MATCHED, new PoolEntry({0})); + + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM1, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM2, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM3, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM4, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM5, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM6, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM7, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM8, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM9, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM10, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM11, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM12, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM13, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM14, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM15, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM16, new PoolEntry({0})); + + localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_LEVEL1, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_MODULE1, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_LEVEL2, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_MODULE2, new PoolEntry({0})); + + localDataPoolMap.emplace(StarTracker::DEBUG_CAMERA_TIMING, new PoolEntry({0})); + localDataPoolMap.emplace(StarTracker::DEBUG_CAMERA_TEST, new PoolEntry({0})); + return RETURN_OK; } diff --git a/linux/devices/startracker/StarTrackerHandler.h b/linux/devices/startracker/StarTrackerHandler.h index a6ead8e8..aa600ff6 100644 --- a/linux/devices/startracker/StarTrackerHandler.h +++ b/linux/devices/startracker/StarTrackerHandler.h @@ -261,6 +261,18 @@ class StarTrackerHandler : public DeviceHandlerBase { StarTracker::DownloadBlobPixel downloadBlobPixel; StarTracker::CameraSet cameraSet; StarTracker::LimitsSet limitsSet; + StarTracker::LogLevelSet loglevelSet; + StarTracker::MountingSet mountingSet; + StarTracker::ImageProcessorSet imageProcessorSet; + StarTracker::CentroidingSet centroidingSet; + StarTracker::LisaSet lisaSet; + StarTracker::MatchingSet matchingSet; + StarTracker::TrackingSet trackingSet; + StarTracker::ValidationSet validationSet; + StarTracker::AlgoSet algoSet; + StarTracker::SubscriptionSet subscriptionSet; + StarTracker::LogSubscriptionSet logSubscriptionSet; + StarTracker::DebugCameraSet debugCameraSet; // Pointer to object responsible for uploading and downloading images to/from the star tracker StrHelper* strHelper = nullptr;