eive/eive-obsw
eive/eive-obsw
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now for the fun part
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This commit is contained in:
Marius Eggert 2023-10-19 09:26:28 +02:00
parent e911d8b13e
commit 12909cb3b9
2 changed files with 52 additions and 19 deletions
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67
mission/acs/str/StarTrackerHandler.cpp
View File

@ -49,7 +49,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
subscriptionSet(this),
logSubscriptionSet(this),
debugCameraSet(this),
matchedCentroids(this),
autoBlobSet(this),
matchedCentroidsSet(this),
blobSet(this),
blobsSet(this),
centroidSet(this),
@ -792,7 +793,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroids,
this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroidsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
@ -1494,7 +1495,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(matchedCentroids.getSid(), false, 10.0));
subdp::RegularHkPeriodicParams(matchedCentroidsSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(blobSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
@ -2266,28 +2267,58 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
return result;
}
ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&autoBlobSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.threshold, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
autoBlobSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&matchedCentroids);
PoolReadGuard pg(&matchedCentroidsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroids.ticks, &rawFrame, &remainingLen,
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroids.timeUs, &rawFrame, &remainingLen,
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroids.numberOfMatchedCentroids, &rawFrame,
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.numberOfMatchedCentroids, &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
@ -2295,33 +2326,33 @@ ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFram
}
// Yeah, we serialize it like that because I can't model anything with that local datapool crap.
for (unsigned idx = 0; idx < 16; idx++) {
result = SerializeAdapter::deSerialize(&matchedCentroids.starIds[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.starIds[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroids.xCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroids.yCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroids.xErrors[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xErrors[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroids.yErrors[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yErrors[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
matchedCentroids.setValidity(true, true);
matchedCentroidsSet.setValidity(true, true);
return returnvalue::OK;
}

4
mission/acs/str/StarTrackerHandler.h
View File

@ -206,7 +206,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
startracker::SubscriptionSet subscriptionSet;
startracker::LogSubscriptionSet logSubscriptionSet;
startracker::DebugCameraSet debugCameraSet;
startracker::MatchedCentroidsSet matchedCentroids;
startracker::AutoBlobSet autoBlobSet;
startracker::MatchedCentroidsSet matchedCentroidsSet;
startracker::BlobSet blobSet;
startracker::BlobsSet blobsSet;
startracker::CentroidSet centroidSet;
@ -518,6 +519,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size,
const char* context);
ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);