now for the fun part
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@ -49,7 +49,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
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subscriptionSet(this),
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logSubscriptionSet(this),
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debugCameraSet(this),
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matchedCentroids(this),
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autoBlobSet(this),
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matchedCentroidsSet(this),
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blobSet(this),
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blobsSet(this),
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centroidSet(this),
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@ -792,7 +793,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroids,
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this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroidsSet,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobSet,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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@ -1494,7 +1495,7 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(matchedCentroids.getSid(), false, 10.0));
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subdp::RegularHkPeriodicParams(matchedCentroidsSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(blobSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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@ -2266,28 +2267,58 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
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return result;
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}
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ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
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ReturnValue_t result = statusFieldCheck(rawFrame);
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if (result != returnvalue::OK) {
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return result;
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}
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(&autoBlobSet);
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result = pg.getReadResult();
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&autoBlobSet.ticks, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&autoBlobSet.timeUs, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&autoBlobSet.threshold, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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autoBlobSet.setValidity(true, true);
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return returnvalue::OK;
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}
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ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFrame) {
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ReturnValue_t result = statusFieldCheck(rawFrame);
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if (result != returnvalue::OK) {
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return result;
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}
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(&matchedCentroids);
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PoolReadGuard pg(&matchedCentroidsSet);
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result = pg.getReadResult();
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&matchedCentroids.ticks, &rawFrame, &remainingLen,
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.ticks, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&matchedCentroids.timeUs, &rawFrame, &remainingLen,
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.timeUs, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&matchedCentroids.numberOfMatchedCentroids, &rawFrame,
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.numberOfMatchedCentroids, &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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@ -2295,33 +2326,33 @@ ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFram
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}
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// Yeah, we serialize it like that because I can't model anything with that local datapool crap.
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for (unsigned idx = 0; idx < 16; idx++) {
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result = SerializeAdapter::deSerialize(&matchedCentroids.starIds[idx], &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.starIds[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&matchedCentroids.xCoords[idx], &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xCoords[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&matchedCentroids.yCoords[idx], &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yCoords[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&matchedCentroids.xErrors[idx], &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xErrors[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&matchedCentroids.yErrors[idx], &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yErrors[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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}
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matchedCentroids.setValidity(true, true);
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matchedCentroidsSet.setValidity(true, true);
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return returnvalue::OK;
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}
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@ -206,7 +206,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
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startracker::SubscriptionSet subscriptionSet;
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startracker::LogSubscriptionSet logSubscriptionSet;
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startracker::DebugCameraSet debugCameraSet;
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startracker::MatchedCentroidsSet matchedCentroids;
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startracker::AutoBlobSet autoBlobSet;
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startracker::MatchedCentroidsSet matchedCentroidsSet;
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startracker::BlobSet blobSet;
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startracker::BlobsSet blobsSet;
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startracker::CentroidSet centroidSet;
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@ -518,6 +519,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
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ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size,
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const char* context);
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ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
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ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
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ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
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ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);
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