wip parameter requests
This commit is contained in:
Jakob Meier
@ -515,6 +515,50 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
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result = prepareRequestLimitsParams();
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return result;
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}
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case (StarTracker::REQ_LOG_LEVEL): {
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result = prepareRequestLogLevelParams();
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return result;
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}
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case (StarTracker::REQ_MOUNTING): {
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result = prepareRequestMountingParams();
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return result;
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}
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case (StarTracker::REQ_IMAGE_PROCESSOR): {
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result = prepareRequestMountignParams();
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return result;
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}
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case (StarTracker::REQ_CENTROIDING): {
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result = prepareRequestCentroidingParams();
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return result;
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}
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case (StarTracker::REQ_LISA): {
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result = prepareRequestLisaParams();
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return result;
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}
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case (StarTracker::REQ_MATCHING): {
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result = prepareRequetMatchingParams();
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return result;
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}
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case (StarTracker::REQ_TRACKING): {
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result = prepareRequestTrackingParams();
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return result;
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}
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case (StarTracker::REQ_VALIDATION): {
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result = prepareRequestValidationParams();
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return result;
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}
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case (StarTracker::REQ_ALGO): {
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result = prepareRequestAlgoParams();
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return result;
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}
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case (StarTracker::REQ_SUBSCRIPTION): {
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result = prepareRequestSubscriptionParams();
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return result;
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}
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case (StarTracker::REQ_LOG_SUBSCRIPTION): {
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result = prepareRequestLogSubscriptionParams();
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return result;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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@ -599,6 +643,30 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_LEVEL, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_MOUNTING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_IMAGE_PROCESSOR, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_CENTROIDING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_LISA, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_MATCHING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_TRACKING, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_VALIDATION, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_ALGO, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_SUBSCRIPTION, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_SUBSCRIPTION, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(StarTracker::REQ_DEBUG_CAMERA, 3, nullptr,
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StarTracker::MAX_FRAME_SIZE * 2 + 2);
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}
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ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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@ -983,6 +1051,15 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
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localDataPoolMap.emplace(StarTracker::CAM_VAL3, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_REG4, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_VAL4, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_REG5, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_VAL5, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_REG6, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_VAL6, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_REG7, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_VAL7, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_REG8, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_VAL8, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CAM_FREQ_1, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LIMITS_ACTION, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LIMITS_FPGA18CURRENT, new PoolEntry<float>({0}));
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@ -994,6 +1071,77 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
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localDataPoolMap.emplace(StarTracker::LIMITS_CMOS33CURRENT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LIMITS_CMOSVRESCURRENT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LIMITS_CMOSTEMPERATURE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL1, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL2, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL3, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL4, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL5, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL6, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL7, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL8, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL9, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL10, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL11, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL12, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL13, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL14, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL15, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LOGLEVEL16, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::MOUNTING_QW, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::MOUNTING_QX, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::MOUNTING_QY, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::MOUNTING_QZ, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::IMAGE_PROCESSOR_MODE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::IMAGE_PROCESSOR_STORE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::IMAGE_PROCESSOR_SIGNALTHRESHOLD, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(StarTracker::IMAGE_PROCESSOR_DARKTHRESHOLD, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(StarTracker::IMAGE_PROCESSOR_BACKGROUNDCOMPENSATION, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_ENABLE_FILTER, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_MAX_QUALITY, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_DARK_THRESHOLD, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_MIN_QUALITY, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_MAX_INTENSITY, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_MIN_INTENSITY, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_MAX_MAGNITUDE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_GAUSSIAN_CMAX, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_GAUSSIAN_CMIN, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_TRANSMATRIX00, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_TRANSMATRIX01, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_TRANSMATRIX10, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::CENTROIDING_TRANSMATRIX11, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_MODE, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_PREFILTER_DIST_THRESHOLD, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_PREFILTER_ANGLE_THRESHOLD, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_FOV_WIDTH, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_FOV_HEIGHT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_FLOAT_STAR_LIMIT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_CLOSE_STAR_LIMIT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_RATING_WEIGHT_CLOSE_STAR_COUNT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_RATING_WEIGHT_FRACTION_CLOSE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_RATING_WEIGHT_MEAN_SUM, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_RATING_WEIGHT_DB_STAR_COUNT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_MAX_COMBINATIONS, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_NR_STARS_STOP, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::LISA_FRACTION_CLOSE_STOP, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::MATCHING_SQUARED_DISTANCE_LIMIT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::MATCHING_SQUARED_SHIFT_LIMIT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::TRACKING_THIN_LIMIT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::TRACKING_OUTLIER_THRESHOLD, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::TRACKING_OUTLIER_THRESHOLD_QUEST, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::TRACKING_TRACKER_CHOICE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::VALIDATION_STABLE_COUNT, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(StarTracker::VALIDATION_MAX_DIFFERENCE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_TRACKER_CONFIDENCE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_MATCHED_STARS, new PoolEntry<uint8_t>({0}));
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return RETURN_OK;
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}
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@ -1099,7 +1247,7 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId)
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ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) {
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const uint8_t* reply = dataLinkLayer.getReply();
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switch (*reply) {
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case (StarTracker::ID::SUBSCRIBE): {
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case (StarTracker::ID::SUBSCRIPTION): {
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*foundId = StarTracker::SUBSCRIBE_TO_TM;
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break;
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}
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@ -1162,6 +1310,54 @@ ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* fo
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*foundId = StarTracker::REQ_LIMITS;
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break;
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}
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case (StarTracker::ID::LOG_LEVEL): {
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*foundId = StarTracker::REQ_LOG_LEVEL;
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break;
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}
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case (StarTracker::ID::MOUNTING): {
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*foundId = StarTracker::REQ_MOUNTING;
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break;
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}
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case (StarTracker::ID::IMAGE_PROCESSOR): {
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*foundId = StarTracker::REQ_IMAGE_PROCESSOR;
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break;
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}
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case (StarTracker::ID::CENTROIDING): {
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*foundId = StarTracker::REQ_CENTROIDING;
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break;
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}
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case (StarTracker::ID::LISA): {
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*foundId = StarTracker::REQ_LISA;
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break;
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}
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case (StarTracker::ID::MATCHING): {
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*foundId = StarTracker::REQ_MATCHING;
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break;
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}
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case (StarTracker::ID::TRACKING): {
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*foundId = StarTracker::REQ_TRACKING;
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break;
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}
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case (StarTracker::ID::VALIDATION): {
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*foundId = StarTracker::REQ_VALIDATION;
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break;
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}
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case (StarTracker::ID::ALGO): {
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*foundId = StarTracker::REQ_ALGO;
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break;
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}
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case (StarTracker::ID::SUBSCRIPTION): {
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*foundId = StarTracker::SUBSCRIPTION;
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break;
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}
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case (StarTracker::ID::LOG_SUBSCRIPTION): {
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*foundId = StarTracker::REQ_LOG_SUBSCRIPTION;
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break;
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}
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case (StarTracker::ID::DEBUG_CAMERA): {
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*foundId = StarTracker::REQ_DEBUG_CAMERA;
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break;
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}
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default: {
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sif::warning << "tarTrackerHandler::scanForGetParameterReply: UnkNown ID" << std::endl;
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return RETURN_FAILED;
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@ -1626,7 +1822,7 @@ void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
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void StarTrackerHandler::prepareSubscriptionCommand(const uint8_t* tmId) {
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uint32_t length = 18;
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commandBuffer[0] = TMTC_SETPARAMREQ;
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commandBuffer[1] = StarTracker::ID::SUBSCRIBE;
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commandBuffer[1] = StarTracker::ID::SUBSCRIPTION;
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// Fill all other fields with invalid tm id
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commandBuffer[2] = *tmId;
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commandBuffer[3] = 0;
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@ -1794,6 +1990,15 @@ ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() {
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return RETURN_OK;
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}
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ReturnValue_t StarTrackerHandler::prepareRequestPropertyParams() {
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uint32_t length = 0;
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arc_pack_loglevel_parameter_req(commandBuffer, &length);
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dataLinkLayer.encodeFrame(commandBuffer, length);
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rawPacket = dataLinkLayer.getEncodedFrame();
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rawPacketLen = dataLinkLayer.getEncodedLength();
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return RETURN_OK;
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}
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ReturnValue_t StarTrackerHandler::handleSetParamReply() {
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const uint8_t* reply = dataLinkLayer.getReply();
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uint8_t status = *(reply + STATUS_OFFSET);
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