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star tracker commands, tracking, mounting, camera, blob

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This commit is contained in:
Jakob Meier 2021-12-07 16:30:17 +01:00
parent fac6996a15
commit 58c40695ae
16 changed files with 1104 additions and 401 deletions
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6
bsp_q7s/core/ObjectFactory.cpp
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@ -1,7 +1,7 @@
#include <sstream>
#include "ObjectFactory.h"
#include "../devices/devicedefinitions/StarTrackerDefinitions.h"
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "OBSWConfig.h"
#include "devConf.h"
#include "ccsdsConfig.h"
@ -18,8 +18,8 @@
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/StrImageLoader.h"
#include "bsp_q7s/devices/StarTrackerHandler.h"
#include "bsp_q7s/devices/startracker/StrImageLoader.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/callbacks/gnssCallback.h"

7
bsp_q7s/devices/CMakeLists.txt
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@ -2,7 +2,6 @@ target_sources(${TARGET_NAME} PRIVATE
PlocSupervisorHandler.cpp
PlocUpdater.cpp
PlocMemoryDumper.cpp
StrImageLoader.cpp
ArcsecDatalinkLayer.cpp
StarTrackerHandler.cpp
)
)
add_subdirectory(startracker)

343
bsp_q7s/devices/devicedefinitions/StarTrackerJsonCommands.h
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@ -1,343 +0,0 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
#include <string>
#include <fstream>
#include <filesystem>
#include <nlohmann/json.hpp>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "bsp_q7s/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
using json = nlohmann::json;
/**
* @brief This file defines a few helper classes to generate commands by means of the arcsec
* json files.
* @author J. Meier
*/
namespace arcseckeys {
static const char PROPERTIES[] = "properties";
static const char NAME[] = "name";
static const char VALUE[] = "value";
static const char LIMITS[] = "limits";
static const char ACTION[] = "action";
static const char FPGA18CURRENT[] = "FPGA18Current";
static const char FPGA25CURRENT[] = "FPGA25Current";
static const char FPGA10CURRENT[] = "FPGA10Current";
static const char MCUCURRENT[] = "MCUCurrent";
static const char CMOS21CURRENT[] = "CMOS21Current";
static const char CMOSPIXCURRENT[] = "CMOSPixCurrent";
static const char CMOS33CURRENT[] = "CMOS33Current";
static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
static const char MCU_TEMPERATURE[] = "MCUTemperature";
static const char TRACKING[] = "tracking";
static const char THIN_LIMIT[] = "thinLimit";
static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
static const char TRACKER_CHOICE[] = "trackerChoice";
}
class ArcsecJsonBase : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE;
//! [EXPORT] : [COMMENT] Specified json file does not exist
static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Requested set does not exist in json file
static const ReturnValue_t SET_NOT_EXISTS = MAKE_RETURN_CODE(2);
//! [EXPORT] : [COMMENT] Requested parameter does not exist in json file
static const ReturnValue_t PARAM_NOT_EXISTS = MAKE_RETURN_CODE(3);
/**
* @brief Constructor
*
* @param fullname Name with absolute path of json file containing the parameters to set.
*/
ArcsecJsonBase() {}
protected:
/**
* @brief Initializes the properties json object and the set json object
*
* @param fullname Name including absolute path to json file
* @param setName The name of the set to work on
*
* @param return JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
* RETURN_OK
*/
ReturnValue_t init(const std::string filename,std::string setName) {
ReturnValue_t result = RETURN_OK;
if(not std::filesystem::exists(filename)) {
sif::warning << "ArcsecJsonBase::init: JSON file " << filename << " does not exist"
<< std::endl;
return JSON_FILE_NOT_EXISTS;
}
createJsonObject(filename);
result = initSet(setName);
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
/**
* @brief Reads the value of a parameter from a json set
*
* @param name The name of the parameter
* @param value The string representation of the read value
*
* @return RETURN_OK if successful, otherwise PARAM_NOT_EXISTS
*/
ReturnValue_t getParam(const std::string name, std::string& value) {
for (json::iterator it = set.begin(); it != set.end(); ++it) {
if ((*it)[arcseckeys::NAME] == name) {
value = (*it)[arcseckeys::VALUE];
return RETURN_OK;
}
}
return PARAM_NOT_EXISTS;
}
/**
* @brief This function adds a float represented as string to a buffer
*
* @param value The float in string representation to add
* @param buffer Pointer to the buffer the float will be written to
*/
void addfloat(const std::string value, uint8_t* buffer) {
float param = std::stof(value);
std::memcpy(buffer, &param, sizeof(param));
}
/**
* @brief This function adds a uint8_t represented as string to a buffer
*
* @param value The uint8_t in string representation to add
* @param buffer Pointer to the buffer the uint8_t will be written to
*/
void adduint8(const std::string value, uint8_t* buffer) {
uint8_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
/**
* @brief This function adds a uint32_t represented as string to a buffer
*
* @param value The uint32_t in string representation to add
* @param buffer Pointer to the buffer the uint32_t will be written to
*/
void adduint32(const std::string value, uint8_t* buffer) {
uint32_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void addSetParamHeader(uint8_t* buffer, uint8_t setId) {
*buffer = static_cast<uint8_t>(TMTC_SETPARAMREQ);
*(buffer + 1) = setId;
}
private:
void createJsonObject(const std::string fullname) {
json j;
std::ifstream file(fullname);
file >> j;
file.close();
properties = j[arcseckeys::PROPERTIES];
}
/**
* @brief Extracts the json set object form the json file
*
* @param setName The name of the set to create the json object from
*/
ReturnValue_t initSet(std::string setName) {
for (json::iterator it = properties.begin(); it != properties.end(); ++it) {
if ((*it)["name"] == setName) {
set = (*it)["fields"];
return RETURN_OK;
}
}
return SET_NOT_EXISTS;
}
json properties;
json set;
};
/**
* @brief Generates command to set the limit parameters
*
*/
class Limits : public ArcsecJsonBase {
public:
static const size_t COMMAND_SIZE = 43;
Limits() {}
/**
* @brief Fills a buffer with the tracking parameters
*
* @param fullname The name including the absolute path of the json file containing the
* limits parameters to set.
* @param buffer Pointer to the buffer the command will be written to
*/
ReturnValue_t create(std::string fullname, uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
result = init(fullname, arcseckeys::LIMITS);
if (result != RETURN_OK) {
return result;
}
result = createCommand(buffer);
return result;
}
private:
ReturnValue_t createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::LIMITS);
offset = 2;
result = getParam(arcseckeys::ACTION, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FPGA18CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA25CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA10CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCUCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS21CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSPIXCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS33CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSVRESCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCU_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
};
/**
* @brief Generates the command to configure the tracking algorithm.
*
*/
class Tracking : public ArcsecJsonBase {
public:
static const size_t COMMAND_SIZE = 15;
Tracking() {}
/**
* @brief Fills a buffer with the tracking parameters
*
* @param fullname The name including the absolute path of the json file containing the
* tracking parameters to set.
* @param buffer Pointer to the buffer the command will be written to
*/
ReturnValue_t create(std::string fullname, uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
result = init(fullname, arcseckeys::TRACKING);
if (result != RETURN_OK) {
return result;
}
result = createCommand(buffer);
return result;
}
private:
ReturnValue_t createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::TRACKING);
offset = 2;
result = getParam(arcseckeys::THIN_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD_QUEST, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRACKER_CHOICE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

0
bsp_q7s/devices/ArcsecDatalinkLayer.cpp → bsp_q7s/devices/startracker/ArcsecDatalinkLayer.cpp
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2
bsp_q7s/devices/ArcsecDatalinkLayer.h → bsp_q7s/devices/startracker/ArcsecDatalinkLayer.h
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@ -1,7 +1,7 @@
#ifndef BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#define BSP_Q7S_DEVICES_ARCSECDATALINKLAYER_H_
#include "devicedefinitions/StarTrackerDefinitions.h"
#include "StarTrackerDefinitions.h"
#include "fsfw/returnvalues/HasReturnValuesIF.h"
extern "C" {

81
bsp_q7s/devices/startracker/ArcsecJsonKeys.h Normal file
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@ -0,0 +1,81 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_
/**
* @brief Keys used in JSON file of ARCSEC.
*/
namespace arcseckeys {
static const char PROPERTIES[] = "properties";
static const char NAME[] = "name";
static const char VALUE[] = "value";
static const char LIMITS[] = "limits";
static const char ACTION[] = "action";
static const char FPGA18CURRENT[] = "FPGA18Current";
static const char FPGA25CURRENT[] = "FPGA25Current";
static const char FPGA10CURRENT[] = "FPGA10Current";
static const char MCUCURRENT[] = "MCUCurrent";
static const char CMOS21CURRENT[] = "CMOS21Current";
static const char CMOSPIXCURRENT[] = "CMOSPixCurrent";
static const char CMOS33CURRENT[] = "CMOS33Current";
static const char CMOSVRESCURRENT[] = "CMOSVResCurrent";
static const char CMOS_TEMPERATURE[] = "CMOSTemperature";
static const char MCU_TEMPERATURE[] = "MCUTemperature";
static const char MOUNTING[] = "mounting";
static const char qw[] = "qw";
static const char qx[] = "qx";
static const char qy[] = "qy";
static const char qz[] = "qz";
static const char CAMERA[] = "camera";
static const char MODE[] = "mode";
static const char FOCALLENGTH[] = "focallength";
static const char EXPOSURE[] = "exposure";
static const char INTERVAL[] = "interval";
static const char OFFSET[] = "offset";
static const char PGAGAIN[] = "PGAGain";
static const char ADCGAIN[] = "ADCGain";
static const char REG_1[] = "reg1";
static const char VAL_1[] = "val1";
static const char REG_2[] = "reg2";
static const char VAL_2[] = "val2";
static const char REG_3[] = "reg3";
static const char VAL_3[] = "val3";
static const char REG_4[] = "reg4";
static const char VAL_4[] = "val4";
static const char REG_5[] = "reg5";
static const char VAL_5[] = "val5";
static const char REG_6[] = "reg6";
static const char VAL_6[] = "val6";
static const char REG_7[] = "reg7";
static const char VAL_7[] = "val7";
static const char REG_8[] = "reg8";
static const char VAL_8[] = "val8";
static const char FREQ_1[] = "freq1";
static const char FREQ_2[] = "freq2";
static const char BLOB[] = "blob";
static const char MIN_VALUE[] = "minValue";
static const char MIN_DISTANCE[] = "minDistance";
static const char NEIGHBOUR_DISTANCE[] = "neighbourDistance";
static const char NEIGHBOUR_BRIGHT_PIXELS[] = "neighbourBrightPixels";
static const char MIN_TOTAL_VALUE[] = "minTotalValue";
static const char MAX_TOTAL_VALUE[] = "maxTotalValue";
static const char MIN_BRIGHT_NEIGHBOURS[] = "minBrightNeighbours";
static const char MAX_BRIGHT_NEIGHBOURS[] = "maxBrightNeighbours";
static const char MAX_PIXEL_TO_CONSIDER[] = "maxPixelsToConsider";
static const char SIGNAL_THRESHOLD[] = "signalThreshold";
static const char DARK_THRESHOLD[] = "darkThreshold";
static const char ENABLE_HISTOGRAM[] = "enableHistogram";
static const char ENABLE_CONTRAST[] = "enableContrast";
static const char BIN_MODE[] = "binMode";
static const char TRACKING[] = "tracking";
static const char THIN_LIMIT[] = "thinLimit";
static const char OUTLIER_THRESHOLD[] = "outlierThreshold";
static const char OUTLIER_THRESHOLD_QUEST[] = "outlierThresholdQUEST";
static const char TRACKER_CHOICE[] = "trackerChoice";
}
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_ARCSECJSONKEYS_H_ */

87
bsp_q7s/devices/startracker/ArcsecJsonParamBase.cpp Normal file
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@ -0,0 +1,87 @@
#include "ArcsecJsonParamBase.h"
#include "ArcsecJsonKeys.h"
ArcsecJsonParamBase::ArcsecJsonParamBase(std::string setName) : setName(setName) {}
ReturnValue_t ArcsecJsonParamBase::create(std::string fullname, uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
result = init(fullname);
if (result != RETURN_OK) {
return result;
}
result = createCommand(buffer);
return result;
}
ReturnValue_t ArcsecJsonParamBase::getParam(const std::string name, std::string& value) {
for (json::iterator it = set.begin(); it != set.end(); ++it) {
if ((*it)[arcseckeys::NAME] == name) {
value = (*it)[arcseckeys::VALUE];
return RETURN_OK;
}
}
return PARAM_NOT_EXISTS;
}
void ArcsecJsonParamBase::addfloat(const std::string value, uint8_t* buffer) {
float param = std::stof(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint8(const std::string value, uint8_t* buffer) {
uint8_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addint16(const std::string value, uint8_t* buffer) {
int16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint16(const std::string value, uint8_t* buffer) {
uint16_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::adduint32(const std::string value, uint8_t* buffer) {
uint32_t param = std::stoi(value);
std::memcpy(buffer, &param, sizeof(param));
}
void ArcsecJsonParamBase::addSetParamHeader(uint8_t* buffer, uint8_t setId) {
*buffer = static_cast<uint8_t>(TMTC_SETPARAMREQ);
*(buffer + 1) = setId;
}
ReturnValue_t ArcsecJsonParamBase::init(const std::string filename) {
ReturnValue_t result = RETURN_OK;
if (not std::filesystem::exists(filename)) {
sif::warning << "ArcsecJsonParamBase::init: JSON file " << filename << " does not exist"
<< std::endl;
return JSON_FILE_NOT_EXISTS;
}
createJsonObject(filename);
result = initSet();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
void ArcsecJsonParamBase::createJsonObject(const std::string fullname) {
json j;
std::ifstream file(fullname);
file >> j;
file.close();
properties = j[arcseckeys::PROPERTIES];
}
ReturnValue_t ArcsecJsonParamBase::initSet() {
for (json::iterator it = properties.begin(); it != properties.end(); ++it) {
if ((*it)["name"] == setName) {
set = (*it)["fields"];
return RETURN_OK;
}
}
return SET_NOT_EXISTS;
}

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bsp_q7s/devices/startracker/ArcsecJsonParamBase.h Normal file
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@ -0,0 +1,144 @@
#ifndef BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#define BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_
#include <fstream>
#include <filesystem>
#include <nlohmann/json.hpp>
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "StarTrackerDefinitions.h"
extern "C" {
#include "thirdparty/arcsec_star_tracker/common/generated/tmtcstructs.h"
#include "thirdparty/arcsec_star_tracker/common/genericstructs.h"
}
using json = nlohmann::json;
/**
* @brief Base class for creation of parameter configuration commands. Reads parameter set
* from a json file located on the filesystem and generates the appropriate command
* to apply the parameters to the star tracker software.
*
* @author J. Meier
*/
class ArcsecJsonParamBase : public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::ARCSEC_JSON_BASE;
//! [EXPORT] : [COMMENT] Specified json file does not exist
static const ReturnValue_t JSON_FILE_NOT_EXISTS = MAKE_RETURN_CODE(1);
//! [EXPORT] : [COMMENT] Requested set does not exist in json file
static const ReturnValue_t SET_NOT_EXISTS = MAKE_RETURN_CODE(2);
//! [EXPORT] : [COMMENT] Requested parameter does not exist in json file
static const ReturnValue_t PARAM_NOT_EXISTS = MAKE_RETURN_CODE(3);
/**
* @brief Constructor
*
* @param fullname Name with absolute path of json file containing the parameters to set.
*/
ArcsecJsonParamBase(std::string setName);
/**
* @brief Fills a buffer with a parameter set
*
* @param fullname The name including the absolute path of the json file containing the
* parameter set.
* @param buffer Pointer to the buffer the command will be written to
*/
ReturnValue_t create(std::string fullname, uint8_t* buffer);
/**
* @brief Returns the size of the parameter command.
*/
virtual size_t getSize() = 0;
protected:
/**
* @brief Reads the value of a parameter from a json set
*
* @param name The name of the parameter
* @param value The string representation of the read value
*
* @return RETURN_OK if successful, otherwise PARAM_NOT_EXISTS
*/
ReturnValue_t getParam(const std::string name, std::string& value);
/**
* @brief This function adds a float represented as string to a buffer
*
* @param value The float in string representation to add
* @param buffer Pointer to the buffer the float will be written to
*/
void addfloat(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint8_t represented as string to a buffer
*
* @param value The uint8_t in string representation to add
* @param buffer Pointer to the buffer the uint8_t will be written to
*/
void adduint8(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a int16_t represented as string to a buffer
*
* @param value The int16_t in string representation to add
* @param buffer Pointer to the buffer the int16_t will be written to
*/
void addint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint16_t represented as string to a buffer
*
* @param value The uint16_t in string representation to add
* @param buffer Pointer to the buffer the uint16_t will be written to
*/
void adduint16(const std::string value, uint8_t* buffer);
/**
* @brief This function adds a uint32_t represented as string to a buffer
*
* @param value The uint32_t in string representation to add
* @param buffer Pointer to the buffer the uint32_t will be written to
*/
void adduint32(const std::string value, uint8_t* buffer);
void addSetParamHeader(uint8_t* buffer, uint8_t setId);
private:
json properties;
json set;
std::string setName;
/**
* @brief This function must be implemented by the derived class to define creation of a
* parameter command.
*/
virtual ReturnValue_t createCommand(uint8_t* buffer) = 0;
/**
* @brief Initializes the properties json object and the set json object
*
* @param fullname Name including absolute path to json file
* @param setName The name of the set to work on
*
* @param return JSON_FILE_NOT_EXISTS if specified file does not exist, otherwise
* RETURN_OK
*/
ReturnValue_t init(const std::string filename);
void createJsonObject(const std::string fullname);
/**
* @brief Extracts the json set object form the json file
*
* @param setName The name of the set to create the json object from
*/
ReturnValue_t initSet();
};
#endif /* BSP_Q7S_DEVICES_STARTRACKER_ARCSECJSONPARAMBASE_H_ */

7
bsp_q7s/devices/startracker/CMakeLists.txt Normal file
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@ -0,0 +1,7 @@
target_sources(${TARGET_NAME} PRIVATE
StarTrackerHandler.cpp
StarTrackerJsonCommands.cpp
ArcsecDatalinkLayer.cpp
ArcsecJsonParamBase.cpp
StrImageLoader.cpp
)

4
bsp_q7s/devices/devicedefinitions/StarTrackerDefinitions.h → bsp_q7s/devices/startracker/StarTrackerDefinitions.h
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@ -98,12 +98,12 @@ 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 LIMITS = 40;
static const DeviceCommandId_t MONTING = 41;
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 MACTHING = 46;
static const DeviceCommandId_t MATCHING = 46;
static const DeviceCommandId_t TRACKING = 47;
static const DeviceCommandId_t VALIDATION = 48;
static const DeviceCommandId_t ALGO = 49;

130
bsp_q7s/devices/StarTrackerHandler.cpp → bsp_q7s/devices/startracker/StarTrackerHandler.cpp
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@ -2,7 +2,7 @@
#include "StarTrackerHandler.h"
#include "OBSWConfig.h"
#include "devicedefinitions/StarTrackerJsonCommands.h"
#include "StarTrackerJsonCommands.h"
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/ipc/QueueFactory.h>
@ -194,11 +194,28 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
return RETURN_OK;
}
case (StarTracker::LIMITS): {
result = prepareLimitsCommand(commandData, commandDataLen);
Limits limits;
result = prepareParamCommand(commandData, commandDataLen, limits);
return result;
}
case (StarTracker::MOUNTING): {
Mounting mounting;
result = prepareParamCommand(commandData, commandDataLen, mounting);
return result;
}
case (StarTracker::CAMERA): {
Camera camera;
result = prepareParamCommand(commandData, commandDataLen, camera);
return result;
}
case (StarTracker::BLOB): {
Blob blob;
result = prepareParamCommand(commandData, commandDataLen, blob);
return result;
}
case (StarTracker::TRACKING): {
result = prepareTrackingCommand(commandData, commandDataLen);
Tracking tracking;
result = prepareParamCommand(commandData, commandDataLen, tracking);
return result;
}
default:
@ -233,6 +250,24 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::LIMITS, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::MOUNTING, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::CAMERA, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::BLOB, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::CENTROIDING, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::LISA, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::MATCHING, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::TRACKING, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::VALIDATION, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::ALGO, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@ -264,7 +299,7 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t rema
}
case TMTC_SETPARAMREPLY: {
*foundLen = remainingSize - bytesLeft;
result = scanForSetParameterReply(foundId);
result = scanForParameterReply(foundId);
break;
}
case TMTC_TELEMETRYREPLYA:
@ -325,7 +360,16 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
handleTemperatureTm();
break;
}
case (StarTracker::LIMITS): {
case (StarTracker::LIMITS):
case (StarTracker::MOUNTING):
case (StarTracker::CAMERA):
case (StarTracker::BLOB):
case (StarTracker::CENTROIDING):
case (StarTracker::LISA):
case (StarTracker::MATCHING):
case (StarTracker::TRACKING):
case (StarTracker::VALIDATION):
case (StarTracker::ALGO): {
result = handleSetParamReply();
break;
}
@ -458,14 +502,14 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t *foundId)
break;
}
default:
sif::warning << "StarTrackerHandler::scanForSetParameterReply: Unknown parameter reply id"
sif::warning << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
<< std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t *foundId) {
ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t *foundId) {
const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) {
case (StarTracker::ID::SUBSCRIBE): {
@ -476,8 +520,44 @@ ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t *fo
*foundId = StarTracker::LIMITS;
break;
}
case (StarTracker::ID::MOUNTING): {
*foundId = StarTracker::MOUNTING;
break;
}
case (StarTracker::ID::CAMERA): {
*foundId = StarTracker::CAMERA;
break;
}
case (StarTracker::ID::BLOB): {
*foundId = StarTracker::BLOB;
break;
}
case (StarTracker::ID::CENTROIDING): {
*foundId = StarTracker::CENTROIDING;
break;
}
case (StarTracker::ID::LISA): {
*foundId = StarTracker::LISA;
break;
}
case (StarTracker::ID::MATCHING): {
*foundId = StarTracker::MATCHING;
break;
}
case (StarTracker::ID::TRACKING): {
*foundId = StarTracker::TRACKING;
break;
}
case (StarTracker::ID::VALIDATION): {
*foundId = StarTracker::VALIDATION;
break;
}
case (StarTracker::ID::ALGO): {
*foundId = StarTracker::ALGO;
break;
}
default:
sif::debug << "StarTrackerHandler::scanForSetParameterReply: Unknown parameter reply id"
sif::debug << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
<< std::endl;
return RETURN_FAILED;
}
@ -638,43 +718,21 @@ void StarTrackerHandler::prepareTemperatureRequest() {
rawPacketLen = dataLinkLayer.getEncodedLength();
}
ReturnValue_t StarTrackerHandler::prepareLimitsCommand(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
size_t commandDataLen, ArcsecJsonParamBase& paramSet) {
ReturnValue_t result = RETURN_OK;
if (commandDataLen > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
std::string fullName(reinterpret_cast<const char*>(commandData), commandDataLen);
Limits limits;
result = limits.create(fullName, commandBuffer);
result = paramSet.create(fullName, commandBuffer);
if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::prepareLimitsCommand: Failed to create limits command"
<< std::endl;
sif::warning << "StarTrackerHandler::prepareParamCommand: Failed to create parameter "
"command" << std::endl;
return result;
}
dataLinkLayer.encodeFrame(commandBuffer, Limits::COMMAND_SIZE);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::prepareTrackingCommand(const uint8_t* commandData,
size_t commandDataLen) {
ReturnValue_t result = RETURN_OK;
if (commandDataLen > MAX_PATH_SIZE) {
return FILE_PATH_TOO_LONG;
}
std::string fullName(reinterpret_cast<const char*>(commandData), commandDataLen);
Tracking tracking;
result = tracking.create(fullName, commandBuffer);
if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::prepareTrackingCommand: Failed to create tracking "
" command" << std::endl;
return result;
}
dataLinkLayer.encodeFrame(commandBuffer, Tracking::COMMAND_SIZE);
dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_OK;

28
bsp_q7s/devices/StarTrackerHandler.h → bsp_q7s/devices/startracker/StarTrackerHandler.h
View File

@ -1,13 +1,14 @@
#ifndef MISSION_DEVICES_STARTRACKERHANDLER_H_
#define MISSION_DEVICES_STARTRACKERHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/src/fsfw/serialize/SerializeAdapter.h>
#include <thirdparty/arcsec_star_tracker/common/SLIP.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/src/fsfw/serialize/SerializeAdapter.h"
#include "thirdparty/arcsec_star_tracker/common/SLIP.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <bsp_q7s/devices/StrImageLoader.h>
#include <bsp_q7s/devices/ArcsecDataLinkLayer.h>
#include <bsp_q7s/devices/devicedefinitions/StarTrackerDefinitions.h>
#include "StrImageLoader.h"
#include "ArcsecDataLinkLayer.h"
#include "StarTrackerDefinitions.h"
#include "ArcsecJsonParamBase.h"
/**
* @brief This is the device handler for the star tracker from arcsec.
@ -158,7 +159,7 @@ private:
void slipInit();
ReturnValue_t scanForActionReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForSetParameterReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForParameterReply(DeviceCommandId_t *foundId);
ReturnValue_t scanForTmReply(DeviceCommandId_t *foundId);
/**
@ -221,10 +222,17 @@ private:
void prepareTemperatureRequest();
/**
* @brief Reads limit parameters from json file specified with commandData and prepares
* the command to apply the limits to the star tracker.
* @brief Reads parameters from json file specified by string in commandData and
* prepares the command to apply the parameter set to the star tracker
*
* @param commandData Contains string with file name
* @param commandDataLen Length of command
* @param paramSet The object defining the command generation
*
* @return RETURN_OK if successful, otherwise error return Value
*/
ReturnValue_t prepareLimitsCommand(const uint8_t* commandData, size_t commandDataLen);
ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
ArcsecJsonParamBase& paramSet);
/**
* @brief Default function to handle action replies

535
bsp_q7s/devices/startracker/StarTrackerJsonCommands.cpp Normal file
View File

@ -0,0 +1,535 @@
#include "StarTrackerJsonCommands.h"
#include "ArcsecJsonKeys.h"
Limits::Limits() : ArcsecJsonParamBase(arcseckeys::LIMITS) {}
size_t Limits::getSize() {
return COMMAND_SIZE;
}
ReturnValue_t Limits::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::LIMITS);
offset = 2;
result = getParam(arcseckeys::ACTION, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FPGA18CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA25CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FPGA10CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCUCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS21CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSPIXCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS33CURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOSVRESCURRENT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::CMOS_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::MCU_TEMPERATURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Tracking::Tracking() : ArcsecJsonParamBase(arcseckeys::TRACKING) {}
size_t Tracking::getSize() {
return COMMAND_SIZE;
}
ReturnValue_t Tracking::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::TRACKING);
offset = 2;
result = getParam(arcseckeys::THIN_LIMIT, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OUTLIER_THRESHOLD_QUEST, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::TRACKER_CHOICE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
return RETURN_OK;
}
Mounting::Mounting() : ArcsecJsonParamBase(arcseckeys::MOUNTING) {}
size_t Mounting::getSize() {
return COMMAND_SIZE;
}
ReturnValue_t Mounting::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::MOUNTING);
offset = 2;
result = getParam(arcseckeys::qw, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qx, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qy, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::qz, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Camera::Camera() : ArcsecJsonParamBase(arcseckeys::CAMERA) {}
size_t Camera::getSize() {
return COMMAND_SIZE;
}
ReturnValue_t Camera::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::CAMERA);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FOCALLENGTH, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::EXPOSURE, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::INTERVAL, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::OFFSET, param);
if (result != RETURN_OK) {
return result;
}
addint16(param, buffer + offset);
offset += sizeof(int16_t);
result = getParam(arcseckeys::PGAGAIN, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ADCGAIN, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_1, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_1, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_2, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_2, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_3, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_3, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_4, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_4, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_5, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_5, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_6, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_6, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_7, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_7, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::REG_8, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::VAL_8, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::FREQ_1, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
offset += sizeof(float);
result = getParam(arcseckeys::FREQ_2, param);
if (result != RETURN_OK) {
return result;
}
addfloat(param, buffer + offset);
return RETURN_OK;
}
Blob::Blob() : ArcsecJsonParamBase(arcseckeys::BLOB) {}
size_t Blob::getSize() {
return COMMAND_SIZE;
}
ReturnValue_t Blob::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::BLOB);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_BRIGHT_PIXELS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MIN_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_PIXEL_TO_CONSIDER, param);
if (result != RETURN_OK) {
return result;
}
adduint32(param, buffer + offset);
offset += sizeof(uint32_t);
result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::DARK_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_HISTOGRAM, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_CONTRAST, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::BIN_MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
return RETURN_OK;
}
Centroiding::Centroiding() : ArcsecJsonParamBase(arcseckeys::BLOB) {}
size_t Centroiding::getSize() {
return COMMAND_SIZE;
}
ReturnValue_t Centroiding::createCommand(uint8_t* buffer) {
ReturnValue_t result = RETURN_OK;
uint8_t offset = 0;
std::string param;
addSetParamHeader(buffer, StarTracker::ID::BLOB);
offset = 2;
result = getParam(arcseckeys::MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_DISTANCE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::NEIGHBOUR_BRIGHT_PIXELS, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::MIN_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_TOTAL_VALUE, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MIN_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_BRIGHT_NEIGHBOURS, param);
if (result != RETURN_OK) {
return result;
}
adduint16(param, buffer + offset);
offset += sizeof(uint16_t);
result = getParam(arcseckeys::MAX_PIXEL_TO_CONSIDER, param);
if (result != RETURN_OK) {
return result;
}
adduint32(param, buffer + offset);
offset += sizeof(uint32_t);
result = getParam(arcseckeys::SIGNAL_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::DARK_THRESHOLD, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_HISTOGRAM, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::ENABLE_CONTRAST, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
result = getParam(arcseckeys::BIN_MODE, param);
if (result != RETURN_OK) {
return result;
}
adduint8(param, buffer + offset);
offset += sizeof(uint8_t);
return RETURN_OK;
}

128
bsp_q7s/devices/startracker/StarTrackerJsonCommands.h Normal file
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@ -0,0 +1,128 @@
#ifndef BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
#define BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_
/**
* @brief This file defines a few helper classes to generate commands by means of the parameters
* defined in the arcsec json files.
* @author J. Meier
*/
#include <string>
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "ArcsecJsonParamBase.h"
/**
* @brief Generates command to set the limit parameters
*
*/
class Limits : public ArcsecJsonParamBase {
public:
Limits();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
virtual ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the tracking algorithm.
*
*/
class Tracking : public ArcsecJsonParamBase {
public:
Tracking();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 15;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Mounting : public ArcsecJsonParamBase {
public:
Mounting();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 18;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to set the mounting quaternion
*
*/
class Camera : public ArcsecJsonParamBase {
public:
Camera();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 43;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the blob algorithm
*
*/
class Blob : public ArcsecJsonParamBase {
public:
Blob();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 24;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
/**
* @brief Generates the command to configure the centroiding algorithm
*
*/
class Centroiding : public ArcsecJsonParamBase {
public:
Centroiding();
size_t getSize();
private:
static const size_t COMMAND_SIZE = 24;
ReturnValue_t createCommand(uint8_t* buffer) override;
};
#endif /* BSP_Q7S_DEVICES_DEVICEDEFINITIONS_STARTRACKERJSONCOMMANDS_H_ */

0
bsp_q7s/devices/StrImageLoader.cpp → bsp_q7s/devices/startracker/StrImageLoader.cpp
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3
bsp_q7s/devices/StrImageLoader.h → bsp_q7s/devices/startracker/StrImageLoader.h
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@ -2,10 +2,9 @@
#define BSP_Q7S_DEVICES_STRIMAGELOADER_H_
#include <string>
#include "ArcsecDatalinkLayer.h"
#include "fsfw/osal/linux/BinarySemaphore.h"
#include "bsp_q7s/memory/SdCardManager.h"
#include "bsp_q7s/devices/ArcsecDatalinkLayer.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/ExecutableObjectIF.h"