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Merge remote-tracking branch 'origin/develop' into mueller/clang-formatting-applied
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Robin Müller
2022-01-19 11:52:06 +01:00
parent 77d8f2fc54 cf92707ee3
commit a50f852b9d
11 changed files with 569 additions and 164 deletions
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162
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
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@ -10,6 +10,7 @@
#include "StarTrackerJsonCommands.h"
extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
#include <thirdparty/arcsec_star_tracker/client/generated/parameter.h>
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
#include "common/misc.h"
@ -33,6 +34,9 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
downloadMatchedStar(this),
downloadDbImage(this),
downloadBlobPixel(this),
cameraSet(this),
limitsSet(this),
blobSet(this),
strHelper(strHelper) {
if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
@ -504,6 +508,18 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareFpgaActionCommand(commandData, commandDataLen);
return result;
}
case (StarTracker::REQ_CAMERA): {
result = prepareRequestCameraParams();
return result;
}
case (StarTracker::REQ_LIMITS): {
result = prepareRequestLimitsParams();
return result;
}
case (StarTracker::REQ_BLOB_PARAMS): {
result = prepareRequestBlobParams();
return result;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
@ -582,6 +598,12 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_BLOB_PARAMS, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
@ -612,7 +634,12 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
}
case TMTC_SETPARAMREPLY: {
*foundLen = remainingSize - bytesLeft;
result = scanForParameterReply(foundId);
result = scanForSetParameterReply(foundId);
break;
}
case TMTC_PARAMREPLY: {
*foundLen = remainingSize - bytesLeft;
result = scanForGetParameterReply(foundId);
break;
}
case TMTC_TELEMETRYREPLYA:
@ -734,6 +761,18 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
result = handleSetParamReply();
break;
}
case (StarTracker::REQ_CAMERA): {
handleParamRequest(cameraSet, StarTracker::CameraSet::SIZE);
break;
}
case (StarTracker::REQ_LIMITS): {
handleParamRequest(limitsSet, StarTracker::LimitsSet::SIZE);
break;
}
case (StarTracker::REQ_BLOB_PARAMS): {
handleParamRequest(blobSet, StarTracker::BlobSet::SIZE);
break;
}
default: {
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id:" << id
<< std::endl;
@ -936,6 +975,50 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(StarTracker::BLOBPIX_IN_USE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOBPIX_BRIGHT_NEIGHBOURS, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOBPIX_REGION, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::CAMERA_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::FOCALLENGTH, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::EXPOSURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::INTERVAL, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::CAMERA_OFFSET, new PoolEntry<int16_t>({0}));
localDataPoolMap.emplace(StarTracker::PGAGAIN, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::ADCGAIN, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_REG1, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_VAL1, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_REG2, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_VAL2, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_REG3, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_VAL3, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_REG4, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::CAM_VAL4, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_ACTION, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_FPGA18CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_FPGA25CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_FPGA10CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_MCUCURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOS21CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOSPIXCURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOS33CURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOSVRESCURRENT, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::LIMITS_CMOSTEMPERATURE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_VALUE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_DISTANCE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_DISTANCE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_BRIGHTPIXELS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_NEIGHBOUR_BRIGHTPIXELS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_TOTAL_VALUE, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MAX_TOTAL_VALUE, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MIN_BRIGHT_NEIGHBOURS, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MAX_BRIGHT_NEIGHBOURS, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_MAX_PIXELSTOCONSIDER, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_SIGNAL_THRESHOLD, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_DARK_THRESHOLD, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_ENABLE_HISTOGRAM, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_ENABLE_CONTRAST, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::BLOB_BIN_MODE, new PoolEntry<uint8_t>({0}));
return RETURN_OK;
}
@ -1038,7 +1121,7 @@ ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId)
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t* foundId) {
ReturnValue_t StarTrackerHandler::scanForSetParameterReply(DeviceCommandId_t* foundId) {
const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) {
case (StarTracker::ID::SUBSCRIBE): {
@ -1093,6 +1176,30 @@ ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t* found
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::scanForGetParameterReply(DeviceCommandId_t* foundId) {
const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) {
case (StarTracker::ID::CAMERA): {
*foundId = StarTracker::REQ_CAMERA;
break;
}
case (StarTracker::ID::LIMITS): {
*foundId = StarTracker::REQ_LIMITS;
break;
}
case (StarTracker::ID::BLOB): {
*foundId = StarTracker::REQ_BLOB_PARAMS;
break;
}
default: {
sif::warning << "tarTrackerHandler::scanForGetParameterReply: UnkNown ID" << std::endl;
return RETURN_FAILED;
break;
}
}
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
const uint8_t* reply = dataLinkLayer.getReply();
switch (*reply) {
@ -1701,6 +1808,33 @@ ReturnValue_t StarTrackerHandler::prepareFpgaActionCommand(const uint8_t* comman
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() {
uint32_t length = 0;
arc_pack_camera_parameter_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestLimitsParams() {
uint32_t length = 0;
arc_pack_limits_parameter_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobParams() {
uint32_t length = 0;
arc_pack_blob_parameter_req(commandBuffer, &length);
dataLinkLayer.encodeFrame(commandBuffer, length);
rawPacket = dataLinkLayer.getEncodedFrame();
rawPacketLen = dataLinkLayer.getEncodedLength();
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::handleSetParamReply() {
const uint8_t* reply = dataLinkLayer.getReply();
uint8_t status = *(reply + STATUS_OFFSET);
@ -1789,6 +1923,30 @@ ReturnValue_t StarTrackerHandler::handleChecksumReply() {
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::handleParamRequest(LocalPoolDataSetBase& dataset, size_t size) {
ReturnValue_t result = RETURN_OK;
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
if (result != RETURN_OK) {
return result;
}
const uint8_t* reply = dataLinkLayer.getReply() + PARAMS_OFFSET;
dataset.setValidityBufferGeneration(false);
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
if (result != RETURN_OK) {
sif::warning << "StarTrackerHandler::handleParamRequest Deserialization failed" << std::endl;
}
dataset.setValidityBufferGeneration(true);
dataset.setValidity(true, true);
result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
if (result != RETURN_OK) {
return result;
}
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
dataset.printSet();
#endif
return result;
}
ReturnValue_t StarTrackerHandler::handlePingReply() {
ReturnValue_t result = RETURN_OK;
uint32_t pingId = 0;