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command to request camera parameters

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This commit is contained in:
Jakob Meier
2022-01-17 13:15:18 +01:00
parent 952dfde5b7
commit abfc120633
3 changed files with 181 additions and 5 deletions
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89
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
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@ -8,6 +8,7 @@
extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>
#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
#include <thirdparty/arcsec_star_tracker/client/generated/parameter.h>
#include "common/misc.h"
}
@ -18,7 +19,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), versionSet(this), powerSet(
this), interfaceSet(this), timeSet(this), solutionSet(this), histogramSet(this), contrastSet(
this), checksumSet(this), downloadCentroidSet(this), downloadMatchedStar(this),
downloadDbImage(this), downloadBlobPixel(this), strHelper(
downloadDbImage(this), downloadBlobPixel(this), cameraSet(this), strHelper(
strHelper) {
if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
@ -495,6 +496,10 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareFpgaActionCommand(commandData, commandDataLen);
return result;
}
case (StarTracker::REQ_CAMERA_PARAMS): {
result = prepareRequestCameraParams();
return result;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
@ -573,6 +578,8 @@ 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_PARAMS, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@ -604,7 +611,12 @@ 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:
@ -726,6 +738,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id, con
result = handleSetParamReply();
break;
}
case (StarTracker::REQ_CAMERA_PARAMS): {
handleParamRequest(cameraSet, StarTracker::CameraSet::SIZE);
break;
}
default: {
sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id:" << id
<< std::endl;
@ -934,6 +950,22 @@ 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 }));
return RETURN_OK;
}
@ -1036,7 +1068,7 @@ 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): {
@ -1091,6 +1123,22 @@ 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_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) {
@ -1700,6 +1748,16 @@ ReturnValue_t StarTrackerHandler::prepareFpgaActionCommand(const uint8_t* comman
return RETURN_OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestCameraParams() {
struct Camera req;
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::handleSetParamReply() {
const uint8_t* reply = dataLinkLayer.getReply();
uint8_t status = *(reply + STATUS_OFFSET);
@ -1788,6 +1846,31 @@ 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;