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continue with new set

This commit is contained in:
Robin Müller 2024-02-27 13:05:13 +01:00 committed by Marius Eggert
parent dc730bb6de
commit b8a07a3299
3 changed files with 45 additions and 6 deletions
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24
mission/acs/str/StarTrackerHandler.cpp
View File

@ -63,6 +63,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
centroidSet(this),
centroidsSet(this),
contrastSet(this),
blobStatsSet(this),
strHelper(strHelper),
powerSwitch(powerSwitch),
sdCardIF(sdCardIF),
@ -597,6 +598,11 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
prepareRequestContrastTm();
return returnvalue::OK;
}
case (startracker::REQ_BLOB_STATS): {
// TODO: Implement function.
// prepareRequestCentroidsTm();
return returnvalue::OK;
}
case (startracker::BOOT): {
prepareBootCommand(static_cast<startracker::FirmwareTarget>(firmwareTargetRaw));
return returnvalue::OK;
@ -638,10 +644,6 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
prepareHistogramRequest();
return returnvalue::OK;
}
case (startracker::REQ_BLOB_STATS): {
prepareHistogramRequest();
return returnvalue::OK;
}
case (startracker::LIMITS): {
result = prepareParamCommand(commandData, commandDataLen, jcfgs.limits, reinitNextSetParam);
return result;
@ -889,6 +891,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_CONTRAST, 3, &contrastSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_BLOB_STATS, 3, &blobStatsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
@ -1086,6 +1090,12 @@ void StarTrackerHandler::resetSecondaryTmSet() {
histogramSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&blobStatsSet);
if (pg.getReadResult() == returnvalue::OK) {
histogramSet.setValidity(false, true);
}
}
}
void StarTrackerHandler::bootBootloader() {
@ -1234,6 +1244,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
result = handleTm(packet, histogramSet, "REQ_HISTO");
break;
}
case (startracker::REQ_BLOB_STATS): {
result = handleTm(packet, blobStatsSet, "REQ_BLOB_STATS");
break;
}
case (startracker::SUBSCRIPTION):
case (startracker::LOGLEVEL):
case (startracker::LOGSUBSCRIPTION):
@ -1663,6 +1677,8 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
subdp::RegularHkPeriodicParams(centroidsSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(contrastSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(blobStatsSet.getSid(), false, 10.0));
return returnvalue::OK;
}

1
mission/acs/str/StarTrackerHandler.h
View File

@ -216,6 +216,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
startracker::CentroidSet centroidSet;
startracker::CentroidsSet centroidsSet;
startracker::ContrastSet contrastSet;
startracker::BlobStatsSet blobStatsSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrComHandler* strHelper = nullptr;

26
mission/acs/str/strHelpers.h
View File

@ -328,6 +328,11 @@ enum PoolIds : lp_id_t {
CONTRAST_B,
CONTRAST_C,
CONTRAST_D,
BLOB_STATS_NOISE,
BLOB_STATS_THOLD,
BLOB_STATS_LVALID,
BLOB_STATS_OFLOW,
};
static const DeviceCommandId_t PING_REQUEST = 0;
@ -394,8 +399,9 @@ static constexpr DeviceCommandId_t ADD_SECONDARY_TM_TO_NORMAL_MODE = 95;
static constexpr DeviceCommandId_t RESET_SECONDARY_TM_SET = 96;
static constexpr DeviceCommandId_t READ_SECONDARY_TM_SET = 97;
static constexpr DeviceCommandId_t RELOAD_JSON_CFG_FILE = 100;
static const DeviceCommandId_t FIRMWARE_UPDATE_BACKUP = 101;
static const DeviceCommandId_t REQ_BLOB_STATS= 102;
static constexpr DeviceCommandId_t FIRMWARE_UPDATE_BACKUP = 101;
static constexpr DeviceCommandId_t REQ_BLOB_STATS = 102;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
@ -427,6 +433,7 @@ static const uint32_t BLOBS_SET_ID = REQ_BLOBS;
static const uint32_t CENTROID_SET_ID = REQ_CENTROID;
static const uint32_t CENTROIDS_SET_ID = REQ_CENTROIDS;
static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
static const uint32_t BLOB_STATS_SET_ID = REQ_BLOB_STATS;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
@ -1559,6 +1566,21 @@ class CentroidsSet : public StaticLocalDataSet<10> {
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
};
class BlobStatsSet : public StaticLocalDataSet<6> {
public:
BlobStatsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_STATS_SET_ID) {}
// Data received from the Centroids Telemetry Set (ID 49)
lp_vec_t<uint8_t, 16> noise =
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_NOISE, this);
lp_vec_t<uint8_t, 16> thold =
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_THOLD, this);
lp_vec_t<uint8_t, 16> lvalid =
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_LVALID, this);
lp_vec_t<uint8_t, 16> oflow =
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::BLOB_STATS_OFLOW, this);
};
class ContrastSet : public StaticLocalDataSet<8> {
public:
ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}