finished STR extensions TMTC
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@ -50,7 +50,10 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
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logSubscriptionSet(this),
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debugCameraSet(this),
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matchedCentroids(this),
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blobSet(this),
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blobsSet(this),
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centroidSet(this),
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centroidsSet(this),
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strHelper(strHelper),
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paramJsonFile(jsonFileStr),
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powerSwitch(powerSwitch) {
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@ -474,6 +477,12 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
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prepareTimeRequest();
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return returnvalue::OK;
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}
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case (startracker::REQ_CENTROID): {
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return returnvalue::OK;
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}
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case (startracker::REQ_CENTROIDS): {
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return returnvalue::OK;
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}
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case (startracker::BOOT): {
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prepareBootCommand();
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return returnvalue::OK;
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@ -745,10 +754,14 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroids,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobsSet,
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this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobSet,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_BLOBS, 3, &blobsSet,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_CENTROID, 3, ¢roidSet,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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this->insertInCommandAndReplyMap(startracker::REQ_CENTROIDS, 3, ¢roidsSet,
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startracker::MAX_FRAME_SIZE * 2 + 2);
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}
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ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
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@ -1012,6 +1025,14 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
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result = handleBlobsTm(packet);
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break;
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}
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case (startracker::REQ_CENTROID): {
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result = handleCentroidTm(packet);
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break;
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}
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case (startracker::REQ_CENTROIDS): {
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result = handleCentroidsTm(packet);
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break;
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}
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case (startracker::REQ_TEMPERATURE): {
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result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE, "REQ_TEMP");
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break;
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@ -1398,6 +1419,17 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
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localDataPoolMap.emplace(startracker::PoolIds::BLOBS_X_COORDS, new PoolEntry<uint16_t>(8));
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localDataPoolMap.emplace(startracker::PoolIds::BLOBS_Y_COORDS, new PoolEntry<uint16_t>(8));
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localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TICKS, new PoolEntry<uint32_t>());
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localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TIME, new PoolEntry<uint64_t>());
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localDataPoolMap.emplace(startracker::PoolIds::CENTROID_COUNT, new PoolEntry<uint32_t>());
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localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TICKS, new PoolEntry<uint32_t>());
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localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TIME, new PoolEntry<uint64_t>());
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localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_COUNT, new PoolEntry<uint16_t>());
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localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_X_COORDS, new PoolEntry<float>(16));
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localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_Y_COORDS, new PoolEntry<float>(16));
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localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_MAGNITUDES, new PoolEntry<uint8_t>(16));
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poolManager.subscribeForDiagPeriodicPacket(
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subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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@ -1412,6 +1444,16 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
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subdp::RegularHkPeriodicParams(histogramSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(matchedCentroids.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(blobSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(blobsSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(centroidSet.getSid(), false, 10.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(centroidsSet.getSid(), false, 10.0));
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return returnvalue::OK;
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}
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@ -1853,6 +1895,22 @@ ReturnValue_t StarTrackerHandler::prepareRequestBlobsTm() {
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return returnvalue::OK;
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}
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ReturnValue_t StarTrackerHandler::prepareRequestCentroidTm() {
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uint32_t length = 0;
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arc_tm_pack_centroid_req(commandBuffer, &length);
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rawPacket = commandBuffer;
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rawPacketLen = length;
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return returnvalue::OK;
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}
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ReturnValue_t StarTrackerHandler::prepareRequestCentroidsTm() {
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uint32_t length = 0;
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arc_tm_pack_centroids_req(commandBuffer, &length);
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rawPacket = commandBuffer;
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rawPacketLen = length;
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return returnvalue::OK;
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}
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ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
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size_t commandDataLen,
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ArcsecJsonParamBase& paramSet,
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@ -2229,24 +2287,22 @@ ReturnValue_t StarTrackerHandler::handleBlobTm(const uint8_t* rawFrame) {
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&blobsSet.ticksBlobTm, &rawFrame, &remainingLen,
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result = SerializeAdapter::deSerialize(&blobSet.ticks, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&blobsSet.timeUsBlobTm, &rawFrame, &remainingLen,
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result = SerializeAdapter::deSerialize(&blobSet.timeUs, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&blobsSet.blobCount, &rawFrame, &remainingLen,
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result = SerializeAdapter::deSerialize(&blobSet.blobCount, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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blobsSet.ticksBlobTm.setValid(true);
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blobsSet.timeUsBlobTm.setValid(true);
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blobsSet.blobCount.setValid(true);
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blobSet.setValidity(true, true);
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return returnvalue::OK;
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}
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@ -2261,12 +2317,12 @@ ReturnValue_t StarTrackerHandler::handleBlobsTm(const uint8_t* rawFrame) {
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&blobsSet.ticksBlobsTm, &rawFrame, &remainingLen,
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result = SerializeAdapter::deSerialize(&blobsSet.ticks, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(&blobsSet.timeUsBlobsTm, &rawFrame, &remainingLen,
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result = SerializeAdapter::deSerialize(&blobsSet.timeUs, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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@ -2298,13 +2354,86 @@ ReturnValue_t StarTrackerHandler::handleBlobsTm(const uint8_t* rawFrame) {
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return result;
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}
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}
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blobsSet.ticksBlobsTm.setValid(true);
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blobsSet.timeUsBlobsTm.setValid(true);
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blobsSet.blobsCount.setValid(true);
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blobsSet.blobsCountUsed.setValid(true);
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blobsSet.nr4LinesSkipped.setValid(true);
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blobsSet.xCoords.setValid(true);
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blobsSet.yCoords.setValid(true);
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blobsSet.setValidity(true, true);
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return returnvalue::OK;
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}
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ReturnValue_t StarTrackerHandler::handleCentroidTm(const uint8_t* rawFrame) {
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ReturnValue_t result = statusFieldCheck(rawFrame);
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if (result != returnvalue::OK) {
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return result;
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}
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(¢roidsSet);
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result = pg.getReadResult();
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidSet.ticks, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidSet.timeUs, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidSet.centroidCount, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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centroidSet.setValidity(true, true);
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return returnvalue::OK;
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}
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ReturnValue_t StarTrackerHandler::handleCentroidsTm(const uint8_t* rawFrame) {
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ReturnValue_t result = statusFieldCheck(rawFrame);
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if (result != returnvalue::OK) {
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return result;
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}
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size_t remainingLen = fullPacketLen;
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PoolReadGuard pg(¢roidsSet);
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result = pg.getReadResult();
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidsSet.ticksCentroidsTm, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidsSet.timeUsCentroidsTm, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidsSet.centroidsCount, &rawFrame, &remainingLen,
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SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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for (unsigned idx = 0; idx < 16; idx++) {
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result = SerializeAdapter::deSerialize(¢roidsSet.centroidsXCoords[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidsSet.centroidsYCoords[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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result = SerializeAdapter::deSerialize(¢roidsSet.centroidsMagnitudes[idx], &rawFrame,
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&remainingLen, SerializeIF::Endianness::LITTLE);
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if (result != returnvalue::OK) {
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return result;
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}
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}
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centroidsSet.setValidity(true, true);
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return returnvalue::OK;
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}
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@ -2446,6 +2575,8 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
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case startracker::REQ_MATCHED_CENTROIDS:
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case startracker::REQ_BLOB:
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case startracker::REQ_BLOBS:
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case startracker::REQ_CENTROID:
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case startracker::REQ_CENTROIDS:
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if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
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return STARTRACKER_NOT_RUNNING_FIRMWARE;
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}
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@ -206,7 +206,10 @@ class StarTrackerHandler : public DeviceHandlerBase {
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startracker::LogSubscriptionSet logSubscriptionSet;
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startracker::DebugCameraSet debugCameraSet;
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startracker::MatchedCentroidsSet matchedCentroids;
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startracker::BlobSet blobSet;
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startracker::BlobsSet blobsSet;
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startracker::CentroidSet centroidSet;
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startracker::CentroidsSet centroidsSet;
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// Pointer to object responsible for uploading and downloading images to/from the star tracker
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StrComHandler* strHelper = nullptr;
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@ -437,6 +440,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
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ReturnValue_t prepareRequestMatchedCentroids();
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ReturnValue_t prepareRequestBlobTm();
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ReturnValue_t prepareRequestBlobsTm();
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ReturnValue_t prepareRequestCentroidTm();
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ReturnValue_t prepareRequestCentroidsTm();
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ReturnValue_t prepareRequestTrackingParams();
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ReturnValue_t prepareRequestValidationParams();
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ReturnValue_t prepareRequestAlgoParams();
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@ -500,6 +505,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
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ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
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ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
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ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);
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ReturnValue_t handleCentroidTm(const uint8_t* rawFrame);
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ReturnValue_t handleCentroidsTm(const uint8_t* rawFrame);
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/**
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* @brief Checks if star tracker is in valid mode for executing the received command.
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@ -294,6 +294,17 @@ enum PoolIds : lp_id_t {
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BLOBS_NR_4LINES_SKIPPED,
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BLOBS_X_COORDS,
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BLOBS_Y_COORDS,
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CENTROID_TICKS,
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CENTROID_TIME,
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CENTROID_COUNT,
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CENTROIDS_TICKS,
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CENTROIDS_TIME,
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CENTROIDS_COUNT,
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CENTROIDS_X_COORDS,
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CENTROIDS_Y_COORDS,
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CENTROIDS_MAGNITUDES,
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};
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static const DeviceCommandId_t PING_REQUEST = 0;
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@ -352,6 +363,8 @@ static constexpr DeviceCommandId_t AUTO_THRESHOLD = 88;
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static constexpr DeviceCommandId_t REQ_MATCHED_CENTROIDS = 89;
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static constexpr DeviceCommandId_t REQ_BLOB = 90;
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static constexpr DeviceCommandId_t REQ_BLOBS = 91;
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static constexpr DeviceCommandId_t REQ_CENTROID = 92;
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static constexpr DeviceCommandId_t REQ_CENTROIDS = 93;
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static const DeviceCommandId_t NONE = 0xFFFFFFFF;
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static const uint32_t VERSION_SET_ID = REQ_VERSION;
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@ -377,7 +390,10 @@ static const uint32_t SUBSCRIPTION_SET_ID = REQ_SUBSCRIPTION;
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static const uint32_t LOG_SUBSCRIPTION_SET_ID = REQ_LOG_SUBSCRIPTION;
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static const uint32_t DEBUG_CAMERA_SET_ID = REQ_DEBUG_CAMERA;
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static const uint32_t MATCHED_CENTROIDS_SET_ID = REQ_MATCHED_CENTROIDS;
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static const uint32_t BLOB_SET_ID = REQ_BLOB;
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static const uint32_t BLOBS_SET_ID = REQ_BLOBS;
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static const uint32_t CENTROID_SET_ID = REQ_CENTROID;
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static const uint32_t CENTROIDS_SET_ID = REQ_CENTROIDS;
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/** Max size of unencoded frame */
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static const size_t MAX_FRAME_SIZE = 1200;
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@ -1436,21 +1452,23 @@ class MatchedCentroidsSet : public StaticLocalDataSet<20> {
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private:
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};
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class BlobsSet : public StaticLocalDataSet<20> {
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class BlobSet : public StaticLocalDataSet<5> {
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public:
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BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
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BlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_SET_ID) {}
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// The blob count received from the Blob Telemetry Set (ID 25)
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// Ticks timestamp
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lp_var_t<uint32_t> ticksBlobTm = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_TICKS, this);
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_TICKS, this);
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// Unix time stamp
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lp_var_t<uint64_t> timeUsBlobTm = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOB_TIME, this);
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lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOB_TIME, this);
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lp_var_t<uint32_t> blobCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_COUNT, this);
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};
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class BlobsSet : public StaticLocalDataSet<10> {
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public:
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BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
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// Ticks timestamp
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lp_var_t<uint32_t> ticksBlobsTm = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBS_TICKS, this);
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lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBS_TICKS, this);
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// Unix time stamp
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lp_var_t<uint64_t> timeUsBlobsTm = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOBS_TIME, this);
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lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOBS_TIME, this);
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lp_var_t<uint16_t> blobsCount = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT, this);
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lp_var_t<uint16_t> blobsCountUsed =
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lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT_USED, this);
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@ -1462,6 +1480,40 @@ class BlobsSet : public StaticLocalDataSet<20> {
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lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_Y_COORDS, this);
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};
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class CentroidSet : public StaticLocalDataSet<5> {
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public:
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CentroidSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROID_SET_ID) {}
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// Data received from the Centroid Telemetry Set (ID 26)
|
||||
// Ticks timestamp
|
||||
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_TICKS, this);
|
||||
// Unix time stamp
|
||||
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROID_TIME, this);
|
||||
// The centroid count received from the Centroid Telemetry Set (ID 26)
|
||||
lp_var_t<uint32_t> centroidCount =
|
||||
lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_COUNT, this);
|
||||
};
|
||||
|
||||
class CentroidsSet : public StaticLocalDataSet<10> {
|
||||
public:
|
||||
CentroidsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROIDS_SET_ID) {}
|
||||
|
||||
// Data received from the Centroids Telemetry Set (ID 37)
|
||||
lp_var_t<uint32_t> ticksCentroidsTm =
|
||||
lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROIDS_TICKS, this);
|
||||
// Unix time stamp
|
||||
lp_var_t<uint64_t> timeUsCentroidsTm =
|
||||
lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROIDS_TIME, this);
|
||||
lp_var_t<uint16_t> centroidsCount =
|
||||
lp_var_t<uint16_t>(sid.objectId, PoolIds::CENTROIDS_COUNT, this);
|
||||
lp_vec_t<float, 16> centroidsXCoords =
|
||||
lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_X_COORDS, this);
|
||||
lp_vec_t<float, 16> centroidsYCoords =
|
||||
lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_Y_COORDS, this);
|
||||
lp_vec_t<uint8_t, 16> centroidsMagnitudes =
|
||||
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Will store the requested algo parameters
|
||||
*/
|
||||
|
Loading…
Reference in New Issue
Block a user