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finished STR extensions TMTC
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This commit is contained in:
Robin Müller
2023-10-09 15:16:48 +02:00
parent e9e8a93cf4
commit cc1be69764
3 changed files with 214 additions and 24 deletions
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68
mission/acs/str/strHelpers.h
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@ -294,6 +294,17 @@ enum PoolIds : lp_id_t {
BLOBS_NR_4LINES_SKIPPED,
BLOBS_X_COORDS,
BLOBS_Y_COORDS,
CENTROID_TICKS,
CENTROID_TIME,
CENTROID_COUNT,
CENTROIDS_TICKS,
CENTROIDS_TIME,
CENTROIDS_COUNT,
CENTROIDS_X_COORDS,
CENTROIDS_Y_COORDS,
CENTROIDS_MAGNITUDES,
};
static const DeviceCommandId_t PING_REQUEST = 0;
@ -352,6 +363,8 @@ static constexpr DeviceCommandId_t AUTO_THRESHOLD = 88;
static constexpr DeviceCommandId_t REQ_MATCHED_CENTROIDS = 89;
static constexpr DeviceCommandId_t REQ_BLOB = 90;
static constexpr DeviceCommandId_t REQ_BLOBS = 91;
static constexpr DeviceCommandId_t REQ_CENTROID = 92;
static constexpr DeviceCommandId_t REQ_CENTROIDS = 93;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
@ -377,7 +390,10 @@ static const uint32_t SUBSCRIPTION_SET_ID = REQ_SUBSCRIPTION;
static const uint32_t LOG_SUBSCRIPTION_SET_ID = REQ_LOG_SUBSCRIPTION;
static const uint32_t DEBUG_CAMERA_SET_ID = REQ_DEBUG_CAMERA;
static const uint32_t MATCHED_CENTROIDS_SET_ID = REQ_MATCHED_CENTROIDS;
static const uint32_t BLOB_SET_ID = REQ_BLOB;
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;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
@ -1436,21 +1452,23 @@ class MatchedCentroidsSet : public StaticLocalDataSet<20> {
private:
};
class BlobsSet : public StaticLocalDataSet<20> {
class BlobSet : public StaticLocalDataSet<5> {
public:
BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
BlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_SET_ID) {}
// The blob count received from the Blob Telemetry Set (ID 25)
// Ticks timestamp
lp_var_t<uint32_t> ticksBlobTm = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_TICKS, this);
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUsBlobTm = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOB_TIME, this);
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOB_TIME, this);
lp_var_t<uint32_t> blobCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_COUNT, this);
};
class BlobsSet : public StaticLocalDataSet<10> {
public:
BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
// Ticks timestamp
lp_var_t<uint32_t> ticksBlobsTm = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBS_TICKS, this);
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBS_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUsBlobsTm = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOBS_TIME, this);
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOBS_TIME, this);
lp_var_t<uint16_t> blobsCount = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT, this);
lp_var_t<uint16_t> blobsCountUsed =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT_USED, this);
@ -1462,6 +1480,40 @@ class BlobsSet : public StaticLocalDataSet<20> {
lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_Y_COORDS, this);
};
class CentroidSet : public StaticLocalDataSet<5> {
public:
CentroidSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROID_SET_ID) {}
// 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
*/