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added blob tm
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This commit is contained in:
Robin Müller 2023-10-06 11:23:31 +02:00
parent a46f712538
commit d64372833c
3 changed files with 185 additions and 0 deletions
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137
mission/acs/str/StarTrackerHandler.cpp
View File

@ -50,6 +50,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
logSubscriptionSet(this),
debugCameraSet(this),
matchedCentroids(this),
blobsSet(this),
strHelper(strHelper),
paramJsonFile(jsonFileStr),
powerSwitch(powerSwitch) {
@ -612,6 +613,14 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareRequestMatchedCentroids();
return result;
}
case (startracker::REQ_BLOB): {
result = prepareRequestBlobTm();
return result;
}
case (startracker::REQ_BLOBS): {
result = prepareRequestBlobsTm();
return result;
}
case (startracker::REQ_MATCHING): {
result = prepareRequestMatchingParams();
return result;
@ -736,6 +745,10 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroids,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_BLOBS, 3, &blobsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
@ -991,6 +1004,14 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
result = handleMatchedCentroidTm(packet);
break;
}
case (startracker::REQ_BLOB): {
result = handleBlobTm(packet);
break;
}
case (startracker::REQ_BLOBS): {
result = handleBlobsTm(packet);
break;
}
case (startracker::REQ_TEMPERATURE): {
result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE, "REQ_TEMP");
break;
@ -1364,6 +1385,14 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::TIME_MATCHED_CENTROIDS, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOB_COUNT, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT_USED, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_NR_4LINES_SKIPPED,
new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_X_COORDS, new PoolEntry<uint16_t>(8));
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_Y_COORDS, new PoolEntry<uint16_t>(8));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
@ -1803,6 +1832,22 @@ ReturnValue_t StarTrackerHandler::prepareRequestMatchedCentroids() {
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobTm() {
uint32_t length = 0;
arc_tm_pack_blob_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobsTm() {
uint32_t length = 0;
arc_tm_pack_blobs_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
size_t commandDataLen,
ArcsecJsonParamBase& paramSet,
@ -2168,6 +2213,96 @@ ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFram
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleBlobTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&blobsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.ticksBlobTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.timeUsBlobTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.blobCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
blobsSet.ticksBlobTm.setValid(true);
blobsSet.timeUsBlobTm.setValid(true);
blobsSet.blobCount.setValid(true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleBlobsTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&blobsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.ticksBlobsTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.timeUsBlobsTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.blobsCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.blobsCountUsed, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.nr4LinesSkipped, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
for (unsigned idx = 0; idx < 8; idx++) {
result = SerializeAdapter::deSerialize(&blobsSet.xCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.yCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
blobsSet.ticksBlobsTm.setValid(true);
blobsSet.timeUsBlobsTm.setValid(true);
blobsSet.blobsCount.setValid(true);
blobsSet.blobsCountUsed.setValid(true);
blobsSet.nr4LinesSkipped.setValid(true);
blobsSet.xCoords.setValid(true);
blobsSet.yCoords.setValid(true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
LocalPoolDataSetBase& dataset, size_t size) {
ReturnValue_t result = returnvalue::OK;
@ -2304,6 +2439,8 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
case startracker::REQ_LOG_SUBSCRIPTION:
case startracker::REQ_DEBUG_CAMERA:
case startracker::REQ_MATCHED_CENTROIDS:
case startracker::REQ_BLOB:
case startracker::REQ_BLOBS:
if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
return STARTRACKER_NOT_RUNNING_FIRMWARE;
}

6
mission/acs/str/StarTrackerHandler.h
View File

@ -151,6 +151,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
static const uint8_t PARAMS_OFFSET = 2;
static const uint8_t TICKS_OFFSET = 3;
static const uint8_t TIME_OFFSET = 7;
static const uint8_t TM_PARAM_OFFSET = 15;
static const uint8_t PARAMETER_ID_OFFSET = 1;
static const uint8_t ACTION_ID_OFFSET = 1;
static const uint8_t ACTION_DATA_OFFSET = 3;
@ -205,6 +206,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
startracker::LogSubscriptionSet logSubscriptionSet;
startracker::DebugCameraSet debugCameraSet;
startracker::MatchedCentroidsSet matchedCentroids;
startracker::BlobsSet blobsSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrComHandler* strHelper = nullptr;
@ -433,6 +435,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
ReturnValue_t prepareRequestLisaParams();
ReturnValue_t prepareRequestMatchingParams();
ReturnValue_t prepareRequestMatchedCentroids();
ReturnValue_t prepareRequestBlobTm();
ReturnValue_t prepareRequestBlobsTm();
ReturnValue_t prepareRequestTrackingParams();
ReturnValue_t prepareRequestValidationParams();
ReturnValue_t prepareRequestAlgoParams();
@ -494,6 +498,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
const char* context);
ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);
/**
* @brief Checks if star tracker is in valid mode for executing the received command.

42
mission/acs/str/strHelpers.h
View File

@ -282,6 +282,18 @@ enum PoolIds : lp_id_t {
MATCHED_CENTROIDS_Y_COORDS,
MATCHED_CENTROIDS_X_ERRORS,
MATCHED_CENTROIDS_Y_ERRORS,
BLOB_TICKS,
BLOB_TIME,
BLOB_COUNT,
BLOBS_TICKS,
BLOBS_TIME,
BLOBS_COUNT,
BLOBS_COUNT_USED,
BLOBS_NR_4LINES_SKIPPED,
BLOBS_X_COORDS,
BLOBS_Y_COORDS,
};
static const DeviceCommandId_t PING_REQUEST = 0;
@ -338,6 +350,8 @@ static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
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 const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
@ -363,6 +377,7 @@ 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 BLOBS_SET_ID = REQ_BLOBS;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
@ -1421,6 +1436,33 @@ class MatchedCentroidsSet : public StaticLocalDataSet<20> {
private:
};
class BlobsSet : public StaticLocalDataSet<20> {
public:
BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
private:
// 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);
// Unix time stamp
lp_var_t<uint64_t> timeUsBlobTm = 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);
// Ticks timestamp
lp_var_t<uint32_t> ticksBlobsTm = 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<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);
lp_var_t<uint16_t> nr4LinesSkipped =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_NR_4LINES_SKIPPED, this);
lp_vec_t<uint16_t, 8> xCoords =
lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_X_COORDS, this);
lp_vec_t<uint16_t, 8> yCoords =
lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_Y_COORDS, this);
};
/**
* @brief Will store the requested algo parameters
*/