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wrapping up
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This commit is contained in:
Robin Müller 2023-10-27 12:17:54 +02:00
parent f8eb4fdd6f
commit dcdceba07e
Signed by: muellerr
GPG Key ID: A649FB78196E3849
3 changed files with 43 additions and 59 deletions
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54
mission/acs/str/StarTrackerHandler.cpp
View File

@ -353,7 +353,6 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
if (currentSecondaryTmIter == additionalRequestedTm.end()) { if (currentSecondaryTmIter == additionalRequestedTm.end()) {
currentSecondaryTmIter = additionalRequestedTm.begin(); currentSecondaryTmIter = additionalRequestedTm.begin();
} }
sif::debug << "requesting ID " << *id << std::endl;
normalState = NormalState::SOLUTION_REQUEST; normalState = NormalState::SOLUTION_REQUEST;
break; break;
case NormalState::SOLUTION_REQUEST: case NormalState::SOLUTION_REQUEST:
@ -527,6 +526,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
return returnvalue::OK; return returnvalue::OK;
} }
case (startracker::REQ_CONTRAST): { case (startracker::REQ_CONTRAST): {
prepareRequestContrastTm();
return returnvalue::OK; return returnvalue::OK;
} }
case (startracker::BOOT): { case (startracker::BOOT): {
@ -676,7 +676,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareRequestBlobsTm(); result = prepareRequestBlobsTm();
return result; return result;
} }
case(startracker::REQ_AUTO_BLOB): { case (startracker::REQ_AUTO_BLOB): {
result = prepareRequestAutoBlobTm(); result = prepareRequestAutoBlobTm();
return returnvalue::OK; return returnvalue::OK;
} }
@ -995,6 +995,12 @@ void StarTrackerHandler::resetSecondaryTmSet() {
centroidSet.setValidity(false, true); centroidSet.setValidity(false, true);
} }
} }
{
PoolReadGuard pg(&contrastSet);
if (pg.getReadResult() == returnvalue::OK) {
contrastSet.setValidity(false, true);
}
}
{ {
PoolReadGuard pg(&centroidsSet); PoolReadGuard pg(&centroidsSet);
if (pg.getReadResult() == returnvalue::OK) { if (pg.getReadResult() == returnvalue::OK) {
@ -1082,7 +1088,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break; break;
} }
case (startracker::REQ_TIME): { case (startracker::REQ_TIME): {
result = handleTm(packet, timeSet, startracker::TimeSet::SIZE, "REQ_TIME"); result = handleTm(packet, timeSet, "REQ_TIME");
break; break;
} }
case (startracker::PING_REQUEST): { case (startracker::PING_REQUEST): {
@ -1097,7 +1103,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break; break;
} }
case (startracker::REQ_VERSION): { case (startracker::REQ_VERSION): {
result = handleTm(packet, versionSet, startracker::VersionSet::SIZE, "REQ_VERSION"); result = handleTm(packet, versionSet, "REQ_VERSION");
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
} }
@ -1108,19 +1114,19 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break; break;
} }
case (startracker::REQ_INTERFACE): { case (startracker::REQ_INTERFACE): {
result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE, "REQ_INTERFACE"); result = handleTm(packet, interfaceSet, "REQ_INTERFACE");
break; break;
} }
case (startracker::REQ_POWER): { case (startracker::REQ_POWER): {
result = handleTm(packet, powerSet, startracker::PowerSet::SIZE, "REQ_POWER"); result = handleTm(packet, powerSet, "REQ_POWER");
break; break;
} }
case (startracker::REQ_SOLUTION): { case (startracker::REQ_SOLUTION): {
result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE, "REQ_SOLUTION"); result = handleTm(packet, solutionSet, "REQ_SOLUTION");
break; break;
} }
case(startracker::REQ_CONTRAST): { case (startracker::REQ_CONTRAST): {
result = handleTm(packet, contrastSet, startracker::ContrastSet::SIZE, "REQ_CONTRAST"); result = handleTm(packet, contrastSet, "REQ_CONTRAST");
break; break;
} }
case (startracker::REQ_AUTO_BLOB): { case (startracker::REQ_AUTO_BLOB): {
@ -1148,11 +1154,11 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break; break;
} }
case (startracker::REQ_TEMPERATURE): { case (startracker::REQ_TEMPERATURE): {
result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE, "REQ_TEMP"); result = handleTm(packet, temperatureSet, "REQ_TEMP");
break; break;
} }
case (startracker::REQ_HISTOGRAM): { case (startracker::REQ_HISTOGRAM): {
result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE, "REQ_HISTO"); result = handleTm(packet, histogramSet, "REQ_HISTO");
break; break;
} }
case (startracker::SUBSCRIPTION): case (startracker::SUBSCRIPTION):
@ -1825,31 +1831,31 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandI
*foundId = startracker::REQ_SOLUTION; *foundId = startracker::REQ_SOLUTION;
break; break;
} }
case(startracker::ID::BLOB): { case (startracker::ID::BLOB): {
*foundId = startracker::REQ_BLOB; *foundId = startracker::REQ_BLOB;
break; break;
} }
case(startracker::ID::BLOBS): { case (startracker::ID::BLOBS): {
*foundId = startracker::REQ_BLOBS; *foundId = startracker::REQ_BLOBS;
break; break;
} }
case(startracker::ID::CENTROID): { case (startracker::ID::CENTROID): {
*foundId = startracker::REQ_CENTROID; *foundId = startracker::REQ_CENTROID;
break; break;
} }
case(startracker::ID::CENTROIDS): { case (startracker::ID::CENTROIDS): {
*foundId = startracker::REQ_CENTROIDS; *foundId = startracker::REQ_CENTROIDS;
break; break;
} }
case(startracker::ID::AUTO_BLOB): { case (startracker::ID::AUTO_BLOB): {
*foundId = startracker::REQ_AUTO_BLOB; *foundId = startracker::REQ_AUTO_BLOB;
break; break;
} }
case(startracker::ID::MATCHED_CENTROIDS): { case (startracker::ID::MATCHED_CENTROIDS): {
*foundId = startracker::REQ_MATCHED_CENTROIDS; *foundId = startracker::REQ_MATCHED_CENTROIDS;
break; break;
} }
case(startracker::ID::CONTRAST): { case (startracker::ID::CONTRAST): {
*foundId = startracker::REQ_CONTRAST; *foundId = startracker::REQ_CONTRAST;
break; break;
} }
@ -2363,7 +2369,7 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
} }
ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
size_t size, const char* context) { const char* context) {
ReturnValue_t result = statusFieldCheck(rawFrame); ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
return result; return result;
@ -2374,10 +2380,11 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
} }
const uint8_t* reply = rawFrame + TICKS_OFFSET; const uint8_t* reply = rawFrame + TICKS_OFFSET;
dataset.setValidityBufferGeneration(false); dataset.setValidityBufferGeneration(false);
result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE); size_t sizeLeft = fullPacketLen;
result = dataset.deSerialize(&reply, &sizeLeft, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) { if (result != returnvalue::OK) {
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context << ": 0x"
<< std::endl; << std::hex << std::setw(4) << result << std::dec << std::endl;
} }
dataset.setValidityBufferGeneration(true); dataset.setValidityBufferGeneration(true);
dataset.setValidity(true, true); dataset.setValidity(true, true);
@ -2787,11 +2794,12 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
case startracker::REQ_BLOBS: case startracker::REQ_BLOBS:
case startracker::REQ_CENTROID: case startracker::REQ_CENTROID:
case startracker::REQ_CENTROIDS: case startracker::REQ_CENTROIDS:
case startracker::REQ_CONTRAST: case startracker::REQ_CONTRAST: {
if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) { if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
return STARTRACKER_NOT_RUNNING_FIRMWARE; return STARTRACKER_NOT_RUNNING_FIRMWARE;
} }
break; break;
}
case startracker::FIRMWARE_UPDATE: case startracker::FIRMWARE_UPDATE:
case startracker::FLASH_READ: case startracker::FLASH_READ:
if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) { if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) {

4
mission/acs/str/StarTrackerHandler.h
View File

@ -212,7 +212,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
startracker::BlobsSet blobsSet; startracker::BlobsSet blobsSet;
startracker::CentroidSet centroidSet; startracker::CentroidSet centroidSet;
startracker::CentroidsSet centroidsSet; startracker::CentroidsSet centroidsSet;
startracker::CentroidsSet contrastSet; startracker::ContrastSet contrastSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker // Pointer to object responsible for uploading and downloading images to/from the star tracker
StrComHandler* strHelper = nullptr; StrComHandler* strHelper = nullptr;
@ -519,7 +519,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
* *
* @return returnvalue::OK if successful, otherwise error return value * @return returnvalue::OK if successful, otherwise error return value
*/ */
ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset, size_t size, ReturnValue_t handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
const char* context); const char* context);
ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame); ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);

44
mission/acs/str/strHelpers.h
View File

@ -540,8 +540,6 @@ static const uint32_t FLASH_REGION_SIZE = 0x20000;
*/ */
class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> { class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
public: public:
static const size_t SIZE = 24;
TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {} TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {} TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
@ -571,8 +569,6 @@ class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
*/ */
class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> { class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
public: public:
static const size_t SIZE = 15;
VersionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, VERSION_SET_ID) {} VersionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, VERSION_SET_ID) {}
VersionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {} VersionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {}
@ -602,8 +598,6 @@ class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
*/ */
class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> { class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
public: public:
static const size_t SIZE = 20;
InterfaceSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {} InterfaceSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
InterfaceSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {} InterfaceSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@ -631,8 +625,6 @@ class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
*/ */
class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> { class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
public: public:
static const size_t SIZE = 76;
PowerSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {} PowerSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
PowerSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {} PowerSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@ -696,8 +688,6 @@ class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
*/ */
class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> { class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
public: public:
static const size_t SIZE = 24;
TimeSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TIME_SET_ID) {} TimeSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TIME_SET_ID) {}
TimeSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {} TimeSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {}
@ -724,8 +714,6 @@ class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
*/ */
class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> { class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
public: public:
static const size_t SIZE = 79;
SolutionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SOLUTION_SET_ID) {} SolutionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SOLUTION_SET_ID) {}
SolutionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {} SolutionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {}
@ -1451,11 +1439,9 @@ class AutoBlobSet : public StaticLocalDataSet<3> {
public: public:
AutoBlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, AUTO_BLOB_SET_ID) {} AutoBlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, AUTO_BLOB_SET_ID) {}
// Ticks timestamp // Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_AUTO_BLOB, this);
lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_AUTO_BLOB, this);
// Unix time stamp // Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_AUTO_BLOB, this);
lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_AUTO_BLOB, this);
lp_var_t<float> threshold = lp_var_t<float>(sid.objectId, PoolIds::AUTO_BLOB_THRESHOLD, this); lp_var_t<float> threshold = lp_var_t<float>(sid.objectId, PoolIds::AUTO_BLOB_THRESHOLD, this);
private: private:
@ -1463,7 +1449,6 @@ class AutoBlobSet : public StaticLocalDataSet<3> {
class MatchedCentroidsSet : public StaticLocalDataSet<20> { class MatchedCentroidsSet : public StaticLocalDataSet<20> {
public: public:
static constexpr size_t SIZE = 321;
MatchedCentroidsSet(HasLocalDataPoolIF* owner) MatchedCentroidsSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, MATCHED_CENTROIDS_SET_ID) {} : StaticLocalDataSet(owner, MATCHED_CENTROIDS_SET_ID) {}
MatchedCentroidsSet(object_id_t objectId) MatchedCentroidsSet(object_id_t objectId)
@ -1553,27 +1538,18 @@ class CentroidsSet : public StaticLocalDataSet<10> {
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this); lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
}; };
class ContrastSet: public StaticLocalDataSet<8> { class ContrastSet : public StaticLocalDataSet<8> {
public:
public:
static constexpr size_t SIZE = 156;
ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {} ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}
// Data received from the Centroids Telemetry Set (ID 29) // Data received from the Centroids Telemetry Set (ID 29)
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_TICKS, this);
lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_TICKS, this);
// Unix time stamp // Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::CONTRAST_TIME, this);
lp_var_t<uint64_t>(sid.objectId, PoolIds::CONTRAST_TIME, this); lp_vec_t<uint32_t, 9> contrastA = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_A, this);
lp_vec_t<uint32_t, 9> contrastA = lp_vec_t<uint32_t, 9> contrastB = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_B, this);
lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_A, this); lp_vec_t<uint32_t, 9> contrastC = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_C, this);
lp_vec_t<uint32_t, 9> contrastB = lp_vec_t<uint32_t, 9> contrastD = lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_D, this);
lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_B, this);
lp_vec_t<uint32_t, 9> contrastC =
lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_C, this);
lp_vec_t<uint32_t, 9> contrastD =
lp_vec_t<uint32_t, 9>(sid.objectId, PoolIds::CONTRAST_D, this);
}; };
/** /**