refactored star tracker handler
This commit is contained in:
Jakob Meier
@ -85,65 +85,53 @@ class StarTrackerHandler : public DeviceHandlerBase {
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//! [EXPORT] : [COMMENT] Ping command failed
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static const ReturnValue_t PING_FAILED = MAKE_RETURN_CODE(0xA1);
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//! [EXPORT] : [COMMENT] Status in version reply signals error
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static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
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static const ReturnValue_t VERSION_REQ_FAILED = MAKE_RETURN_CODE(0xA2);
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//! [EXPORT] : [COMMENT] Status in interface reply signals error
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static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
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static const ReturnValue_t INTERFACE_REQ_FAILED = MAKE_RETURN_CODE(0xA3);
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//! [EXPORT] : [COMMENT] Status in power reply signals error
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static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA5);
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static const ReturnValue_t POWER_REQ_FAILED = MAKE_RETURN_CODE(0xA4);
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//! [EXPORT] : [COMMENT] Status of reply to parameter set command signals error
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static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA6);
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static const ReturnValue_t SET_PARAM_FAILED = MAKE_RETURN_CODE(0xA5);
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//! [EXPORT] : [COMMENT] Status of reply to action command signals error
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static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA7);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid length
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static const ReturnValue_t UPLOAD_TOO_SHORT = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid position field
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static const ReturnValue_t UPLOAD_INVALID_POSITION = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Position value in upload image reply not matching sent position
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static const ReturnValue_t UPLOAD_IMAGE_FAILED = MAKE_RETURN_CODE(0xA9);
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//! [EXPORT] : [COMMENT] Received upload image command with invalid length
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static const ReturnValue_t INVALID_UPLOAD_COMMAND = MAKE_RETURN_CODE(0xAA);
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static const ReturnValue_t ACTION_FAILED = MAKE_RETURN_CODE(0xA6);
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//! [EXPORT] : [COMMENT] Received invalid path string. Exceeds allowed length
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static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xAB);
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static const ReturnValue_t FILE_PATH_TOO_LONG = MAKE_RETURN_CODE(0xA7);
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//! [EXPORT] : [COMMENT] Name of file received with command is too long
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static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xAC);
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static const ReturnValue_t FILENAME_TOO_LONG = MAKE_RETURN_CODE(0xA8);
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//! [EXPORT] : [COMMENT] Received version reply with invalid program ID
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static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xAD);
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static const ReturnValue_t INVALID_PROGRAM = MAKE_RETURN_CODE(0xA9);
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//! [EXPORT] : [COMMENT] Status field reply signals error
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static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAE);
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//! [EXPORT] : [COMMENT] Status field of contrast reply signals error
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static const ReturnValue_t CONTRAST_REQ_FAILED = MAKE_RETURN_CODE(0xAE);
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static const ReturnValue_t REPLY_ERROR = MAKE_RETURN_CODE(0xAA);
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//! [EXPORT] : [COMMENT] Received command which is too short (some data is missing for proper
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//! execution)
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static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAF);
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static const ReturnValue_t COMMAND_TOO_SHORT = MAKE_RETURN_CODE(0xAB);
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//! [EXPORT] : [COMMENT] Received command with invalid length (too few or too many parameters)
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static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xB0);
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static const ReturnValue_t INVALID_LENGTH = MAKE_RETURN_CODE(0xAC);
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//! [EXPORT] : [COMMENT] Region mismatch between send and received data
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static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xB1);
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static const ReturnValue_t REGION_MISMATCH = MAKE_RETURN_CODE(0xAD);
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//! [EXPORT] : [COMMENT] Address mismatch between send and received data
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static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xB2);
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static const ReturnValue_t ADDRESS_MISMATCH = MAKE_RETURN_CODE(0xAE);
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//! [EXPORT] : [COMMENT] Length field mismatch between send and received data
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static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xB3);
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static const ReturnValue_t lENGTH_MISMATCH = MAKE_RETURN_CODE(0xAF);
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//! [EXPORT] : [COMMENT] Specified file does not exist
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static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB4);
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//! [EXPORT] : [COMMENT] Reply to upload centroid does not match commanded centroid id
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static const ReturnValue_t UPLOAD_CENTROID_ID_MISMATCH = MAKE_RETURN_CODE(0xB5);
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static const ReturnValue_t FILE_NOT_EXISTS = MAKE_RETURN_CODE(0xB0);
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//! [EXPORT] : [COMMENT] Download blob pixel command has invalid type field
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static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB6);
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static const ReturnValue_t INVALID_TYPE = MAKE_RETURN_CODE(0xB1);
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//! [EXPORT] : [COMMENT] Received FPGA action command with invalid ID
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static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB7);
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static const ReturnValue_t INVALID_ID = MAKE_RETURN_CODE(0xB2);
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//! [EXPORT] : [COMMENT] Received reply is too short
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static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB8);
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static const ReturnValue_t REPLY_TOO_SHORT = MAKE_RETURN_CODE(0xB3);
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//! [EXPORT] : [COMMENT] Received reply with invalid CRC
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB9);
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xB4);
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//! [EXPORT] : [COMMENT] Star tracker handler currently executing a command and using the
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//! communication interface
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static const ReturnValue_t STR_HELPER_EXECUTING = MAKE_RETURN_CODE(0xBA);
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static const ReturnValue_t STR_HELPER_EXECUTING = MAKE_RETURN_CODE(0xB5);
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//! [EXPORT] : [COMMENT] Star tracker is already in firmware mode
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static const ReturnValue_t STARTRACKER_ALREADY_BOOTED = MAKE_RETURN_CODE(0xBB);
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static const ReturnValue_t STARTRACKER_ALREADY_BOOTED = MAKE_RETURN_CODE(0xB6);
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//! [EXPORT] : [COMMENT] Star tracker is in firmware mode but must be in bootloader mode to execute this command
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static const ReturnValue_t STARTRACKER_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xBC);
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static const ReturnValue_t STARTRACKER_RUNNING_FIRMWARE = MAKE_RETURN_CODE(0xB7);
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//! [EXPORT] : [COMMENT] Star tracker is in bootloader mode but must be in firmware mode to execute this command
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static const ReturnValue_t STARTRACKER_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xBD);
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static const ReturnValue_t STARTRACKER_RUNNING_BOOTLOADER = MAKE_RETURN_CODE(0xB8);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::STR_HANDLER;
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@ -155,10 +143,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
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static const size_t MAX_PATH_SIZE = 50;
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static const size_t MAX_FILE_NAME = 30;
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// position (uint32) + 1024 image data
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static const size_t UPLOAD_COMMAND_LEN = 1028;
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// Max valid position value in upload image command
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static const uint16_t MAX_POSITION = 4095;
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static const uint8_t STATUS_OFFSET = 1;
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static const uint8_t PARAMS_OFFSET = 1;
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static const uint8_t TICKS_OFFSET = 2;
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@ -175,33 +159,12 @@ class StarTrackerHandler : public DeviceHandlerBase {
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static const uint32_t BOOT_TIMEOUT = 1000;
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static const uint32_t DEFAULT_TRANSITION_DELAY = 15000;
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class WriteCmd {
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public:
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static const uint8_t ADDRESS_OFFSET = 1;
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static const uint8_t FILE_OFFSET = 5;
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// Minimum length of a write command (region, address and filename)
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static const size_t MIN_LENGTH = 7;
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};
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class ReadCmd {
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class FlashReadCmd {
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public:
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// Minimum length of a read command (region, length and filename)
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static const size_t MIN_LENGTH = 7;
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};
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class EraseCmd {
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public:
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static const uint8_t LENGTH = 1;
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uint8_t rememberRegion = 0;
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};
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EraseCmd eraseCmd;
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class UnlockCmd {
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public:
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static const uint8_t CODE_OFFSET = 1;
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};
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class ChecksumCmd {
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public:
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static const uint8_t ADDRESS_OFFSET = 1;
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@ -215,51 +178,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
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ChecksumCmd checksumCmd;
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class SetTimeCmd {
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public:
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static const uint8_t LENGTH = 8;
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};
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class DownloadCentroidCmd {
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public:
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static const uint8_t LENGTH = 1;
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};
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class UploadCentroid {
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public:
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uint8_t rememberId = 0;
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};
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UploadCentroid uploadCentroid;
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class DownloadMatchedStarCmd {
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public:
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static const uint8_t LENGTH = 1;
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};
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class DownloadDbImageCmd {
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public:
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static const uint8_t LENGTH = 1;
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};
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class DownloadBlobPixCmd {
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public:
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static const uint8_t LENGTH = 2;
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static const uint8_t NORMAL = 0;
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static const uint8_t FAST = 1;
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};
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class FpgaDownloadCmd {
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public:
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static const uint8_t MIN_LENGTH = 10;
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};
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class FpgaActionCmd {
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public:
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static const uint8_t LENGTH = 1;
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static const uint8_t ID = 3;
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};
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MessageQueueIF* eventQueue = nullptr;
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ArcsecDatalinkLayer dataLinkLayer;
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@ -271,12 +189,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
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startracker::TimeSet timeSet;
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startracker::SolutionSet solutionSet;
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startracker::HistogramSet histogramSet;
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startracker::ContrastSet contrastSet;
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startracker::ChecksumSet checksumSet;
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startracker::DownloadCentroidSet downloadCentroidSet;
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startracker::DownloadMatchedStar downloadMatchedStar;
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startracker::DownloadDBImage downloadDbImage;
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startracker::DownloadBlobPixel downloadBlobPixel;
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startracker::CameraSet cameraSet;
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startracker::LimitsSet limitsSet;
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startracker::LogLevelSet loglevelSet;
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@ -312,7 +225,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
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#endif
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enum class NormalState {
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TEMPERATURE_REQUEST
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TEMPERATURE_REQUEST,
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SOLUTION_REQUEST
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};
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NormalState normalState = NormalState::TEMPERATURE_REQUEST;
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@ -415,36 +329,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
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*/
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void prepareBootCommand();
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/**
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* @brief Fills command buffer with command to erase a flash region
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*/
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ReturnValue_t prepareEraseCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills command buffer with command to unlock flash region
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*/
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ReturnValue_t prepareUnlockCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills command buffer with command to get the checksum of a flash part
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*/
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ReturnValue_t prepareChecksumCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills command buffer with command to set the unix time
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*/
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ReturnValue_t prepareSetTimeCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills command buffer with command to request a centroid
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*/
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ReturnValue_t prepareDownloadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills command buffer with command to upload a centroid for testing purpose
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*/
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ReturnValue_t prepareUploadCentroidCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills the command buffer with the command to take an image.
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*/
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@ -468,7 +357,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
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/**
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* @brief Fills command buffer with data to reboot star tracker.
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*/
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void prepareRebootCommand();
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void prepareSwitchToBootloaderCmd();
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/**
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* @brief Fills command buffer with data to subscribe to a telemetry packet.
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@ -493,13 +382,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
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*/
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void prepareHistogramRequest();
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void prepareContrastRequest();
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/**
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* @brief Fills command buffer with command to reset the error signal of the star tracker
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*/
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void prepareErrorResetRequest();
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/**
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* @brief Reads parameters from json file specified by string in commandData and
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* prepares the command to apply the parameter set to the star tracker
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@ -513,27 +395,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
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ReturnValue_t prepareParamCommand(const uint8_t* commandData, size_t commandDataLen,
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ArcsecJsonParamBase& paramSet);
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/**
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* @brief Fills command buffer with data to request matched star.
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*/
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ReturnValue_t prepareDownloadMatchedStarCommand(const uint8_t* commandData,
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size_t commandDataLen);
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/**
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* @brief Fills command buffer with data to request matched star coordinates.
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*/
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ReturnValue_t prepareDownloadDbImageCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief Fills command buffer with data to request output of the blob filter algorithm.
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*/
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ReturnValue_t prepareDownloadBlobPixelCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief With this command the FPGA update will be applied to the star tracker
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*/
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ReturnValue_t prepareFpgaActionCommand(const uint8_t* commandData, size_t commandDataLen);
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/**
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* @brief The following function will fill the command buffer with the command to request
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* a parameter set.
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@ -568,11 +429,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
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*/
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ReturnValue_t handleUploadCentroidReply();
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/**
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* @brief Handles reply to erase command
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*/
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ReturnValue_t handleEraseReply();
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/**
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* @brief Handles reply to checksum command
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*/
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