From feb64598783af99abdb66ce6ee668446a168efe9 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Thu, 19 Oct 2023 14:54:12 +0200
Subject: [PATCH] might wanna push this

---
 mission/acs/str/StarTrackerHandler.cpp | 19 +++++++++++++++++--
 mission/acs/str/StarTrackerHandler.h   |  3 ++-
 2 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/mission/acs/str/StarTrackerHandler.cpp b/mission/acs/str/StarTrackerHandler.cpp
index 1b1300b5..0e81b7e4 100644
--- a/mission/acs/str/StarTrackerHandler.cpp
+++ b/mission/acs/str/StarTrackerHandler.cpp
@@ -660,7 +660,7 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       return result;
     }
     case (startracker::REQ_MATCHED_CENTROIDS): {
-      result = prepareRequestMatchedCentroids();
+      result = prepareRequestMatchedCentroidsTm();
       return result;
     }
     case (startracker::REQ_BLOB): {
@@ -793,6 +793,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
+  this->insertInCommandAndReplyMap(startracker::REQ_AUTO_BLOB, 3, &autoBlobSet,
+                                   startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::REQ_MATCHED_CENTROIDS, 3, &matchedCentroidsSet,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::REQ_BLOB, 3, &blobSet,
@@ -1445,6 +1447,9 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
   localDataPoolMap.emplace(startracker::DEBUG_CAMERA_TEST, new PoolEntry<uint32_t>({0}));
 
   localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
+
+  localDataPoolMap.emplace(startracker::AUTO_BLOB_THRESHOLD, new PoolEntry<float>());
+
   localDataPoolMap.emplace(startracker::PoolIds::NUM_MATCHED_CENTROIDS, new PoolEntry<uint8_t>());
   localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_STAR_IDS,
                            new PoolEntry<uint32_t>(16));
@@ -1498,6 +1503,8 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
       subdp::RegularHkPeriodicParams(histogramSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(lisaSet.getSid(), false, 10.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(autoBlobSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
       subdp::RegularHkPeriodicParams(matchedCentroidsSet.getSid(), false, 10.0));
   poolManager.subscribeForRegularPeriodicPacket(
@@ -1925,7 +1932,15 @@ void StarTrackerHandler::prepareHistogramRequest() {
   rawPacketLen = length;
 }
 
-ReturnValue_t StarTrackerHandler::prepareRequestMatchedCentroids() {
+ReturnValue_t StarTrackerHandler::prepareRequestAutoBlobTm() {
+  uint32_t length = 0;
+  arc_tm_pack_autoblob_req(commandBuffer, &length);
+  rawPacket = commandBuffer;
+  rawPacketLen = length;
+  return returnvalue::OK;
+}
+
+ReturnValue_t StarTrackerHandler::prepareRequestMatchedCentroidsTm() {
   uint32_t length = 0;
   arc_tm_pack_matchedcentroids_req(commandBuffer, &length);
   rawPacket = commandBuffer;
diff --git a/mission/acs/str/StarTrackerHandler.h b/mission/acs/str/StarTrackerHandler.h
index 90261285..d63335ae 100644
--- a/mission/acs/str/StarTrackerHandler.h
+++ b/mission/acs/str/StarTrackerHandler.h
@@ -454,7 +454,8 @@ class StarTrackerHandler : public DeviceHandlerBase {
   ReturnValue_t prepareRequestCentroidingParams();
   ReturnValue_t prepareRequestLisaParams();
   ReturnValue_t prepareRequestMatchingParams();
-  ReturnValue_t prepareRequestMatchedCentroids();
+  ReturnValue_t prepareRequestAutoBlobTm();
+  ReturnValue_t prepareRequestMatchedCentroidsTm();
   ReturnValue_t prepareRequestBlobTm();
   ReturnValue_t prepareRequestBlobsTm();
   ReturnValue_t prepareRequestCentroidTm();