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meier/startracker #155

Merged
muellerr merged 51 commits from meier/startracker into develop 2022-02-28 13:25:39 +01:00
Conversation 1 Commits 51 Files Changed 58 +3010 -2412
133 changed files with 3010 additions and 2412 deletions
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Showing only changes of commit 07e68bd05b - Show all commits

6
linux/devices/devicedefinitions/StarTrackerDefinitions.h
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@@ -1845,10 +1845,8 @@ class DebugCameraSet : public StaticLocalDataSet<DEBUG_CAMERA_SET_ENTRIES> {
: StaticLocalDataSet(sid_t(objectId, DEBUG_CAMERA_SET_ID)) {} : StaticLocalDataSet(sid_t(objectId, DEBUG_CAMERA_SET_ID)) {}
void printSet() { void printSet() {
sif::info << "DebugCameraSet::printSet: level 1: " sif::info << "DebugCameraSet::printSet: level 1: " << this->timing << std::endl;
<< static_cast<unsigned int>(this->level1) << std::endl; sif::info << "DebugCameraSet::printSet: module 1: " << this->test << std::endl;
sif::info << "DebugCameraSet::printSet: module 1: "
<< static_cast<unsigned int>(this->module1) << std::endl;
} }
}; };
} // namespace StarTracker } // namespace StarTracker

71
linux/devices/startracker/StarTrackerHandler.cpp
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@@ -36,6 +36,18 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
downloadBlobPixel(this), downloadBlobPixel(this),
cameraSet(this), cameraSet(this),
limitsSet(this), limitsSet(this),
loglevelSet(this),
mountingSet(this),
imageProcessorSet(this),
centroidingSet(this),
lisaSet(this),
matchingSet(this),
trackingSet(this),
validationSet(this),
algoSet(this),
subscriptionSet(this),
logSubscriptionSet(this),
debugCameraSet(this),
strHelper(strHelper) { strHelper(strHelper) {
if (comCookie == nullptr) { if (comCookie == nullptr) {
sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl; sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
@@ -639,33 +651,33 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_CAMERA, 3, &cameraSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_LIMITS, 3, &limitsSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_LEVEL, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_LEVEL, 3, &loglevelSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_MOUNTING, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_MOUNTING, 3, &mountingSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_IMAGE_PROCESSOR, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_IMAGE_PROCESSOR, 3, &imageProcessorSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_CENTROIDING, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_CENTROIDING, 3, &centroidingSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_LISA, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_LISA, 3, &lisaSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_MATCHING, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_MATCHING, 3, &matchingSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_TRACKING, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_TRACKING, 3, &trackingSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_VALIDATION, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_VALIDATION, 3, &validationSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_ALGO, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_ALGO, 3, &algoSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_SUBSCRIPTION, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_SUBSCRIPTION, 3, &subscriptionSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_SUBSCRIPTION, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_LOG_SUBSCRIPTION, 3, &logSubscriptionSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(StarTracker::REQ_DEBUG_CAMERA, 3, nullptr, this->insertInCommandAndReplyMap(StarTracker::REQ_DEBUG_CAMERA, 3, &debugCameraSet,
StarTracker::MAX_FRAME_SIZE * 2 + 2); StarTracker::MAX_FRAME_SIZE * 2 + 2);
} }
@@ -1142,6 +1154,37 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_TRACKER_CONFIDENCE, new PoolEntry<float>({0})); localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_TRACKER_CONFIDENCE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_MATCHED_STARS, new PoolEntry<uint8_t>({0})); localDataPoolMap.emplace(StarTracker::VALIDATION_MIN_MATCHED_STARS, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::ALGO_MODE, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::ALGO_I2T_MIN_CONFIDENCE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::ALGO_I2T_MIN_MATCHED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::ALGO_I2L_MIN_CONFIDENCE, new PoolEntry<float>({0}));
localDataPoolMap.emplace(StarTracker::ALGO_I2L_MIN_MATCHED, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM1, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM2, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM3, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM4, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM5, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM6, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM7, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM8, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM9, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM10, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM11, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM12, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM13, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM14, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM15, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::SUBSCRIPTION_TM16, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_LEVEL1, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_MODULE1, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_LEVEL2, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::LOG_SUBSCRIPTION_MODULE2, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::DEBUG_CAMERA_TIMING, new PoolEntry<uint8_t>({0}));
localDataPoolMap.emplace(StarTracker::DEBUG_CAMERA_TEST, new PoolEntry<uint8_t>({0}));
return RETURN_OK; return RETURN_OK;
} }

12
linux/devices/startracker/StarTrackerHandler.h
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@@ -261,6 +261,18 @@ class StarTrackerHandler : public DeviceHandlerBase {
StarTracker::DownloadBlobPixel downloadBlobPixel; StarTracker::DownloadBlobPixel downloadBlobPixel;
StarTracker::CameraSet cameraSet; StarTracker::CameraSet cameraSet;
StarTracker::LimitsSet limitsSet; StarTracker::LimitsSet limitsSet;
StarTracker::LogLevelSet loglevelSet;
StarTracker::MountingSet mountingSet;
StarTracker::ImageProcessorSet imageProcessorSet;
StarTracker::CentroidingSet centroidingSet;
StarTracker::LisaSet lisaSet;
StarTracker::MatchingSet matchingSet;
StarTracker::TrackingSet trackingSet;
StarTracker::ValidationSet validationSet;
StarTracker::AlgoSet algoSet;
StarTracker::SubscriptionSet subscriptionSet;
StarTracker::LogSubscriptionSet logSubscriptionSet;
StarTracker::DebugCameraSet debugCameraSet;
// 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
StrHelper* strHelper = nullptr; StrHelper* strHelper = nullptr;