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STR extensions #798

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muellerr merged 32 commits from str-extensions into main 2023-10-27 13:50:13 +02:00
Conversation 1 Commits 32 Files Changed 5 +74 -1
4 changed files with 74 additions and 1 deletions
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39
mission/acs/str/StarTrackerHandler.cpp
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@ -55,6 +55,7 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
blobsSet(this),
centroidSet(this),
centroidsSet(this),
contrastSet(this),
strHelper(strHelper),
paramJsonFile(jsonFileStr),
powerSwitch(powerSwitch) {
@ -352,6 +353,7 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
if (currentSecondaryTmIter == additionalRequestedTm.end()) {
currentSecondaryTmIter = additionalRequestedTm.begin();
}
sif::debug << "requesting ID " << *id << std::endl;
normalState = NormalState::SOLUTION_REQUEST;
break;
case NormalState::SOLUTION_REQUEST:
@ -524,6 +526,9 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
prepareRequestCentroidsTm();
return returnvalue::OK;
}
case (startracker::REQ_CONTRAST): {
return returnvalue::OK;
}
case (startracker::BOOT): {
prepareBootCommand();
return returnvalue::OK;
@ -809,6 +814,8 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_CENTROIDS, 3, &centroidsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_CONTRAST, 3, &contrastSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
}
ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
@ -994,6 +1001,12 @@ void StarTrackerHandler::resetSecondaryTmSet() {
centroidsSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&histogramSet);
if (pg.getReadResult() == returnvalue::OK) {
histogramSet.setValidity(false, true);
}
}
}
void StarTrackerHandler::bootBootloader() {
@ -1106,6 +1119,10 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE, "REQ_SOLUTION");
break;
}
case(startracker::REQ_CONTRAST): {
result = handleTm(packet, contrastSet, startracker::ContrastSet::SIZE, "REQ_CONTRAST");
break;
}
case (startracker::REQ_AUTO_BLOB): {
result = handleAutoBlobTm(packet);
break;
@ -1532,6 +1549,13 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_Y_COORDS, new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_MAGNITUDES, new PoolEntry<uint8_t>(16));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_A, new PoolEntry<uint32_t>(9));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_B, new PoolEntry<uint32_t>(9));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_C, new PoolEntry<uint32_t>(9));
localDataPoolMap.emplace(startracker::PoolIds::CONTRAST_D, new PoolEntry<uint32_t>(9));
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(temperatureSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
@ -1558,6 +1582,8 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
subdp::RegularHkPeriodicParams(centroidSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(centroidsSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(contrastSet.getSid(), false, 10.0));
return returnvalue::OK;
}
@ -1823,6 +1849,10 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandI
*foundId = startracker::REQ_MATCHED_CENTROIDS;
break;
}
case(startracker::ID::CONTRAST): {
*foundId = startracker::REQ_CONTRAST;
break;
}
default: {
sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply ID: "
<< static_cast<unsigned int>(replyId) << std::endl;
@ -2047,6 +2077,14 @@ ReturnValue_t StarTrackerHandler::prepareRequestCentroidsTm() {
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestContrastTm() {
uint32_t length = 0;
arc_tm_pack_contrast_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
size_t commandDataLen,
ArcsecJsonParamBase& paramSet,
@ -2749,6 +2787,7 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
case startracker::REQ_BLOBS:
case startracker::REQ_CENTROID:
case startracker::REQ_CENTROIDS:
case startracker::REQ_CONTRAST:
if (getMode() == MODE_ON and getSubmode() != startracker::Program::FIRMWARE) {
return STARTRACKER_NOT_RUNNING_FIRMWARE;
}

2
mission/acs/str/StarTrackerHandler.h
View File

@ -212,6 +212,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
startracker::BlobsSet blobsSet;
startracker::CentroidSet centroidSet;
startracker::CentroidsSet centroidsSet;
startracker::CentroidsSet contrastSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrComHandler* strHelper = nullptr;
@ -460,6 +461,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
ReturnValue_t prepareRequestBlobsTm();
ReturnValue_t prepareRequestCentroidTm();
ReturnValue_t prepareRequestCentroidsTm();
ReturnValue_t prepareRequestContrastTm();
ReturnValue_t prepareRequestTrackingParams();
ReturnValue_t prepareRequestValidationParams();
ReturnValue_t prepareRequestAlgoParams();

32
mission/acs/str/strHelpers.h
View File

@ -309,6 +309,13 @@ enum PoolIds : lp_id_t {
CENTROIDS_X_COORDS,
CENTROIDS_Y_COORDS,
CENTROIDS_MAGNITUDES,
CONTRAST_TICKS,
CONTRAST_TIME,
CONTRAST_A,
CONTRAST_B,
CONTRAST_C,
CONTRAST_D,
};
static const DeviceCommandId_t PING_REQUEST = 0;
@ -327,6 +334,7 @@ static const DeviceCommandId_t IMAGE_PROCESSOR = 19;
static const DeviceCommandId_t REQ_SOLUTION = 24;
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const DeviceCommandId_t REQ_HISTOGRAM = 28;
static constexpr DeviceCommandId_t REQ_CONTRAST = 29;
static const DeviceCommandId_t LIMITS = 40;
static const DeviceCommandId_t MOUNTING = 41;
static const DeviceCommandId_t CAMERA = 42;
@ -403,6 +411,7 @@ static const uint32_t BLOB_SET_ID = REQ_BLOB;
static const uint32_t BLOBS_SET_ID = REQ_BLOBS;
static const uint32_t CENTROID_SET_ID = REQ_CENTROID;
static const uint32_t CENTROIDS_SET_ID = REQ_CENTROIDS;
static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
@ -1544,6 +1553,29 @@ class CentroidsSet : public StaticLocalDataSet<10> {
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
};
class ContrastSet: public StaticLocalDataSet<8> {
public:
static constexpr size_t SIZE = 156;
ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}
// Data received from the Centroids Telemetry Set (ID 29)
lp_var_t<uint32_t> ticks =
lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs =
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> contrastB =
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);
};
/**
* @brief Will store the requested algo parameters
*/

2
tmtc

@ -1 +1 @@
Subproject commit d9530271c38f8c81d6c5f3f11c6f3532085141e3
Subproject commit 5821c60eb4743b014eb4641104bc35213f0b465b