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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 +852 -43
5 changed files with 852 additions and 43 deletions
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5
CHANGELOG.md
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@ -18,6 +18,11 @@ will consitute of a breaking change warranting a new major release:
## Added
- STR: Added new TM sets: Blob, Blobs, MatchedCentroids, Contrast, AutoBlob, Centroid, Centroids
meggert marked this conversation as resolved Outdated
meggert commented 2023-10-27 12:47:19 +02:00
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  • centroid + centroids
+ centroid + centroids
- STR: Added new mechanism where the secondary TM which is polled can now be a set instead of
being temperature only. An API is exposed which allows to add a data set to that set of secondary
telemetry, reset it back to temperature only, and read the whole set. This allows more debugging
capability.
- CFDP source handler, which allows file downlink using the standardized
CFDP interface.
- Proper back pressure handling for the CFDP handler, where the `LiveTmTask` is able to throttle

642
mission/acs/str/StarTrackerHandler.cpp
View File

@ -49,6 +49,13 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
subscriptionSet(this),
logSubscriptionSet(this),
debugCameraSet(this),
autoBlobSet(this),
matchedCentroidsSet(this),
blobSet(this),
blobsSet(this),
centroidSet(this),
centroidsSet(this),
contrastSet(this),
strHelper(strHelper),
paramJsonFile(jsonFileStr),
powerSwitch(powerSwitch) {
@ -59,6 +66,8 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
additionalRequestedTm.emplace(startracker::REQ_TEMPERATURE);
currentSecondaryTmIter = additionalRequestedTm.begin();
}
StarTrackerHandler::~StarTrackerHandler() {}
@ -165,6 +174,35 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
ReturnValue_t result = returnvalue::OK;
switch (actionId) {
case (startracker::ADD_SECONDARY_TM_TO_NORMAL_MODE): {
if (size < 4) {
return HasActionsIF::INVALID_PARAMETERS;
}
DeviceCommandId_t idToAdd;
result =
SerializeAdapter::deSerialize(&idToAdd, data, &size, SerializeIF::Endianness::NETWORK);
if (result != returnvalue::OK) {
return result;
}
addSecondaryTmForNormalMode(idToAdd);
return EXECUTION_FINISHED;
}
case (startracker::RESET_SECONDARY_TM_SET): {
resetSecondaryTmSet();
return EXECUTION_FINISHED;
}
case (startracker::READ_SECONDARY_TM_SET): {
std::vector<uint8_t> dataVec(additionalRequestedTm.size() * 4);
unsigned idx = 0;
size_t serLen = 0;
for (const auto& cmd : additionalRequestedTm) {
SerializeAdapter::serialize(&cmd, dataVec.data() + idx * 4, &serLen, dataVec.size(),
SerializeIF::Endianness::NETWORK);
idx++;
}
actionHelper.reportData(commandedBy, actionId, dataVec.data(), dataVec.size());
return EXECUTION_FINISHED;
}
case (startracker::STOP_IMAGE_LOADER): {
strHelper->stopProcess();
return EXECUTION_FINISHED;
@ -306,13 +344,20 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
return NOTHING_TO_SEND;
}
switch (normalState) {
case NormalState::TEMPERATURE_REQUEST:
*id = startracker::REQ_TEMPERATURE;
case NormalState::SECONDARY_REQUEST:
if (additionalRequestedTm.size() == 0) {
break;
}
*id = *currentSecondaryTmIter;
currentSecondaryTmIter++;
if (currentSecondaryTmIter == additionalRequestedTm.end()) {
currentSecondaryTmIter = additionalRequestedTm.begin();
}
normalState = NormalState::SOLUTION_REQUEST;
break;
case NormalState::SOLUTION_REQUEST:
*id = startracker::REQ_SOLUTION;
normalState = NormalState::TEMPERATURE_REQUEST;
normalState = NormalState::SECONDARY_REQUEST;
break;
default:
sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid normal step"
@ -472,6 +517,18 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
prepareTimeRequest();
return returnvalue::OK;
}
case (startracker::REQ_CENTROID): {
prepareRequestCentroidTm();
return returnvalue::OK;
}
case (startracker::REQ_CENTROIDS): {
prepareRequestCentroidsTm();
return returnvalue::OK;
}
case (startracker::REQ_CONTRAST): {
prepareRequestContrastTm();
return returnvalue::OK;
}
case (startracker::BOOT): {
prepareBootCommand();
return returnvalue::OK;
@ -607,6 +664,22 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
result = prepareRequestLisaParams();
return result;
}
case (startracker::REQ_MATCHED_CENTROIDS): {
result = prepareRequestMatchedCentroidsTm();
return result;
}
case (startracker::REQ_BLOB): {
result = prepareRequestBlobTm();
return result;
}
case (startracker::REQ_BLOBS): {
result = prepareRequestBlobsTm();
return result;
}
case (startracker::REQ_AUTO_BLOB): {
result = prepareRequestAutoBlobTm();
return returnvalue::OK;
}
case (startracker::REQ_MATCHING): {
result = prepareRequestMatchingParams();
return result;
@ -729,6 +802,20 @@ 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,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_BLOBS, 3, &blobsSet,
startracker::MAX_FRAME_SIZE * 2 + 2);
this->insertInCommandAndReplyMap(startracker::REQ_CENTROID, 3, &centroidSet,
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) {
@ -860,6 +947,74 @@ void StarTrackerHandler::setUpJsonCfgs(JsonConfigs& cfgs, const char* paramJsonF
JCFG_DONE = true;
}
ReturnValue_t StarTrackerHandler::statusFieldCheck(const uint8_t* rawFrame) {
uint8_t status = startracker::getStatusField(rawFrame);
if (status != startracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl;
return REPLY_ERROR;
}
return returnvalue::OK;
}
void StarTrackerHandler::addSecondaryTmForNormalMode(DeviceCommandId_t cmd) {
additionalRequestedTm.emplace(cmd);
}
void StarTrackerHandler::resetSecondaryTmSet() {
additionalRequestedTm.clear();
additionalRequestedTm.emplace(startracker::REQ_TEMPERATURE);
currentSecondaryTmIter = additionalRequestedTm.begin();
{
PoolReadGuard pg(&autoBlobSet);
if (pg.getReadResult() == returnvalue::OK) {
autoBlobSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&matchedCentroidsSet);
if (pg.getReadResult() == returnvalue::OK) {
matchedCentroidsSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&blobSet);
if (pg.getReadResult() == returnvalue::OK) {
blobSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&blobsSet);
if (pg.getReadResult() == returnvalue::OK) {
blobsSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&centroidSet);
if (pg.getReadResult() == returnvalue::OK) {
centroidSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&contrastSet);
if (pg.getReadResult() == returnvalue::OK) {
contrastSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&centroidsSet);
if (pg.getReadResult() == returnvalue::OK) {
centroidsSet.setValidity(false, true);
}
}
{
PoolReadGuard pg(&histogramSet);
if (pg.getReadResult() == returnvalue::OK) {
histogramSet.setValidity(false, true);
}
}
}
void StarTrackerHandler::bootBootloader() {
if (internalState == InternalState::IDLE) {
internalState = InternalState::BOOT_BOOTLOADER;
@ -896,24 +1051,24 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
}
case TMTC_ACTIONREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForActionReply(startracker::getId(start), foundId);
break;
}
case TMTC_SETPARAMREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForSetParameterReply(startracker::getId(start), foundId);
break;
}
case TMTC_PARAMREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForGetParameterReply(startracker::getId(start), foundId);
break;
}
case TMTC_TELEMETRYREPLYA:
case TMTC_TELEMETRYREPLY: {
*foundLen = remainingSize;
fullPacketLen = remainingSize;
return scanForTmReply(startracker::getId(start), foundId);
break;
}
default: {
sif::debug << "StarTrackerHandler::scanForReply: Reply has invalid type id" << std::endl;
@ -933,7 +1088,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_TIME): {
result = handleTm(packet, timeSet, startracker::TimeSet::SIZE, "REQ_TIME");
result = handleTm(packet, timeSet, "REQ_TIME");
break;
}
case (startracker::PING_REQUEST): {
@ -948,7 +1103,7 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_VERSION): {
result = handleTm(packet, versionSet, startracker::VersionSet::SIZE, "REQ_VERSION");
result = handleTm(packet, versionSet, "REQ_VERSION");
if (result != returnvalue::OK) {
return result;
}
@ -959,23 +1114,51 @@ ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case (startracker::REQ_INTERFACE): {
result = handleTm(packet, interfaceSet, startracker::InterfaceSet::SIZE, "REQ_INTERFACE");
result = handleTm(packet, interfaceSet, "REQ_INTERFACE");
break;
}
case (startracker::REQ_POWER): {
result = handleTm(packet, powerSet, startracker::PowerSet::SIZE, "REQ_POWER");
result = handleTm(packet, powerSet, "REQ_POWER");
break;
}
case (startracker::REQ_SOLUTION): {
result = handleTm(packet, solutionSet, startracker::SolutionSet::SIZE, "REQ_SOLUTION");
result = handleTm(packet, solutionSet, "REQ_SOLUTION");
break;
}
case (startracker::REQ_CONTRAST): {
result = handleTm(packet, contrastSet, "REQ_CONTRAST");
break;
}
case (startracker::REQ_AUTO_BLOB): {
result = handleAutoBlobTm(packet);
break;
}
case (startracker::REQ_MATCHED_CENTROIDS): {
result = handleMatchedCentroidTm(packet);
break;
}
case (startracker::REQ_BLOB): {
result = handleBlobTm(packet);
break;
}
case (startracker::REQ_BLOBS): {
result = handleBlobsTm(packet);
break;
}
case (startracker::REQ_CENTROID): {
result = handleCentroidTm(packet);
break;
}
case (startracker::REQ_CENTROIDS): {
result = handleCentroidsTm(packet);
break;
}
case (startracker::REQ_TEMPERATURE): {
result = handleTm(packet, temperatureSet, startracker::TemperatureSet::SIZE, "REQ_TEMP");
result = handleTm(packet, temperatureSet, "REQ_TEMP");
break;
}
case (startracker::REQ_HISTOGRAM): {
result = handleTm(packet, histogramSet, startracker::HistogramSet::SIZE, "REQ_HISTO");
result = handleTm(packet, histogramSet, "REQ_HISTO");
break;
}
case (startracker::SUBSCRIPTION):
@ -1329,6 +1512,56 @@ ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& l
localDataPoolMap.emplace(startracker::CHKSUM, new PoolEntry<uint32_t>({0}));
localDataPoolMap.emplace(startracker::TICKS_AUTO_BLOB, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::TIME_AUTO_BLOB, new PoolEntry<uint64_t>());
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));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_X_COORDS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_Y_COORDS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_X_ERRORS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::MATCHED_CENTROIDS_Y_ERRORS,
new PoolEntry<float>(16));
localDataPoolMap.emplace(startracker::PoolIds::TICKS_MATCHED_CENTROIDS,
new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::TIME_MATCHED_CENTROIDS, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOB_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOB_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOB_COUNT, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_COUNT_USED, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_NR_4LINES_SKIPPED,
new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_X_COORDS, new PoolEntry<uint16_t>(8));
localDataPoolMap.emplace(startracker::PoolIds::BLOBS_Y_COORDS, new PoolEntry<uint16_t>(8));
localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROID_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROID_COUNT, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TICKS, new PoolEntry<uint32_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_TIME, new PoolEntry<uint64_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_COUNT, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(startracker::PoolIds::CENTROIDS_X_COORDS, new PoolEntry<float>(16));
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(
@ -1343,6 +1576,20 @@ 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(
subdp::RegularHkPeriodicParams(blobSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(blobsSet.getSid(), false, 10.0));
poolManager.subscribeForRegularPeriodicPacket(
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;
}
@ -1584,8 +1831,36 @@ ReturnValue_t StarTrackerHandler::scanForTmReply(uint8_t replyId, DeviceCommandI
*foundId = startracker::REQ_SOLUTION;
break;
}
case (startracker::ID::BLOB): {
*foundId = startracker::REQ_BLOB;
break;
}
case (startracker::ID::BLOBS): {
*foundId = startracker::REQ_BLOBS;
break;
}
case (startracker::ID::CENTROID): {
*foundId = startracker::REQ_CENTROID;
break;
}
case (startracker::ID::CENTROIDS): {
*foundId = startracker::REQ_CENTROIDS;
break;
}
case (startracker::ID::AUTO_BLOB): {
*foundId = startracker::REQ_AUTO_BLOB;
break;
}
case (startracker::ID::MATCHED_CENTROIDS): {
*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: "
sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply ID: "
<< static_cast<unsigned int>(replyId) << std::endl;
return returnvalue::FAILED;
break;
@ -1760,6 +2035,62 @@ void StarTrackerHandler::prepareHistogramRequest() {
rawPacketLen = length;
}
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;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobTm() {
uint32_t length = 0;
arc_tm_pack_blob_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestBlobsTm() {
uint32_t length = 0;
arc_tm_pack_blobs_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestCentroidTm() {
uint32_t length = 0;
arc_tm_pack_centroid_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::prepareRequestCentroidsTm() {
uint32_t length = 0;
arc_tm_pack_centroids_req(commandBuffer, &length);
rawPacket = commandBuffer;
rawPacketLen = length;
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,
@ -2038,13 +2369,10 @@ ReturnValue_t StarTrackerHandler::checkProgram() {
}
ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDataSetBase& dataset,
size_t size, const char* context) {
ReturnValue_t result = returnvalue::OK;
uint8_t status = startracker::getStatusField(rawFrame);
if (status != startracker::STATUS_OK) {
sif::warning << "StarTrackerHandler::handleTm: Reply error: "
<< static_cast<unsigned int>(status) << std::endl;
return REPLY_ERROR;
const char* context) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
if (result != returnvalue::OK) {
@ -2052,10 +2380,11 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
}
const uint8_t* reply = rawFrame + TICKS_OFFSET;
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) {
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context
<< std::endl;
sif::warning << "StarTrackerHandler::handleTm: Deserialization failed for " << context << ": 0x"
<< std::hex << std::setw(4) << result << std::dec << std::endl;
}
dataset.setValidityBufferGeneration(true);
dataset.setValidity(true, true);
@ -2069,6 +2398,262 @@ ReturnValue_t StarTrackerHandler::handleTm(const uint8_t* rawFrame, LocalPoolDat
return result;
}
ReturnValue_t StarTrackerHandler::handleAutoBlobTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&autoBlobSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&autoBlobSet.threshold, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
autoBlobSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleMatchedCentroidTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&matchedCentroidsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.numberOfMatchedCentroids, &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
// Yeah, we serialize it like that because I can't model anything with that local datapool crap.
for (unsigned idx = 0; idx < 16; idx++) {
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.starIds[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.xErrors[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&matchedCentroidsSet.yErrors[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
matchedCentroidsSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleBlobTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&blobsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobSet.blobCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
blobSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleBlobsTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&blobsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.blobsCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.blobsCountUsed, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.nr4LinesSkipped, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
for (unsigned idx = 0; idx < 8; idx++) {
result = SerializeAdapter::deSerialize(&blobsSet.xCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&blobsSet.yCoords[idx], &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
blobsSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleCentroidTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&centroidsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidSet.ticks, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidSet.timeUs, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidSet.centroidCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
centroidSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleCentroidsTm(const uint8_t* rawFrame) {
ReturnValue_t result = statusFieldCheck(rawFrame);
if (result != returnvalue::OK) {
return result;
}
rawFrame += TICKS_OFFSET;
size_t remainingLen = fullPacketLen;
PoolReadGuard pg(&centroidsSet);
result = pg.getReadResult();
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.ticksCentroidsTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.timeUsCentroidsTm, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsCount, &rawFrame, &remainingLen,
SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
for (unsigned idx = 0; idx < 16; idx++) {
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsXCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsYCoords[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
result = SerializeAdapter::deSerialize(&centroidsSet.centroidsMagnitudes[idx], &rawFrame,
&remainingLen, SerializeIF::Endianness::LITTLE);
if (result != returnvalue::OK) {
return result;
}
}
centroidsSet.setValidity(true, true);
return returnvalue::OK;
}
ReturnValue_t StarTrackerHandler::handleActionReplySet(const uint8_t* rawFrame,
LocalPoolDataSetBase& dataset, size_t size) {
ReturnValue_t result = returnvalue::OK;
@ -2204,10 +2789,17 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
case startracker::REQ_SUBSCRIPTION:
case startracker::REQ_LOG_SUBSCRIPTION:
case startracker::REQ_DEBUG_CAMERA:
case startracker::REQ_MATCHED_CENTROIDS:
case startracker::REQ_BLOB:
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;
}
break;
}
case startracker::FIRMWARE_UPDATE:
case startracker::FLASH_READ:
if (getMode() != MODE_ON or getSubmode() != startracker::Program::BOOTLOADER) {

47
mission/acs/str/StarTrackerHandler.h
View File

@ -8,6 +8,7 @@
#include <mission/acs/str/strJsonCommands.h>
#include <thirdparty/sagittactl/wire/common/genericstructs.h>
#include <set>
#include <thread>
#include "OBSWConfig.h"
@ -151,6 +152,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
static const uint8_t PARAMS_OFFSET = 2;
static const uint8_t TICKS_OFFSET = 3;
static const uint8_t TIME_OFFSET = 7;
static const uint8_t TM_PARAM_OFFSET = 15;
static const uint8_t PARAMETER_ID_OFFSET = 1;
static const uint8_t ACTION_ID_OFFSET = 1;
static const uint8_t ACTION_DATA_OFFSET = 3;
@ -204,6 +206,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
startracker::SubscriptionSet subscriptionSet;
startracker::LogSubscriptionSet logSubscriptionSet;
startracker::DebugCameraSet debugCameraSet;
startracker::AutoBlobSet autoBlobSet;
startracker::MatchedCentroidsSet matchedCentroidsSet;
startracker::BlobSet blobSet;
startracker::BlobsSet blobsSet;
startracker::CentroidSet centroidSet;
startracker::CentroidsSet centroidsSet;
startracker::ContrastSet contrastSet;
// Pointer to object responsible for uploading and downloading images to/from the star tracker
StrComHandler* strHelper = nullptr;
@ -239,9 +248,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
std::string paramJsonFile;
enum class NormalState { TEMPERATURE_REQUEST, SOLUTION_REQUEST };
enum class NormalState { SECONDARY_REQUEST, SOLUTION_REQUEST };
NormalState normalState = NormalState::TEMPERATURE_REQUEST;
NormalState normalState = NormalState::SECONDARY_REQUEST;
enum class StartupState {
IDLE,
@ -297,6 +306,11 @@ class StarTrackerHandler : public DeviceHandlerBase {
const power::Switch_t powerSwitch = power::NO_SWITCH;
size_t fullPacketLen = 0;
std::set<DeviceCommandId_t> additionalRequestedTm{};
std::set<DeviceCommandId_t>::iterator currentSecondaryTmIter;
/**
* @brief Handles internal state
*/
@ -345,6 +359,18 @@ class StarTrackerHandler : public DeviceHandlerBase {
*/
ReturnValue_t executeFlashReadCommand(const uint8_t* commandData, size_t commandDataLen);
/**
* Add a TM request to the list of telemetry which will be polled in the secondary step of
* the device communication.
* @param cmd
*/
void addSecondaryTmForNormalMode(DeviceCommandId_t cmd);
/**
* Reset the secondary set, which will only contain a TEMPERATURE set request after the reset.
*/
void resetSecondaryTmSet();
/**
* @brief Fills command buffer with data to boot image (works only when star tracker is
* in bootloader mode).
@ -429,6 +455,13 @@ class StarTrackerHandler : public DeviceHandlerBase {
ReturnValue_t prepareRequestCentroidingParams();
ReturnValue_t prepareRequestLisaParams();
ReturnValue_t prepareRequestMatchingParams();
ReturnValue_t prepareRequestAutoBlobTm();
ReturnValue_t prepareRequestMatchedCentroidsTm();
ReturnValue_t prepareRequestBlobTm();
ReturnValue_t prepareRequestBlobsTm();
ReturnValue_t prepareRequestCentroidTm();
ReturnValue_t prepareRequestCentroidsTm();
ReturnValue_t prepareRequestContrastTm();
ReturnValue_t prepareRequestTrackingParams();
ReturnValue_t prepareRequestValidationParams();
ReturnValue_t prepareRequestAlgoParams();
@ -477,6 +510,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
*/
void handleStartup(uint8_t tmType, uint8_t parameterId);
ReturnValue_t statusFieldCheck(const uint8_t* rawFrame);
/**
* @brief Handles telemtry replies and fills the appropriate dataset
*
@ -485,9 +519,16 @@ class StarTrackerHandler : public DeviceHandlerBase {
*
* @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);
ReturnValue_t handleAutoBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleMatchedCentroidTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobTm(const uint8_t* rawFrame);
ReturnValue_t handleBlobsTm(const uint8_t* rawFrame);
ReturnValue_t handleCentroidTm(const uint8_t* rawFrame);
ReturnValue_t handleCentroidsTm(const uint8_t* rawFrame);
/**
* @brief Checks if star tracker is in valid mode for executing the received command.
*

199
mission/acs/str/strHelpers.h
View File

@ -272,7 +272,50 @@ enum PoolIds : lp_id_t {
LOG_SUBSCRIPTION_LEVEL2,
LOG_SUBSCRIPTION_MODULE2,
DEBUG_CAMERA_TIMING,
DEBUG_CAMERA_TEST
DEBUG_CAMERA_TEST,
TICKS_AUTO_BLOB,
TIME_AUTO_BLOB,
AUTO_BLOB_THRESHOLD,
TICKS_MATCHED_CENTROIDS,
TIME_MATCHED_CENTROIDS,
NUM_MATCHED_CENTROIDS,
MATCHED_CENTROIDS_STAR_IDS,
MATCHED_CENTROIDS_X_COORDS,
MATCHED_CENTROIDS_Y_COORDS,
MATCHED_CENTROIDS_X_ERRORS,
MATCHED_CENTROIDS_Y_ERRORS,
BLOB_TICKS,
BLOB_TIME,
BLOB_COUNT,
BLOBS_TICKS,
BLOBS_TIME,
BLOBS_COUNT,
BLOBS_COUNT_USED,
BLOBS_NR_4LINES_SKIPPED,
BLOBS_X_COORDS,
BLOBS_Y_COORDS,
CENTROID_TICKS,
CENTROID_TIME,
CENTROID_COUNT,
CENTROIDS_TICKS,
CENTROIDS_TIME,
CENTROIDS_COUNT,
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;
@ -291,6 +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;
@ -328,6 +372,15 @@ static const DeviceCommandId_t DISABLE_TIMESTAMP_GENERATION = 85;
static const DeviceCommandId_t ENABLE_TIMESTAMP_GENERATION = 86;
static constexpr DeviceCommandId_t SET_TIME_FROM_SYS_TIME = 87;
static constexpr DeviceCommandId_t AUTO_THRESHOLD = 88;
static constexpr DeviceCommandId_t REQ_AUTO_BLOB = 89;
static constexpr DeviceCommandId_t REQ_MATCHED_CENTROIDS = 90;
static constexpr DeviceCommandId_t REQ_BLOB = 91;
static constexpr DeviceCommandId_t REQ_BLOBS = 92;
static constexpr DeviceCommandId_t REQ_CENTROID = 93;
static constexpr DeviceCommandId_t REQ_CENTROIDS = 94;
static constexpr DeviceCommandId_t ADD_SECONDARY_TM_TO_NORMAL_MODE = 95;
static constexpr DeviceCommandId_t RESET_SECONDARY_TM_SET = 96;
static constexpr DeviceCommandId_t READ_SECONDARY_TM_SET = 97;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
@ -352,6 +405,13 @@ static const uint32_t ALGO_SET_ID = REQ_ALGO;
static const uint32_t SUBSCRIPTION_SET_ID = REQ_SUBSCRIPTION;
static const uint32_t LOG_SUBSCRIPTION_SET_ID = REQ_LOG_SUBSCRIPTION;
static const uint32_t DEBUG_CAMERA_SET_ID = REQ_DEBUG_CAMERA;
static const uint32_t AUTO_BLOB_SET_ID = REQ_AUTO_BLOB;
static const uint32_t MATCHED_CENTROIDS_SET_ID = REQ_MATCHED_CENTROIDS;
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;
@ -412,6 +472,12 @@ static const uint8_t LOG_LEVEL = 3;
static const uint8_t LOG_SUBSCRIPTION = 19;
static const uint8_t DEBUG_CAMERA = 20;
static const uint8_t AUTO_THRESHOLD = 23;
static constexpr uint8_t BLOB = 25;
static constexpr uint8_t BLOBS = 36;
static constexpr uint8_t CENTROID = 26;
static constexpr uint8_t CENTROIDS = 37;
static constexpr uint8_t AUTO_BLOB = 39;
static constexpr uint8_t MATCHED_CENTROIDS = 40;
} // namespace ID
namespace Program {
@ -474,8 +540,6 @@ static const uint32_t FLASH_REGION_SIZE = 0x20000;
*/
class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
public:
static const size_t SIZE = 24;
TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
@ -505,8 +569,6 @@ class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
*/
class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
public:
static const size_t SIZE = 15;
VersionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, VERSION_SET_ID) {}
VersionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, VERSION_SET_ID)) {}
@ -536,8 +598,6 @@ class VersionSet : public StaticLocalDataSet<VERSION_SET_ENTRIES> {
*/
class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
public:
static const size_t SIZE = 20;
InterfaceSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
InterfaceSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@ -565,8 +625,6 @@ class InterfaceSet : public StaticLocalDataSet<INTERFACE_SET_ENTRIES> {
*/
class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
public:
static const size_t SIZE = 76;
PowerSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, REQ_INTERFACE) {}
PowerSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, REQ_INTERFACE)) {}
@ -630,8 +688,6 @@ class PowerSet : public StaticLocalDataSet<POWER_SET_ENTRIES> {
*/
class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
public:
static const size_t SIZE = 24;
TimeSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TIME_SET_ID) {}
TimeSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TIME_SET_ID)) {}
@ -658,15 +714,13 @@ class TimeSet : public StaticLocalDataSet<TIME_SET_ENTRIES> {
*/
class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
public:
static const size_t SIZE = 79;
SolutionSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SOLUTION_SET_ID) {}
SolutionSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SOLUTION_SET_ID)) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_SOLUTION_SET, this);
/// Unix time stamp
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_SOLUTION_SET, this);
// Calibrated quaternion (takes into account the mounting quaternion), typically same as
// track q values
@ -1381,6 +1435,123 @@ class ValidationSet : public StaticLocalDataSet<VALIDATION_SET_ENTRIES> {
}
};
class AutoBlobSet : public StaticLocalDataSet<3> {
public:
AutoBlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, AUTO_BLOB_SET_ID) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_AUTO_BLOB, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = 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);
private:
};
class MatchedCentroidsSet : public StaticLocalDataSet<20> {
public:
MatchedCentroidsSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, MATCHED_CENTROIDS_SET_ID) {}
MatchedCentroidsSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, MATCHED_CENTROIDS_SET_ID)) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks =
lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_MATCHED_CENTROIDS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs =
lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_MATCHED_CENTROIDS, this);
lp_var_t<uint8_t> numberOfMatchedCentroids =
lp_var_t<uint8_t>(sid.objectId, PoolIds::NUM_MATCHED_CENTROIDS, this);
lp_vec_t<uint32_t, 16> starIds =
lp_vec_t<uint32_t, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_STAR_IDS, this);
lp_vec_t<float, 16> xCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_COORDS, this);
lp_vec_t<float, 16> yCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_COORDS, this);
lp_vec_t<float, 16> xErrors =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_X_ERRORS, this);
lp_vec_t<float, 16> yErrors =
lp_vec_t<float, 16>(sid.objectId, PoolIds::MATCHED_CENTROIDS_Y_ERRORS, this);
private:
};
class BlobSet : public StaticLocalDataSet<5> {
public:
BlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_SET_ID) {}
// The blob count received from the Blob Telemetry Set (ID 25)
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOB_TIME, this);
lp_var_t<uint32_t> blobCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_COUNT, this);
};
class BlobsSet : public StaticLocalDataSet<10> {
public:
BlobsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOBS_SET_ID) {}
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBS_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::BLOBS_TIME, this);
lp_var_t<uint16_t> blobsCount = lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT, this);
lp_var_t<uint16_t> blobsCountUsed =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_COUNT_USED, this);
lp_var_t<uint16_t> nr4LinesSkipped =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOBS_NR_4LINES_SKIPPED, this);
lp_vec_t<uint16_t, 8> xCoords =
lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_X_COORDS, this);
lp_vec_t<uint16_t, 8> yCoords =
lp_vec_t<uint16_t, 8>(sid.objectId, PoolIds::BLOBS_Y_COORDS, this);
};
class CentroidSet : public StaticLocalDataSet<5> {
public:
CentroidSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROID_SET_ID) {}
// Data received from the Centroid Telemetry Set (ID 26)
// Ticks timestamp
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUs = lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROID_TIME, this);
// The centroid count received from the Centroid Telemetry Set (ID 26)
lp_var_t<uint32_t> centroidCount =
lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROID_COUNT, this);
};
class CentroidsSet : public StaticLocalDataSet<10> {
public:
CentroidsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CENTROIDS_SET_ID) {}
// Data received from the Centroids Telemetry Set (ID 37)
lp_var_t<uint32_t> ticksCentroidsTm =
lp_var_t<uint32_t>(sid.objectId, PoolIds::CENTROIDS_TICKS, this);
// Unix time stamp
lp_var_t<uint64_t> timeUsCentroidsTm =
lp_var_t<uint64_t>(sid.objectId, PoolIds::CENTROIDS_TIME, this);
lp_var_t<uint16_t> centroidsCount =
lp_var_t<uint16_t>(sid.objectId, PoolIds::CENTROIDS_COUNT, this);
lp_vec_t<float, 16> centroidsXCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_X_COORDS, this);
lp_vec_t<float, 16> centroidsYCoords =
lp_vec_t<float, 16>(sid.objectId, PoolIds::CENTROIDS_Y_COORDS, this);
lp_vec_t<uint8_t, 16> centroidsMagnitudes =
lp_vec_t<uint8_t, 16>(sid.objectId, PoolIds::CENTROIDS_MAGNITUDES, this);
};
class ContrastSet : public StaticLocalDataSet<8> {
public:
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 43d6b986953a815c7c020cf73a957f1678c76549
Subproject commit 0aaf63215b5fe010a5447e5d64e1b4150d543847