#ifndef MISSION_STARTRACKER_DEFINITIONS_H_
#define MISSION_STARTRACKER_DEFINITIONS_H_
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include "objects/systemObjectList.h"
namespace StarTracker {
/** This is the address of the star tracker */
static const uint8_t ADDRESS = 33;
static const uint8_t STATUS_OK = 0;
enum PoolIds : lp_id_t {
TICKS_TIME_SET,
TIME_TIME_SET,
RUN_TIME,
UNIX_TIME,
TICKS_VERSION_SET,
TIME_VERSION_SET,
PROGRAM,
MAJOR,
MINOR,
TICKS_INTERFACE_SET,
TIME_INTERFACE_SET,
FRAME_COUNT,
CHECKSUM_ERROR_COUNT,
SET_PARAM_COUNT,
SET_PARAM_REPLY_COUNT,
PARAM_REQUEST_COUNT,
PARAM_REPLY_COUNT,
REQ_TM_COUNT,
TM_REPLY_COUNT,
ACTION_REQ_COUNT,
ACTION_REPLY_COUNT,
TICKS_POWER_SET,
TIME_POWER_SET,
MCU_CURRENT,
MCU_VOLTAGE,
FPGA_CORE_CURRENT,
FPGA_CORE_VOLTAGE,
FPGA_18_CURRENT,
FPGA_18_VOLTAGE,
FPGA_25_CURRENT,
FPGA_25_VOLTAGE,
CMV_21_CURRENT,
CMV_21_VOLTAGE,
CMV_PIX_CURRENT,
CMV_PIX_VOLTAGE,
CMV_33_CURRENT,
CMV_33_VOLTAGE,
CMV_RES_CURRENT,
CMV_RES_VOLTAGE,
TICKS_TEMPERATURE_SET,
TIME_TEMPERATURE_SET,
MCU_TEMPERATURE,
CMOS_TEMPERATURE,
TICKS_SOLUTION_SET,
TIME_SOLUTION_SET,
CALI_QW,
CALI_QX,
CALI_QY,
CALI_QZ,
TRACK_CONFIDENCE,
TRACK_QW,
TRACK_QX,
TRACK_QY,
TRACK_QZ,
TRACK_REMOVED,
STARS_CENTROIDED,
STARS_MATCHED_DATABASE,
LISA_QW,
LISA_QX,
LISA_QY,
LISA_QZ,
LISA_PERC_CLOSE,
LISA_NR_CLOSE,
TRUST_WORTHY,
STABLE_COUNT,
SOLUTION_STRATEGY,
TICKS_HISTOGRAM_SET,
TIME_HISTOGRAM_SET,
HISTOGRAM_BINA0,
HISTOGRAM_BINA1,
HISTOGRAM_BINA2,
HISTOGRAM_BINA3,
HISTOGRAM_BINA4,
HISTOGRAM_BINA5,
HISTOGRAM_BINA6,
HISTOGRAM_BINA7,
HISTOGRAM_BINA8,
HISTOGRAM_BINB0,
HISTOGRAM_BINB1,
HISTOGRAM_BINB2,
HISTOGRAM_BINB3,
HISTOGRAM_BINB4,
HISTOGRAM_BINB5,
HISTOGRAM_BINB6,
HISTOGRAM_BINB7,
HISTOGRAM_BINB8,
HISTOGRAM_BINC0,
HISTOGRAM_BINC1,
HISTOGRAM_BINC2,
HISTOGRAM_BINC3,
HISTOGRAM_BINC4,
HISTOGRAM_BINC5,
HISTOGRAM_BINC6,
HISTOGRAM_BINC7,
HISTOGRAM_BINC8,
HISTOGRAM_BIND0,
HISTOGRAM_BIND1,
HISTOGRAM_BIND2,
HISTOGRAM_BIND3,
HISTOGRAM_BIND4,
HISTOGRAM_BIND5,
HISTOGRAM_BIND6,
HISTOGRAM_BIND7,
HISTOGRAM_BIND8,
TICKS_CONTRAST_SET,
TIME_CONTRAST_SET,
CONTRAST_BINA0,
CONTRAST_BINA1,
CONTRAST_BINA2,
CONTRAST_BINA3,
CONTRAST_BINA4,
CONTRAST_BINA5,
CONTRAST_BINA6,
CONTRAST_BINA7,
CONTRAST_BINA8,
CONTRAST_BINB0,
CONTRAST_BINB1,
CONTRAST_BINB2,
CONTRAST_BINB3,
CONTRAST_BINB4,
CONTRAST_BINB5,
CONTRAST_BINB6,
CONTRAST_BINB7,
CONTRAST_BINB8,
CONTRAST_BINC0,
CONTRAST_BINC1,
CONTRAST_BINC2,
CONTRAST_BINC3,
CONTRAST_BINC4,
CONTRAST_BINC5,
CONTRAST_BINC6,
CONTRAST_BINC7,
CONTRAST_BINC8,
CONTRAST_BIND0,
CONTRAST_BIND1,
CONTRAST_BIND2,
CONTRAST_BIND3,
CONTRAST_BIND4,
CONTRAST_BIND5,
CONTRAST_BIND6,
CONTRAST_BIND7,
CONTRAST_BIND8,
CHKSUM,
DWL_ID,
DWL_PIXX,
DWL_PIXY,
DWL_X_UNCORRECTED,
DWL_Y_UNCORRECTED,
DWL_X_CORRECTED,
DWL_Y_CORRECTED,
DWL_MAGNITUDE,
DWL_CXA,
DWL_CYA,
DWL_QUALITY,
MATCHEDSTR_ID,
MATCHEDSTR_CAMFPX,
MATCHEDSTR_CAMFPY,
MATCHEDSTR_CAMCARTX,
MATCHEDSTR_CAMCARTY,
MATCHEDSTR_CAMCARTZ,
MATCHEDSTR_CAMMAGNITUDE,
MATCHEDSTR_DBFPX,
MATCHEDSTR_DBFPY,
MATCHEDSTR_DBCARTX,
MATCHEDSTR_DBCARTY,
MATCHEDSTR_DBCARTZ,
MATCHEDSTR_DBMAGNITUDE,
MATCHEDSTR_CATALOGID,
DBIMAGE_ID,
DBIMAGE_PIXX,
DBIMAGE_PIXY,
DBIMAGE_X,
DBIMAGE_Y,
DBIMAGE_MAGNITUDE,
BLOBPIX_ID,
BLOBPIX_X,
BLOBPIX_Y,
BLOBPIX_TOT_VAL,
BLOBPIX_IN_USE,
BLOBPIX_BRIGHT_NEIGHBOURS,
BLOBPIX_REGION,
CAMERA_MODE,
FOCALLENGTH,
EXPOSURE,
INTERVAL,
CAMERA_OFFSET,
PGAGAIN,
ADCGAIN,
CAM_REG1,
CAM_VAL1,
CAM_REG2,
CAM_VAL2,
CAM_REG3,
CAM_VAL3,
CAM_REG4,
CAM_VAL4,
LIMITS_ACTION,
LIMITS_FPGA18CURRENT,
LIMITS_FPGA25CURRENT,
LIMITS_FPGA10CURRENT,
LIMITS_MCUCURRENT,
LIMITS_CMOS21CURRENT,
LIMITS_CMOSPIXCURRENT,
LIMITS_CMOS33CURRENT,
LIMITS_CMOSVRESCURRENT,
LIMITS_CMOSTEMPERATURE,
LIMITS_MCUTEMPERATURE,
BLOB_MODE,
BLOB_MIN_VALUE,
BLOB_MIN_DISTANCE,
BLOB_NEIGHBOUR_DISTANCE,
BLOB_NEIGHBOUR_BRIGHTPIXELS,
BLOB_MIN_TOTAL_VALUE,
BLOB_MAX_TOTAL_VALUE,
BLOB_MIN_BRIGHT_NEIGHBOURS,
BLOB_MAX_BRIGHT_NEIGHBOURS,
BLOB_MAX_PIXELSTOCONSIDER,
BLOB_SIGNAL_THRESHOLD,
BLOB_DARK_THRESHOLD,
BLOB_ENABLE_HISTOGRAM,
BLOB_ENABLE_CONTRAST,
BLOB_BIN_MODE
};
static const DeviceCommandId_t PING_REQUEST = 0;
// Boots image (works only in bootloader mode)
static const DeviceCommandId_t BOOT = 1;
static const DeviceCommandId_t REQ_VERSION = 2;
static const DeviceCommandId_t REQ_INTERFACE = 3;
static const DeviceCommandId_t REQ_TIME = 4;
static const DeviceCommandId_t ERASE = 5;
static const DeviceCommandId_t UNLOCK = 6;
static const DeviceCommandId_t SWITCH_TO_BOOTLOADER_PROGRAM = 7;
static const DeviceCommandId_t DOWNLOAD_IMAGE = 9;
static const DeviceCommandId_t UPLOAD_IMAGE = 10;
static const DeviceCommandId_t REQ_POWER = 11;
static const DeviceCommandId_t TAKE_IMAGE = 15;
static const DeviceCommandId_t DOWNLOAD_CENTROID = 16;
static const DeviceCommandId_t UPLOAD_CENTROID = 17;
static const DeviceCommandId_t SUBSCRIBE_TO_TM = 18;
static const DeviceCommandId_t REQ_SOLUTION = 24;
static const DeviceCommandId_t REQ_TEMPERATURE = 25;
static const DeviceCommandId_t REQ_HISTOGRAM = 28;
static const DeviceCommandId_t REQ_CONTRAST = 29;
static const DeviceCommandId_t LIMITS = 40;
static const DeviceCommandId_t MOUNTING = 41;
static const DeviceCommandId_t CAMERA = 42;
static const DeviceCommandId_t BLOB = 43;
static const DeviceCommandId_t CENTROIDING = 44;
static const DeviceCommandId_t LISA = 45;
static const DeviceCommandId_t MATCHING = 46;
static const DeviceCommandId_t TRACKING = 47;
static const DeviceCommandId_t VALIDATION = 48;
static const DeviceCommandId_t ALGO = 49;
static const DeviceCommandId_t CHECKSUM = 50;
static const DeviceCommandId_t READ = 51;
static const DeviceCommandId_t WRITE = 52;
static const DeviceCommandId_t DOWNLOAD_MATCHED_STAR = 53;
static const DeviceCommandId_t STOP_IMAGE_LOADER = 55;
static const DeviceCommandId_t RESET_ERROR = 56;
static const DeviceCommandId_t CHANGE_DOWNLOAD_FILE = 57;
static const DeviceCommandId_t SET_JSON_FILE_NAME = 58;
static const DeviceCommandId_t SET_READ_FILENAME = 59;
static const DeviceCommandId_t SET_TIME = 60;
static const DeviceCommandId_t DOWNLOAD_DBIMAGE = 61;
static const DeviceCommandId_t DOWNLOAD_BLOBPIXEL = 62;
static const DeviceCommandId_t DOWNLOAD_FPGA_IMAGE = 63;
static const DeviceCommandId_t CHANGE_FPGA_DOWNLOAD_FILE = 64;
static const DeviceCommandId_t UPLOAD_FPGA_IMAGE = 65;
static const DeviceCommandId_t FPGA_ACTION = 66;
static const DeviceCommandId_t REQ_CAMERA = 67;
static const DeviceCommandId_t REQ_LIMITS = 68;
static const DeviceCommandId_t REQ_BLOB_PARAMS = 69;
static const DeviceCommandId_t NONE = 0xFFFFFFFF;
static const uint32_t VERSION_SET_ID = REQ_VERSION;
static const uint32_t INTERFACE_SET_ID = REQ_INTERFACE;
static const uint32_t POWER_SET_ID = REQ_POWER;
static const uint32_t TEMPERATURE_SET_ID = REQ_TEMPERATURE;
static const uint32_t TIME_SET_ID = REQ_TIME;
static const uint32_t SOLUTION_SET_ID = REQ_SOLUTION;
static const uint32_t HISTOGRAM_SET_ID = REQ_HISTOGRAM;
static const uint32_t CONTRAST_SET_ID = REQ_CONTRAST;
static const uint32_t CHECKSUM_SET_ID = CHECKSUM;
static const uint32_t DOWNLOADCENTROID_SET_ID = DOWNLOAD_CENTROID;
static const uint32_t DOWNLOAD_MATCHED_STAR_SET_ID = DOWNLOAD_MATCHED_STAR;
static const uint32_t DOWNLOAD_DBIMAGE_SET_ID = DOWNLOAD_DBIMAGE;
static const uint32_t DOWNLOAD_BLOBPIXEL_SET_ID = DOWNLOAD_BLOBPIXEL;
static const uint32_t CAMERA_SET_ID = REQ_CAMERA;
static const uint32_t LIMITS_SET_ID = REQ_LIMITS;
static const uint32_t BLOB_SET_ID = REQ_BLOB_PARAMS;
/** Max size of unencoded frame */
static const size_t MAX_FRAME_SIZE = 1200;
static const uint8_t TEMPERATURE_SET_ENTRIES = 4;
static const uint8_t VERSION_SET_ENTRIES = 5;
static const uint8_t INTERFACE_SET_ENTRIES = 4;
static const uint8_t POWER_SET_ENTRIES = 18;
static const uint8_t TIME_SET_ENTRIES = 4;
static const uint8_t SOLUTION_SET_ENTRIES = 23;
static const uint8_t HISTOGRAM_SET_ENTRIES = 38;
static const uint8_t CONTRAST_SET_ENTRIES = 38;
static const uint8_t CHECKSUM_SET_ENTRIES = 1;
static const uint8_t DOWNLOAD_CENTROID_SET_ENTRIES = 11;
static const uint8_t DOWNLOAD_MATCHED_STAR_SET_ENTRIES = 14;
static const uint8_t DOWNLOAD_DBIMAGE_SET_ENTRIES = 6;
static const uint8_t DOWNLOAD_BLOBPIXEL_SET_ENTRIES = 7;
static const uint8_t CAMERA_SET_ENTRIES = 15;
static const uint8_t LIMITS_SET_ENTRIES = 11;
static const uint8_t BLOB_SET_ENTRIES = 15;
// Action, parameter and telemetry IDs
namespace ID {
static const uint8_t PING = 0;
static const uint8_t BOOT = 1;
static const uint8_t VERSION = 2;
static const uint8_t INTERFACE = 3;
static const uint8_t LIMITS = 5;
static const uint8_t MOUNTING = 6;
static const uint8_t CAMERA = 9;
static const uint8_t BLOB = 10;
static const uint8_t CENTROIDING = 11;
static const uint8_t LISA = 12;
static const uint8_t MATCHING = 13;
static const uint8_t TRACKING = 14;
static const uint8_t VALIDATION = 15;
static const uint8_t ALGO = 16;
static const uint8_t REBOOT = 7;
static const uint8_t UPLOAD_IMAGE = 10;
static const uint8_t POWER = 11;
static const uint8_t SET_TIME = 14;
static const uint8_t SUBSCRIBE = 18;
static const uint8_t SOLUTION = 24;
static const uint8_t TEMPERATURE = 25;
static const uint8_t HISTOGRAM = 28;
static const uint8_t CONTRAST = 29;
static const uint8_t TIME = 1;
static const uint8_t WRITE = 2;
static const uint8_t READ = 3;
static const uint8_t CHECKSUM = 4;
static const uint8_t ERASE = 5;
static const uint8_t UNLOCK = 6;
static const uint8_t TAKE_IMAGE = 15;
static const uint8_t ERROR_RESET = 12;
static const uint8_t DOWNLOAD_CENTROID = 16;
static const uint8_t UPLOAD_CENTROID = 17;
static const uint8_t DOWNLOAD_MATCHED_STAR = 18;
static const uint8_t DOWNLOAD_DBIMAGE = 19;
static const uint8_t DOWNLOAD_BLOBPIXEL = 24;
static const uint8_t FPGA_ACTION = 22;
} // namespace ID
namespace Program {
static const uint8_t BOOTLOADER = 1;
static const uint8_t FIRMWARE = 2;
} // namespace Program
/**
* @brief This dataset can be used to store the temperature of a reaction wheel.
*/
class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
public:
static const size_t SIZE = 20;
TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
// Ticks is time reference generated by internal counter of the star tracker
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_TEMPERATURE_SET, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_TEMPERATURE_SET, this);
lp_var_t<float> mcuTemperature = lp_var_t<float>(sid.objectId, PoolIds::MCU_TEMPERATURE, this);
lp_var_t<float> cmosTemperature = lp_var_t<float>(sid.objectId, PoolIds::CMOS_TEMPERATURE, this);
void printSet() {
sif::info << "TemperatureSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "TemperatureSet::printSet: Time: " << this->time << " us" << std::endl;
sif::info << "TemperatureSet::printSet: MCU Temperature: " << this->mcuTemperature << " °C"
<< std::endl;
sif::info << "TemperatureSet::printSet: CMOS Temperature: " << this->cmosTemperature << " °C"
<< std::endl;
}
};
/**
* @brief Package to store version parameters
*/
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)) {}
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_VERSION_SET, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_VERSION_SET, this);
lp_var_t<uint8_t> program = lp_var_t<uint8_t>(sid.objectId, PoolIds::PROGRAM, this);
lp_var_t<uint8_t> major = lp_var_t<uint8_t>(sid.objectId, PoolIds::MAJOR, this);
lp_var_t<uint8_t> minor = lp_var_t<uint8_t>(sid.objectId, PoolIds::MINOR, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "VersionSet::printSet: Ticks: " << std::dec << this->ticks << std::endl;
sif::info << "VersionSet::printSet: Unix Time: " << this->time << " us" << std::endl;
sif::info << "VersionSet::printSet: Program: " << static_cast<unsigned int>(this->program.value)
<< std::endl;
sif::info << "VersionSet::printSet: Major: " << static_cast<unsigned int>(this->major.value)
<< std::endl;
sif::info << "VersionSet::printSet: Minor: " << static_cast<unsigned int>(this->minor.value)
<< std::endl;
}
};
/**
* @brief Dataset to store the interface telemtry data.
*/
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)) {}
// Ticks is time reference generated by interanl counter of the star tracker
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_INTERFACE_SET, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_INTERFACE_SET, this);
lp_var_t<uint32_t> frameCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::FRAME_COUNT, this);
lp_var_t<uint32_t> checksumerrorCount =
lp_var_t<uint32_t>(sid.objectId, PoolIds::CHECKSUM_ERROR_COUNT, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "InterfaceSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "InterfaceSet::printSet: Time: " << this->time << " us" << std::endl;
sif::info << "InterfaceSet::printSet: Frame Count: " << this->frameCount << std::endl;
sif::info << "InterfaceSet::printSet: Checksum Error Count: " << this->checksumerrorCount
<< std::endl;
}
};
/**
* @brief Dataset to store the data of the power telemetry reply.
*/
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)) {}
// Ticks is time reference generated by interanl counter of the star tracker
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_POWER_SET, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_POWER_SET, this);
lp_var_t<float> mcuCurrent = lp_var_t<float>(sid.objectId, PoolIds::MCU_CURRENT, this);
lp_var_t<float> mcuVoltage = lp_var_t<float>(sid.objectId, PoolIds::MCU_VOLTAGE, this);
lp_var_t<float> fpgaCoreCurrent = lp_var_t<float>(sid.objectId, PoolIds::FPGA_CORE_CURRENT, this);
lp_var_t<float> fpgaCoreVoltage = lp_var_t<float>(sid.objectId, PoolIds::FPGA_CORE_VOLTAGE, this);
lp_var_t<float> fpga18Current = lp_var_t<float>(sid.objectId, PoolIds::FPGA_18_CURRENT, this);
lp_var_t<float> fpga18Voltage = lp_var_t<float>(sid.objectId, PoolIds::FPGA_18_VOLTAGE, this);
lp_var_t<float> fpga25Current = lp_var_t<float>(sid.objectId, PoolIds::FPGA_25_CURRENT, this);
lp_var_t<float> fpga25Voltage = lp_var_t<float>(sid.objectId, PoolIds::FPGA_25_VOLTAGE, this);
lp_var_t<float> cmv21Current = lp_var_t<float>(sid.objectId, PoolIds::CMV_21_CURRENT, this);
lp_var_t<float> cmv21Voltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_21_VOLTAGE, this);
lp_var_t<float> cmvPixCurrent = lp_var_t<float>(sid.objectId, PoolIds::CMV_PIX_CURRENT, this);
lp_var_t<float> cmvPixVoltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_PIX_VOLTAGE, this);
lp_var_t<float> cmv33Current = lp_var_t<float>(sid.objectId, PoolIds::CMV_33_CURRENT, this);
lp_var_t<float> cmv33Voltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_33_VOLTAGE, this);
lp_var_t<float> cmvResCurrent = lp_var_t<float>(sid.objectId, PoolIds::CMV_RES_CURRENT, this);
lp_var_t<float> cmvResVoltage = lp_var_t<float>(sid.objectId, PoolIds::CMV_RES_VOLTAGE, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "PowerSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "PowerSet::printSet: Time: " << this->time << " us" << std::endl;
sif::info << "PowerSet::printSet: MCU Current: " << this->mcuCurrent << " A" << std::endl;
sif::info << "PowerSet::printSet: MCU Voltage: " << this->mcuVoltage << " V" << std::endl;
sif::info << "PowerSet::printSet: FPGA Core current: " << this->fpgaCoreCurrent << " A"
<< std::endl;
sif::info << "PowerSet::printSet: FPGA Core voltage: " << this->fpgaCoreVoltage << " V"
<< std::endl;
sif::info << "PowerSet::printSet: FPGA 18 current: " << this->fpga18Current << " A"
<< std::endl;
sif::info << "PowerSet::printSet: FPGA 18 voltage: " << this->fpga18Voltage << " V"
<< std::endl;
sif::info << "PowerSet::printSet: FPGA 25 current: " << this->fpga25Current << " A"
<< std::endl;
sif::info << "PowerSet::printSet: FPGA 25 voltage: " << this->fpga25Voltage << " V"
<< std::endl;
sif::info << "PowerSet::printSet: CMV 21 current: " << this->cmv21Current << " A" << std::endl;
sif::info << "PowerSet::printSet: CMV 21 voltage: " << this->cmv21Voltage << " V" << std::endl;
sif::info << "PowerSet::printSet: CMV Pix current: " << this->cmvPixCurrent << " A"
<< std::endl;
sif::info << "PowerSet::printSet: CMV Pix voltage: " << this->cmvPixVoltage << " V"
<< std::endl;
sif::info << "PowerSet::printSet: CMV 33 current: " << this->cmv33Current << " A" << std::endl;
sif::info << "PowerSet::printSet: CMV 33 voltage: " << this->cmv33Voltage << " V" << std::endl;
sif::info << "PowerSet::printSet: CMV Res current: " << this->cmvResCurrent << " A"
<< std::endl;
sif::info << "PowerSet::printSet: CMV Res voltage: " << this->cmvResVoltage << " V"
<< std::endl;
}
};
/**
* @brief Data set to store the time telemetry packet.
*/
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)) {}
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_TIME_SET, this);
/** Unix time in microseconds */
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_TIME_SET, this);
// Number of milliseconds since processor start-up
lp_var_t<uint32_t> runTime = lp_var_t<uint32_t>(sid.objectId, PoolIds::RUN_TIME, this);
// Unix time in seconds?? --> maybe typo in datasheet. Seems to be microseconds
lp_var_t<uint64_t> unixTime = lp_var_t<uint64_t>(sid.objectId, PoolIds::UNIX_TIME, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "TimeSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "TimeSet::printSet: Time (time stamp): " << this->time << " us" << std::endl;
sif::info << "TimeSet::printSet: Run Time: " << this->runTime << " ms" << std::endl;
sif::info << "TimeSet::printSet: Unix Time: " << this->unixTime << " s" << std::endl;
}
};
/**
* @brief The solution dataset is the main dataset of the star tracker and contains the
* attitude information.
*/
class SolutionSet : public StaticLocalDataSet<SOLUTION_SET_ENTRIES> {
public:
static const size_t SIZE = 78;
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
lp_var_t<uint64_t> time = 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
lp_var_t<float> caliQw = lp_var_t<float>(sid.objectId, PoolIds::CALI_QW, this);
lp_var_t<float> caliQx = lp_var_t<float>(sid.objectId, PoolIds::CALI_QX, this);
lp_var_t<float> caliQy = lp_var_t<float>(sid.objectId, PoolIds::CALI_QY, this);
lp_var_t<float> caliQz = lp_var_t<float>(sid.objectId, PoolIds::CALI_QZ, this);
// The lower this value the more confidence that the star tracker solution is correct
lp_var_t<float> trackConfidence = lp_var_t<float>(sid.objectId, PoolIds::TRACK_CONFIDENCE, this);
// Estimated attitude of spacecraft
lp_var_t<float> trackQw = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QW, this);
lp_var_t<float> trackQx = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QX, this);
lp_var_t<float> trackQy = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QY, this);
lp_var_t<float> trackQz = lp_var_t<float>(sid.objectId, PoolIds::TRACK_QZ, this);
// Number of stars removed from tracking solution
lp_var_t<uint8_t> trackRemoved = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRACK_REMOVED, this);
// Number of stars for which a valid centroid was found
lp_var_t<uint8_t> starsCentroided =
lp_var_t<uint8_t>(sid.objectId, PoolIds::STARS_CENTROIDED, this);
// Number of stars that matched to a database star
lp_var_t<uint8_t> starsMatchedDatabase =
lp_var_t<uint8_t>(sid.objectId, PoolIds::STARS_MATCHED_DATABASE, this);
// Result of LISA (lost in space algorithm), searches for stars without prior knowledge of
// attitude
lp_var_t<float> lisaQw = lp_var_t<float>(sid.objectId, PoolIds::LISA_QW, this);
lp_var_t<float> lisaQx = lp_var_t<float>(sid.objectId, PoolIds::LISA_QX, this);
lp_var_t<float> lisaQy = lp_var_t<float>(sid.objectId, PoolIds::LISA_QY, this);
lp_var_t<float> lisaQz = lp_var_t<float>(sid.objectId, PoolIds::LISA_QZ, this);
// Percentage of close stars in LISA solution
lp_var_t<float> lisaPercentageClose =
lp_var_t<float>(sid.objectId, PoolIds::LISA_PERC_CLOSE, this);
// Number of close stars in LISA solution
lp_var_t<uint8_t> lisaNrClose = lp_var_t<uint8_t>(sid.objectId, PoolIds::LISA_NR_CLOSE, this);
// Gives a combined overview of the validation parameters (1 for valid solution, otherwise 0)
lp_var_t<uint8_t> isTrustWorthy = lp_var_t<uint8_t>(sid.objectId, PoolIds::TRUST_WORTHY, this);
// Number of times the validation criteria was met
lp_var_t<uint32_t> stableCount = lp_var_t<uint32_t>(sid.objectId, PoolIds::STABLE_COUNT, this);
// Shows the autonomous mode used to obtain the star tracker attitude
lp_var_t<uint8_t> solutionStrategy =
lp_var_t<uint8_t>(sid.objectId, PoolIds::SOLUTION_STRATEGY, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "SolutionSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "SolutionSet::printSet: Time: " << this->time << std::endl;
sif::info << "SolutionSet::printSet: Calibrated quaternion Qw: " << this->caliQw << std::endl;
sif::info << "SolutionSet::printSet: Calibrated quaternion Qx: " << this->caliQx << std::endl;
sif::info << "SolutionSet::printSet: Calibrated quaternion Qy: " << this->caliQy << std::endl;
sif::info << "SolutionSet::printSet: Calibrated quaternion Qz: " << this->caliQz << std::endl;
sif::info << "SolutionSet::printSet: Track confidence: " << this->trackConfidence << std::endl;
sif::info << "SolutionSet::printSet: Track Qw: " << this->trackQw << std::endl;
sif::info << "SolutionSet::printSet: Track Qx: " << this->trackQx << std::endl;
sif::info << "SolutionSet::printSet: Track Qy: " << this->trackQy << std::endl;
sif::info << "SolutionSet::printSet: Track Qz: " << this->trackQz << std::endl;
sif::info << "SolutionSet::printSet: Track removed: "
<< static_cast<unsigned int>(this->trackRemoved.value) << std::endl;
sif::info << "SolutionSet::printSet: Number of stars centroided: "
<< static_cast<unsigned int>(this->starsCentroided.value) << std::endl;
sif::info << "SolutionSet::printSet: Number of stars matched database: "
<< static_cast<unsigned int>(this->starsMatchedDatabase.value) << std::endl;
sif::info << "SolutionSet::printSet: LISA Qw: " << this->lisaQw << std::endl;
sif::info << "SolutionSet::printSet: LISA Qx: " << this->lisaQx << std::endl;
sif::info << "SolutionSet::printSet: LISA Qy: " << this->lisaQy << std::endl;
sif::info << "SolutionSet::printSet: LISA Qz: " << this->lisaQz << std::endl;
sif::info << "SolutionSet::printSet: LISA Percentage close: " << this->lisaPercentageClose
<< std::endl;
sif::info << "SolutionSet::printSet: LISA number of close stars: "
<< static_cast<unsigned int>(this->lisaNrClose.value) << std::endl;
sif::info << "SolutionSet::printSet: Is trust worthy: "
<< static_cast<unsigned int>(this->isTrustWorthy.value) << std::endl;
sif::info << "SolutionSet::printSet: Stable count: " << this->stableCount << std::endl;
sif::info << "SolutionSet::printSet: Solution strategy: "
<< static_cast<unsigned int>(this->solutionStrategy.value) << std::endl;
}
};
/**
* @brief Dataset to store the histogram
*/
class HistogramSet : public StaticLocalDataSet<HISTOGRAM_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 156;
HistogramSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, HISTOGRAM_SET_ID) {}
HistogramSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, HISTOGRAM_SET_ID)) {}
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_HISTOGRAM_SET, this);
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_HISTOGRAM_SET, this);
lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA0, this);
lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA1, this);
lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA2, this);
lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA3, this);
lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA4, this);
lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA5, this);
lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA6, this);
lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA7, this);
lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINA8, this);
lp_var_t<uint32_t> binB0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB0, this);
lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB1, this);
lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB2, this);
lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB3, this);
lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB4, this);
lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB5, this);
lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB6, this);
lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB7, this);
lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINB8, this);
lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC0, this);
lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC1, this);
lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC2, this);
lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC3, this);
lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC4, this);
lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC5, this);
lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC6, this);
lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC7, this);
lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BINC8, this);
lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND0, this);
lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND1, this);
lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND2, this);
lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND3, this);
lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND4, this);
lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND5, this);
lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND6, this);
lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND7, this);
lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::HISTOGRAM_BIND8, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "HistogramSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "HistogramSet::printSet: Time (time stamp): " << this->time << " us" << std::endl;
sif::info << "HistogramSet::printSet: BinA0: " << this->binA0 << std::endl;
sif::info << "HistogramSet::printSet: BinA1: " << this->binA1 << std::endl;
sif::info << "HistogramSet::printSet: BinA2: " << this->binA2 << std::endl;
sif::info << "HistogramSet::printSet: BinA3: " << this->binA3 << std::endl;
sif::info << "HistogramSet::printSet: BinA4: " << this->binA4 << std::endl;
sif::info << "HistogramSet::printSet: BinA5: " << this->binA5 << std::endl;
sif::info << "HistogramSet::printSet: BinA6: " << this->binA6 << std::endl;
sif::info << "HistogramSet::printSet: BinA7: " << this->binA7 << std::endl;
sif::info << "HistogramSet::printSet: BinA8: " << this->binA8 << std::endl;
sif::info << "HistogramSet::printSet: BinB0: " << this->binB0 << std::endl;
sif::info << "HistogramSet::printSet: BinB1: " << this->binB1 << std::endl;
sif::info << "HistogramSet::printSet: BinB2: " << this->binB2 << std::endl;
sif::info << "HistogramSet::printSet: BinB3: " << this->binB3 << std::endl;
sif::info << "HistogramSet::printSet: BinB4: " << this->binB4 << std::endl;
sif::info << "HistogramSet::printSet: BinB5: " << this->binB5 << std::endl;
sif::info << "HistogramSet::printSet: BinB6: " << this->binB6 << std::endl;
sif::info << "HistogramSet::printSet: BinB7: " << this->binB7 << std::endl;
sif::info << "HistogramSet::printSet: BinB8: " << this->binB8 << std::endl;
sif::info << "HistogramSet::printSet: BinC0: " << this->binC0 << std::endl;
sif::info << "HistogramSet::printSet: BinC1: " << this->binC1 << std::endl;
sif::info << "HistogramSet::printSet: BinC2: " << this->binC2 << std::endl;
sif::info << "HistogramSet::printSet: BinC3: " << this->binC3 << std::endl;
sif::info << "HistogramSet::printSet: BinC4: " << this->binC4 << std::endl;
sif::info << "HistogramSet::printSet: BinC5: " << this->binC5 << std::endl;
sif::info << "HistogramSet::printSet: BinC6: " << this->binC6 << std::endl;
sif::info << "HistogramSet::printSet: BinC7: " << this->binC7 << std::endl;
sif::info << "HistogramSet::printSet: BinC8: " << this->binC8 << std::endl;
sif::info << "HistogramSet::printSet: BinD0: " << this->binD0 << std::endl;
sif::info << "HistogramSet::printSet: BinD1: " << this->binD1 << std::endl;
sif::info << "HistogramSet::printSet: BinD2: " << this->binD2 << std::endl;
sif::info << "HistogramSet::printSet: BinD3: " << this->binD3 << std::endl;
sif::info << "HistogramSet::printSet: BinD4: " << this->binD4 << std::endl;
sif::info << "HistogramSet::printSet: BinD5: " << this->binD5 << std::endl;
sif::info << "HistogramSet::printSet: BinD6: " << this->binD6 << std::endl;
sif::info << "HistogramSet::printSet: BinD7: " << this->binD7 << std::endl;
sif::info << "HistogramSet::printSet: BinD8: " << this->binD8 << std::endl;
}
};
/**
* @brief Dataset to store the contrast telemetry data
*/
class ContrastSet : public StaticLocalDataSet<CONTRAST_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 156;
ContrastSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CONTRAST_SET_ID) {}
ContrastSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, CONTRAST_SET_ID)) {}
lp_var_t<uint32_t> ticks = lp_var_t<uint32_t>(sid.objectId, PoolIds::TICKS_CONTRAST_SET, this);
lp_var_t<uint64_t> time = lp_var_t<uint64_t>(sid.objectId, PoolIds::TIME_CONTRAST_SET, this);
lp_var_t<uint32_t> binA0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA0, this);
lp_var_t<uint32_t> binA1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA1, this);
lp_var_t<uint32_t> binA2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA2, this);
lp_var_t<uint32_t> binA3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA3, this);
lp_var_t<uint32_t> binA4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA4, this);
lp_var_t<uint32_t> binA5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA5, this);
lp_var_t<uint32_t> binA6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA6, this);
lp_var_t<uint32_t> binA7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA7, this);
lp_var_t<uint32_t> binA8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINA8, this);
lp_var_t<uint32_t> binb0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB0, this);
lp_var_t<uint32_t> binB1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB1, this);
lp_var_t<uint32_t> binB2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB2, this);
lp_var_t<uint32_t> binB3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB3, this);
lp_var_t<uint32_t> binB4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB4, this);
lp_var_t<uint32_t> binB5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB5, this);
lp_var_t<uint32_t> binB6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB6, this);
lp_var_t<uint32_t> binB7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB7, this);
lp_var_t<uint32_t> binB8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINB8, this);
lp_var_t<uint32_t> binC0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC0, this);
lp_var_t<uint32_t> binC1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC1, this);
lp_var_t<uint32_t> binC2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC2, this);
lp_var_t<uint32_t> binC3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC3, this);
lp_var_t<uint32_t> binC4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC4, this);
lp_var_t<uint32_t> binC5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC5, this);
lp_var_t<uint32_t> binC6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC6, this);
lp_var_t<uint32_t> binC7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC7, this);
lp_var_t<uint32_t> binC8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BINC8, this);
lp_var_t<uint32_t> binD0 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND0, this);
lp_var_t<uint32_t> binD1 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND1, this);
lp_var_t<uint32_t> binD2 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND2, this);
lp_var_t<uint32_t> binD3 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND3, this);
lp_var_t<uint32_t> binD4 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND4, this);
lp_var_t<uint32_t> binD5 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND5, this);
lp_var_t<uint32_t> binD6 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND6, this);
lp_var_t<uint32_t> binD7 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND7, this);
lp_var_t<uint32_t> binD8 = lp_var_t<uint32_t>(sid.objectId, PoolIds::CONTRAST_BIND8, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "ContrastSet::printSet: Ticks: " << this->ticks << std::endl;
sif::info << "ContrastSet::printSet: Time (time stamp): " << this->time << " us" << std::endl;
sif::info << "ContrastSet::printSet: BinA0: " << this->binA0 << std::endl;
sif::info << "ContrastSet::printSet: BinA1: " << this->binA1 << std::endl;
sif::info << "ContrastSet::printSet: BinA2: " << this->binA2 << std::endl;
sif::info << "ContrastSet::printSet: BinA3: " << this->binA3 << std::endl;
sif::info << "ContrastSet::printSet: BinA4: " << this->binA4 << std::endl;
sif::info << "ContrastSet::printSet: BinA5: " << this->binA5 << std::endl;
sif::info << "ContrastSet::printSet: BinA6: " << this->binA6 << std::endl;
sif::info << "ContrastSet::printSet: BinA7: " << this->binA7 << std::endl;
sif::info << "ContrastSet::printSet: BinA8: " << this->binA8 << std::endl;
sif::info << "ContrastSet::printSet: BinB0: " << this->binA0 << std::endl;
sif::info << "ContrastSet::printSet: BinB1: " << this->binB1 << std::endl;
sif::info << "ContrastSet::printSet: BinB2: " << this->binB2 << std::endl;
sif::info << "ContrastSet::printSet: BinB3: " << this->binB3 << std::endl;
sif::info << "ContrastSet::printSet: BinB4: " << this->binB4 << std::endl;
sif::info << "ContrastSet::printSet: BinB5: " << this->binB5 << std::endl;
sif::info << "ContrastSet::printSet: BinB6: " << this->binB6 << std::endl;
sif::info << "ContrastSet::printSet: BinB7: " << this->binB7 << std::endl;
sif::info << "ContrastSet::printSet: BinB8: " << this->binB8 << std::endl;
sif::info << "ContrastSet::printSet: BinC0: " << this->binC0 << std::endl;
sif::info << "ContrastSet::printSet: BinC1: " << this->binC1 << std::endl;
sif::info << "ContrastSet::printSet: BinC2: " << this->binC2 << std::endl;
sif::info << "ContrastSet::printSet: BinC3: " << this->binC3 << std::endl;
sif::info << "ContrastSet::printSet: BinC4: " << this->binC4 << std::endl;
sif::info << "ContrastSet::printSet: BinC5: " << this->binC5 << std::endl;
sif::info << "ContrastSet::printSet: BinC6: " << this->binC6 << std::endl;
sif::info << "ContrastSet::printSet: BinC7: " << this->binC7 << std::endl;
sif::info << "ContrastSet::printSet: BinC8: " << this->binC8 << std::endl;
sif::info << "ContrastSet::printSet: BinD0: " << this->binD0 << std::endl;
sif::info << "ContrastSet::printSet: BinD1: " << this->binD1 << std::endl;
sif::info << "ContrastSet::printSet: BinD2: " << this->binD2 << std::endl;
sif::info << "ContrastSet::printSet: BinD3: " << this->binD3 << std::endl;
sif::info << "ContrastSet::printSet: BinD4: " << this->binD4 << std::endl;
sif::info << "ContrastSet::printSet: BinD5: " << this->binD5 << std::endl;
sif::info << "ContrastSet::printSet: BinD6: " << this->binD6 << std::endl;
sif::info << "ContrastSet::printSet: BinD7: " << this->binD7 << std::endl;
sif::info << "ContrastSet::printSet: BinD8: " << this->binD8 << std::endl;
}
};
/**
* @brief Helper Class to extract information from bytestream.
*/
class ChecksumReply {
public:
/**
* @brief Constructor
*
* @param datafield Pointer to datafield in reply buffer
*
*/
ChecksumReply(const uint8_t* datafield) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
region = *(datafield);
const uint8_t* addressData = datafield + ADDRESS_OFFSET;
size_t size = sizeof(address);
result = SerializeAdapter::deSerialize(&address, &addressData, &size,
SerializeIF::Endianness::LITTLE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize address" << std::endl;
}
const uint8_t* lengthData = datafield + LENGTH_OFFSET;
size = sizeof(length);
result =
SerializeAdapter::deSerialize(&length, &lengthData, &size, SerializeIF::Endianness::LITTLE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize length" << std::endl;
}
const uint8_t* checksumData = datafield + CHECKSUM_OFFSET;
size = sizeof(checksum);
result = SerializeAdapter::deSerialize(&checksum, &checksumData, &size,
SerializeIF::Endianness::LITTLE);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "ChecksumReply::ChecksumReply: Failed to deserialize checksum" << std::endl;
}
}
uint8_t getRegion() { return region; }
uint32_t getAddress() { return address; }
uint32_t getLength() { return length; }
uint32_t getChecksum() { return checksum; }
void printChecksum() {
sif::info << "ChecksumReply::printChecksum: 0x" << std::hex << checksum << std::endl;
}
private:
static const uint8_t ADDRESS_OFFSET = 1;
static const uint8_t LENGTH_OFFSET = 5;
static const uint8_t CHECKSUM_OFFSET = 9;
uint8_t region = 0;
uint32_t address = 0;
uint32_t length = 0;
uint32_t checksum = 0;
};
class EraseReply {
public:
EraseReply(const uint8_t* datafield) { region = *datafield; }
uint8_t getRegion() { return region; }
private:
uint8_t region = 0;
};
class ChecksumSet : public StaticLocalDataSet<CHECKSUM_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 156;
ChecksumSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CHECKSUM_SET_ID) {}
ChecksumSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, CHECKSUM_SET_ID)) {}
lp_var_t<uint32_t> checksum = lp_var_t<uint32_t>(sid.objectId, PoolIds::CHKSUM, this);
};
/**
* @brief Dataset to store download centroid response
*/
class DownloadCentroidSet : public StaticLocalDataSet<DOWNLOAD_CENTROID_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 38;
DownloadCentroidSet(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, DOWNLOADCENTROID_SET_ID) {}
DownloadCentroidSet(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, DOWNLOADCENTROID_SET_ID)) {}
lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::DWL_ID, this);
lp_var_t<float> pixx = lp_var_t<float>(sid.objectId, PoolIds::DWL_PIXX, this);
lp_var_t<float> pixy = lp_var_t<float>(sid.objectId, PoolIds::DWL_PIXY, this);
lp_var_t<float> xUncorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_X_UNCORRECTED, this);
lp_var_t<float> yUncorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_Y_UNCORRECTED, this);
lp_var_t<float> xCorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_X_CORRECTED, this);
lp_var_t<float> yCorrected = lp_var_t<float>(sid.objectId, PoolIds::DWL_Y_CORRECTED, this);
lp_var_t<uint8_t> magnitude = lp_var_t<uint8_t>(sid.objectId, PoolIds::DWL_MAGNITUDE, this);
lp_var_t<float> cxa = lp_var_t<float>(sid.objectId, PoolIds::DWL_CXA, this);
lp_var_t<float> cya = lp_var_t<float>(sid.objectId, PoolIds::DWL_CYA, this);
lp_var_t<float> quality = lp_var_t<float>(sid.objectId, PoolIds::DWL_QUALITY, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "DownloadCentroidSet::printSet: id: " << static_cast<unsigned int>(this->id.value)
<< std::endl;
sif::info << "DownloadCentroidSet::printSet: pixx: " << this->pixx << std::endl;
sif::info << "DownloadCentroidSet::printSet: pixy: " << this->pixy << std::endl;
sif::info << "DownloadCentroidSet::printSet: xUncorrected: " << this->xUncorrected << std::endl;
sif::info << "DownloadCentroidSet::printSet: yUncorrected: " << this->yUncorrected << std::endl;
sif::info << "DownloadCentroidSet::printSet: xCorrected: " << this->xCorrected << std::endl;
sif::info << "DownloadCentroidSet::printSet: yCorrected: " << this->yCorrected << std::endl;
sif::info << "DownloadCentroidSet::printSet: magnitude: " << this->magnitude << std::endl;
sif::info << "DownloadCentroidSet::printSet: cxa: " << this->cxa << std::endl;
sif::info << "DownloadCentroidSet::printSet: cya: " << this->cya << std::endl;
sif::info << "DownloadCentroidSet::printSet: quality: " << this->quality << std::endl;
}
};
namespace UploadCentroidKeys {
static const char id[] = "id";
static const char pixx[] = "pixx";
static const char pixy[] = "pixy";
static const char x_uncorrected[] = "x_uncorrected";
static const char y_uncorrected[] = "y_uncorrected";
static const char x_corrected[] = "x_corrected";
static const char y_corrected[] = "y_corrected";
static const char magnitude[] = "magnitude";
static const char cxa[] = "cxa";
static const char cya[] = "cya";
static const char quality[] = "quality";
}; // namespace UploadCentroidKeys
/**
* @brief Dataset to store matched star information
*/
class DownloadMatchedStar : public StaticLocalDataSet<DOWNLOAD_MATCHED_STAR_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 53;
DownloadMatchedStar(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, DOWNLOAD_MATCHED_STAR_SET_ID) {}
DownloadMatchedStar(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, DOWNLOAD_MATCHED_STAR_SET_ID)) {}
lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::MATCHEDSTR_ID, this);
lp_var_t<float> camfpx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMFPX, this);
lp_var_t<float> camfpy = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMFPY, this);
lp_var_t<float> camcartx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMCARTX, this);
lp_var_t<float> camcarty = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMCARTY, this);
lp_var_t<float> camcartz = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMCARTZ, this);
lp_var_t<float> cammagnitude =
lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_CAMMAGNITUDE, this);
lp_var_t<float> dbfpx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBFPX, this);
lp_var_t<float> dbfpy = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBFPY, this);
lp_var_t<float> dbcartx = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBCARTX, this);
lp_var_t<float> dbcarty = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBCARTY, this);
lp_var_t<float> dbcartz = lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBCARTZ, this);
lp_var_t<float> dbmagnitude =
lp_var_t<float>(sid.objectId, PoolIds::MATCHEDSTR_DBMAGNITUDE, this);
lp_var_t<uint32_t> catalogid =
lp_var_t<uint32_t>(sid.objectId, PoolIds::MATCHEDSTR_CATALOGID, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "DownloadMatchedStar::printSet: id: " << static_cast<unsigned int>(this->id.value)
<< std::endl;
sif::info << "DownloadMatchedStar::printSet: camfpx: " << this->camfpx << std::endl;
sif::info << "DownloadMatchedStar::printSet: camfpy: " << this->camfpy << std::endl;
sif::info << "DownloadMatchedStar::printSet: camcartx: " << this->camcartx << std::endl;
sif::info << "DownloadMatchedStar::printSet: camcarty: " << this->camcarty << std::endl;
sif::info << "DownloadMatchedStar::printSet: camcartz: " << this->camcartz << std::endl;
sif::info << "DownloadMatchedStar::printSet: cammagnitude: " << this->cammagnitude << std::endl;
sif::info << "DownloadMatchedStar::printSet: dbfpx: " << this->dbfpx << std::endl;
sif::info << "DownloadMatchedStar::printSet: dbfpy: " << this->dbfpy << std::endl;
sif::info << "DownloadMatchedStar::printSet: dbcartx: " << this->dbcartx << std::endl;
sif::info << "DownloadMatchedStar::printSet: dbcarty: " << this->dbcarty << std::endl;
sif::info << "DownloadMatchedStar::printSet: dbcartz: " << this->dbcartz << std::endl;
sif::info << "DownloadMatchedStar::printSet: dbmagnitude: " << this->dbmagnitude << std::endl;
sif::info << "DownloadMatchedStar::printSet: catalogid: " << this->catalogid << std::endl;
}
};
/**
* @brief Dataset to store the response to the DownloadDBImage request
*/
class DownloadDBImage : public StaticLocalDataSet<DOWNLOAD_DBIMAGE_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 21;
DownloadDBImage(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, DOWNLOAD_DBIMAGE_SET_ID) {}
DownloadDBImage(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, DOWNLOAD_DBIMAGE_SET_ID)) {}
lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::DBIMAGE_ID, this);
lp_var_t<float> pixx = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_PIXX, this);
lp_var_t<float> pixy = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_PIXY, this);
lp_var_t<float> x = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_X, this);
lp_var_t<float> y = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_Y, this);
lp_var_t<float> magnitude = lp_var_t<float>(sid.objectId, PoolIds::DBIMAGE_MAGNITUDE, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "DownloadDBImage::printSet: id: " << static_cast<unsigned int>(this->id.value)
<< std::endl;
sif::info << "DownloadDBImage::printSet: pixx: " << this->pixx << std::endl;
sif::info << "DownloadDBImage::printSet: pixy: " << this->pixy << std::endl;
sif::info << "DownloadDBImage::printSet: x: " << this->x << std::endl;
sif::info << "DownloadDBImage::printSet: y: " << this->y << std::endl;
sif::info << "DownloadDBImage::printSet: magnitude: " << this->magnitude << std::endl;
}
};
/**
* @brief Dataset to store the response to the download blob pixel action request
*/
class DownloadBlobPixel : public StaticLocalDataSet<DOWNLOAD_BLOBPIXEL_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 22;
DownloadBlobPixel(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, DOWNLOAD_BLOBPIXEL_SET_ID) {}
DownloadBlobPixel(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, DOWNLOAD_BLOBPIXEL_SET_ENTRIES)) {}
lp_var_t<uint8_t> id = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOBPIX_ID, this);
lp_var_t<uint32_t> x = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_X, this);
lp_var_t<uint32_t> y = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_Y, this);
lp_var_t<uint32_t> totalValue = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_TOT_VAL, this);
lp_var_t<uint8_t> inUse = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOBPIX_IN_USE, this);
lp_var_t<uint32_t> brightNeighbours =
lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_BRIGHT_NEIGHBOURS, this);
lp_var_t<uint32_t> region = lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOBPIX_REGION, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "DownloadBlobPixel::printSet: id: " << static_cast<unsigned int>(this->id.value)
<< std::endl;
sif::info << "DownloadBlobPixel::printSet: x: " << this->x << std::endl;
sif::info << "DownloadBlobPixel::printSet: y: " << this->y << std::endl;
sif::info << "DownloadBlobPixel::printSet: totalValue: " << this->totalValue << std::endl;
sif::info << "DownloadBlobPixel::printSet: inUse: "
<< static_cast<unsigned int>(this->inUse.value) << std::endl;
sif::info << "DownloadBlobPixel::printSet: brightNeighbours: " << this->brightNeighbours
<< std::endl;
sif::info << "DownloadBlobPixel::printSet: region: " << this->region << std::endl;
}
};
/**
* @brief Will store the camera parameters set in the star tracker which are retrieved with
* a get parameter request.
*/
class CameraSet : public StaticLocalDataSet<CAMERA_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 25;
CameraSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, CAMERA_SET_ID) {}
CameraSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, CAMERA_SET_ID)) {}
lp_var_t<uint8_t> mode = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAMERA_MODE, this);
lp_var_t<float> focallength = lp_var_t<float>(sid.objectId, PoolIds::FOCALLENGTH, this);
lp_var_t<float> exposure = lp_var_t<float>(sid.objectId, PoolIds::EXPOSURE, this);
lp_var_t<float> interval = lp_var_t<float>(sid.objectId, PoolIds::INTERVAL, this);
lp_var_t<int16_t> offset = lp_var_t<int16_t>(sid.objectId, PoolIds::CAMERA_OFFSET, this);
lp_var_t<uint8_t> pgagain = lp_var_t<uint8_t>(sid.objectId, PoolIds::PGAGAIN, this);
lp_var_t<uint8_t> adcgain = lp_var_t<uint8_t>(sid.objectId, PoolIds::ADCGAIN, this);
lp_var_t<uint8_t> reg1 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_REG1, this);
lp_var_t<uint8_t> val1 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_VAL1, this);
lp_var_t<uint8_t> reg2 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_REG2, this);
lp_var_t<uint8_t> val2 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_VAL2, this);
lp_var_t<uint8_t> reg3 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_REG3, this);
lp_var_t<uint8_t> val3 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_VAL3, this);
lp_var_t<uint8_t> reg4 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_REG4, this);
lp_var_t<uint8_t> val4 = lp_var_t<uint8_t>(sid.objectId, PoolIds::CAM_VAL4, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "CameraSet::printSet: mode: " << static_cast<unsigned int>(this->mode.value)
<< std::endl;
sif::info << "CameraSet::printSet: focallength: " << this->focallength << std::endl;
sif::info << "CameraSet::printSet: exposure: " << this->exposure << std::endl;
sif::info << "CameraSet::printSet: interval: " << this->interval << std::endl;
sif::info << "CameraSet::printSet: offset: " << this->offset << std::endl;
sif::info << "CameraSet::printSet: PGA gain: " << static_cast<unsigned int>(this->pgagain.value)
<< std::endl;
sif::info << "CameraSet::printSet: ADC gain: " << static_cast<unsigned int>(this->adcgain.value)
<< std::endl;
sif::info << "CameraSet::printSet: Reg 1: " << static_cast<unsigned int>(this->reg1.value)
<< std::endl;
sif::info << "CameraSet::printSet: Val 1: " << static_cast<unsigned int>(this->val1.value)
<< std::endl;
sif::info << "CameraSet::printSet: Reg 2: " << static_cast<unsigned int>(this->reg2.value)
<< std::endl;
sif::info << "CameraSet::printSet: Val 2: " << static_cast<unsigned int>(this->val2.value)
<< std::endl;
sif::info << "CameraSet::printSet: Reg 3: " << static_cast<unsigned int>(this->reg3.value)
<< std::endl;
sif::info << "CameraSet::printSet: Val 3: " << static_cast<unsigned int>(this->val3.value)
<< std::endl;
sif::info << "CameraSet::printSet: Reg 4: " << static_cast<unsigned int>(this->reg4.value)
<< std::endl;
sif::info << "CameraSet::printSet: Val 4: " << static_cast<unsigned int>(this->val4.value)
<< std::endl;
}
};
/**
* @brief Will store the requested limits
*/
class LimitsSet : public StaticLocalDataSet<LIMITS_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 41;
LimitsSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, LIMITS_SET_ID) {}
LimitsSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LIMITS_SET_ID)) {}
lp_var_t<uint8_t> action = lp_var_t<uint8_t>(sid.objectId, PoolIds::LIMITS_ACTION, this);
lp_var_t<float> fpga18current =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_FPGA18CURRENT, this);
lp_var_t<float> fpga25current =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_FPGA25CURRENT, this);
lp_var_t<float> fpga10current =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_FPGA10CURRENT, this);
lp_var_t<float> mcuCurrent = lp_var_t<float>(sid.objectId, PoolIds::LIMITS_MCUCURRENT, this);
lp_var_t<float> cmos21current =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOS21CURRENT, this);
lp_var_t<float> cmosPixCurrent =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOSPIXCURRENT, this);
lp_var_t<float> cmos33current =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOS33CURRENT, this);
lp_var_t<float> cmosVresCurrent =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOSVRESCURRENT, this);
lp_var_t<float> cmosTemperature =
lp_var_t<float>(sid.objectId, PoolIds::LIMITS_CMOSTEMPERATURE, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "CameraSet::printSet: action: " << static_cast<unsigned int>(this->action.value)
<< std::endl;
sif::info << "CameraSet::printSet: FPGA18Current: " << this->fpga18current << std::endl;
sif::info << "CameraSet::printSet: FPGA25Current: " << this->fpga25current << std::endl;
sif::info << "CameraSet::printSet: FPGA10Current: " << this->fpga10current << std::endl;
sif::info << "CameraSet::printSet: MCUCurrent: " << this->mcuCurrent << std::endl;
sif::info << "CameraSet::printSet: CMOS21Current: " << this->cmos21current << std::endl;
sif::info << "CameraSet::printSet: CMOSPixCurrent: " << this->cmosPixCurrent << std::endl;
sif::info << "CameraSet::printSet: CMOS33Current: " << this->cmos33current << std::endl;
sif::info << "CameraSet::printSet: CMOSVResCurrent: " << this->cmosVresCurrent << std::endl;
sif::info << "CameraSet::printSet: CMOSTemperature: " << this->cmosTemperature << std::endl;
}
};
/**
* @brief Will store the request of the blob parameters.
*/
class BlobSet : public StaticLocalDataSet<BLOB_SET_ENTRIES> {
public:
// Size of dataset
static const size_t SIZE = 22;
BlobSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, BLOB_SET_ID) {}
BlobSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, BLOB_SET_ID)) {}
lp_var_t<uint8_t> mode = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_MODE, this);
lp_var_t<uint8_t> minValue = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_MIN_VALUE, this);
lp_var_t<uint8_t> minDistance = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_MIN_DISTANCE, this);
lp_var_t<uint8_t> neighbourDistance =
lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_NEIGHBOUR_DISTANCE, this);
lp_var_t<uint8_t> neighbourBrightPixels =
lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_NEIGHBOUR_BRIGHTPIXELS, this);
lp_var_t<uint16_t> minTotalValue =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MIN_TOTAL_VALUE, this);
lp_var_t<uint16_t> maxTotalValue =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MAX_TOTAL_VALUE, this);
lp_var_t<uint16_t> minBrightNeighbours =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MIN_BRIGHT_NEIGHBOURS, this);
lp_var_t<uint16_t> maxBrightNeighbours =
lp_var_t<uint16_t>(sid.objectId, PoolIds::BLOB_MAX_BRIGHT_NEIGHBOURS, this);
lp_var_t<uint32_t> maxPixelsToConsider =
lp_var_t<uint32_t>(sid.objectId, PoolIds::BLOB_MAX_PIXELSTOCONSIDER, this);
lp_var_t<uint8_t> signalThreshold =
lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_SIGNAL_THRESHOLD, this);
lp_var_t<uint8_t> darkThreshold =
lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_DARK_THRESHOLD, this);
lp_var_t<uint8_t> enableContrast =
lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_ENABLE_CONTRAST, this);
lp_var_t<uint8_t> enableBinMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::BLOB_BIN_MODE, this);
void printSet() {
PoolReadGuard rg(this);
sif::info << "BlobSet::printSet: mode: " << static_cast<unsigned int>(this->mode.value)
<< std::endl;
sif::info << "BlobSet::printSet: minValue: " << static_cast<unsigned int>(this->minValue.value)
<< std::endl;
sif::info << "BlobSet::printSet: minDistance: "
<< static_cast<unsigned int>(this->minDistance.value) << std::endl;
sif::info << "BlobSet::printSet: neighboutDistance: "
<< static_cast<unsigned int>(this->neighbourDistance.value) << std::endl;
sif::info << "BlobSet::printSet: neighboutBrightPixels: "
<< static_cast<unsigned int>(this->neighbourBrightPixels.value) << std::endl;
sif::info << "BlobSet::printSet: minTotalValue: " << this->minTotalValue << std::endl;
sif::info << "BlobSet::printSet: maxTotalValue: " << this->maxTotalValue << std::endl;
sif::info << "BlobSet::printSet: minBrightNeighbours: " << this->minBrightNeighbours
<< std::endl;
sif::info << "BlobSet::printSet: maxBrightNeighbours: " << this->maxBrightNeighbours
<< std::endl;
sif::info << "BlobSet::printSet: maxPixelsToConsider: " << this->maxPixelsToConsider
<< std::endl;
sif::info << "BlobSet::printSet: signalThreshold: "
<< static_cast<unsigned int>(this->signalThreshold.value) << std::endl;
sif::info << "BlobSet::printSet: darkThreshold: "
<< static_cast<unsigned int>(this->darkThreshold.value) << std::endl;
sif::info << "BlobSet::printSet: enableContrast: "
<< static_cast<unsigned int>(this->enableContrast.value) << std::endl;
sif::info << "BlobSet::printSet: enableBinMode: "
<< static_cast<unsigned int>(this->enableBinMode.value) << std::endl;
}
};
} // namespace StarTracker
#endif /* MISSION_STARTRACKER_DEFINITIONS_H_ */