eive-obsw/mission/devices/ACUHandler.cpp

#include "ACUHandler.h"

#include "OBSWConfig.h"

ACUHandler::ACUHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie)
    : GomspaceDeviceHandler(objectId, comIF, comCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
                            ACU::MAX_HKTABLE_ADDRESS, ACU::HK_TABLE_REPLY_SIZE),
      acuHkTableDataset(this) {}

ACUHandler::~ACUHandler() {}

ReturnValue_t ACUHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  *id = GOMSPACE::REQUEST_HK_TABLE;
  return buildCommandFromCommand(*id, NULL, 0);
}

void ACUHandler::fillCommandAndReplyMap() {
  GomspaceDeviceHandler::fillCommandAndReplyMap();
  this->insertInCommandMap(PRINT_CHANNEL_STATS);
}

void ACUHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
  parseHkTableReply(packet);
  handleDeviceTM(&acuHkTableDataset, id, true);

  if (debugMode) {
#if OBSW_VERBOSE_LEVEL >= 1
    acuHkTableDataset.read();
    float temperatureC_1 = acuHkTableDataset.temperature1.value * 0.1;
    float temperatureC_2 = acuHkTableDataset.temperature2.value * 0.1;
    float temperatureC_3 = acuHkTableDataset.temperature3.value * 0.1;
    sif::info << "ACU: Temperature 1: " << temperatureC_1 << " °C" << std::endl;
    sif::info << "ACU: Temperature 2: " << temperatureC_2 << " °C" << std::endl;
    sif::info << "ACU: Temperature 3: " << temperatureC_3 << " °C" << std::endl;
    sif::info << "ACU: Ground Watchdog Timer Count: " << acuHkTableDataset.wdtCntGnd.value
              << std::endl;
    sif::info << "ACU: Ground watchdog timer, seconds left before reboot: "
              << acuHkTableDataset.wdtGndLeft.value << std::endl;
    acuHkTableDataset.commit();
#endif
  }
}

LocalPoolDataSetBase *ACUHandler::getDataSetHandle(sid_t sid) {
  if (sid == acuHkTableDataset.getSid()) {
    return &acuHkTableDataset;
  }
  return nullptr;
}

void ACUHandler::parseHkTableReply(const uint8_t *packet) {
  uint16_t dataOffset = 0;
  acuHkTableDataset.read();
  dataOffset += 12;
  acuHkTableDataset.currentInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.currentInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.currentInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.currentInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.currentInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.currentInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.voltageInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.voltageInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.voltageInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.voltageInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.voltageInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.voltageInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.temperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.temperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.temperature3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.mpptMode = *(packet + dataOffset);
  dataOffset += 3;

  acuHkTableDataset.vboostInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.vboostInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.vboostInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.vboostInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.vboostInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.vboostInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.powerInChannel0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.powerInChannel1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.powerInChannel2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.powerInChannel3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.powerInChannel4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.powerInChannel5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.dac0Enable = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.dac1Enable = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.dac2Enable = *(packet + dataOffset);
  dataOffset += 3;

  acuHkTableDataset.dacRawChannelVal0 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.dacRawChannelVal1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.dacRawChannelVal2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.dacRawChannelVal3 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.dacRawChannelVal4 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.dacRawChannelVal5 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.bootCause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  acuHkTableDataset.bootcnt = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                              *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  acuHkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                             *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  acuHkTableDataset.resetCause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  acuHkTableDataset.mpptTime = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  /* +12 because here starts the second csp packet */
  dataOffset += 2 + 12;

  acuHkTableDataset.mpptPeriod = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  acuHkTableDataset.device0 = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device1 = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device2 = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device3 = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device4 = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device5 = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device6 = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device7 = *(packet + dataOffset);
  dataOffset += 3;

  acuHkTableDataset.device0Status = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device1Status = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device2Status = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device3Status = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device4Status = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device5Status = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device6Status = *(packet + dataOffset);
  dataOffset += 3;
  acuHkTableDataset.device7Status = *(packet + dataOffset);
  dataOffset += 3;

  acuHkTableDataset.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  acuHkTableDataset.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;

  acuHkTableDataset.commit();
}

ReturnValue_t ACUHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                  LocalDataPoolManager &poolManager) {
  using namespace P60System;
  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL0, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL1, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL2, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL3, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL4, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNEL5, new PoolEntry<int16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL0, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL1, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL2, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL3, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL4, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNEL5, new PoolEntry<uint16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_2, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_TEMPERATURE_3, new PoolEntry<int16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL0, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL1, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL2, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL3, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL4, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_VBOOST_CHANNEL5, new PoolEntry<uint16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL0, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL1, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL2, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL3, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL4, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_POWER_CHANNEL5, new PoolEntry<uint16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_DAC_EN_0, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DAC_EN_1, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DAC_EN_2, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(pool::ACU_DAC_RAW_0, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DAC_RAW_1, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DAC_RAW_2, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DAC_RAW_3, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DAC_RAW_4, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DAC_RAW_5, new PoolEntry<uint16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::ACU_UPTIME, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::ACU_RESET_CAUSE, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));

  localDataPoolMap.emplace(pool::ACU_DEVICE_0, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_1, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_2, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_3, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_4, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_5, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_6, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_7, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(pool::ACU_DEVICE_0_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_1_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_2_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_3_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_4_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_5_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_6_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::ACU_DEVICE_7_STATUS, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));

  poolManager.subscribeForPeriodicPacket(acuHkTableDataset.getSid(), false, 30.0, false);
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t ACUHandler::childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
                                           size_t commandDataLen) {
  switch (cmd) {
    case PRINT_CHANNEL_STATS: {
      printChannelStats();
      return RETURN_OK;
    }
    default: {
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
  }
}

void ACUHandler::printChannelStats() {
  PoolReadGuard pg(&acuHkTableDataset);
  sif::info << "ACU Info: Current [mA], Voltage [mV]" << std::endl;
  sif::info << std::setw(8) << std::left << "Ch0" << std::dec << "| "
            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel0.value) << std::setw(15)
            << std::right << acuHkTableDataset.voltageInChannel0.value << std::endl;
  sif::info << std::setw(8) << std::left << "Ch1" << std::dec << "| "
            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel1.value) << std::setw(15)
            << std::right << acuHkTableDataset.voltageInChannel1.value << std::endl;
  sif::info << std::setw(8) << std::left << "Ch2" << std::dec << "| "
            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel2.value) << std::setw(15)
            << std::right << acuHkTableDataset.voltageInChannel2.value << std::endl;
  sif::info << std::setw(8) << std::left << "Ch3" << std::dec << "| "
            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel3.value) << std::setw(15)
            << std::right << acuHkTableDataset.voltageInChannel3.value << std::endl;
  sif::info << std::setw(8) << std::left << "Ch4" << std::dec << "| "
            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel4.value) << std::setw(15)
            << std::right << acuHkTableDataset.voltageInChannel4.value << std::endl;
  sif::info << std::setw(8) << std::left << "Ch5" << std::dec << "| "
            << static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value) << std::setw(15)
            << std::right << acuHkTableDataset.voltageInChannel5.value << std::endl;
}

void ACUHandler::setDebugMode(bool enable) { this->debugMode = enable; }