eive-obsw/mission/devices/MGMHandlerRM3100.cpp

#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerRM3100.h"

#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>


MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
        object_id_t deviceCommunication, CookieIF* comCookie):
		DeviceHandlerBase(objectId, deviceCommunication, comCookie),
		primaryDataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
	debugDivider = new PeriodicOperationDivider(10);
#endif
}

MGMHandlerRM3100::~MGMHandlerRM3100() {}

void MGMHandlerRM3100::doStartUp() {
    switch(internalState) {
    case(InternalState::STATE_NONE): {
        internalState = InternalState::STATE_CONFIGURE_CMM;
        break;
    }
    case(InternalState::STATE_CONFIGURE_CMM): {
        internalState = InternalState::STATE_READ_CMM;
        break;
    }
    case(InternalState::STATE_READ_CMM): {
        if(commandExecuted) {
            internalState = InternalState::STATE_CONFIGURE_TMRC;
        }
        break;
    }
    case(InternalState::STATE_CONFIGURE_TMRC): {
        internalState = InternalState::STATE_READ_TMRC;
        break;
    }
    case(InternalState::STATE_READ_TMRC): {
        if(commandExecuted) {
            internalState = InternalState::STATE_NORMAL;
            //setMode(_MODE_TO_ON);
            setMode(MODE_NORMAL);
        }
        break;
    }
    default: {
        break;
    }
    }
}

void MGMHandlerRM3100::doShutDown() {
	setMode(_MODE_POWER_DOWN);
}

ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
		DeviceCommandId_t *id) {
	switch(internalState) {
	case(InternalState::STATE_NONE):
	case(InternalState::STATE_NORMAL): {
		return HasReturnvaluesIF::RETURN_OK;
	}
	case(InternalState::STATE_CONFIGURE_CMM): {
		*id = RM3100::CONFIGURE_CMM;
		break;
	}
	case(InternalState::STATE_READ_CMM): {
		*id = RM3100::READ_CMM;
		break;
	}
	case(InternalState::STATE_CONFIGURE_TMRC): {
		*id = RM3100::CONFIGURE_TMRC;
		break;
	}
	case(InternalState::STATE_READ_TMRC): {
		*id = RM3100::READ_TMRC;
		break;
	}
	default:
		// might be a configuration error.
		sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
				<< "internal state!" << std::endl;
		return HasReturnvaluesIF::RETURN_OK;
	}

	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	switch(deviceCommand) {
	case(RM3100::CONFIGURE_CMM): {
		commandBuffer[0] = RM3100::CMM_REGISTER;
		commandBuffer[1] = RM3100::CMM_VALUE;
		rawPacket = commandBuffer;
		rawPacketLen = 2;
		break;
	}
	case(RM3100::READ_CMM): {
		commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
		commandBuffer[1] = 0;
		rawPacket = commandBuffer;
		rawPacketLen = 2;
		break;
	}
	case(RM3100::CONFIGURE_TMRC): {
		return handleTmrcConfigCommand(deviceCommand, commandData,
				commandDataLen);
	}
	case(RM3100::READ_TMRC): {
		commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
		commandBuffer[1] = 0;
		rawPacket = commandBuffer;
		rawPacketLen = 2;
		break;
	}
	case(RM3100::CONFIGURE_CYCLE_COUNT): {
		return handleCycleCountConfigCommand(deviceCommand, commandData,
				commandDataLen);
	}
	case(RM3100::READ_CYCLE_COUNT): {
		commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
				RM3100::READ_MASK;
		std::memset(commandBuffer + 1, 0, 6);
		rawPacket = commandBuffer;
		rawPacketLen = 7;
		break;
	}
	case(RM3100::READ_DATA): {
		commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
		std::memset(commandBuffer + 1, 0,  9);
		rawPacketLen = 10;
		break;
	}
	default:
		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	return RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
		DeviceCommandId_t *id) {
	*id = RM3100::READ_DATA;
	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
        size_t len, DeviceCommandId_t *foundId,
		size_t *foundLen) {

	/* For SPI, ID will always be the one of the last sent command. */
	*foundId = this->getPendingCommand();
	*foundLen = len;
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
		DeviceCommandId_t id, const uint8_t *packet) {
	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
	switch(id) {
	case(RM3100::CONFIGURE_CMM):
	case(RM3100::CONFIGURE_CYCLE_COUNT):
	case(RM3100::CONFIGURE_TMRC): {
		/* We can only check whether write was successful with read operation. */
		break;
	}
	case(RM3100::READ_CMM): {
		if(packet[1] == cmmRegValue) {
			commandExecuted = true;
		}
		else {
			/* Attempt reconfiguration. */
			internalState = InternalState::STATE_CONFIGURE_CMM;
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
		break;
	}
	case(RM3100::READ_TMRC): {
		if(packet[1] == tmrcRegValue) {
			commandExecuted = true;
			/* Reading TMRC was commanded. Trigger event to inform ground. */
			if(mode != _MODE_START_UP) {
				triggerEvent(tmrcSet, tmrcRegValue, 0);
			}
		}
		else {
			/* Attempt reconfiguration. */
			internalState = InternalState::STATE_CONFIGURE_TMRC;
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
		break;
	}
	case(RM3100::READ_CYCLE_COUNT): {
		uint16_t cycleCountX = packet[1] << 8 | packet[2];
		uint16_t cycleCountY = packet[3] << 8 | packet[4];
		uint16_t cycleCountZ = packet[5] << 8 | packet[6];
		if(cycleCountX != cycleCountRegValueX or
				cycleCountY != cycleCountRegValueY or
				cycleCountZ != cycleCountRegValueZ) {
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
		/* Reading TMRC was commanded. Trigger event to inform ground. */
		if(mode != _MODE_START_UP) {
			uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
			triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
		}
		break;
	}
	case(RM3100::READ_DATA): {
		result = handleDataReadout(packet);
		break;
	}
	default:
		return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
	}

	return result;
}

ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	if(commandData == nullptr) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	// Set cycle count
	if(commandDataLen == 2) {
		handleCycleCommand(true, commandData, commandDataLen);
	}
	else if(commandDataLen == 6) {
		handleCycleCommand(false, commandData, commandDataLen);
	}
	else {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
	std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
	std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
	std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
	rawPacketLen = 7;
	rawPacket = commandBuffer;
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
		const uint8_t *commandData, size_t commandDataLen) {
	RM3100::CycleCountCommand command(oneCycleValue);
	ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
			SerializeIF::Endianness::BIG);
	if(result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	// Data sheet p.30
	// "while noise limits the useful upper range to ~400 cycle counts."
	if(command.cycleCountX > 450 ) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	if(not oneCycleValue and
			(command.cycleCountY > 450 or command.cycleCountZ > 450)) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	cycleCountRegValueX = command.cycleCountX;
	cycleCountRegValueY = command.cycleCountY;
	cycleCountRegValueZ = command.cycleCountZ;
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	if(commandData == nullptr) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	if(commandDataLen != 1) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	commandBuffer[0] = RM3100::TMRC_REGISTER;
	commandBuffer[1] = commandData[1];
	rawPacketLen = 2;
	rawPacket = commandBuffer;
	return HasReturnvaluesIF::RETURN_OK;
}

void MGMHandlerRM3100::fillCommandAndReplyMap() {
	insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 2);
	insertInCommandAndReplyMap(RM3100::READ_CMM, 2);

	insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 2);
	insertInCommandAndReplyMap(RM3100::READ_TMRC, 2);

	insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 2);
	insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 2);

	insertInCommandAndReplyMap(RM3100::READ_DATA, 2, &primaryDataset);
}

void MGMHandlerRM3100::modeChanged(void) {
	internalState = InternalState::STATE_NONE;
}

ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
			new PoolEntry<float>({0.0}));
	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
			new PoolEntry<float>({0.0}));
	localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
			new PoolEntry<float>({0.0}));
	return HasReturnvaluesIF::RETURN_OK;
}

uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
	return 60000;
}

ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
	/* Analyze data here. Field strengths in microtesla */
	int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
			* scaleFactorX;
	int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
			* scaleFactorY;
	int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
			* scaleFactorZ;

#if OBSW_VERBOSE_LEVEL >= 1
	if(debugDivider->checkAndIncrement()) {
		sif::info << "MGMHandlerLIS3: Magnetic field strength in"
				" microtesla:" << std::endl;
		/* Set terminal to utf-8 if there is an issue with micro printout. */
		sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
		sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
		sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
	}
#endif

	PoolReadGuard readGuard(&primaryDataset);
	if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
		primaryDataset.fieldStrengthX = fieldStrengthX;
		primaryDataset.fieldStrengthY = fieldStrengthY;
		primaryDataset.fieldStrengthZ = fieldStrengthZ;
		primaryDataset.setValidity(true, true);
	}
	return RETURN_OK;
}