eive-obsw/linux/devices/SusHandler.cpp

#include "SusHandler.h"

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>

#include "OBSWConfig.h"

SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                       LinuxLibgpioIF *gpioComIF, gpioId_t chipSelectId)
    : DeviceHandlerBase(objectId, comIF, comCookie),
      gpioComIF(gpioComIF),
      chipSelectId(chipSelectId),
      dataset(this) {
  if (comCookie == nullptr) {
    sif::error << "SusHandler: Invalid com cookie" << std::endl;
  }
  if (gpioComIF == nullptr) {
    sif::error << "SusHandler: Invalid GpioComIF" << std::endl;
  }
}

SusHandler::~SusHandler() {}

ReturnValue_t SusHandler::performOperation(uint8_t counter) {
  if (counter != FIRST_WRITE) {
    DeviceHandlerBase::performOperation(counter);
    return RETURN_OK;
  }

  if (mode != MODE_NORMAL) {
    DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
    return RETURN_OK;
  }

  /* If device is in normale mode the communication sequence is initiated here */
  if (communicationStep == CommunicationStep::IDLE) {
    communicationStep = CommunicationStep::WRITE_SETUP;
  }

  DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);

  return RETURN_OK;
}

ReturnValue_t SusHandler::initialize() {
  ReturnValue_t result = RETURN_OK;
  result = DeviceHandlerBase::initialize();
  if (result != RETURN_OK) {
    return result;
  }
  auto spiComIF = dynamic_cast<SpiComIF *>(communicationInterface);
  if (spiComIF == nullptr) {
    sif::debug << "SusHandler::initialize: Invalid communication interface" << std::endl;
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  spiMutex = spiComIF->getMutex();
  if (spiMutex == nullptr) {
    sif::debug << "SusHandler::initialize: Failed to get spi mutex" << std::endl;
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  return RETURN_OK;
}

void SusHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
  setMode(MODE_NORMAL);
#else
  setMode(_MODE_TO_ON);
#endif
}

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

ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  if (communicationStep == CommunicationStep::IDLE) {
    return NOTHING_TO_SEND;
  }

  if (communicationStep == CommunicationStep::WRITE_SETUP) {
    *id = SUS::WRITE_SETUP;
    communicationStep = CommunicationStep::START_CONVERSIONS;
  } else if (communicationStep == CommunicationStep::START_CONVERSIONS) {
    *id = SUS::START_CONVERSIONS;
    communicationStep = CommunicationStep::READ_CONVERSIONS;
  } else if (communicationStep == CommunicationStep::READ_CONVERSIONS) {
    *id = SUS::READ_CONVERSIONS;
    communicationStep = CommunicationStep::IDLE;
  }
  return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t SusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                  const uint8_t *commandData,
                                                  size_t commandDataLen) {
  switch (deviceCommand) {
    case (SUS::WRITE_SETUP): {
      /**
       * The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
       * measurement the setup has to be rewritten. There must also be a little delay between
       * the transmission of the setup byte and the first conversion. Thus the conversion
       * will be performed in an extra step.
       * Because the chip select is driven manually by the SusHandler the SPI bus must be
       * protected with a mutex here.
       */
      ReturnValue_t result = spiMutex->lockMutex(timeoutType, timeoutMs);
      if (result == MutexIF::MUTEX_TIMEOUT) {
        sif::error << "SusHandler::buildCommandFromCommand: Mutex timeout" << std::endl;
        return ERROR_LOCK_MUTEX;
      } else if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "SusHandler::buildCommandFromCommand: Failed to lock spi mutex" << std::endl;
        return ERROR_LOCK_MUTEX;
      }

      gpioComIF->pullLow(chipSelectId);
      cmdBuffer[0] = SUS::SETUP;
      rawPacket = cmdBuffer;
      rawPacketLen = 1;
      return RETURN_OK;
    }
    case (SUS::START_CONVERSIONS): {
      std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
      cmdBuffer[0] = SUS::CONVERSION;
      rawPacket = cmdBuffer;
      rawPacketLen = 2;
      return RETURN_OK;
    }
    case (SUS::READ_CONVERSIONS): {
      std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
      rawPacket = cmdBuffer;
      rawPacketLen = SUS::SIZE_READ_CONVERSIONS;
      return RETURN_OK;
    }
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
  return HasReturnvaluesIF::RETURN_FAILED;
}

void SusHandler::fillCommandAndReplyMap() {
  this->insertInCommandMap(SUS::WRITE_SETUP);
  this->insertInCommandMap(SUS::START_CONVERSIONS);
  this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset, SUS::SIZE_READ_CONVERSIONS);
}

ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t remainingSize,
                                       DeviceCommandId_t *foundId, size_t *foundLen) {
  *foundId = this->getPendingCommand();
  *foundLen = remainingSize;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
  switch (id) {
    case SUS::READ_CONVERSIONS: {
      PoolReadGuard readSet(&dataset);
      dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
      dataset.ain0 = (*(packet + 2) << 8 | *(packet + 3));
      dataset.ain1 = (*(packet + 4) << 8 | *(packet + 5));
      dataset.ain2 = (*(packet + 6) << 8 | *(packet + 7));
      dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9));
      dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
      dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SUS == 1
      sif::info << "SUS object id 0x" << std::hex << this->getObjectId()
                << ", Temperature: " << dataset.temperatureCelcius << " C" << std::endl;
      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: " << std::dec
                << dataset.ain0 << std::endl;
      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: " << std::dec
                << dataset.ain1 << std::endl;
      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: " << std::dec
                << dataset.ain2 << std::endl;
      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: " << std::dec
                << dataset.ain3 << std::endl;
      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: " << std::dec
                << dataset.ain4 << std::endl;
      sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: " << std::dec
                << dataset.ain5 << std::endl;
#endif
      /** SUS can now be shutdown and thus the SPI bus released again */
      gpioComIF->pullHigh(chipSelectId);
      ReturnValue_t result = spiMutex->unlockMutex();
      if (result != RETURN_OK) {
        sif::error << "SusHandler::interpretDeviceReply: Failed to unlock spi mutex" << std::endl;
        return ERROR_UNLOCK_MUTEX;
      }
      break;
    }
    default: {
      sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
  }
  return HasReturnvaluesIF::RETURN_OK;
}

void SusHandler::setNormalDatapoolEntriesInvalid() {}

uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }

ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                  LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>({0}));
  return HasReturnvaluesIF::RETURN_OK;
}