eive-obsw/mission/devices/PlocHandler.h

#ifndef MISSION_DEVICES_PLOCHANDLER_H_
#define MISSION_DEVICES_PLOCHANDLER_H_

#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/PlocDefinitions.h>
#include <string.h>

/**
 * @brief	This is the device handler for the ISIS Magnetorquer iMTQ.
 *
 * @author	J. Meier
 */
class PlocHandler: public DeviceHandlerBase {
public:

    PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
	virtual ~PlocHandler();

	/**
     * @brief   Sets mode to MODE_NORMAL. Can be used for debugging.
     */
    void setModeNormal();

protected:
	void doStartUp() override;
	void doShutDown() override;
	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
	ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
	void fillCommandAndReplyMap() override;
	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
				const uint8_t * commandData,size_t commandDataLen) override;
	ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
			DeviceCommandId_t *foundId, size_t *foundLen) override;
	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
			const uint8_t *packet) override;
	void setNormalDatapoolEntriesInvalid() override;
	uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
	ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
            LocalDataPoolManager& poolManager) override;

private:

    static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_HANDLER;

    static const ReturnValue_t TC_ACK_FAILURE = MAKE_RETURN_CODE(0xA0);
    static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA1);
    static const ReturnValue_t EXE_REPLY_CRC_FAILURE = MAKE_RETURN_CODE(0xA1);

    static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_HANDLER;

    static const Event REQUESTING_TM_READ_REPORT_FAILED = MAKE_EVENT(0, severity::LOW);
    static const Event TM_READ_RPT_INVALID_CRC = MAKE_EVENT(1, severity::LOW);
    static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
    static const Event CRC_FAILURE_IN_ACK_REPLY = MAKE_EVENT(2, severity::LOW);
    static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
    static const Event EXE_RPT_INVALID_CRC = MAKE_EVENT(4, severity::LOW);

    static const uint16_t APID_MASK = 0x7FF;

    DeviceCommandId_t rememberCommandId = PLOC::NONE;

    uint8_t commandBuffer[PLOC::MAX_COMMAND_SIZE];

    /**
     * @brief   This function fills the commandBuffer to initiate the write memory command.
     *
     * @param commandData   Pointer to action command data.
     * @param commanDataLen Size of command data in bytes.
     *
     * @return RETURN_OK if successful, else RETURN_FAILURE.
     */
    ReturnValue_t prepareTcMemWriteCommand(const uint8_t * commandData, size_t commandDataLen);

    /**
     * @brief   This function fills the commandBuffer to initiate the write reads command.
     *
     * @param commandData   Pointer to action command data.
     * @param commanDataLen Size of command data in bytes.
     *
     * @return RETURN_OK if successful, else RETURN_FAILURE.
     */
    ReturnValue_t prepareTcMemReadCommand(const uint8_t * commandData, size_t commandDataLen);

	/**
	 * @brief   This function checks the crc of the received PLOC reply.
	 *
	 * @param start Pointer to the first byte of the reply.
	 * @param foundLen  Pointer to the length of the whole packet.
	 *
	 * @return  RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
	 */
	ReturnValue_t verifyPacket(const uint8_t* start, size_t foundLen);

	/**
	 * @brief   This function reads and handles the execution reply.
	 * @param   RETURN_OK if reading and handling of reply successful, otherwise failure value.
	 */
	ReturnValue_t receiveExecutionReport();

	/**
	 * @brief   This function handles the data of a execution report.
	 *
	 * @param receivedData  Pointer to the received data
	 * @param receivedDataLen   Size in bytes of the received data
	 *
	 * @return  RETURN_OK if successful, otherwise an error code.
	 */
	void handleExecutionReport(const uint8_t* receivedData, size_t receivedDataLen);

	/**
	 * @brief   This function reads and handles the memory read report telemetry packet received
	 *          after requesting the packet with the TC_MEM_READ command.
	 *
	 * @details In case of a valid packet the received memory content will be forwarded to the
	 *          commanding object via an action message.
	 */
	ReturnValue_t receiveTmMemoryReadReport();

	/**
	 * @brief   This function handles action message replies in case the telemetry has been
	 *          requested by another object.
	 *
	 * @param data  Pointer to the telemtry data.
	 * @param dataSize  Size of telemetry in bytes.
	 * @param replyId   Id of the reply. This will be added to the ActionMessage.
	 */
	void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
};

#endif /* MISSION_DEVICES_PLOCHANDLER_H_ */