eive-obsw/mission/devices/SusHandler.cpp

#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/SusHandler.h>
#include <OBSWConfig.h>

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

SusHandler::~SusHandler() {
}


void SusHandler::doStartUp(){
    if (internalState == InternalState::CONFIGURED) {
#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) {

    switch (communicationStep) {
    case CommunicationStep::START_CONVERSION: {
        *id = SUS::START_CONVERSION;
        communicationStep = CommunicationStep::READ_CONVERSIONS;
        break;
    }
    case CommunicationStep::READ_CONVERSIONS: {
        *id = SUS::READ_CONVERSIONS;
//        communicationStep = CommunicationStep::START_CONVERSION;
        communicationStep = CommunicationStep::READ_CONVERSIONS;
        break;
    }
    default: {
        sif::debug << "SusHandler::buildNormalDeviceCommand: Unknwon communication "
                << "step" << std::endl;
        return HasReturnvaluesIF::RETURN_OK;
    }
    }
	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t SusHandler::buildTransitionDeviceCommand(
		DeviceCommandId_t * id){
    if (internalState == InternalState::SETUP) {
        *id = SUS::WRITE_SETUP;
    }
    else {
        return HasReturnvaluesIF::RETURN_OK;
    }
	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t SusHandler::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
		size_t commandDataLen) {
	switch(deviceCommand) {
	case(SUS::WRITE_SETUP): {
		cmdBuffer[0] = SUS::SETUP_DEFINITION;
		cmdBuffer[1] = SUS::UNIPOLAR_CONFIG;
		rawPacket = cmdBuffer;
		rawPacketLen = 2;
		internalState = InternalState::CONFIGURED;
		return RETURN_OK;
	}
	case(SUS::START_CONVERSION): {
	    cmdBuffer[0] = SUS::CONVERSION_DEFINITION;
 		rawPacket = cmdBuffer;
		rawPacketLen = 1;
		return RETURN_OK;
	}
	case(SUS::READ_CONVERSIONS): {
	    cmdBuffer[0] = SUS::DUMMY_BYTE;
	    cmdBuffer[1] = SUS::DUMMY_BYTE;
	    cmdBuffer[2] = SUS::DUMMY_BYTE;
	    cmdBuffer[3] = SUS::DUMMY_BYTE;
	    cmdBuffer[4] = SUS::DUMMY_BYTE;
	    cmdBuffer[5] = SUS::DUMMY_BYTE;
	    cmdBuffer[6] = SUS::DUMMY_BYTE;
	    cmdBuffer[7] = SUS::DUMMY_BYTE;
	    cmdBuffer[8] = SUS::DUMMY_BYTE;
        rawPacket = cmdBuffer;
        rawPacketLen = SUS::READ_SIZE;
	    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_CONVERSION);
    this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset,
            SUS::READ_SIZE);
}

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.diffScanChannel0_1 = (*(packet + 2) << 8 | *(packet + 3));
	    dataset.diffScanChannel2_3 = (*(packet + 2) << 8 | *(packet + 3));
	    dataset.diffScanChannel4_5 = (*(packet + 2) << 8 | *(packet + 3));
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
        sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", temperature: "
                << dataset.temperatureCelcius << " °C" << std::endl;
        sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 0/1: "
                << dataset.diffScanChannel0_1 << std::endl;
        sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 2/3: "
                << dataset.diffScanChannel2_3 << std::endl;
        sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 4/5: "
                << dataset.diffScanChannel4_5 << std::endl;
#endif
		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 5000;
}

ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
        LocalDataPoolManager& poolManager) {
    localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
    localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_0_1, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_2_3, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_4_5, new PoolEntry<uint16_t>( { 0 }));
    return HasReturnvaluesIF::RETURN_OK;
}