eive-obsw/mission/devices/RwHandler.cpp

#include "RwHandler.h"
#include "OBSWConfig.h"

#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>

RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
		LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) :
		DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), enableGpio(enableGpio),
		temperatureSet(this), statusSet(this), lastResetStatusSet(this) {
	if (comCookie == NULL) {
		sif::error << "RwHandler: Invalid com cookie" << std::endl;
	}
	if (gpioComIF == NULL) {
		sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
	}
}

RwHandler::~RwHandler() {
}

void RwHandler::doStartUp() {

    internalState  = InternalState::GET_RESET_STATUS;

    if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
        sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
    }

#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
    setMode(MODE_NORMAL);
#else
    setMode(_MODE_TO_ON);
#endif
}

void RwHandler::doShutDown() {
	if(gpioComIF->pullLow(enableGpio) != RETURN_OK) {
		sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
	}
}

ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
    switch (internalState) {
    case InternalState::GET_RESET_STATUS:
        *id = RwDefinitions::GET_LAST_RESET_STATUS;
        internalState = InternalState::READ_TEMPERATURE;
        break;
    case InternalState::CLEAR_RESET_STATUS:
        *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
        /** After reset status is cleared, reset status will be polled again for verification */
        internalState = InternalState::GET_RESET_STATUS;
        break;
    case InternalState::READ_TEMPERATURE:
        *id = RwDefinitions::GET_TEMPERATURE;
        internalState = InternalState::GET_RW_SATUS;
        break;
    case InternalState::GET_RW_SATUS:
        *id = RwDefinitions::GET_RW_STATUS;
        internalState = InternalState::GET_RESET_STATUS;
        break;
    default:
        sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step"
                << std::endl;
        break;
    }
    return buildCommandFromCommand(*id, NULL, 0);
}

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

ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
        const uint8_t * commandData, size_t commandDataLen) {
    ReturnValue_t result = RETURN_OK;

    switch (deviceCommand) {
    case (RwDefinitions::RESET_MCU): {
        prepareResetMcuCommand();
        return RETURN_OK;
    }
    case (RwDefinitions::GET_LAST_RESET_STATUS): {
        prepareGetLastResetStatusCommand();
        return RETURN_OK;
    }
    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
        prepareClearResetStatusCommand();
        return RETURN_OK;
    }
    case (RwDefinitions::GET_RW_STATUS): {
        prepareGetStatusCmd(commandData, commandDataLen);
        return RETURN_OK;
    }
    case (RwDefinitions::INIT_RW_CONTROLLER): {
        prepareInitRwCommand();
        return RETURN_OK;
    }
    case (RwDefinitions::SET_SPEED): {
        if (commandDataLen != 6) {
            sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
                    << " invalid length" << std::endl;
            return SET_SPEED_COMMAND_INVALID_LENGTH;
        }
        result = checkSpeedAndRampTime(commandData, commandDataLen);
        if (result != RETURN_OK) {
            return result;
        }
        prepareSetSpeedCmd(commandData, commandDataLen);
        return result;
    }
    case (RwDefinitions::GET_TEMPERATURE): {
        prepareGetTemperatureCmd();
        return RETURN_OK;
    }
    default:
        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
    return HasReturnvaluesIF::RETURN_FAILED;
}

void RwHandler::fillCommandAndReplyMap() {
	this->insertInCommandMap(RwDefinitions::RESET_MCU);
	this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
			RwDefinitions::SIZE_GET_RESET_STATUS);
	this->insertInCommandAndReplyMap(RwDefinitions::CLEAR_LAST_RESET_STATUS, 1, nullptr,
			RwDefinitions::SIZE_CLEAR_RESET_STATUS);
	this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
			RwDefinitions::SIZE_GET_RW_STATUS);
	this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
			RwDefinitions::SIZE_INIT_RW);
	this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
			RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
	this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
			RwDefinitions::SIZE_SET_SPEED_REPLY);
}

ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
        DeviceCommandId_t *foundId, size_t *foundLen) {

    switch (*(start)) {
    case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
        *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
        *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
        break;
    }
    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
        *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
        *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
        break;
    }
    case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
        *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
        *foundId = RwDefinitions::GET_RW_STATUS;
        break;
    }
    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
        *foundLen = RwDefinitions::SIZE_INIT_RW;
        *foundId = RwDefinitions::INIT_RW_CONTROLLER;
        break;
    }
    case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
        *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
        *foundId = RwDefinitions::SET_SPEED;
        break;
    }
    case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
        *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
        *foundId = RwDefinitions::GET_TEMPERATURE;
        break;
    }
    default: {
        sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
        return RETURN_FAILED;
        break;
    }
    }

    sizeOfReply = *foundLen;

    return RETURN_OK;
}

ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {

    /** Check result code */
    if (*(packet + 1) == RwDefinitions::ERROR) {
		sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: "
				<< id << std::endl;
        return EXECUTION_FAILED;
    }

    /** Received in little endian byte order */
    uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2) ;

    if (CRC::crc16ccitt(packet, sizeOfReply - 2, 0xFFFF) != replyCrc) {
        sif::error << "RwHandler::interpretDeviceReply: cRC error" << std::endl;
        return CRC_ERROR;
    }

    switch (id) {
    case (RwDefinitions::GET_LAST_RESET_STATUS): {
        handleResetStatusReply(packet);
        break;
    }
    case (RwDefinitions::GET_RW_STATUS): {
        handleGetRwStatusReply(packet);
        break;
    }
    case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
    case (RwDefinitions::INIT_RW_CONTROLLER):
    case (RwDefinitions::SET_SPEED):
        // no reply data expected
        break;
    case (RwDefinitions::GET_TEMPERATURE): {
        handleTemperatureReply(packet);
        break;
    }
    default: {
        sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
    }

    return RETURN_OK;
}

void RwHandler::setNormalDatapoolEntriesInvalid() {

}

uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
    return 500;
}

ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
        LocalDataPoolManager& poolManager) {

    localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>( { 0 }));

    localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
    localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>( { 0 }));
    localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>( { 0 }));

    localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));

    return RETURN_OK;
}

void RwHandler::prepareResetMcuCommand() {
    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::RESET_MCU);
    rawPacket = commandBuffer;
    rawPacketLen = 1;
}

void RwHandler::prepareGetLastResetStatusCommand() {
    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS);
    uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
    commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
    commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
    rawPacket = commandBuffer;
    rawPacketLen = 3;
}

void RwHandler::prepareClearResetStatusCommand() {
    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS);
    uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
    commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
    commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
    rawPacket = commandBuffer;
    rawPacketLen = 3;
}

void RwHandler::prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen) {
    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS);

    uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
    commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
    commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
    rawPacket = commandBuffer;
    rawPacketLen = 3;
}

ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) {
    int32_t speed = *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
            | *(commandData + 3);

    if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
        sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
        return INVALID_SPEED;
    }

    uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);

    if (rampTime < 10 || rampTime > 10000) {
        sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time"
                << std::endl;
        return INVALID_RAMP_TIME;
    }

    return RETURN_OK;
}

void RwHandler::prepareInitRwCommand() {
    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER);
    uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
    commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
    commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
    rawPacket = commandBuffer;
    rawPacketLen = 3;
}

void RwHandler::prepareGetTemperatureCmd() {
    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE);
    uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
    commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
    commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
    rawPacket = commandBuffer;
    rawPacketLen = 3;
}

void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) {
    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);

    /** Speed (0.1 RPM) */
    commandBuffer[1] = *(commandData + 3);
    commandBuffer[2] = *(commandData + 2);
    commandBuffer[3] = *(commandData + 1);
    commandBuffer[4] = *commandData;
    /** Ramp time (ms) */
    commandBuffer[5] = *(commandData + 5);
    commandBuffer[6] = *(commandData + 4);

    uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
    commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
    commandBuffer[8] = static_cast<uint8_t>(crc >> 8 & 0xFF);
    rawPacket = commandBuffer;
    rawPacketLen = 9;
}

void RwHandler::handleResetStatusReply(const uint8_t* packet) {
    PoolReadGuard rg(&lastResetStatusSet);
    uint8_t offset = 2;
    uint8_t resetStatus = *(packet + offset);
    if (resetStatus != RwDefinitions::CLEARED) {
        internalState = InternalState::CLEAR_RESET_STATUS;
        lastResetStatusSet.lastResetStatus = resetStatus;
    }
    lastResetStatusSet.currentResetStatus = resetStatus;
#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
    sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
            << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
    sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
            << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
#endif
}

void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
    PoolReadGuard rg(&statusSet);
    uint8_t offset = 2;
    statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
            | *(packet + offset + 1) << 8 | *(packet + offset);
    offset += 4;
    statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
            | *(packet + offset + 1) << 8 | *(packet + offset);
    offset += 4;
    statusSet.state = *(packet + offset);
    offset += 1;
    statusSet.clcMode = *(packet + offset);

    if (statusSet.state == RwDefinitions::ERROR) {
        /**
         * This requires the commanding of the init reaction wheel controller command to recover
         * form error state which must be handled by the FDIR instance.
         */
        triggerEvent(ERROR_STATE);
        sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state"
                << std::endl;
    }

#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
    sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
            << " * 0.1 RPM" << std::endl;
    sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
            << statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
    sif::info << "RwHandler::handleGetRwStatusReply: State is: "
            << (unsigned int) statusSet.state.value << std::endl;
    sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
            << (unsigned int) statusSet.clcMode.value << std::endl;
#endif
}

void RwHandler::handleTemperatureReply(const uint8_t* packet) {
    PoolReadGuard rg(&temperatureSet);
    uint8_t offset = 2;
    temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
            | *(packet + offset + 1) << 8 | *(packet + offset);
#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
    sif::info << "RwHandler::handleTemperatureReply: Temperature: "
            << temperatureSet.temperatureCelcius << " °C" << std::endl;
#endif
}