eive-obsw/mission/devices/MgmRm3100CustomHandler.cpp

#include <mission/devices/MgmRm3100CustomHandler.h>

#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/returnvalue.h"

MgmRm3100CustomHandler::MgmRm3100CustomHandler(object_id_t objectId,
                                               object_id_t deviceCommunication, CookieIF *comCookie,
                                               uint32_t transitionDelay)
    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
      primaryDataset(this),
      transitionDelay(transitionDelay) {}

MgmRm3100CustomHandler::~MgmRm3100CustomHandler() = default;

void MgmRm3100CustomHandler::doStartUp() {
  if (internalState != InternalState::STARTUP) {
    commandExecuted = false;
    updatePeriodicReply(true, REPLY);
    internalState = InternalState::STARTUP;
  }
  if (internalState == InternalState::STARTUP) {
    if (commandExecuted) {
      commandExecuted = false;
      internalState = InternalState::NONE;
      setMode(MODE_NORMAL);
    }
  }
}

void MgmRm3100CustomHandler::doShutDown() {
  if (internalState != InternalState::SHUTDOWN) {
    commandExecuted = false;
    primaryDataset.setValidity(false, true);
    internalState = InternalState::SHUTDOWN;
  }
  if (internalState == InternalState::SHUTDOWN and commandExecuted) {
    updatePeriodicReply(false, REPLY);
    setMode(MODE_OFF);
    commandExecuted = false;
  }
}

ReturnValue_t MgmRm3100CustomHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
  if (internalState == InternalState::STARTUP) {
    *id = REQUEST;
    return prepareRequest(acs::SimpleSensorMode::NORMAL);
  } else if (internalState == InternalState::SHUTDOWN) {
    *id = REQUEST;
    return prepareRequest(acs::SimpleSensorMode::OFF);
  }
  return NOTHING_TO_SEND;
}

ReturnValue_t MgmRm3100CustomHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                              const uint8_t *commandData,
                                                              size_t commandDataLen) {
  return NOTHING_TO_SEND;
}

ReturnValue_t MgmRm3100CustomHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  *id = REQUEST;
  return prepareRequest(acs::SimpleSensorMode::NORMAL);
}

ReturnValue_t MgmRm3100CustomHandler::scanForReply(const uint8_t *start, size_t len,
                                                   DeviceCommandId_t *foundId, size_t *foundLen) {
  if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
    return IGNORE_FULL_PACKET;
  }
  if (len != sizeof(acs::MgmRm3100Reply)) {
    *foundLen = len;
    return returnvalue::FAILED;
  }
  *foundId = REPLY;
  *foundLen = len;
  if (internalState == InternalState::SHUTDOWN) {
    commandExecuted = true;
  }
  return returnvalue::OK;
}

ReturnValue_t MgmRm3100CustomHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                           const uint8_t *packet) {
  const auto *reply = reinterpret_cast<const acs::MgmRm3100Reply *>(packet);
  if (reply->dataWasRead) {
    if (internalState == InternalState::STARTUP) {
      commandExecuted = true;
    }

    PoolReadGuard pg(&primaryDataset);
    primaryDataset.setValidity(true, true);
    for (uint8_t idx = 0; idx < 3; idx++) {
      primaryDataset.fieldStrengths[idx] = reply->mgmValuesRaw[idx] * reply->scaleFactors[idx];
    }
  }
  return returnvalue::OK;
}

void MgmRm3100CustomHandler::fillCommandAndReplyMap() {
  insertInCommandMap(REQUEST);
  insertInReplyMap(REPLY, 5, nullptr, 0, true);
}

void MgmRm3100CustomHandler::modeChanged() { internalState = InternalState::NONE; }

ReturnValue_t MgmRm3100CustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                              LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
  poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
  return returnvalue::OK;
}

uint32_t MgmRm3100CustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
  return this->transitionDelay;
}

void MgmRm3100CustomHandler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }

void MgmRm3100CustomHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
  periodicPrintout = enable;
  debugDivider.setDivider(divider);
}

ReturnValue_t MgmRm3100CustomHandler::prepareRequest(acs::SimpleSensorMode mode) {
  request.mode = mode;
  rawPacket = reinterpret_cast<uint8_t *>(&request);
  rawPacketLen = sizeof(acs::MgmRm3100Request);
  return returnvalue::OK;
}

LocalPoolDataSetBase *MgmRm3100CustomHandler::getDataSetHandle(sid_t sid) {
  if (sid == primaryDataset.getSid()) {
    return &primaryDataset;
  }
  return nullptr;
}