eive-obsw/mission/devices/MGMHandlerRM3100.h

#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_

#include "OBSWConfig.h"
#include "devices/powerSwitcherList.h"
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"

#if OBSW_VERBOSE_LEVEL >= 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif

/**
 * @brief 	Device Handler for the RM3100 geomagnetic magnetometer sensor
 *          (https://www.pnicorp.com/rm3100/)
 * @details
 * Flight manual:
 * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
 */
class MGMHandlerRM3100: public DeviceHandlerBase {
public:
	static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;

	//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
	static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
			0x00, severity::INFO);

	//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
	//! P1: Second two bytes new Cycle Count Y
	//! P2: New cycle count Z
	static constexpr Event cycleCountersSet = event::makeEvent(
			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);

	MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
	        CookieIF* comCookie, uint8_t switchId);
	virtual ~MGMHandlerRM3100();

protected:

	/* DeviceHandlerBase overrides */
	ReturnValue_t buildTransitionDeviceCommand(
	        DeviceCommandId_t *id) override;
	void doStartUp() override;
	void doShutDown() override;
	ReturnValue_t buildNormalDeviceCommand(
	        DeviceCommandId_t *id) override;
	ReturnValue_t buildCommandFromCommand(
	        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
			size_t commandDataLen) override;
	ReturnValue_t scanForReply(const uint8_t *start, size_t len,
			DeviceCommandId_t *foundId, size_t *foundLen) override;
	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
	        const uint8_t *packet) override;
    ReturnValue_t getSwitches(const uint8_t **switches,
            uint8_t *numberOfSwitches) override;

	void fillCommandAndReplyMap() override;
	void modeChanged(void) override;
	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
			LocalDataPoolManager &poolManager) override;

private:

	enum class InternalState {
	    NONE,
		CONFIGURE_CMM,
		READ_CMM,
		// The cycle count states are propably not going to be used because
		// the default cycle count will be used.
		STATE_CONFIGURE_CYCLE_COUNT,
		STATE_READ_CYCLE_COUNT,
		STATE_CONFIGURE_TMRC,
		STATE_READ_TMRC,
		NORMAL
	};
	InternalState internalState = InternalState::NONE;
	bool commandExecuted = false;
	RM3100::Rm3100PrimaryDataset primaryDataset;

	uint8_t commandBuffer[10];
	uint8_t commandBufferLen = 0;

	uint8_t cmmRegValue = RM3100::CMM_VALUE;
	uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
	uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
	uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
	uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
	float scaleFactorX = 1 / RM3100::DEFAULT_GAIN;
	float scaleFactorY = 1 / RM3100::DEFAULT_GAIN;
	float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN;

	uint8_t switchId;

	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
			const uint8_t *commandData,size_t commandDataLen);
	ReturnValue_t handleCycleCommand(bool oneCycleValue,
			const uint8_t *commandData, size_t commandDataLen);

	ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
			const uint8_t *commandData,size_t commandDataLen);

	ReturnValue_t handleDataReadout(const uint8_t* packet);
#if OBSW_VERBOSE_LEVEL >= 1
	PeriodicOperationDivider* debugDivider;
#endif
};

#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */