eive-obsw/mission/devices/RwHandler.cpp

#include "RwHandler.h"

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw_hal/common/gpio/GpioIF.h>

#include "OBSWConfig.h"

RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                     GpioIF* gpioComIF, gpioId_t enableGpio)
    : DeviceHandlerBase(objectId, comIF, comCookie),
      gpioComIF(gpioComIF),
      enableGpio(enableGpio),
      statusSet(this),
      lastResetStatusSet(this),
      tmDataset(this) {
  if (comCookie == nullptr) {
    sif::error << "RwHandler: Invalid com cookie" << std::endl;
  }
  if (gpioComIF == nullptr) {
    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";
  }
  setMode(_MODE_TO_ON);
}

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

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::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;
    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;
    default:
      sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
      break;
  }
  return buildCommandFromCommand(*id, NULL, 0);
}

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

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): {
      prepareSimpleCommand(deviceCommand);
      return RETURN_OK;
    }
    case (RwDefinitions::GET_LAST_RESET_STATUS): {
      prepareSimpleCommand(deviceCommand);
      return RETURN_OK;
    }
    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
      prepareSimpleCommand(deviceCommand);
      return RETURN_OK;
    }
    case (RwDefinitions::GET_RW_STATUS): {
      prepareSimpleCommand(deviceCommand);
      return RETURN_OK;
    }
    case (RwDefinitions::INIT_RW_CONTROLLER): {
      prepareSimpleCommand(deviceCommand);
      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): {
      prepareSimpleCommand(deviceCommand);
      return RETURN_OK;
    }
    case (RwDefinitions::GET_TM): {
      prepareSimpleCommand(deviceCommand);
      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, nullptr,
                                   RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
  this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
                                   RwDefinitions::SIZE_SET_SPEED_REPLY);
  this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset,
                                   RwDefinitions::SIZE_GET_TELEMETRY_REPLY);
}

ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                      DeviceCommandId_t* foundId, size_t* foundLen) {
  uint8_t replyByte = *start;
  switch (replyByte) {
    case (RwDefinitions::GET_LAST_RESET_STATUS): {
      *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
      *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
      break;
    }
    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
      *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
      *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
      break;
    }
    case (RwDefinitions::GET_RW_STATUS): {
      *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
      *foundId = RwDefinitions::GET_RW_STATUS;
      break;
    }
    case (RwDefinitions::INIT_RW_CONTROLLER): {
      *foundLen = RwDefinitions::SIZE_INIT_RW;
      *foundId = RwDefinitions::INIT_RW_CONTROLLER;
      break;
    }
    case (RwDefinitions::SET_SPEED): {
      *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
      *foundId = RwDefinitions::SET_SPEED;
      break;
    }
    case (RwDefinitions::GET_TEMPERATURE): {
      *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
      *foundId = RwDefinitions::GET_TEMPERATURE;
      break;
    }
    case (RwDefinitions::GET_TM): {
      *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
      *foundId = RwDefinitions::GET_TM;
      break;
    }
    default: {
      sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
      *foundLen = remainingSize;
      return RETURN_FAILED;
    }
  }

  sizeOfReply = *foundLen;

  return RETURN_OK;
}

ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
  /** Check result code */
  if (*(packet + 1) == RwDefinitions::STATE_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;
    }
    case (RwDefinitions::GET_TM): {
      handleGetTelemetryReply(packet);
      break;
    }
    default: {
      sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
      return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
  }

  return RETURN_OK;
}

uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }

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}));

  localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(RwDefinitions::PRESSURE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
  poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true);
  poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false);
  return RETURN_OK;
}

void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
  commandBuffer[0] = static_cast<uint8_t>(id);
  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::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.lastNonClearedResetStatus = resetStatus;
    triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
  }
  lastResetStatusSet.currentResetStatus = resetStatus;
  if (debugMode) {
#if OBSW_VERBOSE_LEVEL >= 1
    sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
              << static_cast<unsigned int>(lastResetStatusSet.lastNonClearedResetStatus.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 rg0(&statusSet);
  PoolReadGuard rg1(&tmDataset);
  uint8_t offset = 2;
  statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                        *(packet + offset + 1) << 8 | *(packet + offset);
  tmDataset.rwCurrSpeed = statusSet.currSpeed;
  tmDataset.rwCurrSpeed.setValid(true);
  offset += 4;
  statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                             *(packet + offset + 1) << 8 | *(packet + offset);
  tmDataset.rwRefSpeed = statusSet.referenceSpeed;
  tmDataset.rwRefSpeed.setValid(true);
  offset += 4;
  statusSet.state = *(packet + offset);
  tmDataset.rwState = statusSet.state;
  tmDataset.rwState.setValid(true);
  offset += 1;
  statusSet.clcMode = *(packet + offset);
  tmDataset.rwClcMode = statusSet.clcMode;
  tmDataset.rwClcMode.setValid(true);

  statusSet.setValidity(true, true);

  if (statusSet.state == RwDefinitions::STATE_ERROR) {
    // This requires the commanding of the init reaction wheel controller command to recover
    // from error state which must be handled by the FDIR instance.
    triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
    sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
  }

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

void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
  PoolReadGuard rg(&tmDataset);
  uint8_t offset = 2;
  tmDataset.lastResetStatus = *(packet + offset);
  offset += 1;
  tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                             *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.pressureSensorTemperature = *(packet + offset + 3) << 24 |
                                        *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 |
                                        *(packet + offset);
  offset += 4;
  tmDataset.pressure = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                       *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.rwState = *(packet + offset);
  offset += 1;
  tmDataset.rwClcMode = *(packet + offset);
  offset += 1;
  tmDataset.rwCurrSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                          *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.rwRefSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                         *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.numOfInvalidCrcPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                     *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.numOfInvalidLenPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                     *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.numOfInvalidCmdPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                     *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.numOfCmdExecutedReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                      *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.numOfCmdReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                              *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.uartNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                    *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.uartNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                 *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.uartNumOfParityErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                    *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.uartNumOfNoiseErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                   *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.uartNumOfFrameErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                   *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.uartNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 |
                                             *(packet + offset + 2) << 16 |
                                             *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.uartTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                   *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.spiNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                   *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.spiNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.spiNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 |
                                            *(packet + offset + 2) << 16 |
                                            *(packet + offset + 1) << 8 | *(packet + offset);
  offset += 4;
  tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                                  *(packet + offset + 1) << 8 | *(packet + offset);
  if (debugMode) {
#if OBSW_VERBOSE_LEVEL >= 1
    sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
              << static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
              << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Pressure sensor temperature: "
              << tmDataset.pressureSensorTemperature << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Pressure " << tmDataset.pressure << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: State: "
              << static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: CLC mode: "
              << static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Current speed: " << tmDataset.rwCurrSpeed
              << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Reference speed: " << tmDataset.rwRefSpeed
              << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid CRC packets: "
              << tmDataset.numOfInvalidCrcPackets << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid length packets: "
              << tmDataset.numOfInvalidLenPackets << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid command packets: "
              << tmDataset.numOfInvalidCmdPackets << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Number of command executed replies: "
              << tmDataset.numOfCmdExecutedReplies << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: Number of command replies: "
              << tmDataset.numOfCmdReplies << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes written: "
              << tmDataset.uartNumOfBytesWritten << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes read: "
              << tmDataset.uartNumOfBytesRead << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: UART number of parity errors: "
              << tmDataset.uartNumOfParityErrors << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: UART number of noise errors: "
              << tmDataset.uartNumOfNoiseErrors << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: UART number of frame errors: "
              << tmDataset.uartNumOfFrameErrors << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: UART number of register overrun errors: "
              << tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: UART number of total errors: "
              << tmDataset.uartTotalNumOfErrors << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes written: "
              << tmDataset.spiNumOfBytesWritten << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes read: "
              << tmDataset.spiNumOfBytesRead << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register overrun errors: "
              << tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
    sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
              << tmDataset.spiTotalNumOfErrors << std::endl;
#endif
  }
}

void RwHandler::setDebugMode(bool enable) { this->debugMode = enable; }