eive-obsw/linux/devices/PayloadPcduHandler.h

#ifndef LINUX_DEVICES_PLPCDUHANDLER_H_
#define LINUX_DEVICES_PLPCDUHANDLER_H_

#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>

#include "fsfw_hal/common/gpio/GpioIF.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"

class SpiComIF;
class SpiCookie;

/**
 * @brief Device handler for the EIVE Payload PCDU
 * @details
 * Documentation:
 * https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/412_PayloaPCDUDocumentation/release/EIVE-D-421-001_PLPCDU_Documentation.pdf
 *
 * Important components:
 *  - SSR - Solid State Relay: Decouples voltages from battery
 *  - DRO - Dielectric Resonsant Oscillator: Generates modulation signal
 *  - X8: Frequency X8 Multiplicator
 *  - TX: Transmitter/Sender module. Modulates data onto carrier signal
 *  - MPA - Medium Power Amplifier
 *  - HPA - High Power Amplifier
 */
class PayloadPcduHandler : public DeviceHandlerBase {
 public:
  PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF,
                     bool periodicPrintout);

  void setToGoToNormalModeImmediately(bool enable);
  void enablePeriodicPrintout(bool enable, uint8_t divider);

  static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
                                            const uint8_t* sendData, size_t sendLen, void* args);
  static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                                     size_t sendLen, bool tempOnly);

 private:
  enum class States {
    PCDU_OFF,
    // Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
    // the ADC
    ON_TRANS_SSR,
    ON_TRANS_ADC_CLOSE_ZERO,
    // Enable Dielectric Resonant Oscillator and start monitoring voltages as
    // soon as DRO voltage reaches 6V
    ON_TRANS_DRO,
    // Switch on X8 compoennt and monitor voltages for 5 seconds
    ON_TRANS_X8,
    // Switch on TX component and monitor voltages for 5 seconds
    ON_TRANS_TX,
    // Switch on MPA component and monitor voltages for 5 seconds
    ON_TRANS_MPA,
    // Switch on HPA component and monitor voltages for 5 seconds
    ON_TRANS_HPA,
    // All components of the experiment are on
    PCDU_ON,
  } state = States::PCDU_OFF;

  enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;

  enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;

  enum class AdcStates { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcStates::OFF;

  bool goToNormalMode = false;
  plpcdu::PlPcduAdcSet adcSet;
  std::array<uint8_t, plpcdu::MAX_ADC_REPLY_SIZE> cmdBuf = {};
  // This variable is tied to DRO +6 V voltage. Voltages, currents are monitored and the experiment
  // is shut down immediately if there is a negative voltage.
  bool transitionOk = false;
  bool commandExecuted = false;
  bool adcCmdExecuted = false;
  bool periodicPrintout = false;
  PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
  uint8_t tempReadDivisor = 1;
  Countdown countdown = Countdown(5000);
  Countdown adcCountdown = Countdown(50);
  GpioIF* gpioIF;

  PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
  PoolEntry<float> tempC = PoolEntry<float>({0.0});

  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
  void fillCommandAndReplyMap() override;
  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
                                        size_t commandDataLen) override;
  ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
                             size_t* foundLen) override;
  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;

  void handleExtConvRead(const uint8_t* bufStart);
  void handlePrintout();
  void stateMachineToNormal();
};

#endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */