Merge remote-tracking branch 'origin/develop' into mueller/rw-ass
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@ -1,10 +1,11 @@
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#include "RwHandler.h"
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#include "OBSWConfig.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include "OBSWConfig.h"
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RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
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GpioIF* gpioComIF, gpioId_t enableGpio)
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: DeviceHandlerBase(objectId, comIF, comCookie),
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@ -341,12 +342,15 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
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lastResetStatusSet.lastResetStatus = resetStatus;
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}
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lastResetStatusSet.currentResetStatus = resetStatus;
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
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sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
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<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
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sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
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<< static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
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if (debugMode) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
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<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
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sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
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<< static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
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<< std::endl;
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#endif
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}
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}
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void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
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@ -371,16 +375,18 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
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sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
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}
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
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sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
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<< " * 0.1 RPM" << std::endl;
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sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: " << statusSet.referenceSpeed
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<< " * 0.1 RPM" << std::endl;
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sif::info << "RwHandler::handleGetRwStatusReply: State is: "
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<< (unsigned int)statusSet.state.value << std::endl;
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sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
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<< (unsigned int)statusSet.clcMode.value << std::endl;
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if (debugMode) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
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<< " * 0.1 RPM" << std::endl;
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sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
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<< statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
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sif::info << "RwHandler::handleGetRwStatusReply: State is: "
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<< (unsigned int)statusSet.state.value << std::endl;
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sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
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<< (unsigned int)statusSet.clcMode.value << std::endl;
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#endif
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}
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}
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void RwHandler::handleTemperatureReply(const uint8_t* packet) {
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@ -388,10 +394,12 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
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uint8_t offset = 2;
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temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
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*(packet + offset + 1) << 8 | *(packet + offset);
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
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sif::info << "RwHandler::handleTemperatureReply: Temperature: "
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<< temperatureSet.temperatureCelcius << " °C" << std::endl;
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if (debugMode) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "RwHandler::handleTemperatureReply: Temperature: "
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<< temperatureSet.temperatureCelcius << " °C" << std::endl;
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#endif
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}
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}
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void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
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@ -468,53 +476,57 @@ void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
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offset += 4;
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tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
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*(packet + offset + 1) << 8 | *(packet + offset);
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RW == 1
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sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
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<< static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
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<< std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Pressure sensor temperature: "
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<< tmDataset.pressureSensorTemperature << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Pressure " << tmDataset.pressure << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: State: "
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<< static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: CLC mode: "
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<< static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Current speed: " << tmDataset.rwCurrSpeed
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<< std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Reference speed: " << tmDataset.rwRefSpeed
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<< std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid CRC packets: "
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<< tmDataset.numOfInvalidCrcPackets << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid length packets: "
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<< tmDataset.numOfInvalidLenPackets << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid command packets: "
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<< tmDataset.numOfInvalidCmdPackets << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of command executed replies: "
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<< tmDataset.numOfCmdExecutedReplies << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of command replies: "
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<< tmDataset.numOfCmdReplies << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes written: "
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<< tmDataset.uartNumOfBytesWritten << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes read: "
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<< tmDataset.uartNumOfBytesRead << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of parity errors: "
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<< tmDataset.uartNumOfParityErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of noise errors: "
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<< tmDataset.uartNumOfNoiseErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of frame errors: "
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<< tmDataset.uartNumOfFrameErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of register overrun errors: "
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<< tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of total errors: "
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<< tmDataset.uartTotalNumOfErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes written: "
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<< tmDataset.spiNumOfBytesWritten << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes read: "
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<< tmDataset.spiNumOfBytesRead << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register overrun errors: "
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<< tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
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<< tmDataset.spiTotalNumOfErrors << std::endl;
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if (debugMode) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
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<< static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
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<< std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Pressure sensor temperature: "
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<< tmDataset.pressureSensorTemperature << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Pressure " << tmDataset.pressure << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: State: "
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<< static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: CLC mode: "
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<< static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Current speed: " << tmDataset.rwCurrSpeed
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<< std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Reference speed: " << tmDataset.rwRefSpeed
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<< std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid CRC packets: "
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<< tmDataset.numOfInvalidCrcPackets << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid length packets: "
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<< tmDataset.numOfInvalidLenPackets << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid command packets: "
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<< tmDataset.numOfInvalidCmdPackets << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of command executed replies: "
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<< tmDataset.numOfCmdExecutedReplies << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: Number of command replies: "
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<< tmDataset.numOfCmdReplies << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes written: "
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<< tmDataset.uartNumOfBytesWritten << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes read: "
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<< tmDataset.uartNumOfBytesRead << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of parity errors: "
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<< tmDataset.uartNumOfParityErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of noise errors: "
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<< tmDataset.uartNumOfNoiseErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of frame errors: "
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<< tmDataset.uartNumOfFrameErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of register overrun errors: "
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<< tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: UART number of total errors: "
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<< tmDataset.uartTotalNumOfErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes written: "
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<< tmDataset.spiNumOfBytesWritten << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes read: "
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<< tmDataset.spiNumOfBytesRead << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register overrun errors: "
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<< tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
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sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
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<< tmDataset.spiTotalNumOfErrors << std::endl;
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#endif
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}
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}
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void RwHandler::setDebugMode(bool enable) { this->debugMode = enable; }
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