eive/eive-obsw
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stupid RW
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This commit is contained in:
Robin Müller
2023-02-14 18:41:43 +01:00
parent 29e78a7ae3
commit 166fd77f7b
5 changed files with 116 additions and 119 deletions
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48
mission/devices/RwHandler.cpp
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@ -7,14 +7,15 @@
#include "OBSWConfig.h"
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
GpioIF* gpioComIF, gpioId_t enableGpio)
GpioIF* gpioComIF, gpioId_t enableGpio, uint8_t rwIdx)
: DeviceHandlerBase(objectId, comIF, comCookie),
gpioComIF(gpioComIF),
enableGpio(enableGpio),
statusSet(this),
lastResetStatusSet(this),
tmDataset(this),
rwSpeedActuationSet(*this) {
rwSpeedActuationSet(*this),
rwIdx(rwIdx) {
if (comCookie == nullptr) {
sif::error << "RwHandler: Invalid com cookie" << std::endl;
}
@ -43,6 +44,10 @@ void RwHandler::doShutDown() {
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::SET_SPEED:
*id = RwDefinitions::SET_SPEED;
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::GET_RESET_STATUS:
*id = RwDefinitions::GET_LAST_RESET_STATUS;
internalState = InternalState::READ_TEMPERATURE;
@ -53,10 +58,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
break;
case InternalState::GET_RW_SATUS:
*id = RwDefinitions::GET_RW_STATUS;
internalState = InternalState::SET_SPEED;
break;
case InternalState::SET_SPEED:
*id = RwDefinitions::SET_SPEED;
internalState = InternalState::CLEAR_RESET_STATUS;
break;
case InternalState::CLEAR_RESET_STATUS:
@ -107,29 +108,26 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
<< " invalid length" << std::endl;
return SET_SPEED_COMMAND_INVALID_LENGTH;
}
// Commands override anything which was set in the software
if (commandData != nullptr) {
rwSpeedActuationSet.setValidityBufferGeneration(false);
result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::NETWORK);
rwSpeedActuationSet.setValidityBufferGeneration(true);
if (result != returnvalue::OK) {
return result;
}
result = rwSpeedActuationSet.commit();
if (result != returnvalue::OK) {
sif::error << "RwHandler::buildCommandFromCommand: commit failed" << std::endl;
}
} else {
// Read set rw speed value from local pool
{
PoolReadGuard pg(&rwSpeedActuationSet);
// Commands override anything which was set in the software
if (commandData != nullptr) {
rwSpeedActuationSet.setValidityBufferGeneration(false);
result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::NETWORK);
rwSpeedActuationSet.setValidityBufferGeneration(true);
if (result != returnvalue::OK) {
return result;
}
}
}
if (ACTUATION_WIRETAPPING) {
int32_t speed;
uint16_t rampTime;
int32_t speed = 0;
uint16_t rampTime = 0;
rwSpeedActuationSet.getRwSpeed(speed, rampTime);
sif::debug << "Actuating RW with speed = " << speed << " and rampTime = " << rampTime
<< std::endl;
sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " << speed
<< " and rampTime = " << rampTime << std::endl;
}
result = checkSpeedAndRampTime();
if (result != returnvalue::OK) {