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DHB refactoring complete
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This commit is contained in:
Robin Müller
2023-02-16 14:10:59 +01:00
parent 9fdb41506b
commit 39f83937c5
6 changed files with 311 additions and 172 deletions
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344
mission/devices/RwHandler.cpp
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@ -27,11 +27,12 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
RwHandler::~RwHandler() {}
void RwHandler::doStartUp() {
internalState = InternalState::GET_RESET_STATUS;
internalState = InternalState::DEFAULT;
if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
}
updatePeriodicReply(true, rws::REPLY_ID);
setMode(_MODE_TO_ON);
}
@ -39,32 +40,37 @@ void RwHandler::doShutDown() {
if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
}
internalState = InternalState::DEFAULT;
updatePeriodicReply(false, rws::REPLY_ID);
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::SET_SPEED:
*id = rws::SET_SPEED;
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::GET_RESET_STATUS:
*id = rws::GET_LAST_RESET_STATUS;
internalState = InternalState::READ_TEMPERATURE;
break;
case InternalState::READ_TEMPERATURE:
*id = rws::GET_TEMPERATURE;
internalState = InternalState::GET_RW_SATUS;
break;
case InternalState::GET_RW_SATUS:
*id = rws::GET_RW_STATUS;
internalState = InternalState::CLEAR_RESET_STATUS;
break;
case InternalState::CLEAR_RESET_STATUS:
*id = rws::CLEAR_LAST_RESET_STATUS;
/** After reset status is cleared, reset status will be polled again for verification */
internalState = InternalState::GET_RESET_STATUS;
case InternalState::DEFAULT: {
*id = rws::REQUEST_ID;
break;
}
// case InternalState::SET_SPEED:
// *id = rws::SET_SPEED;
// internalState = InternalState::GET_RESET_STATUS;
// break;
// case InternalState::GET_RESET_STATUS:
// *id = rws::GET_LAST_RESET_STATUS;
// internalState = InternalState::READ_TEMPERATURE;
// break;
// case InternalState::READ_TEMPERATURE:
// *id = rws::GET_TEMPERATURE;
// internalState = InternalState::GET_RW_SATUS;
// break;
// case InternalState::GET_RW_SATUS:
// *id = rws::GET_RW_STATUS;
// internalState = InternalState::CLEAR_RESET_STATUS;
// break;
// case InternalState::CLEAR_RESET_STATUS:
// *id = rws::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;
@ -82,27 +88,7 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
ReturnValue_t result = returnvalue::OK;
switch (deviceCommand) {
case (rws::RESET_MCU): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (rws::GET_LAST_RESET_STATUS): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (rws::CLEAR_LAST_RESET_STATUS): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (rws::GET_RW_STATUS): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (rws::INIT_RW_CONTROLLER): {
prepareSimpleCommand(deviceCommand);
return returnvalue::OK;
}
case (rws::SET_SPEED): {
case (rws::REQUEST_ID): {
if (commandData != nullptr && commandDataLen != 6) {
sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
<< " invalid length" << std::endl;
@ -133,17 +119,94 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
if (result != returnvalue::OK) {
return result;
}
result = prepareSetSpeedCmd();
return result;
// set speed flag.
commandBuffer[0] = true;
rawPacketLen = 1;
uint8_t* currentCmdBuf = commandBuffer + 1;
rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
SerializeIF::Endianness::MACHINE);
commandBuffer[rawPacketLen] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
break;
}
case (rws::GET_TEMPERATURE): {
prepareSimpleCommand(deviceCommand);
case (rws::RESET_MCU): {
commandBuffer[0] = false;
commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
internalState = InternalState::RESET_MCU;
return returnvalue::OK;
}
case (rws::INIT_RW_CONTROLLER): {
commandBuffer[0] = false;
commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
internalState = InternalState::INIT_RW_CONTROLLER;
return returnvalue::OK;
}
case (rws::GET_TM): {
prepareSimpleCommand(deviceCommand);
commandBuffer[0] = false;
commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
internalState = InternalState::GET_TM;
return returnvalue::OK;
}
// case (rws::GET_LAST_RESET_STATUS): {
// prepareSimpleCommand(deviceCommand);
// return returnvalue::OK;
// }
// case (rws::CLEAR_LAST_RESET_STATUS): {
// prepareSimpleCommand(deviceCommand);
// return returnvalue::OK;
// }
// case (rws::GET_RW_STATUS): {
// prepareSimpleCommand(deviceCommand);
// return returnvalue::OK;
// }
// case (rws::INIT_RW_CONTROLLER): {
// prepareSimpleCommand(deviceCommand);
// return returnvalue::OK;
// }
// case (rws::SET_SPEED): {
// if (commandData != nullptr && commandDataLen != 6) {
// sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
// << " invalid length" << std::endl;
// return SET_SPEED_COMMAND_INVALID_LENGTH;
// }
//
// {
// 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 = 0;
// uint16_t rampTime = 0;
// rwSpeedActuationSet.getRwSpeed(speed, rampTime);
// sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " <<
// speed
// << " and rampTime = " << rampTime << std::endl;
// }
// result = checkSpeedAndRampTime();
// if (result != returnvalue::OK) {
// return result;
// }
// result = prepareSetSpeedCmd();
// return result;
// }
// case (rws::GET_TEMPERATURE): {
// prepareSimpleCommand(deviceCommand);
// return returnvalue::OK;
// }
// case (rws::GET_TM): {
// prepareSimpleCommand(deviceCommand);
// return returnvalue::OK;
// }
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
@ -151,7 +214,13 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
}
void RwHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(rws::RESET_MCU);
insertInCommandMap(rws::REQUEST_ID);
insertInReplyMap(rws::REPLY_ID, 5, nullptr, 0, true);
insertInCommandMap(rws::RESET_MCU);
insertInCommandAndReplyMap(rws::INIT_RW_CONTROLLER, 5, nullptr, 0, false, true, rws::REPLY_ID);
insertInCommandAndReplyMap(rws::GET_TM, 5, nullptr, 0, false, true, rws::REPLY_ID);
/*
this->insertInCommandAndReplyMap(rws::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
rws::SIZE_GET_RESET_STATUS);
this->insertInCommandAndReplyMap(rws::CLEAR_LAST_RESET_STATUS, 1, nullptr,
@ -162,103 +231,106 @@ void RwHandler::fillCommandAndReplyMap() {
rws::SIZE_GET_TEMPERATURE_REPLY);
this->insertInCommandAndReplyMap(rws::SET_SPEED, 1, nullptr, rws::SIZE_SET_SPEED_REPLY);
this->insertInCommandAndReplyMap(rws::GET_TM, 1, &tmDataset, rws::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 (rws::GET_LAST_RESET_STATUS): {
*foundLen = rws::SIZE_GET_RESET_STATUS;
*foundId = rws::GET_LAST_RESET_STATUS;
break;
}
case (rws::CLEAR_LAST_RESET_STATUS): {
*foundLen = rws::SIZE_CLEAR_RESET_STATUS;
*foundId = rws::CLEAR_LAST_RESET_STATUS;
break;
}
case (rws::GET_RW_STATUS): {
*foundLen = rws::SIZE_GET_RW_STATUS;
*foundId = rws::GET_RW_STATUS;
break;
}
case (rws::INIT_RW_CONTROLLER): {
*foundLen = rws::SIZE_INIT_RW;
*foundId = rws::INIT_RW_CONTROLLER;
break;
}
case (rws::SET_SPEED): {
*foundLen = rws::SIZE_SET_SPEED_REPLY;
*foundId = rws::SET_SPEED;
break;
}
case (rws::GET_TEMPERATURE): {
*foundLen = rws::SIZE_GET_TEMPERATURE_REPLY;
*foundId = rws::GET_TEMPERATURE;
break;
}
case (rws::GET_TM): {
*foundLen = rws::SIZE_GET_TELEMETRY_REPLY;
*foundId = rws::GET_TM;
break;
}
default: {
sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
*foundLen = remainingSize;
return returnvalue::FAILED;
}
// uint8_t replyByte = *start;
if (remainingSize > 0) {
*foundLen = remainingSize;
*foundId = rws::REPLY_ID;
}
sizeOfReply = *foundLen;
// RwReplies replies(start);
// switch (replyByte) {
// case (rws::GET_LAST_RESET_STATUS): {
// *foundLen = rws::SIZE_GET_RESET_STATUS;
// *foundId = rws::GET_LAST_RESET_STATUS;
// break;
// }
// case (rws::CLEAR_LAST_RESET_STATUS): {
// *foundLen = rws::SIZE_CLEAR_RESET_STATUS;
// *foundId = rws::CLEAR_LAST_RESET_STATUS;
// break;
// }
// case (rws::GET_RW_STATUS): {
// *foundLen = rws::SIZE_GET_RW_STATUS;
// *foundId = rws::GET_RW_STATUS;
// break;
// }
// case (rws::INIT_RW_CONTROLLER): {
// *foundLen = rws::SIZE_INIT_RW;
// *foundId = rws::INIT_RW_CONTROLLER;
// break;
// }
// case (rws::SET_SPEED): {
// *foundLen = rws::SIZE_SET_SPEED_REPLY;
// *foundId = rws::SET_SPEED;
// break;
// }
// case (rws::GET_TEMPERATURE): {
// *foundLen = rws::SIZE_GET_TEMPERATURE_REPLY;
// *foundId = rws::GET_TEMPERATURE;
// break;
// }
// case (rws::GET_TM): {
// *foundLen = rws::SIZE_GET_TELEMETRY_REPLY;
// *foundId = rws::GET_TM;
// break;
// }
// default: {
// sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
// std::endl; *foundLen = remainingSize; return returnvalue::FAILED;
// }
// }
return returnvalue::OK;
}
ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
/** Check result code */
if (*(packet + 1) == rws::STATE_ERROR) {
sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
<< std::endl;
return EXECUTION_FAILED;
RwReplies replies(packet);
ReturnValue_t result = returnvalue::OK;
auto checkPacket = [&](DeviceCommandId_t id, const uint8_t* packetPtr) {
auto packetLen = rws::idToPacketLen(id);
uint16_t replyCrc = (*(packet + packetLen - 1) << 8) | *(packet + packetLen - 2);
if (CRC::crc16ccitt(packet, packetLen - 2, 0xFFFF) != replyCrc) {
sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
return CRC_ERROR;
}
if (packetPtr[1] == rws::STATE_ERROR) {
sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
<< std::endl;
result = EXECUTION_FAILED;
}
return returnvalue::OK;
};
checkPacket(rws::DeviceCommandId::SET_SPEED, replies.getSetSpeedReply());
if (returnvalue::OK ==
checkPacket(rws::DeviceCommandId::GET_RW_STATUS, replies.getRwStatusReply())) {
handleGetRwStatusReply(replies.getRwStatusReply());
}
/** 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;
if (returnvalue::OK == checkPacket(rws::DeviceCommandId::GET_LAST_RESET_STATUS,
replies.getGetLastResetStatusReply())) {
handleResetStatusReply(replies.getGetLastResetStatusReply());
}
switch (id) {
case (rws::GET_LAST_RESET_STATUS): {
handleResetStatusReply(packet);
break;
}
case (rws::GET_RW_STATUS): {
handleGetRwStatusReply(packet);
break;
}
case (rws::CLEAR_LAST_RESET_STATUS):
case (rws::INIT_RW_CONTROLLER):
case (rws::SET_SPEED):
// no reply data expected
break;
case (rws::GET_TEMPERATURE): {
handleTemperatureReply(packet);
break;
}
case (rws::GET_TM): {
handleGetTelemetryReply(packet);
break;
}
default: {
sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
checkPacket(rws::DeviceCommandId::CLEAR_LAST_RESET_STATUS,
replies.getClearLastResetStatusReply());
if (returnvalue::OK ==
checkPacket(rws::DeviceCommandId::GET_TEMPERATURE, replies.getReadTemperatureReply())) {
handleTemperatureReply(replies.getReadTemperatureReply());
}
if (internalState == InternalState::GET_TM) {
if (returnvalue::OK == checkPacket(rws::DeviceCommandId::GET_TM, replies.getHkDataReply())) {
handleGetTelemetryReply(replies.getHkDataReply());
}
internalState = InternalState::DEFAULT;
}
if (internalState == InternalState::INIT_RW_CONTROLLER) {
checkPacket(rws::DeviceCommandId::INIT_RW_CONTROLLER, replies.getInitRwControllerReply());
internalState = InternalState::DEFAULT;
}
if (internalState == InternalState::RESET_MCU) {
internalState = InternalState::DEFAULT;
}
return returnvalue::OK;
}
@ -312,6 +384,7 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
return returnvalue::OK;
}
/*
void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
commandBuffer[0] = static_cast<uint8_t>(id);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
@ -320,6 +393,7 @@ void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
rawPacket = commandBuffer;
rawPacketLen = 3;
}
*/
ReturnValue_t RwHandler::checkSpeedAndRampTime() {
int32_t speed = 0;
@ -338,6 +412,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime() {
return returnvalue::OK;
}
/*
ReturnValue_t RwHandler::prepareSetSpeedCmd() {
commandBuffer[0] = static_cast<uint8_t>(rws::SET_SPEED);
uint8_t* serPtr = commandBuffer + 1;
@ -357,13 +432,14 @@ ReturnValue_t RwHandler::prepareSetSpeedCmd() {
rawPacketLen = 9;
return result;
}
*/
void RwHandler::handleResetStatusReply(const uint8_t* packet) {
PoolReadGuard rg(&lastResetStatusSet);
uint8_t offset = 2;
uint8_t resetStatus = packet[offset];
if (resetStatus != 0) {
internalState = InternalState::CLEAR_RESET_STATUS;
// internalState = InternalState::CLEAR_RESET_STATUS;
lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
triggerEvent(rws::RESET_OCCURED, resetStatus, 0);
}