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This commit is contained in:
Robin Müller
2022-05-10 18:34:39 +02:00
parent 9d63eb837a
commit 45c1ac0f61
7 changed files with 33 additions and 34 deletions
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27
mission/devices/RwHandler.cpp
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@ -11,7 +11,6 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
: DeviceHandlerBase(objectId, comIF, comCookie),
gpioComIF(gpioComIF),
enableGpio(enableGpio),
temperatureSet(this),
statusSet(this),
lastResetStatusSet(this),
tmDataset(this) {
@ -134,7 +133,7 @@ void RwHandler::fillCommandAndReplyMap() {
RwDefinitions::SIZE_GET_RW_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
RwDefinitions::SIZE_INIT_RW);
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
RwDefinitions::SIZE_SET_SPEED_REPLY);
@ -278,7 +277,6 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
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(temperatureSet.getSid(), false, 30.0, false);
poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true);
poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false);
return RETURN_OK;
@ -354,17 +352,28 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
}
void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
PoolReadGuard rg(&statusSet);
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
@ -388,14 +397,14 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
}
void RwHandler::handleTemperatureReply(const uint8_t* packet) {
PoolReadGuard rg(&temperatureSet);
PoolReadGuard rg(&statusSet);
uint8_t offset = 2;
temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
*(packet + offset + 1) << 8 | *(packet + offset);
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: "
<< temperatureSet.temperatureCelcius << " °C" << std::endl;
sif::info << "RwHandler::handleTemperatureReply: Temperature: " << statusSet.temperatureCelcius
<< " °C" << std::endl;
#endif
}
}