From 513c907962b6711bad909f9d9ef9eab25073ffa0 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 10 Feb 2022 16:55:06 +0100
Subject: [PATCH] pass comn if to handler

---
 bsp_q7s/core/ObjectFactory.cpp       |  3 +-
 linux/devices/PayloadPcduHandler.cpp | 52 ++++++++++++++++++++++------
 linux/devices/PayloadPcduHandler.h   | 12 +++++--
 3 files changed, 53 insertions(+), 14 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 7340e02d..0ba71665 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -1082,7 +1082,8 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE, spi::DEFAULT_MAX_1227_MODE,
       spi::DEFAULT_MAX_1227_SPEED);
   // Create device handler components
-  auto plPcduHandler = PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie);
+  auto plPcduHandler = PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie,
+      gpioComIF);
 }
 
 void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
diff --git a/linux/devices/PayloadPcduHandler.cpp b/linux/devices/PayloadPcduHandler.cpp
index 95789c87..fdd98b73 100644
--- a/linux/devices/PayloadPcduHandler.cpp
+++ b/linux/devices/PayloadPcduHandler.cpp
@@ -1,24 +1,54 @@
 #include "PayloadPcduHandler.h"
 
-PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
-    : DeviceHandlerBase(objectId, comIF, cookie), state(States::ON) {}
+#include "devices/gpioIds.h"
+
+PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
+    GpioIF* gpioIF)
+    : DeviceHandlerBase(objectId, comIF, cookie), state(States::ADC_OFF_PL_OFF), gpioIF(gpioIF) {}
 
 void PayloadPcduHandler::doStartUp() {
   switch(state) {
   case(States::ADC_OFF_PL_OFF): {
+    // Switch on relays here
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
+    gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
+    state = States::SWITCH_ON_RELAY_TRANSITION;
     break;
   }
-  case(States::SWITCH_ON_RELAY): {
-    // If necessary, check whether a certain amount of time has elapaed
+  case(States::SWITCH_ON_RELAY_TRANSITION): {
+    // If necessary, check whether a certain amount of time has elapsed
+    state = States::ADC_OFF_PL_OFF;
     break;
   }
-  case(States::ADC_OFF_PL_OFF): {
-    break;
-  }
-  case(States::SWITCH_ON_HPA): {
-    // If necessary, check whether a certain amount of time has elapaed
-    break;
+  default:
+    // Config error
+    sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
   }
+}
+
+void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  if(mode == _MODE_TO_NORMAL) {
+      switch(state) {
+      case(States::ADC_OFF_PL_OFF): {
+        // Switch on HPA here
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
+        gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
+        state = States::SWITCH_ON_HPA_TRANSITION;
+        break;
+      }
+      case(States::SWITCH_ON_HPA_TRANSITION): {
+        // If necessary, check whether a certain amount of time has elapsed
+        state = States::ADC_ON_PL_ON;
+        setMode(MODE_NORMAL);
+        break;
+      }
+      default:
+        // Config error
+        sif::error << "PayloadPcduHandler::doTransition: Invalid state" << std::endl;
+      }
   }
 }
 
@@ -52,6 +82,8 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 uint32_t PayloadPcduHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 10000; }
 
+
+
 ReturnValue_t PayloadPcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                           LocalDataPoolManager& poolManager) {
   return HasReturnvaluesIF::RETURN_OK;
diff --git a/linux/devices/PayloadPcduHandler.h b/linux/devices/PayloadPcduHandler.h
index 5b8b7ce4..1e946a09 100644
--- a/linux/devices/PayloadPcduHandler.h
+++ b/linux/devices/PayloadPcduHandler.h
@@ -2,21 +2,27 @@
 #define LINUX_DEVICES_PLPCDUHANDLER_H_
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include "fsfw_hal/common/gpio/GpioIF.h"
 
 class PayloadPcduHandler : DeviceHandlerBase {
  public:
-  PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
+  PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF);
 
  private:
   enum class States {
     ADC_OFF_PL_OFF,
-    SWITCH_ON_RELAY,
+    SWITCH_ON_RELAY_TRANSITION,
+    // In this mode, the handler can start polling the ADC. This is the ON mode
     ADC_ON_PL_OFF,
-    SWITCH_ON_HPA,
+    SWITCH_ON_HPA_TRANSITION,
+    // Now the ADC is actually spitting out sensible values. This is the normal mode with the
+    // experiment being on.
     ADC_ON_PL_ON
   };
   States state;
+  GpioIF* gpioIF;
 
+  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
   void doStartUp() override;
   void doShutDown() override;
   ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;