eive/eive-obsw
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some more bugfixes
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This commit is contained in:
Robin Müller
2023-02-20 19:35:36 +01:00
parent ea6b13d189
commit 56cdd1173e
8 changed files with 114 additions and 35 deletions
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82
mission/devices/ImtqHandler.cpp
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@ -51,6 +51,60 @@ ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
}
}
ReturnValue_t ImtqHandler::performOperation(uint8_t opCode) {
uint8_t dhbOpCode = DeviceHandlerIF::PERFORM_OPERATION;
switch (static_cast<imtq::ComStep>(opCode)) {
case (imtq::ComStep::DHB_OP): {
break;
}
case (imtq::ComStep::START_MEASURE_SEND): {
requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
dhbOpCode = DeviceHandlerIF::SEND_WRITE;
break;
}
case (imtq::ComStep::START_MEASURE_GET): {
requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
dhbOpCode = DeviceHandlerIF::GET_WRITE;
break;
}
case (imtq::ComStep::READ_MEASURE_SEND): {
requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
dhbOpCode = DeviceHandlerIF::SEND_READ;
break;
}
case (imtq::ComStep::READ_MEASURE_GET): {
requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
dhbOpCode = DeviceHandlerIF::GET_READ;
break;
}
case (imtq::ComStep::START_ACTUATE_SEND): {
requestStep = imtq::RequestType::ACTUATE;
dhbOpCode = DeviceHandlerIF::SEND_WRITE;
break;
}
case (imtq::ComStep::START_ACTUATE_GET): {
requestStep = imtq::RequestType::ACTUATE;
dhbOpCode = DeviceHandlerIF::GET_WRITE;
break;
}
case (imtq::ComStep::READ_ACTUATE_SEND): {
requestStep = imtq::RequestType::ACTUATE;
dhbOpCode = DeviceHandlerIF::SEND_READ;
break;
}
case (imtq::ComStep::READ_ACTUATE_GET): {
requestStep = imtq::RequestType::ACTUATE;
dhbOpCode = DeviceHandlerIF::GET_READ;
break;
}
default: {
sif::error << "ImtqHandler: Unexpected COM step" << std::endl;
break;
}
}
return DeviceHandlerBase::performOperation(dhbOpCode);
}
ImtqHandler::~ImtqHandler() = default;
void ImtqHandler::doStartUp() {
@ -71,7 +125,7 @@ void ImtqHandler::doShutDown() {
ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (requestStep) {
case (imtq::RequestType::MEASURE_WITH_ACTUATION): {
case (imtq::RequestType::MEASURE_NO_ACTUATION): {
*id = imtq::cmdIds::REQUEST;
return buildCommandFromCommand(*id, nullptr, 0);
}
@ -90,7 +144,7 @@ ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t* commandData,
size_t commandDataLen) {
auto genericMeasureRequest = [&](imtq::SpecialRequest specialRequest) {
auto genericSpecialRequest = [&](imtq::SpecialRequest specialRequest, ) {
ImtqRequest request(commandBuffer, sizeof(commandBuffer));
request.setMeasureRequest(specialRequest);
specialRequestActive = true;
@ -99,35 +153,38 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
};
switch (deviceCommand) {
case (imtq::cmdIds::POS_X_SELF_TEST): {
genericMeasureRequest(imtq::SpecialRequest::DO_SELF_TEST_POS_X);
genericSpecialRequest(imtq::SpecialRequest::DO_SELF_TEST_POS_X);
return returnvalue::OK;
}
case (imtq::cmdIds::NEG_X_SELF_TEST): {
genericMeasureRequest(imtq::SpecialRequest::DO_SELF_TEST_NEG_X);
genericSpecialRequest(imtq::SpecialRequest::DO_SELF_TEST_NEG_X);
return returnvalue::OK;
}
case (imtq::cmdIds::POS_Y_SELF_TEST): {
genericMeasureRequest(imtq::SpecialRequest::DO_SELF_TEST_POS_Y);
genericSpecialRequest(imtq::SpecialRequest::DO_SELF_TEST_POS_Y);
return returnvalue::OK;
}
case (imtq::cmdIds::NEG_Y_SELF_TEST): {
genericMeasureRequest(imtq::SpecialRequest::DO_SELF_TEST_NEG_Y);
genericSpecialRequest(imtq::SpecialRequest::DO_SELF_TEST_NEG_Y);
return returnvalue::OK;
}
case (imtq::cmdIds::POS_Z_SELF_TEST): {
genericMeasureRequest(imtq::SpecialRequest::DO_SELF_TEST_POS_Z);
genericSpecialRequest(imtq::SpecialRequest::DO_SELF_TEST_POS_Z);
return returnvalue::OK;
}
case (imtq::cmdIds::NEG_Z_SELF_TEST): {
genericMeasureRequest(imtq::SpecialRequest::DO_SELF_TEST_NEG_Z);
genericSpecialRequest(imtq::SpecialRequest::DO_SELF_TEST_NEG_Z);
return returnvalue::OK;
}
case (imtq::cmdIds::GET_SELF_TEST_RESULT): {
genericMeasureRequest(imtq::SpecialRequest::GET_SELF_TEST_RESULT);
genericSpecialRequest(imtq::SpecialRequest::GET_SELF_TEST_RESULT);
return returnvalue::OK;
}
case (imtq::cmdIds::REQUEST): {
genericMeasureRequest(imtq::SpecialRequest::NONE);
ImtqRequest request(commandBuffer, sizeof(commandBuffer));
request.setMeasureRequest(imtq::SpecialRequest::NONE);
rawPacket = commandBuffer;
rawPacketLen = ImtqRequest::REQUEST_LEN;
return returnvalue::OK;
}
case (imtq::cmdIds::START_ACTUATION_DIPOLE): {
@ -200,8 +257,9 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
ReturnValue_t result;
ReturnValue_t status = returnvalue::OK;
// arrayprinter::print(packet, ImtqReplies::BASE_LEN);
if (requestStep == imtq::RequestType::MEASURE_WITH_ACTUATION) {
if (requestStep == imtq::RequestType::MEASURE_NO_ACTUATION) {
requestStep = imtq::RequestType::ACTUATE;
sif::debug << "handle measure" << std::endl;
ImtqRepliesDefault replies(packet);
if (specialRequestActive) {
if (replies.wasSpecialRequestRead()) {
@ -266,7 +324,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
status = result;
}
} else {
requestStep = imtq::RequestType::MEASURE_WITH_ACTUATION;
requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
ImtqRepliesWithTorque replies(packet);
if (replies.wasDipoleActuationRead()) {
parseStatusByte(imtq::CC::START_ACTUATION_DIPOLE, replies.getDipoleActuation());