ploc handler wip
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mission/devices/PlocHandler.cpp
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213
mission/devices/PlocHandler.cpp
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#include "PlocHandler.h"
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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfwconfig/OBSWConfig.h>
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PlocHandler::PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
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DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this) {
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if (comCookie == NULL) {
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sif::error << "PlocHandler: Invalid com cookie" << std::endl;
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}
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}
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PlocHandler::~PlocHandler() {
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}
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void PlocHandler::doStartUp(){
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if(mode == _MODE_START_UP){
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setMode(MODE_ON);
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}
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}
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void PlocHandler::doShutDown(){
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}
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ReturnValue_t PlocHandler::buildNormalDeviceCommand(
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DeviceCommandId_t * id) {
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*id = IMTQ::GET_ENG_HK_DATA;
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return buildCommandFromCommand(*id, NULL, 0);
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}
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ReturnValue_t PlocHandler::buildTransitionDeviceCommand(
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DeviceCommandId_t * id){
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PlocHandler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t * commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(IMTQ::GET_ENG_HK_DATA): {
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commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case(IMTQ::START_ACTUATION_DIPOLE): {
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/* IMTQ expects low byte first */
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commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
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commandBuffer[1] = *(commandData + 1);
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commandBuffer[2] = *(commandData);
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commandBuffer[3] = *(commandData + 3);
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commandBuffer[4] = *(commandData + 2);
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commandBuffer[5] = *(commandData + 5);
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commandBuffer[6] = *(commandData + 4);
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commandBuffer[7] = *(commandData + 7);
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commandBuffer[8] = *(commandData + 6);
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void PlocHandler::fillCommandAndReplyMap() {
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this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
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IMTQ::SIZE_ENG_HK_DATA_REPLY, false, true, IMTQ::SIZE_ENG_HK_DATA_REPLY);
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}
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ReturnValue_t PlocHandler::scanForReply(const uint8_t *start,
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size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
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ReturnValue_t result = RETURN_OK;
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switch(*start) {
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case(IMTQ::CC::GET_ENG_HK_DATA):
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*foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
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*foundId = IMTQ::GET_ENG_HK_DATA;
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break;
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default:
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sif::debug << "PlocHandler::scanForReply: Reply contains invalid command code" << std::endl;
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result = IGNORE_REPLY_DATA;
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break;
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}
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return result;
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}
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ReturnValue_t PlocHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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ReturnValue_t result = RETURN_OK;
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result = parseStatusByte(packet);
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if (result != RETURN_OK) {
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return result;
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}
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switch (id) {
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case (IMTQ::GET_ENG_HK_DATA):
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fillEngHkDataset(packet);
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break;
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default: {
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sif::debug << "PlocHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return RETURN_OK;
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}
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ReturnValue_t PlocHandler::parseStatusByte(const uint8_t* packet) {
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uint8_t cmdErrorField = *(packet + 1) & 0xF;
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switch (cmdErrorField) {
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case 0:
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return RETURN_OK;
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case 1:
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return REJECTED_WITHOUT_REASON;
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case 2:
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return INVALID_COMMAND_CODE;
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case 3:
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return PARAMETER_MISSING;
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case 4:
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return PARAMETER_INVALID;
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case 5:
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return CC_UNAVAILABLE;
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case 7:
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return INTERNAL_PROCESSING_ERROR;
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default:
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sif::error << "PlocHandler::parseStatusByte: CMD Error field contains unknown error code "
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<< cmdErrorField << std::endl;
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return CMD_ERR_UNKNOWN;
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}
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}
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void PlocHandler::fillEngHkDataset(const uint8_t* packet) {
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uint8_t offset = 2;
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engHkDataset.digitalVoltageMv = *(packet + offset + 1) | *(packet + offset);
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offset += 2;
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engHkDataset.analogVoltageMv = *(packet + offset + 1) | *(packet + offset);
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offset += 2;
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engHkDataset.digitalCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.analogCurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilXcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilYcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilZcurrentA = (*(packet + offset + 1) | *(packet + offset)) * 0.0001;
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offset += 2;
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engHkDataset.coilXTemperature = (*(packet + offset + 1) | *(packet + offset));
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offset += 2;
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engHkDataset.coilYTemperature = (*(packet + offset + 1) | *(packet + offset));
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offset += 2;
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engHkDataset.coilZTemperature = (*(packet + offset + 1) | *(packet + offset));
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offset += 2;
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engHkDataset.mcuTemperature = (*(packet + offset + 1) | *(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && IMTQ_DEBUG == 1
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sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
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sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
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sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentA << " A" << std::endl;
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sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentA << " A" << std::endl;
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sif::info << "IMTQ coil X current: " << engHkDataset.coilXcurrentA << " A" << std::endl;
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sif::info << "IMTQ coil Y current: " << engHkDataset.coilYcurrentA << " A" << std::endl;
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sif::info << "IMTQ coil Z current: " << engHkDataset.coilZcurrentA << " A" << std::endl;
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sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C"
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<< std::endl;
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#endif
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}
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void PlocHandler::setNormalDatapoolEntriesInvalid(){
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}
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uint32_t PlocHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
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return 500;
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}
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ReturnValue_t PlocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT_A, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PlocHandler::setModeNormal() {
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mode = MODE_NORMAL;
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}
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77
mission/devices/PlocHandler.h
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mission/devices/PlocHandler.h
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#ifndef MISSION_DEVICES_PLOCHANDLER_H_
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#define MISSION_DEVICES_PLOCHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <mission/devices/devicedefinitions/PlocHandlerDefinitions.h>
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#include <string.h>
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/**
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* @brief This is the device handler for the ISIS Magnetorquer iMTQ.
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*
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* @author J. Meier
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*/
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class PlocHandler: public DeviceHandlerBase {
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public:
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PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
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virtual ~PlocHandler();
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/**
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* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
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*/
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void setModeNormal();
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protected:
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t * commandData,size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
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static const ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0xA0);
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static const ReturnValue_t PARAMETER_MISSING = MAKE_RETURN_CODE(0xA1);
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static const ReturnValue_t PARAMETER_INVALID = MAKE_RETURN_CODE(0xA2);
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static const ReturnValue_t CC_UNAVAILABLE = MAKE_RETURN_CODE(0xA3);
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static const ReturnValue_t INTERNAL_PROCESSING_ERROR = MAKE_RETURN_CODE(0xA4);
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static const ReturnValue_t REJECTED_WITHOUT_REASON = MAKE_RETURN_CODE(0xA5);
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static const ReturnValue_t CMD_ERR_UNKNOWN = MAKE_RETURN_CODE(0xA6);
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IMTQ::EngHkDataset engHkDataset;
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uint8_t commandBuffer[IMTQ::MAX_COMMAND_SIZE];
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/**
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* @brief Each reply contains a status byte giving information about a request. This function
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* parses this byte and returns the associated failure message.
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*
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* @param packet Pointer to the received message containing the status byte.
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*
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* @return The return code derived from the received status byte.
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*/
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ReturnValue_t parseStatusByte(const uint8_t* packet);
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/**
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* @brief This function fills the engineering housekeeping dataset with the received data.
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* @param packet Pointer to the received data.
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*
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*/
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void fillEngHkDataset(const uint8_t* packet);
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};
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#endif /* MISSION_DEVICES_PLOCHANDLER_H_ */
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2
tmtc
2
tmtc
@ -1 +1 @@
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Subproject commit 80ee42089e5baadd60479178417299a8c660c80a
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Subproject commit f40b70f66eba176d3c36533a779e4e0ed13ae701
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