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More buffer time
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This commit is contained in:
Robin Müller
2023-03-06 09:17:03 +01:00
parent 1938addaa8
commit 6e10ccd2d6
6 changed files with 59 additions and 36 deletions
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32
mission/devices/ImtqHandler.cpp
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@ -131,12 +131,20 @@ ReturnValue_t ImtqHandler::performOperation(uint8_t opCode) {
ImtqHandler::~ImtqHandler() = default;
void ImtqHandler::doStartUp() {
updatePeriodicReply(true, imtq::cmdIds::REPLY_NO_TORQUE);
updatePeriodicReply(true, imtq::cmdIds::REPLY_WITH_TORQUE);
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
if (internalState != InternalState::STARTUP) {
commandExecuted = false;
updatePeriodicReply(true, imtq::cmdIds::REPLY_NO_TORQUE);
updatePeriodicReply(true, imtq::cmdIds::REPLY_WITH_TORQUE);
internalState = InternalState::STARTUP;
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
}
}
}
@ -145,6 +153,7 @@ void ImtqHandler::doShutDown() {
updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
specialRequestActive = false;
firstReplyCycle = true;
internalState = InternalState::NONE;
setMode(_MODE_POWER_DOWN);
}
@ -163,7 +172,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
request.request = imtq::RequestType::DO_NOTHING;
request.specialRequest = imtq::SpecialRequest::NONE;
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
}
}
@ -183,7 +192,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
specialRequestActive = true;
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
};
switch (deviceCommand) {
case (imtq::cmdIds::POS_X_SELF_TEST): {
@ -219,7 +228,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
request.specialRequest = imtq::SpecialRequest::NONE;
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
}
case (imtq::cmdIds::START_ACTUATION_DIPOLE): {
@ -258,7 +267,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
torquer::TORQUEING = true;
torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
}
default:
@ -305,6 +314,9 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
// sif::debug << "handle measure" << std::endl;
ImtqRepliesDefault replies(packet);
if (replies.devWasConfigured() and internalState == InternalState::STARTUP) {
commandExecuted = true;
}
if (specialRequestActive) {
if (replies.wasSpecialRequestRead()) {
uint8_t* specialRequest = replies.getSpecialRequest();