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prep imtq startup handling

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This commit is contained in:
Robin Müller
2023-04-02 20:12:24 +02:00
parent 020dfa8278
commit 847e3bb51d
6 changed files with 53 additions and 33 deletions
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8
mission/acs/ImtqHandler.cpp
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@ -178,7 +178,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
}
default: {
*id = imtq::cmdIds::REQUEST;
request.request = imtq::RequestType::DO_NOTHING;
request.requestType = imtq::RequestType::DO_NOTHING;
request.specialRequest = imtq::SpecialRequest::NONE;
expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
rawPacket = reinterpret_cast<uint8_t*>(&request);
@ -201,7 +201,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
const uint8_t* commandData,
size_t commandDataLen) {
auto genericSpecialRequest = [&](imtq::SpecialRequest specialRequest) {
request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
request.specialRequest = specialRequest;
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
specialRequestActive = true;
@ -238,7 +238,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
return returnvalue::OK;
}
case (imtq::cmdIds::REQUEST): {
request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
request.specialRequest = imtq::SpecialRequest::NONE;
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
rawPacket = reinterpret_cast<uint8_t*>(&request);
@ -267,7 +267,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
}
expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE;
request.request = imtq::RequestType::ACTUATE;
request.requestType = imtq::RequestType::ACTUATE;
request.specialRequest = imtq::SpecialRequest::NONE;
std::memcpy(request.dipoles, dipoleSet.dipoles.value, sizeof(request.dipoles));
request.torqueDuration = dipoleSet.currentTorqueDurationMs.value;