eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

get commanded dipole wip

Browse Source
This commit is contained in:
Jakob Meier
2021-04-25 15:53:44 +02:00
parent a92e99c1c4
commit 84a0935f63
5 changed files with 78 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

93
mission/devices/IMTQHandler.cpp
View File

@ -42,25 +42,31 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(IMTQ::START_ACTUATION_DIPOLE): {
/* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
commandBuffer[1] = *(commandData + 1);
commandBuffer[2] = *(commandData);
commandBuffer[3] = *(commandData + 3);
commandBuffer[4] = *(commandData + 2);
commandBuffer[5] = *(commandData + 5);
commandBuffer[6] = *(commandData + 4);
commandBuffer[7] = *(commandData + 7);
commandBuffer[8] = *(commandData + 6);
rawPacket = commandBuffer;
rawPacketLen = 9;
return RETURN_OK;
}
case(IMTQ::GET_ENG_HK_DATA): {
commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
rawPacket = commandBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case(IMTQ::START_ACTUATION_DIPOLE): {
/* IMTQ expects low byte first */
commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
commandBuffer[1] = *(commandData + 1);
commandBuffer[2] = *(commandData);
commandBuffer[3] = *(commandData + 3);
commandBuffer[4] = *(commandData + 2);
commandBuffer[5] = *(commandData + 5);
commandBuffer[6] = *(commandData + 4);
commandBuffer[7] = *(commandData + 7);
commandBuffer[8] = *(commandData + 6);
case(IMTQ::GET_COMMANDED_DIPOLE): {
commandBuffer[0] = IMTQ::CC::GET_COMMANDED_DIPOLE;
rawPacket = commandBuffer;
rawPacketLen = 9;
rawPacketLen = 1;
return RETURN_OK;
}
default:
@ -70,8 +76,12 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(
}
void IMTQHandler::fillCommandAndReplyMap() {
this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr,
IMTQ::SIZE_STATUS_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
IMTQ::SIZE_ENG_HK_DATA_REPLY, false, true, IMTQ::SIZE_ENG_HK_DATA_REPLY);
IMTQ::SIZE_ENG_HK_DATA_REPLY);
this->insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
IMTQ::SIZE_ENG_HK_DATA_REPLY);
}
ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
@ -80,10 +90,18 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
ReturnValue_t result = RETURN_OK;
switch(*start) {
case(IMTQ::CC::START_ACTUATION_DIPOLE):
*foundLen = IMTQ::SIZE_STATUS_REPLY;
*foundId = IMTQ::START_ACTUATION_DIPOLE;
break;
case(IMTQ::CC::GET_ENG_HK_DATA):
*foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
*foundId = IMTQ::GET_ENG_HK_DATA;
break;
case(IMTQ::CC::GET_COMMANDED_DIPOLE):
*foundLen = IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY;
*foundId = IMTQ::GET_COMMANDED_DIPOLE;
break;
default:
sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << std::endl;
result = IGNORE_REPLY_DATA;
@ -105,9 +123,15 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
}
switch (id) {
case (IMTQ::START_ACTUATION_DIPOLE):
// Replies only the status byte which is already handled with parseStatusByte
break;
case (IMTQ::GET_ENG_HK_DATA):
fillEngHkDataset(packet);
break;
case (IMTQ::GET_COMMANDED_DIPOLE):
handleGetCommandedDipoleReply(packet);
break;
default: {
sif::debug << "IMTQHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
@ -143,31 +167,29 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
return HasReturnvaluesIF::RETURN_OK;
}
size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){
DeviceReplyIter iter = deviceReplyMap.find(commandId);
if(iter != deviceReplyMap.end()) {
return iter->second.replyLen;
}else{
return 0;
}
}
ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
uint8_t cmdErrorField = *(packet + 1) & 0xF;
switch (cmdErrorField) {
case 0:
return RETURN_OK;
case 1:
sif::error << "IMTQHandler::parseStatusByte: Command rejected without reason" << std::endl;
return REJECTED_WITHOUT_REASON;
case 2:
sif::error << "IMTQHandler::parseStatusByte: Command has invalid command code" << std::endl;
return INVALID_COMMAND_CODE;
case 3:
sif::error << "IMTQHandler::parseStatusByte: Command has missing parameter" << std::endl;
return PARAMETER_MISSING;
case 4:
sif::error << "IMTQHandler::parseStatusByte: Command has invalid parameter" << std::endl;
return PARAMETER_INVALID;
case 5:
sif::error << "IMTQHandler::parseStatusByte: CC unavailable" << std::endl;
return CC_UNAVAILABLE;
case 7:
sif::error << "IMTQHandler::parseStatusByte: IMQT replied internal processing error"
<< std::endl;
return INTERNAL_PROCESSING_ERROR;
default:
sif::error << "IMTQHandler::parseStatusByte: CMD Error field contains unknown error code "
@ -223,3 +245,30 @@ void IMTQHandler::setModeNormal() {
mode = MODE_NORMAL;
}
void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
ReturnValue_t result = RETURN_OK;
if (wiretappingMode == RAW) {
/* Data already sent in doGetRead() */
return result;
}
DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
if (iter == deviceReplyMap.end()) {
sif::debug << "IMTQHandler::handleDeviceTM: Unknown reply id" << std::endl;
return;
}
MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
if (queueId == NO_COMMANDER) {
return;
}
result = actionHelper.reportData(queueId, replyId, data, dataSize);
if (result != RETURN_OK) {
sif::debug << "IMTQHandler::handleDeviceTM: Failed to report data" << std::endl;
}
}