Merge pull request 'RW ReplyHandler fix' (#99) from mueller/rw-replyhandler-fix into develop
Reviewed-on: #99 Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>
This commit is contained in:
commit
863295cd31
@ -766,14 +766,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
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&gpioCallbacks::spiCsDecoderCallback, gpioComIF);
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gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
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// GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
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// q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
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// gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
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// GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
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// q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
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// gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
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// GpiodRegular* enRw3 = new GpiodRegular(, gpio::OUT, 0,
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// q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
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auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS,
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"Enable reaction wheel 1", gpio::OUT, gpio::LOW);
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gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
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@ -813,18 +805,30 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
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auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
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gpioIds::EN_RW1);
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#if OBSW_DEBUG_RW == 1
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rwHandler1->setStartUpImmediately();
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#endif
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rw1SpiCookie->setCallbackArgs(rwHandler1);
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auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
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gpioIds::EN_RW2);
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#if OBSW_DEBUG_RW == 1
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rwHandler2->setStartUpImmediately();
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#endif
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rw2SpiCookie->setCallbackArgs(rwHandler2);
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auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
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gpioIds::EN_RW3);
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#if OBSW_DEBUG_RW == 1
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rwHandler3->setStartUpImmediately();
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#endif
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rw3SpiCookie->setCallbackArgs(rwHandler3);
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auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
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gpioIds::EN_RW4);
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#if OBSW_DEBUG_RW == 1
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rwHandler4->setStartUpImmediately();
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#endif
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rw4SpiCookie->setCallbackArgs(rwHandler4);
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}
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit c9b343ebcd92de1d214a9b1d7abafee4a7e79888
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Subproject commit e1a85b47c5018590e58b9b1130b1754b0079450f
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@ -60,10 +60,8 @@ ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
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PoolReadGuard pg(&gpsSet);
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// Set HK entries invalid
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gpsSet.setValidity(false, true);
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// The user needs to implement this. Don't touch states for now, the device should
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// quickly reboot and send valid strings again.
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actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
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return resetCallback(resetCallbackArgs);
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resetCallback(resetCallbackArgs);
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return HasActionsIF::EXECUTION_FINISHED;
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}
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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@ -210,3 +208,7 @@ ReturnValue_t GPSHyperionHandler::initialize() {
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// Enable reply immediately for now
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return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
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}
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ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
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return DeviceHandlerBase::acceptExternalDeviceCommands();
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}
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@ -22,6 +22,7 @@ public:
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using gpioResetFunction_t = ReturnValue_t (*) (void* args);
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void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
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ReturnValue_t acceptExternalDeviceCommands() override;
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ReturnValue_t initialize() override;
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protected:
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@ -144,47 +144,48 @@ void RwHandler::fillCommandAndReplyMap() {
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ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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switch (*(start)) {
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case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
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uint8_t replyByte = *start;
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switch (replyByte) {
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case (RwDefinitions::GET_LAST_RESET_STATUS): {
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*foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
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*foundId = RwDefinitions::GET_LAST_RESET_STATUS;
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break;
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}
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case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
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case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
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*foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
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*foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
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break;
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}
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case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
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case (RwDefinitions::GET_RW_STATUS): {
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*foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
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*foundId = RwDefinitions::GET_RW_STATUS;
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break;
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}
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case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
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case (RwDefinitions::INIT_RW_CONTROLLER): {
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*foundLen = RwDefinitions::SIZE_INIT_RW;
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*foundId = RwDefinitions::INIT_RW_CONTROLLER;
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break;
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}
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case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
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case (RwDefinitions::SET_SPEED): {
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*foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
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*foundId = RwDefinitions::SET_SPEED;
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break;
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}
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case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
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case (RwDefinitions::GET_TEMPERATURE): {
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*foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
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*foundId = RwDefinitions::GET_TEMPERATURE;
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break;
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}
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case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
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case (RwDefinitions::GET_TM): {
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*foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
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*foundId = RwDefinitions::GET_TM;
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break;
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}
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default: {
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sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
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sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
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std::endl;
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*foundLen = remainingSize;
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return RETURN_FAILED;
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break;
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}
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}
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