From 8fc144b595f9527dbaf52bbdb158accab4d10a9a Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Sep 2021 16:03:09 +0200
Subject: [PATCH] RW handler tweaks

---
 bsp_q7s/core/ObjectFactory.cpp |  8 --------
 mission/devices/RwHandler.cpp  | 22 +++++++++++-----------
 2 files changed, 11 insertions(+), 19 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index ff8415f8..d956a392 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -766,14 +766,6 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
-//    GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
-//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
-//    gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-//    GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
-//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
-//    gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-//    GpiodRegular* enRw3 = new GpiodRegular(, gpio::OUT, 0,
-//            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
     auto enRw1 = new GpiodRegularByLabel(q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS,
             "Enable reaction wheel 1", gpio::OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 571f7eca..792e530d 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -144,47 +144,47 @@ void RwHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
         DeviceCommandId_t *foundId, size_t *foundLen) {
-
-    switch (*(start)) {
-    case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
+    uint8_t replyByte = *start;
+    switch (replyByte) {
+    case (RwDefinitions::GET_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
         *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
         *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
+    case (RwDefinitions::GET_RW_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
         *foundId = RwDefinitions::GET_RW_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
+    case (RwDefinitions::INIT_RW_CONTROLLER): {
         *foundLen = RwDefinitions::SIZE_INIT_RW;
         *foundId = RwDefinitions::INIT_RW_CONTROLLER;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
+    case (RwDefinitions::SET_SPEED): {
         *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
         *foundId = RwDefinitions::SET_SPEED;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
+    case (RwDefinitions::GET_TEMPERATURE): {
         *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
         *foundId = RwDefinitions::GET_TEMPERATURE;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
+    case (RwDefinitions::GET_TM): {
         *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
         *foundId = RwDefinitions::GET_TM;
         break;
     }
     default: {
-        sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+        sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
+                std::endl;
         return RETURN_FAILED;
-        break;
     }
     }