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Merge remote-tracking branch 'origin/develop' into update_hk_frequencies
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This commit is contained in:
Robin Müller
2023-04-04 20:55:50 +02:00
parent 69bbe4ea39 5e854668b5
commit a0e531445a
7 changed files with 130 additions and 134 deletions
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189
mission/com/SyrlinksHandler.cpp
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@ -21,15 +21,15 @@ SyrlinksHandler::~SyrlinksHandler() = default;
void SyrlinksHandler::doStartUp() {
if (internalState == InternalState::OFF) {
transitionCommandPending = false;
internalState = InternalState::ENABLE_TEMPERATURE_PROTECTION;
commandExecuted = false;
}
if (internalState == InternalState::ENABLE_TEMPERATURE_PROTECTION) {
if (commandExecuted) {
// Go to normal mode immediately and disable transmitter on startup.
setMode(_MODE_TO_NORMAL);
setMode(_MODE_TO_ON);
internalState = InternalState::IDLE;
transState = TransitionState::IDLE;
commandExecuted = false;
}
}
@ -37,15 +37,16 @@ void SyrlinksHandler::doStartUp() {
void SyrlinksHandler::doShutDown() {
// In any case, always disable TX first.
if (internalState != InternalState::SET_TX_STANDBY) {
internalState = InternalState::SET_TX_STANDBY;
transitionCommandPending = false;
if (internalState != InternalState::TX_TRANSITION) {
internalState = InternalState::TX_TRANSITION;
transState = TransitionState::SET_TX_STANDBY;
commandExecuted = false;
}
if (internalState == InternalState::SET_TX_STANDBY) {
if (internalState == InternalState::TX_TRANSITION) {
if (commandExecuted) {
temperatureSet.setValidity(false, true);
internalState = InternalState::OFF;
transState = TransitionState::IDLE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
@ -99,30 +100,43 @@ ReturnValue_t SyrlinksHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
}
ReturnValue_t SyrlinksHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (transState == TransitionState::CMD_PENDING or transState == TransitionState::DONE) {
return NOTHING_TO_SEND;
}
switch (internalState) {
case InternalState::ENABLE_TEMPERATURE_PROTECTION: {
*id = syrlinks::WRITE_LCL_CONFIG;
transState = TransitionState::CMD_PENDING;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SET_TX_MODULATION: {
*id = syrlinks::SET_TX_MODE_MODULATION;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SELECT_MODULATION_BPSK: {
*id = syrlinks::SET_WAVEFORM_BPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SELECT_MODULATION_0QPSK: {
*id = syrlinks::SET_WAVEFORM_0QPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SET_TX_CW: {
*id = syrlinks::SET_TX_MODE_CW;
return buildCommandFromCommand(*id, nullptr, 0);
}
case InternalState::SET_TX_STANDBY: {
*id = syrlinks::SET_TX_MODE_STANDBY;
return buildCommandFromCommand(*id, nullptr, 0);
case InternalState::TX_TRANSITION: {
switch (transState) {
case TransitionState::SET_TX_MODULATION: {
*id = syrlinks::SET_TX_MODE_MODULATION;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SELECT_MODULATION_BPSK: {
*id = syrlinks::SET_WAVEFORM_BPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SELECT_MODULATION_0QPSK: {
*id = syrlinks::SET_WAVEFORM_0QPSK;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SET_TX_CW: {
*id = syrlinks::SET_TX_MODE_CW;
return buildCommandFromCommand(*id, nullptr, 0);
}
case TransitionState::SET_TX_STANDBY: {
*id = syrlinks::SET_TX_MODE_STANDBY;
return buildCommandFromCommand(*id, nullptr, 0);
}
default: {
return NOTHING_TO_SEND;
}
}
transState = TransitionState::CMD_PENDING;
break;
}
default: {
break;
@ -622,8 +636,6 @@ void SyrlinksHandler::parseAgcHighByte(const uint8_t* packet) {
agcValueHighByte = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
}
void SyrlinksHandler::setNormalDatapoolEntriesInvalid() {}
uint32_t SyrlinksHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2500; }
ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -656,7 +668,7 @@ ReturnValue_t SyrlinksHandler::initializeLocalDataPool(localpool::DataPool& loca
return returnvalue::OK;
}
void SyrlinksHandler::setModeNormal() { setMode(MODE_NORMAL); }
void SyrlinksHandler::setModeNormal() { setMode(_MODE_TO_NORMAL); }
float SyrlinksHandler::calcTempVal(uint16_t raw) { return 0.126984 * raw - 67.87; }
@ -675,12 +687,31 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
break;
}
case (syrlinks::SET_WAVEFORM_BPSK):
case (syrlinks::SET_WAVEFORM_0QPSK):
case (syrlinks::SET_TX_MODE_STANDBY):
case (syrlinks::SET_TX_MODE_MODULATION):
case (syrlinks::SET_WAVEFORM_0QPSK): {
if (result == returnvalue::OK and isTransitionalMode()) {
transState = TransitionState::SET_TX_MODULATION;
commandExecuted = true;
}
break;
}
case (syrlinks::SET_TX_MODE_STANDBY): {
if (result == returnvalue::OK and isTransitionalMode()) {
transState = TransitionState::DONE;
commandExecuted = true;
}
break;
}
case (syrlinks::SET_TX_MODE_MODULATION): {
if (result == returnvalue::OK and isTransitionalMode()) {
transState = TransitionState::DONE;
commandExecuted = true;
}
break;
}
case (syrlinks::SET_TX_MODE_CW): {
if (result == returnvalue::OK and isTransitionalMode()) {
commandExecuted = true;
transState = TransitionState::DONE;
}
break;
}
@ -704,7 +735,7 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
ReturnValue_t SyrlinksHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == HasModesIF::MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
if (submode >= com::Submode::NUM_SUBMODES) {
if (submode >= com::Submode::NUM_SUBMODES or submode < com::Submode::RX_ONLY) {
return HasModesIF::INVALID_SUBMODE;
}
return returnvalue::OK;
@ -731,72 +762,54 @@ void SyrlinksHandler::setDebugMode(bool enable) { this->debugMode = enable; }
void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
Mode_t tgtMode = getBaseMode(getMode());
auto commandDone = [&]() {
setMode(tgtMode);
transitionCommandPending = false;
auto doneHandler = [&]() {
internalState = InternalState::IDLE;
transState = TransitionState::IDLE;
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
};
auto txOnHandler = [&](InternalState selMod) {
if (internalState == InternalState::IDLE) {
transitionCommandPending = false;
commandExecuted = false;
internalState = selMod;
}
// Select modulation first (BPSK or 0QPSK).
if (internalState == selMod) {
if (commandExecuted) {
transitionCommandPending = false;
internalState = InternalState::SET_TX_MODULATION;
commandExecuted = false;
}
}
// Now go into modulation mode.
if (internalState == InternalState::SET_TX_MODULATION) {
if (commandExecuted) {
commandDone();
return true;
}
}
return false;
};
if (transState == TransitionState::DONE) {
return doneHandler();
}
auto txStandbyHandler = [&]() {
if (internalState == InternalState::IDLE) {
transitionCommandPending = false;
internalState = InternalState::SET_TX_STANDBY;
commandExecuted = false;
}
if (internalState == InternalState::SET_TX_STANDBY) {
if (commandExecuted) {
commandDone();
return;
}
}
txDataset.setReportingEnabled(false);
poolManager.changeCollectionInterval(temperatureSet.getSid(), 60.0);
transState = TransitionState::SET_TX_STANDBY;
internalState = InternalState::TX_TRANSITION;
};
auto txOnHandler = [&](TransitionState tgtTransitionState) {
txDataset.setReportingEnabled(true);
poolManager.changeCollectionInterval(txDataset.getSid(), 10.0);
poolManager.changeCollectionInterval(temperatureSet.getSid(), 5.0);
transState = tgtTransitionState;
internalState = InternalState::TX_TRANSITION;
};
if (tgtMode == HasModesIF::MODE_ON or tgtMode == DeviceHandlerIF::MODE_NORMAL) {
// If submode has not changed, no special transition handling necessary.
if (getSubmode() == subModeFrom) {
return doneHandler();
}
// Transition is on-going, wait for it to finish.
if (transState != TransitionState::IDLE) {
return;
}
// Transition start logic.
switch (getSubmode()) {
case (com::Submode::RX_AND_TX_DEFAULT_DATARATE): {
auto currentDatarate = com::getCurrentDatarate();
if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_BPSK);
} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_0QPSK);
}
break;
}
case (com::Submode::RX_AND_TX_LOW_DATARATE): {
if (txOnHandler(InternalState::SELECT_MODULATION_BPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_BPSK);
break;
}
case (com::Submode::RX_AND_TX_HIGH_DATARATE): {
if (txOnHandler(InternalState::SELECT_MODULATION_0QPSK)) {
return;
}
txOnHandler(TransitionState::SELECT_MODULATION_0QPSK);
break;
}
case (com::Submode::RX_ONLY): {
@ -804,21 +817,17 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
return;
}
case (com::Submode::RX_AND_TX_CW): {
if (internalState == InternalState::IDLE) {
internalState = InternalState::SET_TX_STANDBY;
commandExecuted = false;
}
if (commandExecuted) {
commandDone();
return;
}
txOnHandler(TransitionState::SET_TX_CW);
break;
}
default: {
commandDone();
sif::error << "SyrlinksHandler: Unexpected submode " << getSubmode() << std::endl;
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
}
} else if (tgtMode == HasModesIF::MODE_OFF) {
txStandbyHandler();
} else {
return doneHandler();
}
}