create low level rtd handler in obj factory

linux/ObjectFactory.cpp

@@ -7,6 +7,8 @@
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <linux/callbacks/gpioCallbacks.h>
+#include <linux/devices/Max31865RtdLowlevelHandler.h>
+#include <mission/devices/Max31865EiveHandler.h>
 #include <mission/devices/Max31865PT1000Handler.h>
 #include <mission/devices/SusHandler.h>
 #include <mission/system/SusAssembly.h>
@@ -245,8 +247,8 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
   gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");
 
 #if OBSW_ADD_RTD_DEVICES == 1
-  static constexpr uint8_t NUMBER_RTDS = 16;
-  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
+  using namespace EiveMax31855;
+  std::array<std::pair<address_t, gpioId_t>, NUM_RTDS> cookieArgs = {{
       {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
       {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
       {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
@@ -264,7 +266,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
       {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
       {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
   }};
-  std::array<std::pair<object_id_t, std::string>, NUMBER_RTDS> rtdInfos = {{
+  std::array<std::pair<object_id_t, std::string>, NUM_RTDS> rtdInfos = {{
       {objects::RTD_0_IC3_PLOC_HEATSPREADER, "RTD_0_PLOC_HEATSPREADER"},
       {objects::RTD_1_IC4_PLOC_MISSIONBOARD, "RTD_1_PLOC_MISSIONBOARD"},
       {objects::RTD_2_IC5_4K_CAMERA, "RTD_2_4K_CAMERA"},
@@ -282,31 +284,44 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
       {objects::RTD_14_IC17_TCS_BOARD, "RTD_14_TCS_BOARD"},
       {objects::RTD_15_IC18_IMTQ, "RTD_15_IMTQ"},
   }};
-  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
-  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
+  std::array<SpiCookie*, NUM_RTDS> rtdCookies = {};
+  std::array<DeviceHandlerBase*, NUM_RTDS> rtds = {};
   RtdFdir* rtdFdir = nullptr;
-  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
+  bool useDirectHandler = false;
+  auto directRtdsCreator = [&](uint8_t idx) {
+    auto typedHandler =
+        new Max31865PT1000Handler(rtdInfos[idx].first, objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
+    rtds[idx] = typedHandler;
+    typedHandler->setDeviceInfo(idx + 3, rtdInfos[idx].second);
+  };
+  auto lowLevelRtdsCreator = [&](uint8_t idx) {
+    Max31865ReaderCookie* rtdLowLevelCookie =
+        new Max31865ReaderCookie(rtdInfos[idx].first, idx, rtdInfos[idx].second, rtdCookies[idx]);
+    auto typedHandler =
+        new Max31865EiveHandler(rtdInfos[idx].first, objects::SPI_MAIN_COM_IF, rtdLowLevelCookie);
+    rtds[idx] = typedHandler;
+    typedHandler->setDeviceInfo(idx, rtdInfos[idx].second);
+  };
+  for (uint8_t idx = 0; idx < NUM_RTDS; idx++) {
     rtdCookies[idx] = new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second,
                                     MAX31865::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
-    rtds[idx] =
-        new Max31865PT1000Handler(rtdInfos[idx].first, objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
+    if (useDirectHandler) {
+      directRtdsCreator(idx);
+    } else {
+      lowLevelRtdsCreator(idx);
+    }
     rtds[idx]->setParent(objects::TCS_BOARD_ASS);
     rtdFdir = new RtdFdir(rtdInfos[idx].first);
     rtds[idx]->setCustomFdir(rtdFdir);
-    rtds[idx]->setDeviceInfo(idx + 3, rtdInfos[idx].second);
 #if OBSW_DEBUG_RTD == 1
     rtds[idx]->setDebugMode(true);
 #endif
+#if OBSW_TEST_RTD == 1
+    rtds[idx]->setStartUpImmediately();
+    rtds[idx]->setInstantNormal(true);
+#endif  // OBSW_TEST_RTD == 1
   }
 
-#if OBSW_TEST_RTD == 1
-  for (auto& rtd : rtds) {
-    if (rtd != nullptr) {
-      rtd->setStartUpImmediately();
-      rtd->setInstantNormal(true);
-    }
-  }
-#endif  // OBSW_TEST_RTD == 1
   TcsBoardHelper helper(rtdInfos);
   TcsBoardAssembly* tcsBoardAss =
       new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,

linux/devices/Max31865RtdLowlevelHandler.h

@@ -9,7 +9,7 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
-struct Max31865ReaderCookie {
+struct Max31865ReaderCookie : public CookieIF {
   Max31865ReaderCookie(){};
   Max31865ReaderCookie(object_id_t handlerId_, uint8_t idx_, const std::string& locString_,
                        SpiCookie* spiCookie_)