From c29d7e6f3e7fd72bda8ef3dcac8cb4efe212ae11 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 16 Feb 2023 16:54:58 +0100
Subject: [PATCH] no bugs

---
 bsp_q7s/core/ObjectFactory.cpp  |  4 ++--
 linux/devices/RwPollingTask.cpp |  1 +
 mission/devices/RwHandler.cpp   | 18 ++++++++++++++++++
 mission/devices/RwHandler.h     |  1 +
 4 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 0f154542..ea310f87 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -680,8 +680,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
   std::array<DeviceHandlerBase*, 4> rws = {};
   new RwPollingTask(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
   for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
-    rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
-                                   rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
+    rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
+                                  rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
     auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
                                     rwGpioIds[idx], idx);
     rwCookies[idx]->setCallbackArgs(rwHandler);
diff --git a/linux/devices/RwPollingTask.cpp b/linux/devices/RwPollingTask.cpp
index 643c7608..8b6320ff 100644
--- a/linux/devices/RwPollingTask.cpp
+++ b/linux/devices/RwPollingTask.cpp
@@ -107,6 +107,7 @@ ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
 
   auto* rwCookie = dynamic_cast<RwCookie*>(cookie);
   if (rwCookie == nullptr) {
+    sif::error << "RwPollingTask::initializeInterface: Wrong cookie" << std::endl;
     return returnvalue::FAILED;
   }
   rwCookies[rwCookie->rwIdx] = rwCookie;
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 456e0940..1c1263b4 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -514,6 +514,24 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) {
   }
 }
 
+LocalPoolDataSetBase* RwHandler::getDataSetHandle(sid_t sid) {
+  switch (sid.ownerSetId) {
+    case (rws::SetIds::STATUS_SET_ID): {
+      return &statusSet;
+    }
+    case (rws::SetIds::LAST_RESET_ID): {
+      return &lastResetStatusSet;
+    }
+    case (rws::SetIds::SPEED_CMD_SET): {
+      return &rwSpeedActuationSet;
+    }
+    case (rws::SetIds::TM_SET_ID): {
+      return &tmDataset;
+    }
+  }
+  return nullptr;
+}
+
 void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
   PoolReadGuard rg(&tmDataset);
   uint8_t offset = 2;
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index beba8376..756aed53 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -56,6 +56,7 @@ class RwHandler : public DeviceHandlerBase {
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                         LocalDataPoolManager& poolManager) override;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
  private:
   //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in