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a lot of bugfixes for IMTQ
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This commit is contained in:
Robin Müller
2023-03-04 14:32:18 +01:00
parent f6f3f17505
commit c8a2395d61
6 changed files with 205 additions and 177 deletions
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19
linux/devices/ImtqPollingTask.cpp
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@ -35,6 +35,9 @@ ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
handleActuateStep();
break;
}
default: {
break;
}
};
}
return returnvalue::OK;
@ -192,15 +195,15 @@ ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
ImtqRequest request(sendData, sendLen);
const auto* imtqReq = reinterpret_cast<const ImtqRequest*>(sendData);
{
MutexGuard mg(ipcLock);
currentRequest = request.getRequestType();
if (currentRequest == imtq::RequestType::ACTUATE) {
std::memcpy(dipoles, request.getDipoles(), 6);
torqueDuration = request.getTorqueDuration();
if (imtqReq->request == imtq::RequestType::ACTUATE) {
std::memcpy(dipoles, imtqReq->dipoles, sizeof(dipoles));
torqueDuration = imtqReq->torqueDuration;
}
specialRequest = request.getSpecialRequest();
currentRequest = imtqReq->request;
specialRequest = imtqReq->specialRequest;
if (state != InternalState::IDLE) {
return returnvalue::FAILED;
}
@ -325,9 +328,11 @@ ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** b
if (currentRequest == imtq::RequestType::MEASURE_NO_ACTUATION) {
replyLen = getExchangeBufLen(specialRequest);
memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
} else {
} else if (currentRequest == imtq::RequestType::ACTUATE) {
replyLen = ImtqRepliesWithTorque::BASE_LEN;
memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
} else {
*size = 0;
}
*buffer = exchangeBuf.data();
*size = replyLen;