eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

why do we need so much buffer time?
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source
This commit is contained in:
Robin Müller
2023-03-06 11:02:56 +01:00
parent 6e10ccd2d6
commit d18a0e98a5
4 changed files with 19 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
mission/devices/ImtqHandler.cpp
View File

@ -144,6 +144,7 @@ void ImtqHandler::doStartUp() {
} else {
setMode(_MODE_TO_ON);
}
commandExecuted = false;
}
}
}
@ -154,6 +155,7 @@ void ImtqHandler::doShutDown() {
specialRequestActive = false;
firstReplyCycle = true;
internalState = InternalState::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
@ -171,6 +173,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
*id = imtq::cmdIds::REQUEST;
request.request = imtq::RequestType::DO_NOTHING;
request.specialRequest = imtq::SpecialRequest::NONE;
expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
@ -180,6 +183,10 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
}
ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (internalState == InternalState::STARTUP) {
*id = imtq::cmdIds::REQUEST;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
}
@ -307,10 +314,14 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
ReturnValue_t result;
ReturnValue_t status = returnvalue::OK;
if (getMode() != MODE_NORMAL) {
// Ignore replies during transitions.
if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
ImtqRepliesDefault replies(packet);
if (replies.devWasConfigured() and internalState == InternalState::STARTUP) {
commandExecuted = true;
}
}
return returnvalue::OK;
}
// arrayprinter::print(packet, ImtqReplies::BASE_LEN);
if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
// sif::debug << "handle measure" << std::endl;
ImtqRepliesDefault replies(packet);