From dc0c8c704c61acb8ab18187b5fb1f3a29e6d8539 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 20 Aug 2021 20:18:56 +0200
Subject: [PATCH] debugging GPS: uart is blocking!

---
 bsp_q7s/core/ObjectFactory.cpp                |  8 ++++++--
 .../pollingSequenceFactory.cpp                | 20 +++++++++----------
 mission/devices/GPSHyperionHandler.cpp        | 15 +++++++++++++-
 mission/devices/GPSHyperionHandler.h          |  3 ++-
 4 files changed, 32 insertions(+), 14 deletions(-)

diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index a22f219e..a5a69a35 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -477,8 +477,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
             UartModes::CANONICAL, 9600, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
     uartCookieGps1->setToFlushInput(true);
     uartCookieGps1->setReadCycles(6);
-    new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookieGps0, true);
-    new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF, uartCookieGps1, true);
+    auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
+            uartCookieGps0, true);
+    gpsHandler0->setStartUpImmediately();
+    auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
+            uartCookieGps1, true);
+    gpsHandler1->setStartUpImmediately();
 }
 
 void ObjectFactory::createHeaterComponents() {
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 045a7af3..60d69e13 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -491,16 +491,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
 //    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
 //            DeviceHandlerIF::GET_READ);
 
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
-            DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
-            DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
-            DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
-            DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
-            DeviceHandlerIF::GET_READ);
+//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
+//            DeviceHandlerIF::PERFORM_OPERATION);
+//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.2,
+//            DeviceHandlerIF::SEND_WRITE);
+//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.4,
+//            DeviceHandlerIF::GET_WRITE);
+//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
+//            DeviceHandlerIF::SEND_READ);
+//    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.8,
+//            DeviceHandlerIF::GET_READ);
 
 //    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
 //            DeviceHandlerIF::PERFORM_OPERATION);
diff --git a/mission/devices/GPSHyperionHandler.cpp b/mission/devices/GPSHyperionHandler.cpp
index 34fdd47d..0abf10c2 100644
--- a/mission/devices/GPSHyperionHandler.cpp
+++ b/mission/devices/GPSHyperionHandler.cpp
@@ -121,7 +121,7 @@ ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id,
 }
 
 uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 5000;
+    return 20000;
 }
 
 ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
@@ -150,3 +150,16 @@ void GPSHyperionHandler::fillCommandAndReplyMap() {
 void GPSHyperionHandler::modeChanged() {
     internalState = InternalStates::NONE;
 }
+
+void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
+        uint32_t parameter) {
+    if(positionTracker == 0) {
+        sif::debug << "state machine, mode " << parameter << std::endl;
+    }
+    else if(positionTracker == 1) {
+        sif::debug << "ALIVE" << std::endl;
+    }
+    if(positionTracker == 5) {
+        (void) positionTracker;
+    }
+}
diff --git a/mission/devices/GPSHyperionHandler.h b/mission/devices/GPSHyperionHandler.h
index 49d8f416..ca7898ae 100644
--- a/mission/devices/GPSHyperionHandler.h
+++ b/mission/devices/GPSHyperionHandler.h
@@ -49,7 +49,8 @@ protected:
 	uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
 	ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
 			LocalDataPoolManager &poolManager) override;
-
+    virtual void debugInterface(uint8_t positionTracker = 0,
+            object_id_t objectId = 0, uint32_t parameter = 0) override;
 private:
 	lwgps_t gpsData = {};
 	GpsPrimaryDataset gpsSet;