From f4f6d1ed819f69a0291092584029fb6956a1467a Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 13 Feb 2023 10:33:08 +0100
Subject: [PATCH] added InternalState SET_SPEED to enable setting RW Speed from
 ACS Ctrl

---
 mission/devices/RwHandler.cpp |  7 ++++++-
 mission/devices/RwHandler.h   | 10 ++++++++--
 2 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 7a8b52f3..88857b68 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -53,7 +53,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       break;
     case InternalState::GET_RW_SATUS:
       *id = RwDefinitions::GET_RW_STATUS;
-      internalState = InternalState::GET_RESET_STATUS;
+      internalState = InternalState::SET_SPEED;
+      break;
+    case InternalState::SET_SPEED:
+      *id = RwDefinitions::SET_SPEED;
+      internalState = InternalState::CLEAR_RESET_STATUS;
       break;
     case InternalState::CLEAR_RESET_STATUS:
       *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
@@ -98,6 +102,7 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
       return returnvalue::OK;
     }
     case (RwDefinitions::SET_SPEED): {
+      sif::debug << "hello" << std::endl;
       if (commandData != nullptr && commandDataLen != 6) {
         sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
                    << " invalid length" << std::endl;
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index af59caa1..148a6359 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -9,7 +9,7 @@
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
 
-static constexpr bool ACTUATION_WIRETAPPING = false;
+static constexpr bool ACTUATION_WIRETAPPING = true;
 
 class GpioIF;
 
@@ -102,7 +102,13 @@ class RwHandler : public DeviceHandlerBase {
   PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>(0, false);
   PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>(10, false);
 
-  enum class InternalState { GET_RESET_STATUS, CLEAR_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS };
+  enum class InternalState {
+    GET_RESET_STATUS,
+    CLEAR_RESET_STATUS,
+    READ_TEMPERATURE,
+    SET_SPEED,
+    GET_RW_SATUS
+  };
 
   InternalState internalState = InternalState::GET_RESET_STATUS;