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added InternalState SET_SPEED to enable setting RW Speed from ACS Ctrl

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This commit is contained in:
Marius Eggert 2023-02-13 10:33:08 +01:00
parent ac22a00e09
commit f4f6d1ed81
2 changed files with 14 additions and 3 deletions
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7
mission/devices/RwHandler.cpp
View File

@ -53,7 +53,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
break; break;
case InternalState::GET_RW_SATUS: case InternalState::GET_RW_SATUS:
*id = RwDefinitions::GET_RW_STATUS; *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; break;
case InternalState::CLEAR_RESET_STATUS: case InternalState::CLEAR_RESET_STATUS:
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS; *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
@ -98,6 +102,7 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
return returnvalue::OK; return returnvalue::OK;
} }
case (RwDefinitions::SET_SPEED): { case (RwDefinitions::SET_SPEED): {
sif::debug << "hello" << std::endl;
if (commandData != nullptr && commandDataLen != 6) { if (commandData != nullptr && commandDataLen != 6) {
sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with" sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
<< " invalid length" << std::endl; << " invalid length" << std::endl;

10
mission/devices/RwHandler.h
View File

@ -9,7 +9,7 @@
#include "events/subsystemIdRanges.h" #include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h" #include "returnvalues/classIds.h"
static constexpr bool ACTUATION_WIRETAPPING = false; static constexpr bool ACTUATION_WIRETAPPING = true;
class GpioIF; class GpioIF;
@ -102,7 +102,13 @@ class RwHandler : public DeviceHandlerBase {
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>(0, false); PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>(0, false);
PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>(10, 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; InternalState internalState = InternalState::GET_RESET_STATUS;