bsp_q7s/devices/startracker/StarTrackerDefinitions.h

@@ -639,7 +639,7 @@ class HistogramSet:
 public:
 
     // Size of dataset
-    static const size_t SIZE = 154;
+    static const size_t SIZE = 156;
 
     HistogramSet(HasLocalDataPoolIF* owner):
         StaticLocalDataSet(owner, HISTOGRAM_SET_ID) {

bsp_q7s/devices/startracker/StarTrackerHandler.cpp

@@ -1411,8 +1411,7 @@ ReturnValue_t StarTrackerHandler::handleHistogramTm() {
     if(status != StarTracker::STATUS_OK) {
         sif::warning << "StarTrackerHandler::handleHistogramTm: Reply error: "
                 << static_cast<unsigned int>(status) << std::endl;
-        result = HISTOGRAM_REQ_FAILED;
+        return HISTOGRAM_REQ_FAILED;
-        return result;
     }
     result = histogramSet.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
     if (result != RETURN_OK) {
@@ -1425,6 +1424,10 @@ ReturnValue_t StarTrackerHandler::handleHistogramTm() {
         sif::warning << "StarTrackerHandler::handleHistogramTm: Deserialization failed"
                 << std::endl;
     }
+    result = histogramSet.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
+    if (result != RETURN_OK) {
+        return result;
+    }
 #if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
     histogramSet.printSet();
 #endif

mission/devices/ACUHandler.cpp

@@ -266,3 +266,44 @@ ReturnValue_t ACUHandler::initializeLocalDataPool(
 
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t ACUHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
+    switch(cmd) {
+    case PRINT_CHANNEL_STATS: {
+        printChannelStats();
+        return RETURN_OK;
+    }
+    default: {
+        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+    }
+    }
+}
+
+void ACUHandler::printChannelStats() {
+    PoolReadGuard pg(&acuHkTableDataset);
+    sif::info << "ACU Info: Stats, Current [mA], Voltage [mV]" << std::endl;
+    sif::info << std::setw(30) << std::left << "Ch0" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel0.value)  << ", " <<
+            std::setw(4) << std::right << acuHkTableDataset.voltageInChannel0.value << ", "
+            << std::setw(4) << std::endl;
+    sif::info << std::setw(30) << std::left << "Ch1" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel1.value)  << ", " <<
+            std::setw(4) << std::right << acuHkTableDataset.voltageInChannel1.value << ", "
+            << std::setw(4) << std::endl;
+    sif::info << std::setw(30) << std::left << "Ch2" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel2.value)  << ", " <<
+            std::setw(4) << std::right << acuHkTableDataset.voltageInChannel2.value << ", "
+            << std::setw(4) << std::endl;
+    sif::info << std::setw(30) << std::left << "Ch3" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel3.value)  << ", " <<
+            std::setw(4) << std::right << acuHkTableDataset.voltageInChannel3.value << ", "
+            << std::setw(4) << std::endl;
+    sif::info << std::setw(30) << std::left << "Ch4" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel4.value)  << ", " <<
+            std::setw(4) << std::right << acuHkTableDataset.voltageInChannel4.value << ", "
+            << std::setw(4) << std::endl;
+    sif::info << std::setw(30) << std::left << "Ch5" << std::dec << "| " <<
+            static_cast<unsigned int>(acuHkTableDataset.currentInChannel5.value)  << ", " <<
+            std::setw(4) << std::right << acuHkTableDataset.voltageInChannel5.value << ", "
+            << std::setw(4) << std::endl;
+}

mission/devices/ACUHandler.h

@@ -3,6 +3,7 @@
 
 #include "GomspaceDeviceHandler.h"
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
+#include "fsfw/datapool/PoolReadGuard.h"
 
 /**
  * @brief   Handler for the ACU from Gomspace. Monitors and controls the battery charging via
@@ -25,8 +26,12 @@ protected:
      */
     virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
 
+    virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd) override;
+
 private:
 
+    static const DeviceCommandId_t PRINT_CHANNEL_STATS = 51;
+
     ACU::HkTableDataset acuHkTableDataset;
 
     /**
@@ -34,6 +39,11 @@ private:
      *          the values in the acuHkTableDataset.
      */
     void parseHkTableReply(const uint8_t *packet);
+
+    /**
+     * @brief   Prints channel statistics (current and voltage) to console
+     */
+    void printChannelStats();
 };
 
 #endif /* MISSION_DEVICES_ACUHANDLER_H_ */

mission/devices/GomspaceDeviceHandler.cpp

@@ -87,7 +87,7 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
         break;
     }
     default:
-        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+        return deviceSpecificCommand(deviceCommand);
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
@@ -398,6 +398,10 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
     }
 }
 
+ReturnValue_t GomspaceDeviceHandler::deviceSpecificCommand(DeviceCommandId_t cmd) {
+    return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
+}
+
 void GomspaceDeviceHandler::setModeNormal() {
     mode = MODE_NORMAL;
 }

mission/devices/GomspaceDeviceHandler.h

@@ -105,6 +105,11 @@ protected:
 
     virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
 
+    /**
+     * @brief   Can be used by gomspace devices to implement device specific commands.
+     */
+    virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd);
+
 private:
 
     /**

mission/devices/devicedefinitions/GomspaceDefinitions.h

@@ -25,7 +25,10 @@ static const uint8_t REBOOT_PORT = 4;
 static const uint8_t PARAM_PORT = 7;
 static const uint8_t P60_PORT_GNDWDT_RESET = 9;
 
-/* Device commands are derived from the rparam.h of the gomspace lib */
+/**
+ * Device commands are derived from the rparam.h of the gomspace lib..
+ * IDs above 50 are reserved for device specific commands.
+ */
 static const DeviceCommandId_t PING = 1; //!< [EXPORT] : [COMMAND]
 static const DeviceCommandId_t NONE = 2; // Set when no command is pending
 static const DeviceCommandId_t REBOOT = 4; //!< [EXPORT] : [COMMAND]