bsp_q7s/core/ObjectFactory.cpp

@@ -400,7 +400,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     std::stringstream consumer;
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
+            gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     consumer.str("");
@@ -856,19 +857,31 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
     auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
             gpioIds::EN_RW1);
+#if OBSW_DEBUG_RW == 1
+    rwHandler1->setStartUpImmediately();
+#endif
     rw1SpiCookie->setCallbackArgs(rwHandler1);
     rwHandler1->setStartUpImmediately();
 
     auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
             gpioIds::EN_RW2);
+#if OBSW_DEBUG_RW == 1
+    rwHandler2->setStartUpImmediately();
+#endif
     rw2SpiCookie->setCallbackArgs(rwHandler2);
 
     auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
             gpioIds::EN_RW3);
+#if OBSW_DEBUG_RW == 1
+    rwHandler3->setStartUpImmediately();
+#endif
     rw3SpiCookie->setCallbackArgs(rwHandler3);
 
     auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
             gpioIds::EN_RW4);
+#if OBSW_DEBUG_RW == 1
+    rwHandler4->setStartUpImmediately();
+#endif
     rw4SpiCookie->setCallbackArgs(rwHandler4);
 }
 

mission/devices/GPSHyperionHandler.cpp

@@ -60,10 +60,8 @@ ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
             PoolReadGuard pg(&gpsSet);
             // Set HK entries invalid
             gpsSet.setValidity(false, true);
-            // The user needs to implement this. Don't touch states for now, the device should
+            resetCallback(resetCallbackArgs);
-            // quickly reboot and send valid strings again.
+            return HasActionsIF::EXECUTION_FINISHED;
-            actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
-            return resetCallback(resetCallbackArgs);
         }
         return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
     }
@@ -210,3 +208,7 @@ ReturnValue_t GPSHyperionHandler::initialize() {
     // Enable reply immediately for now
     return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
 }
+
+ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
+    return DeviceHandlerBase::acceptExternalDeviceCommands();
+}

mission/devices/GPSHyperionHandler.h

@@ -22,6 +22,7 @@ public:
     using gpioResetFunction_t = ReturnValue_t (*) (void* args);
 
 	void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
+	ReturnValue_t acceptExternalDeviceCommands() override;
 
 	ReturnValue_t initialize() override;
 protected:

mission/devices/RwHandler.cpp

@@ -144,47 +144,48 @@ void RwHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
         DeviceCommandId_t *foundId, size_t *foundLen) {
-
+    uint8_t replyByte = *start;
-    switch (*(start)) {
+    switch (replyByte) {
-    case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
+    case (RwDefinitions::GET_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
         *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
         *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
+    case (RwDefinitions::GET_RW_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
         *foundId = RwDefinitions::GET_RW_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
+    case (RwDefinitions::INIT_RW_CONTROLLER): {
         *foundLen = RwDefinitions::SIZE_INIT_RW;
         *foundId = RwDefinitions::INIT_RW_CONTROLLER;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
+    case (RwDefinitions::SET_SPEED): {
         *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
         *foundId = RwDefinitions::SET_SPEED;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
+    case (RwDefinitions::GET_TEMPERATURE): {
         *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
         *foundId = RwDefinitions::GET_TEMPERATURE;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
+    case (RwDefinitions::GET_TM): {
         *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
         *foundId = RwDefinitions::GET_TM;
         break;
     }
     default: {
-        sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+        sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
+                std::endl;
+        *foundLen = remainingSize;
         return RETURN_FAILED;
-        break;
     }
     }