mission/devices/SyrlinksHkHandler.cpp

@@ -11,7 +11,7 @@ SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, Co
       txDataset(this),
       temperatureSet(this),
       powerSwitch(powerSwitch) {
-  if (comCookie == NULL) {
+  if (comCookie == nullptr) {
     sif::warning << "SyrlinksHkHandler: Invalid com cookie" << std::endl;
   }
 }
@@ -78,14 +78,14 @@ ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(DeviceCommandId_t* id)
                  << "command id" << std::endl;
       break;
   }
-  return buildCommandFromCommand(*id, NULL, 0);
+  return buildCommandFromCommand(*id, nullptr, 0);
 }
 
 ReturnValue_t SyrlinksHkHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   switch (startupState) {
     case StartupState::ENABLE_TEMPERATURE_PROTECTION: {
       *id = syrlinks::WRITE_LCL_CONFIG;
-      return HasReturnvaluesIF::RETURN_OK;
+      return buildCommandFromCommand(*id, nullptr, 0);
     }
     default:
       break;
@@ -167,10 +167,12 @@ ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t devic
     }
     case (syrlinks::ENABLE_DEBUG): {
       debug = true;
+      rawPacketLen = 0;
       return RETURN_OK;
     }
     case (syrlinks::DISABLE_DEBUG): {
       debug = false;
+      rawPacketLen = 0;
       return RETURN_OK;
     }
     default:
@@ -469,7 +471,7 @@ ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) {
     case '0':
       return RETURN_OK;
     case '1':
-      sif::debug << "SyrlinksHkHandler::parseReplyStatus: Uart faming or parity error" << std::endl;
+      sif::debug << "SyrlinksHkHandler::parseReplyStatus: Uart framing or parity error" << std::endl;
       return UART_FRAMIN_OR_PARITY_ERROR_ACK;
     case '2':
       sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad character detected" << std::endl;
@@ -555,17 +557,21 @@ void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
 void SyrlinksHkHandler::parseLclConfigReply(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   uint8_t lclConfig = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
+  if (debug) {
       sif::info << "SyrlinksHkHandler::parseRxStatusRegistersReply: Lcl config: "
                 << static_cast<unsigned int>(lclConfig) << std::endl;
   }
+}
 
 void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
   PoolReadGuard readHelper(&txDataset);
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 #if OBSW_DEBUG_SYRLINKS == 1
+  if (debug) {
   sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int)txDataset.txStatus.value
             << std::endl;
+  }
 #endif
 }
 
@@ -574,8 +580,10 @@ void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
   uint16_t offset = syrlinks::MESSAGE_HEADER_SIZE;
   txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 #if OBSW_DEBUG_SYRLINKS == 1
+  if (debug) {
   sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int)txDataset.txWaveform.value
             << std::endl;
+  }
 #endif
 }
 
@@ -585,7 +593,9 @@ void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
   txDataset.txAgcValue = agcValueHighByte << 8 |
                          convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
 #if OBSW_DEBUG_SYRLINKS == 1
+  if (debug) {
       sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl;
+  }
 #endif
 }
 
@@ -597,7 +607,7 @@ void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
 
 void SyrlinksHkHandler::setNormalDatapoolEntriesInvalid() {}
 
-uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
+uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
 
 ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
@@ -635,7 +645,7 @@ ReturnValue_t SyrlinksHkHandler::handleAckReply(const uint8_t* packet) {
 }
 
 void SyrlinksHkHandler::prepareCommand(std::string command, DeviceCommandId_t commandId) {
-  command.copy(reinterpret_cast<char*>(commandBuffer), readTxWaveform.size(), 0);
+  command.copy(reinterpret_cast<char*>(commandBuffer), command.size(), 0);
   rawPacketLen = command.size();
   rememberCommandId = commandId;
   rawPacket = commandBuffer;