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Refactor IMTQ handling #384

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muellerr merged 30 commits from refactor_imtq_handling into develop 2023-02-21 11:04:29 +01:00
Conversation 2 Commits 30 Files Changed 34 +1742 -954
34 changed files with 1742 additions and 954 deletions
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Showing only changes of commit 7af4a777ae - Show all commits

4
linux/devices/ImtqPollingTask.cpp
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@@ -134,7 +134,7 @@ void ImtqPollingTask::handleMeasureStep() {
if (i2cCmdExecMeasure(imtq::CC::GET_CAL_MTM_MEASUREMENT) != returnvalue::OK) { if (i2cCmdExecMeasure(imtq::CC::GET_CAL_MTM_MEASUREMENT) != returnvalue::OK) {
return; return;
} }
sif::debug << "measure done" << std::endl; // sif::debug << "measure done" << std::endl;
return; return;
} }
@@ -173,7 +173,7 @@ void ImtqPollingTask::handleActuateStep() {
if (i2cCmdExecActuate(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) { if (i2cCmdExecActuate(imtq::CC::GET_ENG_HK_DATA) != returnvalue::OK) {
return; return;
} }
sif::debug << "measure with torque done" << std::endl; // sif::debug << "measure with torque done" << std::endl;
return; return;
} }

8
mission/devices/ImtqHandler.cpp
View File

@@ -256,10 +256,14 @@ ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSi
ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) { ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
ReturnValue_t result; ReturnValue_t result;
ReturnValue_t status = returnvalue::OK; ReturnValue_t status = returnvalue::OK;
if(getMode() != MODE_NORMAL) {
// Ignore replies during transitions.
return returnvalue::OK;
}
// arrayprinter::print(packet, ImtqReplies::BASE_LEN); // arrayprinter::print(packet, ImtqReplies::BASE_LEN);
if (requestStep == imtq::RequestType::MEASURE_NO_ACTUATION) { if (requestStep == imtq::RequestType::MEASURE_NO_ACTUATION) {
requestStep = imtq::RequestType::ACTUATE; requestStep = imtq::RequestType::ACTUATE;
sif::debug << "handle measure" << std::endl; // sif::debug << "handle measure" << std::endl;
ImtqRepliesDefault replies(packet); ImtqRepliesDefault replies(packet);
if (specialRequestActive) { if (specialRequestActive) {
if (replies.wasSpecialRequestRead()) { if (replies.wasSpecialRequestRead()) {
@@ -324,7 +328,7 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
status = result; status = result;
} }
} else { } else {
sif::debug << "handle measure with torque" << std::endl; // sif::debug << "handle measure with torque" << std::endl;
requestStep = imtq::RequestType::MEASURE_NO_ACTUATION; requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
ImtqRepliesWithTorque replies(packet); ImtqRepliesWithTorque replies(packet);
if (replies.wasDipoleActuationRead()) { if (replies.wasDipoleActuationRead()) {