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IMTQ Commanding Fix #430

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muellerr merged 9 commits from imtq-cmd-fix into develop 2023-03-04 17:07:07 +01:00
Conversation 1 Commits 9 Files Changed 11 +386 -484
15 changed files with 386 additions and 484 deletions
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21
mission/devices/ImtqHandler.cpp
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@ -194,17 +194,18 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER; return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
} }
ImtqRequest request(commandBuffer, sizeof(commandBuffer)); ImtqRequest request(commandBuffer, sizeof(commandBuffer));
// Commands override anything which was set in the software {
if (commandData != nullptr) {
// Read set dipole values from local pool
PoolReadGuard pg(&dipoleSet); PoolReadGuard pg(&dipoleSet);
// Commands override anything which was set in the software
int16_t xDipole = 0, yDipole = 0, zDipole = 0; if (commandData != nullptr) {
uint16_t torqueDuration = 0; dipoleSet.setValidityBufferGeneration(false);
dipoleSet.xDipole = xDipole; ReturnValue_t result = dipoleSet.deSerialize(&commandData, &commandDataLen,
dipoleSet.yDipole = yDipole; SerializeIF::Endianness::NETWORK);
dipoleSet.zDipole = zDipole; dipoleSet.setValidityBufferGeneration(true);
dipoleSet.currentTorqueDurationMs = torqueDuration; if (result != returnvalue::OK) {
return result;
}
}
} }
request.setActuateRequest(dipoleSet.xDipole.value, dipoleSet.yDipole.value, request.setActuateRequest(dipoleSet.xDipole.value, dipoleSet.yDipole.value,