linux/acs/ImtqPollingTask.cpp

@@ -27,7 +27,7 @@ ReturnValue_t ImtqPollingTask::performOperation(uint8_t operationCode) {
 
     comStatus = returnvalue::OK;
     // Stopwatch watch;
-    switch (currentRequest) {
+    switch (currentRequest.requestType) {
       case imtq::RequestType::MEASURE_NO_ACTUATION: {
         // Measured to take 24 ms for debug and release builds.
         // Stopwatch watch;
@@ -51,6 +51,9 @@ void ImtqPollingTask::handleMeasureStep() {
   uint8_t* replyPtr;
   ImtqRepliesDefault replies(replyBuf.data());
   // If some startup handling is added later, set configured after it was done once.
+  if (performStartup) {
+    performStartup = false;
+  }
   replies.setConfigured();
 
   // Can be used later to verify correct timing (e.g. all data has been read)
@@ -73,7 +76,7 @@ void ImtqPollingTask::handleMeasureStep() {
     return;
   }
 
-  if (specialRequest != imtq::SpecialRequest::NONE) {
+  if (currentRequest.specialRequest != imtq::SpecialRequest::NONE) {
     auto executeSelfTest = [&](imtq::selfTest::Axis axis) {
       cmdBuf[0] = imtq::CC::SELF_TEST_CMD;
       cmdBuf[1] = axis;
@@ -81,7 +84,7 @@ void ImtqPollingTask::handleMeasureStep() {
     };
     // If a self-test is already ongoing, ignore the request.
     if (replies.getSystemState()[2] != static_cast<uint8_t>(imtq::mode::SELF_TEST)) {
-      switch (specialRequest) {
+      switch (currentRequest.specialRequest) {
         case (imtq::SpecialRequest::DO_SELF_TEST_POS_X): {
           executeSelfTest(imtq::selfTest::Axis::X_POSITIVE);
           break;
@@ -234,18 +237,21 @@ ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
 ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                            size_t sendLen) {
   const auto* imtqReq = reinterpret_cast<const imtq::Request*>(sendData);
+  if (sendLen != sizeof(imtq::Request)) {
+    return returnvalue::FAILED;
+  }
   {
     MutexGuard mg(ipcLock);
-    if (imtqReq->request == imtq::RequestType::ACTUATE) {
-      std::memcpy(dipoles, imtqReq->dipoles, sizeof(dipoles));
-      torqueDuration = imtqReq->torqueDuration;
-    }
-    currentRequest = imtqReq->request;
-    specialRequest = imtqReq->specialRequest;
     if (state != InternalState::IDLE) {
       return returnvalue::FAILED;
     }
     state = InternalState::IS_BUSY;
+    if (currentRequest.mode != imtqReq->mode) {
+      if (imtqReq->mode == acs::SimpleSensorMode::NORMAL) {
+        performStartup = true;
+      }
+    }
+    std::memcpy(&currentRequest, imtqReq, sendLen);
   }
   semaphore->release();
 
@@ -345,10 +351,10 @@ void ImtqPollingTask::buildDipoleCommand() {
   uint8_t* serPtr = cmdBuf.data() + 1;
   size_t serLen = 0;
   for (uint8_t idx = 0; idx < 3; idx++) {
-    SerializeAdapter::serialize(&dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
+    SerializeAdapter::serialize(&currentRequest.dipoles[idx], &serPtr, &serLen, cmdBuf.size(),
                                 SerializeIF::Endianness::LITTLE);
   }
-  SerializeAdapter::serialize(&torqueDuration, &serPtr, &serLen, cmdBuf.size(),
+  SerializeAdapter::serialize(&currentRequest.torqueDuration, &serPtr, &serLen, cmdBuf.size(),
                               SerializeIF::Endianness::LITTLE);
   // sif::debug << "Dipole X: " << dipoles[0] << std::endl;
   // sif::debug << "Torqeu Dur: " << torqueDuration << std::endl;
@@ -357,23 +363,29 @@ void ImtqPollingTask::buildDipoleCommand() {
 
 ReturnValue_t ImtqPollingTask::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
                                                    size_t* size) {
-  imtq::RequestType currentRequest;
+  imtq::Request currentRequest;
   {
     MutexGuard mg(ipcLock);
-    currentRequest = this->currentRequest;
+    std::memcpy(&currentRequest, &this->currentRequest, sizeof(currentRequest));
   }
 
   size_t replyLen = 0;
+  {
     MutexGuard mg(bufLock);
-  if (currentRequest == imtq::RequestType::MEASURE_NO_ACTUATION) {
+    if (currentRequest.requestType == imtq::RequestType::MEASURE_NO_ACTUATION) {
-    replyLen = getExchangeBufLen(specialRequest);
+      replyLen = getExchangeBufLen(currentRequest.specialRequest);
       memcpy(exchangeBuf.data(), replyBuf.data(), replyLen);
-  } else if (currentRequest == imtq::RequestType::ACTUATE) {
+    } else if (currentRequest.requestType == imtq::RequestType::ACTUATE) {
       replyLen = ImtqRepliesWithTorque::BASE_LEN;
       memcpy(exchangeBuf.data(), replyBufActuation.data(), replyLen);
     } else {
       *size = 0;
     }
+  }
+  {
+    MutexGuard mg(ipcLock);
+    this->currentRequest.requestType = imtq::RequestType::DO_NOTHING;
+  }
   *buffer = exchangeBuf.data();
   *size = replyLen;
   return comStatus;

linux/acs/ImtqPollingTask.h

@@ -3,6 +3,7 @@
 
 #include <fsfw/tasks/SemaphoreIF.h>
 #include <fsfw_hal/linux/i2c/I2cCookie.h>
+#include <mission/acs/acsBoardPolling.h>
 
 #include <atomic>
 
@@ -24,7 +25,6 @@ class ImtqPollingTask : public SystemObject,
   static constexpr ReturnValue_t NO_REPLY_AVAILABLE = returnvalue::makeCode(2, 0);
 
   enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
-  imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
 
   SemaphoreIF* semaphore;
   ReturnValue_t comStatus = returnvalue::OK;
@@ -38,10 +38,14 @@ class ImtqPollingTask : public SystemObject,
   // Required in addition to integration time, otherwise old data might be read.
   static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 6;
   bool ignoreNextActuateRequest = false;
+  bool performStartup = false;
 
-  imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
+  imtq::Request currentRequest{};
-  int16_t dipoles[3] = {};
+  // int16_t dipoles[3] = {};
-  uint16_t torqueDuration = 0;
+  // uint16_t torqueDuration = 0;
+  // imtq::RequestType currentRequest = imtq::RequestType::MEASURE_NO_ACTUATION;
+  // imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
+  // acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
 
   std::array<uint8_t, 32> cmdBuf;
   std::array<uint8_t, 524> replyBuf;

mission/acs/ImtqHandler.cpp

@@ -178,7 +178,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
     }
     default: {
       *id = imtq::cmdIds::REQUEST;
-      request.request = imtq::RequestType::DO_NOTHING;
+      request.requestType = imtq::RequestType::DO_NOTHING;
       request.specialRequest = imtq::SpecialRequest::NONE;
       expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
       rawPacket = reinterpret_cast<uint8_t*>(&request);
@@ -201,7 +201,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
                                                    const uint8_t* commandData,
                                                    size_t commandDataLen) {
   auto genericSpecialRequest = [&](imtq::SpecialRequest specialRequest) {
-    request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+    request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
     request.specialRequest = specialRequest;
     expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
     specialRequestActive = true;
@@ -238,7 +238,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
       return returnvalue::OK;
     }
     case (imtq::cmdIds::REQUEST): {
-      request.request = imtq::RequestType::MEASURE_NO_ACTUATION;
+      request.requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
       request.specialRequest = imtq::SpecialRequest::NONE;
       expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
       rawPacket = reinterpret_cast<uint8_t*>(&request);
@@ -267,7 +267,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
       }
 
       expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE;
-      request.request = imtq::RequestType::ACTUATE;
+      request.requestType = imtq::RequestType::ACTUATE;
       request.specialRequest = imtq::SpecialRequest::NONE;
       std::memcpy(request.dipoles, dipoleSet.dipoles.value, sizeof(request.dipoles));
       request.torqueDuration = dipoleSet.currentTorqueDurationMs.value;

mission/acs/acsBoardPolling.h

@@ -1,13 +1,13 @@
 #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
 #define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
 
+#include <mission/acs/defs.h>
+
 #include "fsfw/thermal/tcsDefinitions.h"
 #include "gyroAdisHelpers.h"
 
 namespace acs {
 
-enum SimpleSensorMode { NORMAL = 0, OFF = 1 };
-
 struct Adis1650XRequest {
   SimpleSensorMode mode;
   adis1650x::Type type;

mission/acs/defs.h

@@ -6,6 +6,8 @@
 
 namespace acs {
 
+enum class SimpleSensorMode { NORMAL = 0, OFF = 1 };
+
 // These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
 enum AcsMode : Mode_t {
   OFF = HasModesIF::MODE_OFF,

mission/acs/imtqHelpers.h

@@ -5,6 +5,7 @@
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
+#include <mission/acs/defs.h>
 
 class ImtqHandler;
 
@@ -27,7 +28,8 @@ enum class SpecialRequest : uint8_t {
 };
 
 struct Request {
-  imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
+  imtq::RequestType requestType = imtq::RequestType::MEASURE_NO_ACTUATION;
   imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
   uint8_t integrationTimeSel = 3;
   int16_t dipoles[3]{};