#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ #define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ #include #include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "mission/devices/devicedefinitions/GomspaceDefinitions.h" #include "returnvalues/classIds.h" /** * @brief This is the device handler class for all gomspace devices. * * @details * All gomspace devices are similar with respect to commanding. Thusmost of the functionality to * command a gomspace device can be accommodated in one class. For device specific functions, a new * class could be created by inheriting from the GomspaceDeviceHandler. * * Flight manual: * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Gomspace_PCDU_P60_System */ class GomspaceDeviceHandler : public DeviceHandlerBase { public: static constexpr uint8_t CLASS_ID = CLASS_ID::GOM_SPACE_HANDLER; static const ReturnValue_t PACKET_TOO_LONG = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0); static const ReturnValue_t INVALID_TABLE_ID = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1); static const ReturnValue_t INVALID_ADDRESS = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2); static const ReturnValue_t INVALID_PARAM_SIZE = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3); static const ReturnValue_t INVALID_PAYLOAD_SIZE = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4); static const ReturnValue_t UNKNOWN_REPLY_ID = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 5); /** * @brief Constructor * * @param maxConfigTableAddress The maximum memory address of the configu- * ration table of a gomspace device. * @param maxHkTableAddress The maximum memory address of a value in the * houskeeping (telemetry) table of a gomspace * device. */ GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie, uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress, uint16_t hkTableReplySize, LocalPoolDataSetBase *hkTableDataset); virtual ~GomspaceDeviceHandler(); /** * @brief This function can be used to set a gomspace device to normal mode immediately after * object creation. */ void setModeNormal(); protected: static const uint8_t MAX_PACKET_LEN = 36; static const uint8_t PARAM_SET_OK = 1; static const uint8_t PING_REPLY_SIZE = 2; static const uint8_t CONFIG_TABLE_ID = 1; static const uint8_t HK_TABLE_ID = 4; uint8_t rememberRequestedSize = 0; uint8_t rememberCommandId = GOMSPACE::NONE; uint8_t cspPacket[MAX_PACKET_LEN]; uint16_t maxConfigTableAddress; uint16_t maxHkTableAddress; /** The size of the reply following a full hk table request.*/ uint16_t hkTableReplySize; LocalPoolDataSetBase *hkTableDataset = nullptr; void doStartUp() override; void doShutDown() override; virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override; ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override; virtual void fillCommandAndReplyMap() override; ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData, size_t commandDataLen) override; ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) override; ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override; void setNormalDatapoolEntriesInvalid() override; uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; /** * @brief The command to generate a request to receive the full housekeeping table is device * specific. Thus the child has to build this command. */ virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize); /** * This command handles printing the HK table to the console. This is useful for debugging * purposes * @return */ virtual ReturnValue_t printStatus(DeviceCommandId_t cmd); /** * @brief Because housekeeping tables are device specific the handling of the reply is * given to the child class. * @param id The id of the command which initiates the full table request. * @param packet Pointer to the reply containing the hk table. */ virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) = 0; virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override; /** * @brief Can be overriden by child classes to implement device specific commands. * @return Return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED to let this handler handle * the command or RETURN_OK if the child handles the command */ virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData, size_t commandDataLen); private: SetParamMessageUnpacker setParamCacher; /** * @brief Function to generate the command to set a parameter. Command * will be sent to the ComIF over the rawPacket buffer. */ ReturnValue_t generateSetParamCommand(const uint8_t *commandData, size_t commandDataLen); /** * Callback is called on a parameter set command. It is called before executing it and after * after successful execution * @param unpacker Passed before * @param beforeSet False for callback before execution, true if called after successful * execution * @return */ virtual ReturnValue_t setParamCallback(SetParamMessageUnpacker& unpacker, bool afterExecution); /** * @brief Function to generate the command to get a parameter from a * gomspace device. Command will be sent to the ComIF over the * rawPacket buffer. */ ReturnValue_t generateGetParamCommand(const uint8_t *commandData, size_t commandDataLen); /** * @brief Function to generate the ping command for the ComIF. */ ReturnValue_t generatePingCommand(const uint8_t *commandData, size_t commandDataLen); /** * @brief Function to generate the command to reboot a gomspace device * via the ComIF. */ void generateRebootCommand(); /** * @brief Function to generate the command to force a ground watchdog * reset in a gomspace device. */ ReturnValue_t generateResetWatchdogCmd(); }; #endif /* MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ */