#ifndef MISSION_DEVICES_IMTQHANDLER_H_
#define MISSION_DEVICES_IMTQHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/acs/imtqHelpers.h>
#include <string.h>
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
/**
* @brief This is the device handler for the ISIS Magnetorquer iMTQ.
*
* @author J. Meier
*/
class ImtqHandler : public DeviceHandlerBase {
public:
enum NormalPollingMode { UNCALIBRATED = 0, CALIBRATED = 1, BOTH = 2 };
ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
power::Switch_t pwrSwitcher, bool enableHkSets);
virtual ~ImtqHandler();
void setPollingMode(NormalPollingMode pollMode);
/**
* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
*/
void setToGoToNormal(bool enable);
void setDebugMode(bool enable);
protected:
ReturnValue_t performOperation(uint8_t opCode);
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
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;
virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::IMTQ_HANDLER;
//! [EXPORT] : [COMMENT] Get self test result returns I2C failure
//! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 ->
//! -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_I2C_FAILURE = MAKE_EVENT(1, severity::LOW);
//! [EXPORT] : [COMMENT] Get self test result returns SPI failure. This concerns the MTM
//! connectivity. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3
//! -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_SPI_FAILURE = MAKE_EVENT(2, severity::LOW);
//! [EXPORT] : [COMMENT] Get self test result returns failure in measurement of current and
//! temperature. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3
//! -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_ADC_FAILURE = MAKE_EVENT(3, severity::LOW);
//! [EXPORT] : [COMMENT] Get self test result returns PWM failure which concerns the coil
//! actuation. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 ->
//! +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_PWM_FAILURE = MAKE_EVENT(4, severity::LOW);
//! [EXPORT] : [COMMENT] Get self test result returns TC failure (system failure)
//! P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X, 3 -> +Y, 4 ->
//! -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_TC_FAILURE = MAKE_EVENT(5, severity::LOW);
//! [EXPORT] : [COMMENT] Get self test result returns failure that MTM values were outside of the
//! expected range. P1: Indicates on which axis the failure occurred. 0 -> INIT, 1 -> +X, 2 -> -X,
//! 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_MTM_RANGE_FAILURE = MAKE_EVENT(6, severity::LOW);
//! [EXPORT] : [COMMENT] Get self test result returns failure indicating that the coil current was
//! outside of the expected range P1: Indicates on which axis the failure occurred. 0 -> INIT, 1
//! -> +X, 2 -> -X, 3 -> +Y, 4 -> -Y, 5 -> +Z, 6 -> -Z, 7 -> FINA
static const Event SELF_TEST_COIL_CURRENT_FAILURE = MAKE_EVENT(7, severity::LOW);
//! [EXPORT] : [COMMENT] Received invalid error byte. This indicates an error of the communication
//! link between IMTQ and OBC.
static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW);
enum class InternalState { NONE, STARTUP, SHUTDOWN } internalState = InternalState::NONE;
bool commandExecuted = false;
bool enableHkSets = false;
imtq::Request request{};
imtq::StatusDataset statusSet;
imtq::DipoleActuationSet dipoleSet;
imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
imtq::HkDatasetNoTorque hkDatasetNoTorque;
imtq::RawMtmMeasurementWithTorque rawMtmWithTorque;
imtq::HkDatasetWithTorque hkDatasetWithTorque;
imtq::CalibratedMtmMeasurementSet calMtmMeasurementSet;
imtq::PosXSelfTestSet posXselfTestDataset;
imtq::NegXSelfTestSet negXselfTestDataset;
imtq::PosYSelfTestSet posYselfTestDataset;
imtq::NegYSelfTestSet negYselfTestDataset;
imtq::PosZSelfTestSet posZselfTestDataset;
imtq::NegZSelfTestSet negZselfTestDataset;
bool manualTorqueCmdActive = false;
bool ignoreActForRestOfComSteps = false;
Countdown manuallyCommandedTorqueDuration = Countdown();
NormalPollingMode pollingMode = NormalPollingMode::UNCALIBRATED;
PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
power::Switch_t switcher = power::NO_SWITCH;
DeviceCommandId_t expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
bool goToNormalMode = false;
bool debugMode = false;
bool specialRequestActive = false;
bool firstReplyCycle = true;
imtq::RequestType requestStep = imtq::RequestType::MEASURE_NO_ACTUATION;
/**
* @brief In case of a status reply to a single axis self test command, this function
* searches for the actual pending command.
*/
ReturnValue_t getSelfTestCommandId(DeviceCommandId_t* id);
/**
* @brief Each reply contains a status byte giving information about a request. This function
* parses this byte and returns the associated failure message.
*
* @param packet Pointer to the received message containing the status byte.
*
* @return The return code derived from the received status byte.
*/
ReturnValue_t parseStatusByte(imtq::CC::CC command, const uint8_t* packet);
/**
* @brief This function fills the engineering housekeeping dataset with the received data.
* @param packet Pointer to the received data.
*
*/
void fillEngHkDataset(imtq::HkDataset& hkDataset, const uint8_t* packet);
void fillSystemStateIntoDataset(const uint8_t* packet);
/**
* @brief This function parses the reply containing the calibrated MTM measurement and writes
* the values to the appropriate dataset.
* @param packet Pointer to the reply data.
*/
void fillCalibratedMtmDataset(const uint8_t* packet);
/**
* @brief This function copies the raw MTM measurements to the MTM raw dataset.
* @param packet Pointer to the reply data requested with the GET_RAW_MTM_MEASUREMENTS
* command.
*/
void fillRawMtmDataset(imtq::RawMtmMeasurementSet& set, const uint8_t* packet);
/**
* @brief This function handles all self test results. This comprises parsing the error byte
* and step byte and calling the function to fill the respective dataset.
*/
void handleSelfTestReply(const uint8_t* packet);
/**
* @brief The following functions fill the respective dataset of the single axis self tests.
* @param packet Pointer to the reply data holding the self test result.
*/
void handlePositiveXSelfTestReply(const uint8_t* packet);
void handleNegativeXSelfTestReply(const uint8_t* packet);
void handlePositiveYSelfTestReply(const uint8_t* packet);
void handleNegativeYSelfTestReply(const uint8_t* packet);
void handlePositiveZSelfTestReply(const uint8_t* packet);
void handleNegativeZSelfTestReply(const uint8_t* packet);
// ReturnValue_t buildDipoleActuationCommand();
/**
* @brief This function checks the error byte of a self test measurement.
*
* @param errorByte The received error byte to check
* @param step The step of the error byte.
*/
void checkErrorByte(const uint8_t errorByte, const uint8_t step);
std::string makeStepString(const uint8_t step);
};
#endif /* MISSION_DEVICES_IMTQHANDLER_H_ */