441 lines
14 KiB
C++
441 lines
14 KiB
C++
#include "CcsdsIpCoreHandler.h"
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#include <fsfw/subsystem/helper.h>
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#include <linux/ipcore/PdecHandler.h>
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#include <linux/ipcore/PtmeConfig.h>
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#include <mission/config/comCfg.h>
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#include "eive/definitions.h"
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#include "fsfw/events/EventManagerIF.h"
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#include "fsfw/ipc/QueueFactory.h"
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#include "fsfw/objectmanager/ObjectManager.h"
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#include "fsfw/serialize/SerializeAdapter.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
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#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
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CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t ptmeId,
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object_id_t tcDestination, PtmeConfig* ptmeConfig,
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GpioIF* gpioIF, gpioId_t enTxClock, gpioId_t enTxData,
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uint32_t transmitterTimeout)
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: SystemObject(objectId),
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ptmeId(ptmeId),
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tcDestination(tcDestination),
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parameterHelper(this),
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actionHelper(this, nullptr),
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modeHelper(this),
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ptmeConfig(ptmeConfig),
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gpioIF(gpioIF),
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enTxClock(enTxClock),
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enTxData(enTxData),
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transmitterTimeout(transmitterTimeout) {
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commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
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auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
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eventQueue =
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QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
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}
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CcsdsIpCoreHandler::~CcsdsIpCoreHandler() {}
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ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
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checkEvents();
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readCommandQueue();
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handleTelemetry();
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handleTelecommands();
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checkTxTimer();
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return returnvalue::OK;
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}
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void CcsdsIpCoreHandler::handleTelemetry() {
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VirtualChannelMapIter iter;
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for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
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iter->second->performOperation();
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}
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}
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void CcsdsIpCoreHandler::handleTelecommands() {}
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ReturnValue_t CcsdsIpCoreHandler::initialize() {
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ReturnValue_t result = returnvalue::OK;
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PtmeIF* ptme = ObjectManager::instance()->get<PtmeIF>(ptmeId);
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if (ptme == nullptr) {
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sif::warning << "Invalid PTME object" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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AcceptsTelecommandsIF* tcDistributor =
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ObjectManager::instance()->get<AcceptsTelecommandsIF>(tcDestination);
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if (tcDistributor == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "CcsdsHandler::initialize: Invalid TC Distributor object" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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tcDistributorQueueId = tcDistributor->getRequestQueue();
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result = parameterHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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result = actionHelper.initialize(commandQueue);
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if (result != returnvalue::OK) {
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return result;
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}
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result = modeHelper.initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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VirtualChannelMapIter iter;
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for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
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result = iter->second->initialize();
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if (result != returnvalue::OK) {
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return result;
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}
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iter->second->setPtmeObject(ptme);
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}
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EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
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if (manager == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "CcsdsHandler::initialize: Invalid event manager" << std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = manager->registerListener(eventQueue->getId());
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "CcsdsHandler::initialize: Failed to register CCSDS handler as event "
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"listener"
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<< std::endl;
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#endif
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return ObjectManagerIF::CHILD_INIT_FAILED;
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;
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}
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result = manager->subscribeToEventRange(eventQueue->getId(),
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event::getEventId(PdecHandler::CARRIER_LOCK),
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event::getEventId(PdecHandler::BIT_LOCK_PDEC));
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if (result != returnvalue::OK) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "CcsdsHandler::initialize: Failed to subscribe to events from PDEC "
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"handler"
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<< std::endl;
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#endif
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return result;
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}
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result = ptmeConfig->initialize();
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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if (result != returnvalue::OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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#if OBSW_SYRLINKS_SIMULATED == 1
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// Update data on rising edge
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ptmeConfig->invertTxClock(false);
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transmitterCountdown.setTimeout(transmitterTimeout);
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linkState = UP;
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forwardLinkstate();
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#endif /* OBSW_SYRLINKS_SIMULATED == 1*/
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return result;
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}
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void CcsdsIpCoreHandler::readCommandQueue(void) {
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CommandMessage commandMessage;
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ReturnValue_t result = returnvalue::FAILED;
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result = commandQueue->receiveMessage(&commandMessage);
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if (result == returnvalue::OK) {
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result = parameterHelper.handleParameterMessage(&commandMessage);
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if (result == returnvalue::OK) {
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return;
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}
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result = actionHelper.handleActionMessage(&commandMessage);
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if (result == returnvalue::OK) {
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return;
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}
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result = modeHelper.handleModeCommand(&commandMessage);
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if (result == returnvalue::OK) {
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return;
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}
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CommandMessage reply;
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reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
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commandQueue->reply(&reply);
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return;
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}
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}
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MessageQueueId_t CcsdsIpCoreHandler::getCommandQueue() const { return commandQueue->getId(); }
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void CcsdsIpCoreHandler::addVirtualChannel(VcId_t vcId, VirtualChannel* virtualChannel) {
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if (vcId > config::NUMBER_OF_VIRTUAL_CHANNELS) {
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sif::warning << "CcsdsHandler::addVirtualChannel: Invalid virtual channel ID" << std::endl;
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return;
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}
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if (virtualChannel == nullptr) {
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sif::warning << "CcsdsHandler::addVirtualChannel: Invalid virtual channel interface"
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<< std::endl;
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return;
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}
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auto status = virtualChannelMap.emplace(vcId, virtualChannel);
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if (status.second == false) {
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sif::warning << "CcsdsHandler::addVirtualChannel: Failed to add virtual channel to "
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"virtual channel map"
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<< std::endl;
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return;
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}
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}
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MessageQueueId_t CcsdsIpCoreHandler::getReportReceptionQueue(uint8_t virtualChannel) const {
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if (virtualChannel < config::NUMBER_OF_VIRTUAL_CHANNELS) {
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auto iter = virtualChannelMap.find(virtualChannel);
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if (iter != virtualChannelMap.end()) {
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return iter->second->getReportReceptionQueue();
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} else {
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sif::warning << "CcsdsHandler::getReportReceptionQueue: Virtual channel with ID "
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<< static_cast<unsigned int>(virtualChannel) << " not in virtual channel map"
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<< std::endl;
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return MessageQueueIF::NO_QUEUE;
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}
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} else {
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sif::debug << "CcsdsHandler::getReportReceptionQueue: Invalid virtual channel requested";
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}
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return MessageQueueIF::NO_QUEUE;
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}
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ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueIdentifier,
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ParameterWrapper* parameterWrapper,
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const ParameterWrapper* newValues,
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uint16_t startAtIndex) {
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return returnvalue::OK;
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}
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uint32_t CcsdsIpCoreHandler::getIdentifier() const { return 0; }
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MessageQueueId_t CcsdsIpCoreHandler::getRequestQueue() const {
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// Forward packets directly to TC distributor
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return tcDistributorQueueId;
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}
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ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result = returnvalue::OK;
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switch (actionId) {
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case SET_LOW_RATE: {
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submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
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result = ptmeConfig->setRate(RATE_100KBPS);
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break;
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}
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case SET_HIGH_RATE: {
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submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
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result = ptmeConfig->setRate(RATE_500KBPS);
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break;
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}
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case ARBITRARY_RATE: {
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uint32_t bitrate = 0;
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SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
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result = ptmeConfig->setRate(bitrate);
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break;
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}
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case EN_TRANSMITTER: {
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enableTransmit();
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if (mode == HasModesIF::MODE_OFF) {
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mode = HasModesIF::MODE_ON;
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}
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return EXECUTION_FINISHED;
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}
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case DISABLE_TRANSMITTER: {
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disableTransmit();
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if (mode == HasModesIF::MODE_ON) {
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mode = HasModesIF::MODE_OFF;
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}
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return EXECUTION_FINISHED;
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}
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case ENABLE_TX_CLK_MANIPULATOR: {
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result = ptmeConfig->configTxManipulator(true);
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break;
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}
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case DISABLE_TX_CLK_MANIPULATOR: {
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result = ptmeConfig->configTxManipulator(false);
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break;
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}
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case UPDATE_ON_RISING_EDGE: {
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result = ptmeConfig->invertTxClock(false);
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break;
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}
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case UPDATE_ON_FALLING_EDGE: {
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result = ptmeConfig->invertTxClock(true);
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break;
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}
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default:
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return COMMAND_NOT_IMPLEMENTED;
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}
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if (result != returnvalue::OK) {
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return result;
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}
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return EXECUTION_FINISHED;
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}
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void CcsdsIpCoreHandler::checkEvents() {
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EventMessage event;
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for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
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result = eventQueue->receiveMessage(&event)) {
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switch (event.getMessageId()) {
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case EventMessage::EVENT_MESSAGE:
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handleEvent(&event);
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break;
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default:
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sif::debug << "CcsdsHandler::checkEvents: Did not subscribe to this event message"
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<< std::endl;
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break;
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}
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}
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}
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void CcsdsIpCoreHandler::handleEvent(EventMessage* eventMessage) {
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Event event = eventMessage->getEvent();
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switch (event) {
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case PdecHandler::BIT_LOCK_PDEC: {
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handleBitLockEvent();
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break;
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}
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case PdecHandler::CARRIER_LOCK: {
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handleCarrierLockEvent();
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break;
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}
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default:
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sif::debug << "CcsdsHandler::handleEvent: Did not subscribe to this event" << std::endl;
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break;
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}
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}
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void CcsdsIpCoreHandler::handleBitLockEvent() {
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if (transmitterCountdown.isBusy()) {
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// Transmitter already enabled
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return;
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}
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enableTransmit();
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}
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void CcsdsIpCoreHandler::handleCarrierLockEvent() {
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if (!enableTxWhenCarrierLock) {
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return;
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}
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enableTransmit();
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}
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void CcsdsIpCoreHandler::forwardLinkstate() {
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VirtualChannelMapIter iter;
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for (iter = virtualChannelMap.begin(); iter != virtualChannelMap.end(); iter++) {
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iter->second->setLinkState(linkState);
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}
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}
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void CcsdsIpCoreHandler::enableTransmit() {
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if (transmitterCountdown.isBusy()) {
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// Transmitter already enabled
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return;
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}
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#ifndef TE0720_1CFA
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gpioIF->pullHigh(enTxClock);
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gpioIF->pullHigh(enTxData);
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#endif
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}
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void CcsdsIpCoreHandler::checkTxTimer() {
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if (linkState == DOWN) {
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return;
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}
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if (transmitterCountdown.hasTimedOut()) {
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disableTransmit();
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}
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}
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void CcsdsIpCoreHandler::getMode(Mode_t* mode, Submode_t* submode) {
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*mode = this->mode;
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*submode = this->submode;
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}
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ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submode,
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uint32_t* msToReachTheMode) {
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if (mode == HasModesIF::MODE_ON) {
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if (submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH) and
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submode != static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
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return HasModesIF::INVALID_SUBMODE;
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}
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} else if (mode != HasModesIF::MODE_OFF) {
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return returnvalue::FAILED;
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}
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*msToReachTheMode = 2000;
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return returnvalue::OK;
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}
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void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
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auto rateHigh = [&]() {
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ReturnValue_t result = ptmeConfig->setRate(RATE_500KBPS);
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if (result == returnvalue::OK) {
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mode = HasModesIF::MODE_ON;
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}
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};
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auto rateLow = [&]() {
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ReturnValue_t result = ptmeConfig->setRate(RATE_100KBPS);
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if (result == returnvalue::OK) {
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mode = HasModesIF::MODE_ON;
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}
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};
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if (mode == HasModesIF::MODE_ON) {
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enableTransmit();
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if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
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com::Datarate currentDatarate = com::getCurrentDatarate();
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if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
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rateLow();
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} else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
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rateHigh();
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}
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} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
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rateHigh();
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} else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
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rateLow();
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}
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} else if (mode == HasModesIF::MODE_OFF) {
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disableTransmit();
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mode = HasModesIF::MODE_OFF;
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}
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modeHelper.modeChanged(mode, submode);
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announceMode(false);
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}
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void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
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void CcsdsIpCoreHandler::disableTransmit() {
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#ifndef TE0720_1CFA
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gpioIF->pullLow(enTxClock);
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gpioIF->pullLow(enTxData);
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#endif
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linkState = DOWN;
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forwardLinkstate();
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transmitterCountdown.setTimeout(0);
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}
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const char* CcsdsIpCoreHandler::getName() const { return "CCSDS Handler"; }
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const HasHealthIF* CcsdsIpCoreHandler::getOptHealthIF() const { return nullptr; }
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const HasModesIF& CcsdsIpCoreHandler::getModeIF() const { return *this; }
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ReturnValue_t CcsdsIpCoreHandler::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
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return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
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}
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ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
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object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
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