eive-obsw/mission/devices/GomspaceDeviceHandler.h
Robin Mueller 59d58da4f2
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#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#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);
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) = 0;
/**
* @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);
ReturnValue_t parsePduHkTable(PDU::PduCoreHk &coreHk, PDU::PduAuxHk &auxHk,
const uint8_t *packet);
ReturnValue_t initializePduPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager,
std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb);
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_ */