eive-obsw/mission/acs/MgmLis3CustomHandler.cpp
Robin Mueller ec95792bc3
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ACS board devs go to on first
2023-03-27 15:00:40 +02:00

151 lines
5.1 KiB
C++

#include "MgmLis3CustomHandler.h"
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
MgmLis3CustomHandler::MgmLis3CustomHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this),
transitionDelay(transitionDelay) {}
MgmLis3CustomHandler::~MgmLis3CustomHandler() = default;
void MgmLis3CustomHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
commandExecuted = false;
updatePeriodicReply(true, REPLY);
internalState = InternalState::STARTUP;
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
setMode(MODE_ON);
internalState = InternalState::NONE;
commandExecuted = false;
}
}
}
void MgmLis3CustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
dataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
commandExecuted = false;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
updatePeriodicReply(false, REPLY);
commandExecuted = false;
internalState = InternalState::NONE;
setMode(MODE_OFF);
}
}
ReturnValue_t MgmLis3CustomHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (internalState == InternalState::STARTUP) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
} else if (internalState == InternalState::SHUTDOWN) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::OFF);
}
return NOTHING_TO_SEND;
}
ReturnValue_t MgmLis3CustomHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
}
ReturnValue_t MgmLis3CustomHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return NOTHING_TO_SEND;
}
ReturnValue_t MgmLis3CustomHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
return IGNORE_FULL_PACKET;
}
if (len != sizeof(acs::MgmLis3Reply)) {
*foundLen = len;
return returnvalue::FAILED;
}
*foundId = REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
ReturnValue_t MgmLis3CustomHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
const auto *reply = reinterpret_cast<const acs::MgmLis3Reply *>(packet);
if (reply->dataWasSet) {
if (internalState == InternalState::STARTUP) {
commandExecuted = true;
}
PoolReadGuard pg(&dataset);
for (uint8_t idx = 0; idx < 3; idx++) {
dataset.fieldStrengths[idx] =
reply->mgmValuesRaw[idx] * reply->sensitivity * mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
}
dataset.setValidity(true, true);
if (std::abs(dataset.fieldStrengths[0]) > absLimitX or
std::abs(dataset.fieldStrengths[1]) > absLimitY or
std::abs(dataset.fieldStrengths[2]) > absLimitZ) {
dataset.fieldStrengths.setValid(false);
}
dataset.temperature = 25.0 + ((static_cast<float>(reply->temperatureRaw)) / 8.0);
}
return returnvalue::OK;
}
void MgmLis3CustomHandler::fillCommandAndReplyMap() {
insertInCommandMap(REQUEST);
insertInReplyMap(REPLY, 5, nullptr, 0, true);
}
void MgmLis3CustomHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
uint32_t MgmLis3CustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return transitionDelay;
}
void MgmLis3CustomHandler::modeChanged(void) { internalState = InternalState::NONE; }
ReturnValue_t MgmLis3CustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, &temperature);
poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
return returnvalue::OK;
}
void MgmLis3CustomHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
this->absLimitX = xLimit;
this->absLimitY = yLimit;
this->absLimitZ = zLimit;
}
void MgmLis3CustomHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
ReturnValue_t MgmLis3CustomHandler::prepareRequest(acs::SimpleSensorMode mode) {
request.mode = mode;
rawPacket = reinterpret_cast<uint8_t *>(&request);
rawPacketLen = sizeof(acs::MgmLis3Request);
return returnvalue::OK;
}
LocalPoolDataSetBase *MgmLis3CustomHandler::getDataSetHandle(sid_t sid) {
if (sid == dataset.getSid()) {
return &dataset;
}
return nullptr;
}