eive-obsw/mission/devices/SusHandler.cpp

166 lines
5.3 KiB
C++

#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/SusHandler.h>
#include <OBSWConfig.h>
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), dataset(
this) {
if (comCookie == NULL) {
sif::error << "SusHandler: Invalid com cookie" << std::endl;
}
}
SusHandler::~SusHandler() {
}
void SusHandler::doStartUp(){
if (internalState == InternalState::CONFIGURED) {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
}
void SusHandler::doShutDown(){
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t SusHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
switch (communicationStep) {
case CommunicationStep::START_CONVERSION: {
*id = SUS::START_CONVERSION;
communicationStep = CommunicationStep::READ_CONVERSIONS;
break;
}
case CommunicationStep::READ_CONVERSIONS: {
*id = SUS::READ_CONVERSIONS;
// communicationStep = CommunicationStep::START_CONVERSION;
communicationStep = CommunicationStep::READ_CONVERSIONS;
break;
}
default: {
sif::debug << "SusHandler::buildNormalDeviceCommand: Unknwon communication "
<< "step" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
if (internalState == InternalState::SETUP) {
*id = SUS::WRITE_SETUP;
}
else {
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t SusHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(SUS::WRITE_SETUP): {
cmdBuffer[0] = SUS::SETUP_DEFINITION;
cmdBuffer[1] = SUS::UNIPOLAR_CONFIG;
rawPacket = cmdBuffer;
rawPacketLen = 2;
internalState = InternalState::CONFIGURED;
return RETURN_OK;
}
case(SUS::START_CONVERSION): {
cmdBuffer[0] = SUS::CONVERSION_DEFINITION;
rawPacket = cmdBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case(SUS::READ_CONVERSIONS): {
cmdBuffer[0] = SUS::DUMMY_BYTE;
cmdBuffer[1] = SUS::DUMMY_BYTE;
cmdBuffer[2] = SUS::DUMMY_BYTE;
cmdBuffer[3] = SUS::DUMMY_BYTE;
cmdBuffer[4] = SUS::DUMMY_BYTE;
cmdBuffer[5] = SUS::DUMMY_BYTE;
cmdBuffer[6] = SUS::DUMMY_BYTE;
cmdBuffer[7] = SUS::DUMMY_BYTE;
cmdBuffer[8] = SUS::DUMMY_BYTE;
rawPacket = cmdBuffer;
rawPacketLen = SUS::READ_SIZE;
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void SusHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(SUS::WRITE_SETUP);
this->insertInCommandMap(SUS::START_CONVERSION);
this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset,
SUS::READ_SIZE);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
*foundId = this->getPendingCommand();
*foundLen = remainingSize;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch (id) {
case SUS::READ_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
dataset.diffScanChannel0_1 = (*(packet + 2) << 8 | *(packet + 3));
dataset.diffScanChannel2_3 = (*(packet + 2) << 8 | *(packet + 3));
dataset.diffScanChannel4_5 = (*(packet + 2) << 8 | *(packet + 3));
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", temperature: "
<< dataset.temperatureCelcius << " °C" << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 0/1: "
<< dataset.diffScanChannel0_1 << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 2/3: "
<< dataset.diffScanChannel2_3 << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 4/5: "
<< dataset.diffScanChannel4_5 << std::endl;
#endif
break;
}
default: {
sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void SusHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 5000;
}
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_0_1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_2_3, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_4_5, new PoolEntry<uint16_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}