eive-obsw/mission/devices/GPSHyperionHandler.h
Robin Mueller 5c535784e9
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EIVE/eive-obsw/pipeline/head This commit looks good
added back old GPS handler
2022-01-26 17:59:31 +01:00

62 lines
2.4 KiB
C++

#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include "devicedefinitions/GPSDefinitions.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "lwgps/lwgps.h"
/**
* @brief Device handler for the Hyperion HT-GPS200 device
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
*/
class GPSHyperionHandler : public DeviceHandlerBase {
public:
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
bool debugHyperionGps = false);
virtual ~GPSHyperionHandler();
using gpioResetFunction_t = ReturnValue_t (*)(void *args);
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void *args);
ReturnValue_t acceptExternalDeviceCommands() override;
ReturnValue_t initialize() override;
protected:
gpioResetFunction_t resetCallback = nullptr;
void *resetCallbackArgs = nullptr;
enum class InternalStates { NONE, WAIT_FIRST_MESSAGE, IDLE };
InternalStates internalState = InternalStates::NONE;
bool commandExecuted = false;
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
virtual void debugInterface(uint8_t positionTracker = 0, object_id_t objectId = 0,
uint32_t parameter = 0) override;
private:
lwgps_t gpsData = {};
GpsPrimaryDataset gpsSet;
bool debugHyperionGps = false;
};
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */