eive-obsw/mission/devices/SyrlinksHandler.h

#ifndef MISSION_DEVICES_SYRLINKSHANDLER_H_
#define MISSION_DEVICES_SYRLINKSHANDLER_H_

#include <string.h>

#include "devices/powerSwitcherList.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/timemanager/Countdown.h"
#include "fsfw_hal/linux/gpio/Gpio.h"
#include "mission/comDefs.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "returnvalues/classIds.h"

/**
 * @brief	This is the device handler for the syrlinks transceiver. It handles the command
 *          transmission and reading of housekeeping data via the housekeeping interface. The
 *          transmission of telemetry and the reception of telecommands is handled by an additional
 *          class.
 *
 * @author	J. Meier
 */
class SyrlinksHandler : public DeviceHandlerBase {
 public:
  SyrlinksHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                  power::Switch_t powerSwitch, FailureIsolationBase* customFdir);
  virtual ~SyrlinksHandler();

  /**
   * @brief   Sets mode to MODE_NORMAL. Can be used for debugging.
   */
  void setModeNormal();

  void setDebugMode(bool enable);

 protected:
  void doStartUp() override;
  void doShutDown() override;
  void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
                                        size_t commandDataLen) override;
  void fillCommandAndReplyMap() 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;
  ReturnValue_t getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) override;
  void setNormalDatapoolEntriesInvalid() override;
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;

  // Parameter IF
  ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId, ParameterWrapper* parameterWrapper,
                             const ParameterWrapper* newValues, uint16_t startAtIndex) override;

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::SYRLINKS_HANDLER;

  static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA0);
  static const ReturnValue_t UART_FRAMIN_OR_PARITY_ERROR_ACK = MAKE_RETURN_CODE(0xA1);
  static const ReturnValue_t BAD_CHARACTER_ACK = MAKE_RETURN_CODE(0xA2);
  static const ReturnValue_t BAD_PARAMETER_VALUE_ACK = MAKE_RETURN_CODE(0xA3);
  static const ReturnValue_t BAD_END_OF_FRAME_ACK = MAKE_RETURN_CODE(0xA4);
  static const ReturnValue_t UNKNOWN_COMMAND_ID_ACK = MAKE_RETURN_CODE(0xA5);
  static const ReturnValue_t BAD_CRC_ACK = MAKE_RETURN_CODE(0xA6);
  static const ReturnValue_t REPLY_WRONG_SIZE = MAKE_RETURN_CODE(0xA7);
  static const ReturnValue_t MISSING_START_FRAME_CHARACTER = MAKE_RETURN_CODE(0xA8);

  static const uint8_t CRC_INITIAL_VALUE = 0x0;

  // Uses CRC-16/XMODEM
  std::string resetCommand = "<C04:5A5A:FF41>";
  std::string readRxStatusRegCommand = "<E00::825B>";
  std::string setTxModeStandby = "<W04:4000:7E58>";
  /** W - write, 04 - 4 bytes in data field, 01 - value, 40 register to write value */
  std::string setTxModeModulation = "<W04:4001:4D69>";
  std::string configBPSK = "<W04:4007:E7CF>";
  std::string configOQPSK = "<W04:400B:1063>";
  std::string setTxModeCw = "<W04:4002:183A>";
  std::string writeLclConfig = "<W04:0707:3FE4>";
  std::string setWaveformOQPSK = "<W04:4403:E1FA>";
  std::string setWaveformBPSK = "<W04:4406:1E0F>";
  std::string readTxStatus = "<R02:40:7555>";
  std::string readTxWaveform = "<R02:44:B991>";
  std::string readTxAgcValueHighByte = "<R02:46:DFF3>";
  std::string readTxAgcValueLowByte = "<R02:47:ECC2>";
  std::string readLclConfig = "<R02:07:3002>";
  std::string tempPowerAmpBoardHighByte = "<R02:C0:28CD>";
  std::string tempPowerAmpBoardLowByte = "<R02:C1:1BFC>";
  std::string tempBasebandBoardHighByte = "<R02:C2:4EAF>";
  std::string tempBasebandBoardLowByte = "<R02:C3:7D9E>";

  /**
   * In some cases it is not possible to extract from the received reply the information about
   * the associated command. This variable is thus used to remember the command id.
   */
  DeviceCommandId_t rememberCommandId = syrlinks::NONE;

  syrlinks::RxDataset rxDataset;
  syrlinks::TxDataset txDataset;
  syrlinks::TemperatureSet temperatureSet;

  const power::Switch_t powerSwitch = power::NO_SWITCH;
  // Use uint8_t for compatibility with parameter interface
  uint8_t datarateCfgRaw = static_cast<uint8_t>(com::Datarate::LOW_RATE_MODULATION_BPSK);
  // com::Datarate datarateCfg = com::Datarate::LOW_RATE_MODULATION_BPSK;

  bool debugMode = false;
  uint8_t agcValueHighByte = 0;
  uint16_t rawTempPowerAmplifier = 0;
  uint16_t rawTempBasebandBoard = 0;
  float tempPowerAmplifier = 0;
  float tempBasebandBoard = 0;
  bool commandExecuted = false;

  uint8_t commandBuffer[syrlinks::MAX_COMMAND_SIZE];

  enum class InternalState {
    OFF,
    ENABLE_TEMPERATURE_PROTECTION,
    SELECT_MODULATION_BPSK,
    SELECT_MODULATION_0QPSK,
    SET_TX_MODULATION,
    SET_TX_CW,
    SET_TX_STANDBY,
    IDLE
  };

  InternalState internalState = InternalState::OFF;

  /**
   * This object is used to store the id of the next command to execute. This controls the
   * read out of multiple registers which can not be fetched with one single command.
   */
  DeviceCommandId_t nextCommand = syrlinks::READ_RX_STATUS_REGISTERS;

  /**
   * @brief   This function converts an uint16_t into its hexadecimal string representation.
   *
   * @param intValue  The value to convert.
   *
   * @return  An std::string object containing the hex representation of intValue.
   */
  std::string convertUint16ToHexString(uint16_t intValue);

  /**
   * @brief   This function converts a hex number represented by to chars to an 8-bit integer.
   *
   * @param twoChars    Pointer to the two characters representing the hex value.
   *
   * @details E.g. when twoChars points to an array with the two characters "A5" then the function
   *          will return 0xA5.
   * @return  The converted integer.
   */
  uint8_t convertHexStringToUint8(const char* twoChars);

  /**
   * @brief   This function converts a hex number represented by 4 chars to an uint16_t.
   *
   * @param   Pointer to the fourCharacters representing the 16-bit integer.
   *
   * @return  The uint16_t result.
   */
  uint16_t convertHexStringToUint16(const char* fourChars);

  /**
   * @brief   Function converts a hex number represented by 6 or 8 characters to an uint32_t or
   * int32_t, depending on the template parameter.
   *
   * @param characters    Pointer to the hex characters array.
   * @param numberOfChars Number of characters representing the hex value. Must be 6 or 8.
   *
   * @return  The value.
   */
  template <typename T>
  T convertHexStringTo32bit(const char* characters, uint8_t numberOfChars);
  /**
   * @brief   This function parses the status reply
   * @param status    Pointer to the status information.
   *
   * @details Some commands reply with a status message giving information about the preceding
   *          command transmission and/or execution was successful.
   */
  ReturnValue_t parseReplyStatus(const char* status);

  /**
   * @brief   Function verifies the received reply from the syrlinks by recalculating and
   *          comparing the crc.
   *
   * @param packet    Pointer to the received reply.
   * @param size  Size of the whole packet including the crc and the packet termination
   *              character '>'.
   *
   * @return  returnvalue::OK if successful, otherwise returnvalue::FAILED.
   */
  ReturnValue_t verifyReply(const uint8_t* packet, uint8_t size);

  /**
   * @brief   This function extracts the data from a rx status registers reply and writes the
   *          information to the status registers dataset.
   * @param packet    Pointer to the reply packet.
   */
  void parseRxStatusRegistersReply(const uint8_t* packet);

  void parseLclConfigReply(const uint8_t* packet);

  /**
   * @brief   This function writes the read tx status register to the txStatusDataset.
   * @param packet    Pointer to the received packet.
   */
  void parseTxStatusReply(const uint8_t* packet);

  /**
   * @brief   This function writes the received waveform configuration to the txDataset.
   */
  void parseTxWaveformReply(const uint8_t* packet);

  /**
   * @brief   The agc value is split over two registers. The parse agc functions are used to get
   *          the values from the received reply and write them into the txDataset.
   */
  void parseAgcLowByte(const uint8_t* packet);
  void parseAgcHighByte(const uint8_t* packet);

  /**
   * @brief Calculates temperature in degree celcius form raw value
   */
  float calcTempVal(uint16_t);

  ReturnValue_t handleAckReply(const uint8_t* packet);

  void prepareCommand(std::string command, DeviceCommandId_t commandId);
};

template <typename T>
T SyrlinksHandler::convertHexStringTo32bit(const char* characters, uint8_t numberOfChars) {
  if (sizeof(T) < 4) {
    sif::error << "SyrlinksHkHandler::convertHexStringToRaw: Only works for 32-bit conversion"
               << std::endl;
  }
  T value = 0;

  switch (numberOfChars) {
    case 6:
      // The bitshift trickery required is necessary when creating an int32_t from a
      // 24 bit signed value.
      value = ((convertHexStringToUint8(characters) << 24) |
               (convertHexStringToUint8(characters + 2) << 16) |
               (convertHexStringToUint8(characters + 4) << 8)) >>
              8;
      return value;
    case 8:
      value = convertHexStringToUint8(characters) << 24 |
              convertHexStringToUint8(characters + 2) << 16 |
              convertHexStringToUint8(characters + 4) << 8 |
              convertHexStringToUint8(characters + 4);
      return value;
    default:
      sif::debug << "SyrlinksHkHandler::convertHexStringToUint32: Invalid number of characters. "
                 << "Must be either 6 or 8" << std::endl;
      return 0;
  }
}
#endif /* MISSION_DEVICES_SYRLINKSHANDLER_H_ */