eive-obsw/mission/devices/GPSHyperionHandler.h
Robin Mueller 397e1433fd
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GPS and RW handler improvements
2021-09-23 17:14:08 +02:00

70 lines
2.3 KiB
C++

#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "devicedefinitions/GPSDefinitions.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_ */