290 lines
12 KiB
C++
290 lines
12 KiB
C++
#include "PCDUHandler.h"
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#include <fsfwconfig/objects/systemObjectList.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfwconfig/devices/powerSwitcherList.h>
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#include <fsfw/housekeeping/HousekeepingPacketUpdate.h>
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PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) :
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SystemObject(setObjectId), poolManager(this, nullptr), pdu2HkTableDataset(this), cmdQueueSize(
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cmdQueueSize) {
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commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
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MessageQueueMessage::MAX_MESSAGE_SIZE);
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}
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PCDUHandler::~PCDUHandler() {
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}
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ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
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if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
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readCommandQueue();
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return RETURN_OK;
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}
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return RETURN_OK;
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}
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ReturnValue_t PCDUHandler::initialize() {
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ReturnValue_t result;
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IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
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if (IPCStore == nullptr) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = poolManager.initialize(commandQueue);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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HasLocalDataPoolIF* pdu2Handler = objectManager->get<HasLocalDataPoolIF>(objects::PDU2_HANDLER);
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if(pdu2Handler == nullptr) {
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sif::warning << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
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return RETURN_FAILED;
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}
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result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
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PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
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if (result != RETURN_OK) {
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sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
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<< "PDU2Handler" << std::endl;
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}
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return RETURN_OK;
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}
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void PCDUHandler::readCommandQueue() {
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ReturnValue_t result;
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CommandMessage command;
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result = poolManager.handleHousekeepingMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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}
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MessageQueueId_t PCDUHandler::getCommandQueue() const {
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return commandQueue->getId();
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}
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void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId) {
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ReturnValue_t result;
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if (sid == sid_t(objects::PCDU_HANDLER, PDU2::HK_TABLE_DATA_SET_ID)) {
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HousekeepingPacketUpdate packetUpdate(reinterpret_cast<uint8_t*>(&timeStamp),
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sizeof(timeStamp), &pdu2HkTableDataset);
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const uint8_t** packet_ptr;
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size_t size;
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result = IPCStore->getData(storeId, packet_ptr, &size);
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if (result != RETURN_OK) {
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sif::error << "PCDUHandler::handleChangedDataset: Failed to get data from IPCStore."
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<< std::endl;
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//TODO: Is it necessary to trigger an Event here?
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result = IPCStore->deleteData(storeId);
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if (result != RETURN_OK) {
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sif::error << "PCDUHandler::handleChangedDataset: Failed to delete data in IPCStore"
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<< std::endl;
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}
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}
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result = packetUpdate.deSerialize(packet_ptr, &size, SerializeIF::Endianness::BIG);
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if (result != RETURN_OK) {
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sif::error << "PCDUHandler::handleChangedDataset: Failed to deserialize packet in "
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<< "pdu2HkTableDataset" << std::endl;
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}
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}
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else {
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sif::error << "PCDUHandler::handleChangedDataset: Invalid sid" << std::endl;
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}
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}
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LocalDataPoolManager* PCDUHandler::getHkManagerHandle() {
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return &poolManager;
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}
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void PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const {
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ReturnValue_t result;
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uint16_t memoryAddress;
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size_t parameterValueSize = sizeof(uint8_t);
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uint8_t parameterValue;
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GomspaceDeviceHandler* pdu;
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switch (switchNr) {
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case pcduSwitches::TCS_BOARD_8V_HEATER_IN:
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memoryAddress = PDU2::CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN;
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pdu = objectManager->get<GomspaceDeviceHandler>(objects::PDU2_HANDLER);
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break;
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default:
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sif::error << "PCDUHandler::sendSwitchCommand: Invalid switch number " << std::endl;
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return;
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}
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switch (onOff) {
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case PowerSwitchIF::SWITCH_ON:
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parameterValue = 1;
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break;
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case PowerSwitchIF::SWITCH_OFF:
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parameterValue = 0;
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break;
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default:
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sif::error << "PCDUHandler::sendSwitchCommand: Invalid state commanded" << std::endl;
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return;
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}
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size_t serializedLength = 0;
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uint8_t command[4];
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uint8_t* commandPtr = command;
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size_t maxSize = sizeof(command);
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GomspaceSetParamMessage setParamMessage(memoryAddress, ¶meterValue, parameterValueSize);
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setParamMessage.serialize(&commandPtr, &serializedLength, maxSize,
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SerializeIF::Endianness::BIG);
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store_address_t storeAddress;
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result = IPCStore->addData(&storeAddress, command,sizeof(command));
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CommandMessage message;
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ActionMessage::setCommand(&message, GOMSPACE::PARAM_SET, storeAddress);
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result = commandQueue->sendMessage(pdu->getCommandQueue(), &message, 0);
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if (result != RETURN_OK) {
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sif::debug << "PCDUHandler::sendSwitchCommand: Failed to send message to PDU Handler"
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<< std::endl;
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}
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}
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void PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) const {
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}
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ReturnValue_t PCDUHandler::getSwitchState( uint8_t switchNr ) const {
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switch (switchNr) {
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case pcduSwitches::TCS_BOARD_8V_HEATER_IN:
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if (pdu2HkTableDataset.outEnabledTCSBoardHeaterIn == 1) {
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return PowerSwitchIF::SWITCH_ON;
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}
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else {
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return PowerSwitchIF::SWITCH_OFF;
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}
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default:
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sif::error << "PCDUHandler::getSwitchState: Invalid switchNr" << std::endl;
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return RETURN_FAILED;
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}
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}
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ReturnValue_t PCDUHandler::getFuseState( uint8_t fuseNr ) const {
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return RETURN_OK;
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}
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uint32_t PCDUHandler::getSwitchDelayMs(void) const {
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return 0;
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}
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object_id_t PCDUHandler::getObjectId() const {
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return SystemObject::getObjectId();
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}
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ReturnValue_t PCDUHandler::initializeLocalDataPool(
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localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_RW, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_RW, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VCC, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_VBAT, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_TEMPERATURE, new PoolEntry<int16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_CONV_EN, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_BOOTCNT, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_UPTIME, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_RESETCAUSE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_BATT_MODE, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_0, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_1, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_2, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_3, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_4, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_5, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_6, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_7, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_0_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_1_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_2_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_3_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_4_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_5_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_6_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_DEVICE_7_STATUS, new PoolEntry<uint8_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_GND, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_I2C, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_CAN, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_CNT_CSP, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_GND_LEFT, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_I2C_LEFT, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_CAN_LEFT, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(PDU::PDU2_WDT_CSP_LEFT, new PoolEntry<uint32_t>( { 0 }));
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
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if(executingTask != nullptr) {
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pstIntervalMs = executingTask->getPeriodMs();
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}
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this->poolManager.initializeAfterTaskCreation();
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PCDUHandler::getPeriodicOperationFrequency() const {
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return pstIntervalMs;
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}
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void PCDUHandler::setTaskIF(PeriodicTaskIF* task){
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executingTask = task;
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}
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LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
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switch (sid) {
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case pdu2HkTableDataset.getSid():
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return &pdu2HkTableDataset;
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default:
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sif::error << "PCDUHandler::getDataSetHandle: Invalid sid" << std::endl;
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return nullptr;
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break;
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}
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}
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