109 lines
3.8 KiB
C++
109 lines
3.8 KiB
C++
#ifndef MISSION_DEVICES_PLOCHANDLER_H_
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#define MISSION_DEVICES_PLOCHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <mission/devices/devicedefinitions/PlocDefinitions.h>
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#include <string.h>
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/**
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* @brief This is the device handler for the ISIS Magnetorquer iMTQ.
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*
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* @author J. Meier
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*/
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class PlocHandler: public DeviceHandlerBase {
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public:
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PlocHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
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virtual ~PlocHandler();
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/**
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* @brief Sets mode to MODE_NORMAL. Can be used for debugging.
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*/
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void setModeNormal();
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protected:
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
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void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t * commandData,size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void setNormalDatapoolEntriesInvalid() override;
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) override;
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private:
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static const uint8_t INTERFACE_ID = CLASS_ID::PLOC_HANDLER;
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static const ReturnValue_t TC_ACK_FAILURE = MAKE_RETURN_CODE(0xA0);
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static const ReturnValue_t CRC_FAILURE = MAKE_RETURN_CODE(0xA1);
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static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PLOC_HANDLER;
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static const Event REQUESTING_TM_READ_REPORT_FAILED = MAKE_EVENT(0, severity::LOW);
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static const Event TM_READ_RPT_INVALID_CRC = MAKE_EVENT(1, severity::LOW);
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static const Event ACK_FAILURE = MAKE_EVENT(2, severity::LOW);
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static const Event EXE_FAILURE = MAKE_EVENT(3, severity::LOW);
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static const Event EXE_RPT_INVALID_CRC = MAKE_EVENT(4, severity::LOW);
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static const uint16_t APID_MASK = 0x7FF;
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DeviceCommandId_t rememberCommandId = PLOC::NONE;
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/**
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* @brief This function checks wheter a telemetry packet is expected or not.
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*/
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void receiveTm();
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/**
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* @brief This function checks the crc of the received PLOC reply.
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*
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* @param start Pointer to the first byte of the reply.
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* @param foundLen Pointer to the length of the whole packet.
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*
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* @return RETURN_OK if CRC is ok, otherwise CRC_FAILURE.
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*/
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ReturnValue_t verifyPacket(const uint8_t* start, size_t* foundLen);
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/**
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* @brief This function reads and handles the execution reply.
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*/
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void receiveExecutionReport();
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/**
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* @brief This function handles the data of a execution report.
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*
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* @param receivedData Pointer to the received data
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* @param receivedDataLen Size in bytes of the received data
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*/
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void handleExecutionReport(const uint8_t* receivedData, size_t receivedDataLen);
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/**
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* @brief This function reads and handles the memory read report telemetry packet received
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* after requesting the packet with the TC_MEM_READ command.
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*
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* @details In case of a valid packet the received memory content will be forwarded to the
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* commanding object via an action message.
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*/
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void receiveTmMemoryReadReport();
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/**
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* @brief This function handles action message replies in case the telemetry has been
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* requested by another object.
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*
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* @param data Pointer to the telemtry data.
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* @param dataSize Size of telemetry in bytes.
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* @param replyId Id of the reply. This will be added to the ActionMessage.
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*/
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void handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId);
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};
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#endif /* MISSION_DEVICES_PLOCHANDLER_H_ */
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