Robin Mueller
397e1433fd
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
70 lines
2.3 KiB
C++
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_ */
|