141 lines
5.6 KiB
C++
141 lines
5.6 KiB
C++
#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
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#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
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#include "returnvalues/classIds.h"
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/**
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* @brief This is the device handler class for all gomspace devices.
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*
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* @details
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* All gomspace devices are similar with respect to commanding. Thusmost of the functionality to
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* command a gomspace device can be accommodated in one class. For device specific functions, a new
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* class could be created by inheriting from the GomspaceDeviceHandler.
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*
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Gomspace_PCDU_P60_System
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*/
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class GomspaceDeviceHandler : public DeviceHandlerBase {
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public:
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static constexpr uint8_t CLASS_ID = CLASS_ID::GOM_SPACE_HANDLER;
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static const ReturnValue_t PACKET_TOO_LONG = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
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static const ReturnValue_t INVALID_TABLE_ID = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
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static const ReturnValue_t INVALID_ADDRESS = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
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static const ReturnValue_t INVALID_PARAM_SIZE = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
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static const ReturnValue_t INVALID_PAYLOAD_SIZE = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
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static const ReturnValue_t UNKNOWN_REPLY_ID = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 5);
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/**
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* @brief Constructor
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*
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* @param maxConfigTableAddress The maximum memory address of the configu-
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* ration table of a gomspace device.
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* @param maxHkTableAddress The maximum memory address of a value in the
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* houskeeping (telemetry) table of a gomspace
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* device.
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*/
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GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
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uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
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uint16_t hkTableReplySize, LocalPoolDataSetBase *hkTableDataset);
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virtual ~GomspaceDeviceHandler();
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/**
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* @brief This function can be used to set a gomspace device to normal mode immediately after
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* object creation.
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*/
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void setModeNormal();
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protected:
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static const uint8_t MAX_PACKET_LEN = 36;
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static const uint8_t PARAM_SET_OK = 1;
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static const uint8_t PING_REPLY_SIZE = 2;
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static const uint8_t CONFIG_TABLE_ID = 1;
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static const uint8_t HK_TABLE_ID = 4;
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uint8_t rememberRequestedSize = 0;
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uint8_t rememberCommandId = GOMSPACE::NONE;
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uint8_t cspPacket[MAX_PACKET_LEN];
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uint16_t maxConfigTableAddress;
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uint16_t maxHkTableAddress;
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/** The size of the reply following a full hk table request.*/
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uint16_t hkTableReplySize;
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LocalPoolDataSetBase *hkTableDataset = nullptr;
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void doStartUp() override;
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void doShutDown() override;
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virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
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ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
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virtual void fillCommandAndReplyMap() override;
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ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) override;
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ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
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size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, 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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/**
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* @brief The command to generate a request to receive the full housekeeping table is device
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* specific. Thus the child has to build this command.
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*/
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virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
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/**
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* This command handles printing the HK table to the console. This is useful for debugging
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* purposes
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* @return
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*/
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virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
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/**
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* @brief Because housekeeping tables are device specific the handling of the reply is
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* given to the child class.
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* @param id The id of the command which initiates the full table request.
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* @param packet Pointer to the reply containing the hk table.
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*/
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virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
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virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
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/**
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* @brief Can be used by gomspace devices to implement device specific commands.
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*/
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virtual ReturnValue_t deviceSpecificCommand(DeviceCommandId_t cmd);
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private:
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/**
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* @brief Function to generate the command to set a parameter. Command
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* will be sent to the ComIF over the rawPacket buffer.
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*/
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ReturnValue_t generateSetParamCommand(const uint8_t *commandData, size_t commandDataLen);
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/**
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* @brief Function to generate the command to get a parameter from a
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* gomspace device. Command will be sent to the ComIF over the
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* rawPacket buffer.
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*/
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ReturnValue_t generateGetParamCommand(const uint8_t *commandData, size_t commandDataLen);
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/**
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* @brief Function to generate the ping command for the ComIF.
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*/
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ReturnValue_t generatePingCommand(const uint8_t *commandData, size_t commandDataLen);
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/**
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* @brief Function to generate the command to reboot a gomspace device
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* via the ComIF.
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*/
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void generateRebootCommand();
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/**
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* @brief Function to generate the command to force a ground watchdog
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* reset in a gomspace device.
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*/
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ReturnValue_t generateResetWatchdogCmd();
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};
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#endif /* MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ */
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