481 lines
19 KiB
C++
481 lines
19 KiB
C++
#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <mission/devices/SyrlinksHkHandler.h>
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#include "OBSWConfig.h"
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SyrlinksHkHandler::SyrlinksHkHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
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power::Switch_t powerSwitch)
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: DeviceHandlerBase(objectId, comIF, comCookie),
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rxDataset(this),
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txDataset(this),
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powerSwitch(powerSwitch) {
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if (comCookie == NULL) {
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sif::error << "SyrlinksHkHandler: Invalid com cookie" << std::endl;
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}
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}
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SyrlinksHkHandler::~SyrlinksHkHandler() {}
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void SyrlinksHkHandler::doStartUp() {
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if (mode == _MODE_START_UP) {
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setMode(MODE_ON);
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}
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}
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void SyrlinksHkHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
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ReturnValue_t SyrlinksHkHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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switch (nextCommand) {
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case (SYRLINKS::READ_RX_STATUS_REGISTERS):
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*id = SYRLINKS::READ_RX_STATUS_REGISTERS;
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nextCommand = SYRLINKS::READ_TX_STATUS;
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break;
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case (SYRLINKS::READ_TX_STATUS):
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*id = SYRLINKS::READ_TX_STATUS;
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nextCommand = SYRLINKS::READ_TX_WAVEFORM;
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break;
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case (SYRLINKS::READ_TX_WAVEFORM):
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*id = SYRLINKS::READ_TX_WAVEFORM;
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nextCommand = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE;
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break;
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case (SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE):
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*id = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE;
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nextCommand = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
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break;
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case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE):
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*id = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
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nextCommand = SYRLINKS::READ_RX_STATUS_REGISTERS;
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break;
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default:
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sif::debug << "SyrlinksHkHandler::buildNormalDeviceCommand: rememberCommandId has invalid"
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<< "command id" << std::endl;
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break;
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}
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return buildCommandFromCommand(*id, NULL, 0);
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}
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ReturnValue_t SyrlinksHkHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t SyrlinksHkHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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switch (deviceCommand) {
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case (SYRLINKS::RESET_UNIT): {
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resetCommand.copy(reinterpret_cast<char*>(commandBuffer), resetCommand.size(), 0);
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rawPacketLen = resetCommand.size();
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::SET_TX_MODE_STANDBY): {
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setTxModeStandby.copy(reinterpret_cast<char*>(commandBuffer), setTxModeStandby.size(), 0);
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rawPacketLen = setTxModeStandby.size();
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::SET_TX_MODE_MODULATION): {
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setTxModeModulation.copy(reinterpret_cast<char*>(commandBuffer), setTxModeModulation.size(),
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0);
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rawPacketLen = setTxModeModulation.size();
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::SET_TX_MODE_CW): {
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setTxModeCw.copy(reinterpret_cast<char*>(commandBuffer), setTxModeCw.size(), 0);
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rawPacketLen = setTxModeCw.size();
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::READ_RX_STATUS_REGISTERS): {
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readRxStatusRegCommand.copy(reinterpret_cast<char*>(commandBuffer),
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readRxStatusRegCommand.size(), 0);
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rawPacketLen = readRxStatusRegCommand.size();
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::READ_TX_STATUS): {
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readTxStatus.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
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rawPacketLen = readTxStatus.size();
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rememberCommandId = SYRLINKS::READ_TX_STATUS;
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::READ_TX_WAVEFORM): {
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readTxWaveform.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
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rawPacketLen = readTxWaveform.size();
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rememberCommandId = SYRLINKS::READ_TX_WAVEFORM;
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE): {
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readTxAgcValueHighByte.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
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rawPacketLen = readTxAgcValueHighByte.size();
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rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE;
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE): {
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readTxAgcValueLowByte.copy(reinterpret_cast<char*>(commandBuffer), readTxStatus.size(), 0);
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rawPacketLen = readTxAgcValueLowByte.size();
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rememberCommandId = SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE;
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rawPacket = commandBuffer;
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return RETURN_OK;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void SyrlinksHkHandler::fillCommandAndReplyMap() {
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this->insertInCommandAndReplyMap(SYRLINKS::RESET_UNIT, 1, nullptr, SYRLINKS::ACK_SIZE, false,
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true, SYRLINKS::ACK_REPLY);
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this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_STANDBY, 1, nullptr, SYRLINKS::ACK_SIZE,
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false, true, SYRLINKS::ACK_REPLY);
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this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_MODULATION, 1, nullptr, SYRLINKS::ACK_SIZE,
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false, true, SYRLINKS::ACK_REPLY);
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this->insertInCommandAndReplyMap(SYRLINKS::SET_TX_MODE_CW, 1, nullptr, SYRLINKS::ACK_SIZE, false,
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true, SYRLINKS::ACK_REPLY);
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this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_STATUS, 1, &txDataset,
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SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_WAVEFORM, 1, &txDataset,
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SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE, 1, &txDataset,
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SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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this->insertInCommandAndReplyMap(SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE, 1, &txDataset,
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SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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this->insertInCommandAndReplyMap(SYRLINKS::READ_RX_STATUS_REGISTERS, 1, &rxDataset,
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SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
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}
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//ReturnValue_t SyrlinksHkHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
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// uint8_t expectedReplies, bool useAlternateId,
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// DeviceCommandId_t alternateReplyID) {
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// switch (command->first) {
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// case SYRLINKS::RESET_UNIT: {
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// case SYRLINKS::SET_TX_MODE_STANDBY:
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// case SYRLINKS::SET_TX_MODE_MODULATION:
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// case SYRLINKS::SET_TX_MODE_CW:
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// return DeviceHandlerBase::enableReplyInReplyMap(command, 1, true, SYRLINKS::ACK_REPLY);
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// }
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// default:
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// break;
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// }
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// return DeviceHandlerBase::enableReplyInReplyMap(command);
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//}
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ReturnValue_t SyrlinksHkHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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ReturnValue_t result = RETURN_OK;
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if (*start != '<') {
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sif::error << "SyrlinksHkHandler::scanForReply: Missing start frame character" << std::endl;
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return MISSING_START_FRAME_CHARACTER;
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}
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switch (*(start + 1)) {
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case ('A'):
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*foundLen = SYRLINKS::ACK_SIZE;
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*foundId = SYRLINKS::ACK_REPLY;
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break;
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case ('E'):
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*foundLen = SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE;
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*foundId = SYRLINKS::READ_RX_STATUS_REGISTERS;
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break;
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case ('R'):
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*foundId = rememberCommandId;
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*foundLen = SYRLINKS::READ_ONE_REGISTER_REPLY_SIE;
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break;
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default:
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sif::error << "SyrlinksHkHandler::scanForReply: Unknown reply identifier" << std::endl;
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result = IGNORE_REPLY_DATA;
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break;
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}
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return result;
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}
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ReturnValue_t SyrlinksHkHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
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if (powerSwitch == power::NO_SWITCH) {
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return DeviceHandlerBase::NO_SWITCH;
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}
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*numberOfSwitches = 1;
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*switches = &powerSwitch;
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return RETURN_OK;
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}
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ReturnValue_t SyrlinksHkHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
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ReturnValue_t result;
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switch (id) {
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case (SYRLINKS::ACK_REPLY):
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result = verifyReply(packet, SYRLINKS::ACK_SIZE);
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if (result != RETURN_OK) {
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sif::error << "SyrlinksHkHandler::interpretDeviceReply: Acknowledgment reply has "
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"invalid crc"
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<< std::endl;
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return CRC_FAILURE;
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}
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result =
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parseReplyStatus(reinterpret_cast<const char*>(packet + SYRLINKS::MESSAGE_HEADER_SIZE));
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if (result != RETURN_OK) {
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return result;
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}
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break;
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case (SYRLINKS::READ_RX_STATUS_REGISTERS):
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result = verifyReply(packet, SYRLINKS::RX_STATUS_REGISTERS_REPLY_SIZE);
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if (result != RETURN_OK) {
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sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read rx status registers reply "
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<< "has invalid crc" << std::endl;
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return CRC_FAILURE;
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}
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parseRxStatusRegistersReply(packet);
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break;
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case (SYRLINKS::READ_TX_STATUS):
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result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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if (result != RETURN_OK) {
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sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx status reply "
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<< "has invalid crc" << std::endl;
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return CRC_FAILURE;
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}
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parseTxStatusReply(packet);
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break;
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case (SYRLINKS::READ_TX_WAVEFORM):
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result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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if (result != RETURN_OK) {
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sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx waveform reply "
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<< "has invalid crc" << std::endl;
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return CRC_FAILURE;
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}
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parseTxWaveformReply(packet);
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break;
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case (SYRLINKS::READ_TX_AGC_VALUE_HIGH_BYTE):
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result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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if (result != RETURN_OK) {
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sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx AGC high byte reply "
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<< "has invalid crc" << std::endl;
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return CRC_FAILURE;
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}
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parseAgcHighByte(packet);
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break;
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case (SYRLINKS::READ_TX_AGC_VALUE_LOW_BYTE):
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result = verifyReply(packet, SYRLINKS::READ_ONE_REGISTER_REPLY_SIE);
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if (result != RETURN_OK) {
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sif::error << "SyrlinksHkHandler::interpretDeviceReply: Read tx AGC low byte reply "
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<< "has invalid crc" << std::endl;
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return CRC_FAILURE;
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}
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parseAgcLowByte(packet);
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break;
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default: {
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sif::debug << "SyrlinksHkHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return RETURN_OK;
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}
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LocalPoolDataSetBase* SyrlinksHkHandler::getDataSetHandle(sid_t sid) {
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if (sid == rxDataset.getSid()) {
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return &rxDataset;
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} else if (sid == txDataset.getSid()) {
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return &txDataset;
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} else {
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sif::error << "SyrlinksHkHandler::getDataSetHandle: Invalid sid" << std::endl;
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return nullptr;
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}
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}
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std::string SyrlinksHkHandler::convertUint16ToHexString(uint16_t intValue) {
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std::stringstream stream;
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stream << std::setfill('0') << std::setw(4) << std::hex << std::uppercase << intValue;
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return stream.str();
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}
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uint8_t SyrlinksHkHandler::convertHexStringToUint8(const char* twoChars) {
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uint32_t value;
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std::string hexString(twoChars, 2);
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std::stringstream stream;
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stream << std::hex << hexString;
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stream >> value;
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return static_cast<uint8_t>(value);
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}
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uint16_t SyrlinksHkHandler::convertHexStringToUint16(const char* fourChars) {
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uint16_t value = 0;
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value = convertHexStringToUint8(fourChars) << 8 | convertHexStringToUint8(fourChars + 2);
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return value;
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}
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uint32_t SyrlinksHkHandler::convertHexStringToUint32(const char* characters,
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uint8_t numberOfChars) {
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uint32_t value = 0;
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switch (numberOfChars) {
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case 6:
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value = convertHexStringToUint8(characters) << 16 |
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convertHexStringToUint8(characters + 2) << 8 |
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convertHexStringToUint8(characters + 4);
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return value;
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case 8:
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value = convertHexStringToUint8(characters) << 24 |
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convertHexStringToUint8(characters + 2) << 16 |
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convertHexStringToUint8(characters + 4) << 8 |
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convertHexStringToUint8(characters + 4);
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return value;
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default:
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sif::debug << "SyrlinksHkHandler::convertHexStringToUint32: Invalid number of characters. "
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<< "Must be either 6 or 8" << std::endl;
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return 0;
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}
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}
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ReturnValue_t SyrlinksHkHandler::parseReplyStatus(const char* status) {
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switch (*status) {
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case '0':
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return RETURN_OK;
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case '1':
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sif::debug << "SyrlinksHkHandler::parseReplyStatus: Uart faming or parity error" << std::endl;
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return UART_FRAMIN_OR_PARITY_ERROR_ACK;
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case '2':
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sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad character detected" << std::endl;
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return BAD_CHARACTER_ACK;
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case '3':
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sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad parameter value (unexpected value "
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<< "detected" << std::endl;
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return BAD_PARAMETER_VALUE_ACK;
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case '4':
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sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad end of frame" << std::endl;
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return BAD_END_OF_FRAME_ACK;
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case '5':
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sif::debug << "SyrlinksHkHandler::parseReplyStatus: Unknown command id or attempt to access"
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<< " a protected register" << std::endl;
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return UNKNOWN_COMMAND_ID_ACK;
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case '6':
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sif::debug << "SyrlinksHkHandler::parseReplyStatus: Bad CRC" << std::endl;
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return BAD_CRC_ACK;
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default:
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sif::debug << "SyrlinksHkHandler::parseReplyStatus: Status reply contains an invalid "
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<< "status id" << std::endl;
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return RETURN_FAILED;
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}
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}
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ReturnValue_t SyrlinksHkHandler::verifyReply(const uint8_t* packet, uint8_t size) {
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int result = 0;
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/* Calculate crc from received packet */
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uint16_t crc =
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CRC::crc16ccitt(packet, size - SYRLINKS::SIZE_CRC_AND_TERMINATION, CRC_INITIAL_VALUE);
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std::string recalculatedCrc = convertUint16ToHexString(crc);
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const char* startOfCrc =
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reinterpret_cast<const char*>(packet + size - SYRLINKS::SIZE_CRC_AND_TERMINATION);
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const char* endOfCrc = reinterpret_cast<const char*>(packet + size - 1);
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std::string replyCrc(startOfCrc, endOfCrc);
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result = recalculatedCrc.compare(replyCrc);
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if (result != 0) {
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return RETURN_FAILED;
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}
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return RETURN_OK;
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}
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void SyrlinksHkHandler::parseRxStatusRegistersReply(const uint8_t* packet) {
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PoolReadGuard readHelper(&rxDataset);
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uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
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rxDataset.rxStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
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offset += 2;
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rxDataset.rxSensitivity =
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convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxFrequencyShift =
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convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxIqPower = convertHexStringToUint16(reinterpret_cast<const char*>(packet + offset));
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offset += 4;
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rxDataset.rxAgcValue = convertHexStringToUint16(reinterpret_cast<const char*>(packet + offset));
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offset += 4;
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offset += 2; // reserved register
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rxDataset.rxDemodEb = convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxDemodN0 = convertHexStringToUint32(reinterpret_cast<const char*>(packet + offset), 6);
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offset += 6;
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rxDataset.rxDataRate = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
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sif::info << "Syrlinks RX Status: 0x" << std::hex << (unsigned int)rxDataset.rxStatus.value
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<< std::endl;
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sif::info << "Syrlinks RX Sensitivity: " << std::dec << rxDataset.rxSensitivity << std::endl;
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sif::info << "Syrlinks RX Frequency Shift: " << rxDataset.rxFrequencyShift << std::endl;
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sif::info << "Syrlinks RX IQ Power: " << rxDataset.rxIqPower << std::endl;
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sif::info << "Syrlinks RX AGC Value: " << rxDataset.rxAgcValue << std::endl;
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sif::info << "Syrlinks RX Demod Eb: " << rxDataset.rxDemodEb << std::endl;
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sif::info << "Syrlinks RX Demod N0: " << rxDataset.rxDemodN0 << std::endl;
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sif::info << "Syrlinks RX Datarate: " << (unsigned int)rxDataset.rxDataRate.value << std::endl;
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#endif
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}
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void SyrlinksHkHandler::parseTxStatusReply(const uint8_t* packet) {
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PoolReadGuard readHelper(&txDataset);
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uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
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txDataset.txStatus = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
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sif::info << "Syrlinks TX Status: 0x" << std::hex << (unsigned int)txDataset.txStatus.value
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<< std::endl;
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#endif
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}
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void SyrlinksHkHandler::parseTxWaveformReply(const uint8_t* packet) {
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PoolReadGuard readHelper(&txDataset);
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uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
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|
txDataset.txWaveform = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
|
|
sif::info << "Syrlinks TX Waveform: 0x" << std::hex << (unsigned int)txDataset.txWaveform.value
|
|
<< std::endl;
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|
#endif
|
|
}
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|
|
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void SyrlinksHkHandler::parseAgcLowByte(const uint8_t* packet) {
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PoolReadGuard readHelper(&txDataset);
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|
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
|
|
txDataset.txAgcValue = agcValueHighByte << 8 |
|
|
convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_SYRLINKS == 1
|
|
sif::info << "Syrlinks TX AGC Value: " << txDataset.txAgcValue << std::endl;
|
|
#endif
|
|
}
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|
|
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void SyrlinksHkHandler::parseAgcHighByte(const uint8_t* packet) {
|
|
PoolReadGuard readHelper(&txDataset);
|
|
uint16_t offset = SYRLINKS::MESSAGE_HEADER_SIZE;
|
|
agcValueHighByte = convertHexStringToUint8(reinterpret_cast<const char*>(packet + offset));
|
|
}
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|
|
|
void SyrlinksHkHandler::setNormalDatapoolEntriesInvalid() {}
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|
|
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uint32_t SyrlinksHkHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
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|
|
|
ReturnValue_t SyrlinksHkHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(SYRLINKS::RX_STATUS, new PoolEntry<uint8_t>({0}));
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|
localDataPoolMap.emplace(SYRLINKS::RX_SENSITIVITY, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(SYRLINKS::RX_FREQUENCY_SHIFT, new PoolEntry<uint32_t>({0}));
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|
localDataPoolMap.emplace(SYRLINKS::RX_IQ_POWER, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(SYRLINKS::RX_AGC_VALUE, new PoolEntry<uint16_t>({0}));
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|
localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_EB, new PoolEntry<uint32_t>({0}));
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|
localDataPoolMap.emplace(SYRLINKS::RX_DEMOD_N0, new PoolEntry<uint32_t>({0}));
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|
localDataPoolMap.emplace(SYRLINKS::RX_DATA_RATE, new PoolEntry<uint8_t>({0}));
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|
|
|
localDataPoolMap.emplace(SYRLINKS::TX_STATUS, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(SYRLINKS::TX_WAVEFORM, new PoolEntry<uint8_t>({0}));
|
|
localDataPoolMap.emplace(SYRLINKS::TX_AGC_VALUE, new PoolEntry<uint16_t>({0}));
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|
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
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|
|
|
void SyrlinksHkHandler::setModeNormal() { mode = MODE_NORMAL; }
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