Robin Mueller
39f83937c5
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EIVE/eive-obsw/pipeline/head This commit looks good
645 lines
29 KiB
C++
645 lines
29 KiB
C++
#include "RwHandler.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include "OBSWConfig.h"
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RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
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GpioIF* gpioComIF, gpioId_t enableGpio, uint8_t rwIdx)
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: DeviceHandlerBase(objectId, comIF, comCookie),
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gpioComIF(gpioComIF),
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enableGpio(enableGpio),
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statusSet(this),
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lastResetStatusSet(this),
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tmDataset(this),
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rwSpeedActuationSet(*this),
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rwIdx(rwIdx) {
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if (comCookie == nullptr) {
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sif::error << "RwHandler: Invalid com cookie" << std::endl;
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}
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if (gpioComIF == nullptr) {
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sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
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}
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}
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RwHandler::~RwHandler() {}
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void RwHandler::doStartUp() {
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internalState = InternalState::DEFAULT;
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if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
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sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
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}
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updatePeriodicReply(true, rws::REPLY_ID);
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setMode(_MODE_TO_ON);
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}
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void RwHandler::doShutDown() {
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if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
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sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
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}
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internalState = InternalState::DEFAULT;
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updatePeriodicReply(false, rws::REPLY_ID);
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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switch (internalState) {
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case InternalState::DEFAULT: {
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*id = rws::REQUEST_ID;
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break;
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}
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// case InternalState::SET_SPEED:
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// *id = rws::SET_SPEED;
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// internalState = InternalState::GET_RESET_STATUS;
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// break;
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// case InternalState::GET_RESET_STATUS:
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// *id = rws::GET_LAST_RESET_STATUS;
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// internalState = InternalState::READ_TEMPERATURE;
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// break;
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// case InternalState::READ_TEMPERATURE:
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// *id = rws::GET_TEMPERATURE;
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// internalState = InternalState::GET_RW_SATUS;
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// break;
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// case InternalState::GET_RW_SATUS:
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// *id = rws::GET_RW_STATUS;
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// internalState = InternalState::CLEAR_RESET_STATUS;
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// break;
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// case InternalState::CLEAR_RESET_STATUS:
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// *id = rws::CLEAR_LAST_RESET_STATUS;
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// /** After reset status is cleared, reset status will be polled again for verification
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// */ internalState = InternalState::GET_RESET_STATUS; break;
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default:
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sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << 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 RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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ReturnValue_t result = returnvalue::OK;
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switch (deviceCommand) {
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case (rws::REQUEST_ID): {
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if (commandData != nullptr && commandDataLen != 6) {
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sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
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<< " invalid length" << std::endl;
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return SET_SPEED_COMMAND_INVALID_LENGTH;
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}
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{
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PoolReadGuard pg(&rwSpeedActuationSet);
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// Commands override anything which was set in the software
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if (commandData != nullptr) {
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rwSpeedActuationSet.setValidityBufferGeneration(false);
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result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
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SerializeIF::Endianness::NETWORK);
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rwSpeedActuationSet.setValidityBufferGeneration(true);
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if (result != returnvalue::OK) {
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return result;
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}
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}
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}
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if (ACTUATION_WIRETAPPING) {
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int32_t speed = 0;
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uint16_t rampTime = 0;
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rwSpeedActuationSet.getRwSpeed(speed, rampTime);
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sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " << speed
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<< " and rampTime = " << rampTime << std::endl;
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}
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result = checkSpeedAndRampTime();
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if (result != returnvalue::OK) {
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return result;
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}
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// set speed flag.
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commandBuffer[0] = true;
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rawPacketLen = 1;
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uint8_t* currentCmdBuf = commandBuffer + 1;
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rwSpeedActuationSet.serialize(¤tCmdBuf, &rawPacketLen, sizeof(commandBuffer),
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SerializeIF::Endianness::MACHINE);
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commandBuffer[rawPacketLen] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
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break;
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}
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case (rws::RESET_MCU): {
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commandBuffer[0] = false;
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commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
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internalState = InternalState::RESET_MCU;
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return returnvalue::OK;
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}
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case (rws::INIT_RW_CONTROLLER): {
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commandBuffer[0] = false;
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commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
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internalState = InternalState::INIT_RW_CONTROLLER;
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return returnvalue::OK;
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}
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case (rws::GET_TM): {
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commandBuffer[0] = false;
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commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
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internalState = InternalState::GET_TM;
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return returnvalue::OK;
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}
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// case (rws::GET_LAST_RESET_STATUS): {
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// prepareSimpleCommand(deviceCommand);
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// return returnvalue::OK;
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// }
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// case (rws::CLEAR_LAST_RESET_STATUS): {
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// prepareSimpleCommand(deviceCommand);
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// return returnvalue::OK;
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// }
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// case (rws::GET_RW_STATUS): {
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// prepareSimpleCommand(deviceCommand);
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// return returnvalue::OK;
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// }
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// case (rws::INIT_RW_CONTROLLER): {
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// prepareSimpleCommand(deviceCommand);
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// return returnvalue::OK;
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// }
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// case (rws::SET_SPEED): {
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// if (commandData != nullptr && commandDataLen != 6) {
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// sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
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// << " invalid length" << std::endl;
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// return SET_SPEED_COMMAND_INVALID_LENGTH;
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// }
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//
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// {
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// PoolReadGuard pg(&rwSpeedActuationSet);
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// // Commands override anything which was set in the software
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// if (commandData != nullptr) {
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// rwSpeedActuationSet.setValidityBufferGeneration(false);
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// result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
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// SerializeIF::Endianness::NETWORK);
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// rwSpeedActuationSet.setValidityBufferGeneration(true);
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// if (result != returnvalue::OK) {
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// return result;
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// }
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// }
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// }
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// if (ACTUATION_WIRETAPPING) {
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// int32_t speed = 0;
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// uint16_t rampTime = 0;
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// rwSpeedActuationSet.getRwSpeed(speed, rampTime);
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// sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " <<
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// speed
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// << " and rampTime = " << rampTime << std::endl;
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// }
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// result = checkSpeedAndRampTime();
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// if (result != returnvalue::OK) {
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// return result;
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// }
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// result = prepareSetSpeedCmd();
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// return result;
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// }
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// case (rws::GET_TEMPERATURE): {
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// prepareSimpleCommand(deviceCommand);
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// return returnvalue::OK;
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// }
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// case (rws::GET_TM): {
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// prepareSimpleCommand(deviceCommand);
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// return returnvalue::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 returnvalue::FAILED;
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}
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void RwHandler::fillCommandAndReplyMap() {
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insertInCommandMap(rws::REQUEST_ID);
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insertInReplyMap(rws::REPLY_ID, 5, nullptr, 0, true);
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insertInCommandMap(rws::RESET_MCU);
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insertInCommandAndReplyMap(rws::INIT_RW_CONTROLLER, 5, nullptr, 0, false, true, rws::REPLY_ID);
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insertInCommandAndReplyMap(rws::GET_TM, 5, nullptr, 0, false, true, rws::REPLY_ID);
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/*
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this->insertInCommandAndReplyMap(rws::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
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rws::SIZE_GET_RESET_STATUS);
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this->insertInCommandAndReplyMap(rws::CLEAR_LAST_RESET_STATUS, 1, nullptr,
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rws::SIZE_CLEAR_RESET_STATUS);
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this->insertInCommandAndReplyMap(rws::GET_RW_STATUS, 1, &statusSet, rws::SIZE_GET_RW_STATUS);
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this->insertInCommandAndReplyMap(rws::INIT_RW_CONTROLLER, 1, nullptr, rws::SIZE_INIT_RW);
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this->insertInCommandAndReplyMap(rws::GET_TEMPERATURE, 1, nullptr,
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rws::SIZE_GET_TEMPERATURE_REPLY);
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this->insertInCommandAndReplyMap(rws::SET_SPEED, 1, nullptr, rws::SIZE_SET_SPEED_REPLY);
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this->insertInCommandAndReplyMap(rws::GET_TM, 1, &tmDataset, rws::SIZE_GET_TELEMETRY_REPLY);
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*/
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}
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ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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// uint8_t replyByte = *start;
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if (remainingSize > 0) {
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*foundLen = remainingSize;
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*foundId = rws::REPLY_ID;
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}
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// RwReplies replies(start);
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// switch (replyByte) {
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// case (rws::GET_LAST_RESET_STATUS): {
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// *foundLen = rws::SIZE_GET_RESET_STATUS;
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// *foundId = rws::GET_LAST_RESET_STATUS;
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// break;
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// }
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// case (rws::CLEAR_LAST_RESET_STATUS): {
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// *foundLen = rws::SIZE_CLEAR_RESET_STATUS;
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// *foundId = rws::CLEAR_LAST_RESET_STATUS;
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// break;
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// }
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// case (rws::GET_RW_STATUS): {
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// *foundLen = rws::SIZE_GET_RW_STATUS;
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// *foundId = rws::GET_RW_STATUS;
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// break;
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// }
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// case (rws::INIT_RW_CONTROLLER): {
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// *foundLen = rws::SIZE_INIT_RW;
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// *foundId = rws::INIT_RW_CONTROLLER;
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// break;
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// }
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// case (rws::SET_SPEED): {
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// *foundLen = rws::SIZE_SET_SPEED_REPLY;
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// *foundId = rws::SET_SPEED;
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// break;
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// }
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// case (rws::GET_TEMPERATURE): {
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// *foundLen = rws::SIZE_GET_TEMPERATURE_REPLY;
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// *foundId = rws::GET_TEMPERATURE;
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// break;
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// }
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// case (rws::GET_TM): {
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// *foundLen = rws::SIZE_GET_TELEMETRY_REPLY;
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// *foundId = rws::GET_TM;
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// break;
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// }
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// default: {
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// sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
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// std::endl; *foundLen = remainingSize; return returnvalue::FAILED;
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// }
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// }
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return returnvalue::OK;
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}
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ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
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RwReplies replies(packet);
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ReturnValue_t result = returnvalue::OK;
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auto checkPacket = [&](DeviceCommandId_t id, const uint8_t* packetPtr) {
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auto packetLen = rws::idToPacketLen(id);
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uint16_t replyCrc = (*(packet + packetLen - 1) << 8) | *(packet + packetLen - 2);
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if (CRC::crc16ccitt(packet, packetLen - 2, 0xFFFF) != replyCrc) {
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sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
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return CRC_ERROR;
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}
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if (packetPtr[1] == rws::STATE_ERROR) {
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sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: " << id
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<< std::endl;
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result = EXECUTION_FAILED;
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}
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return returnvalue::OK;
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};
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checkPacket(rws::DeviceCommandId::SET_SPEED, replies.getSetSpeedReply());
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if (returnvalue::OK ==
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checkPacket(rws::DeviceCommandId::GET_RW_STATUS, replies.getRwStatusReply())) {
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handleGetRwStatusReply(replies.getRwStatusReply());
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}
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if (returnvalue::OK == checkPacket(rws::DeviceCommandId::GET_LAST_RESET_STATUS,
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replies.getGetLastResetStatusReply())) {
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handleResetStatusReply(replies.getGetLastResetStatusReply());
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}
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checkPacket(rws::DeviceCommandId::CLEAR_LAST_RESET_STATUS,
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replies.getClearLastResetStatusReply());
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if (returnvalue::OK ==
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checkPacket(rws::DeviceCommandId::GET_TEMPERATURE, replies.getReadTemperatureReply())) {
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handleTemperatureReply(replies.getReadTemperatureReply());
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}
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if (internalState == InternalState::GET_TM) {
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if (returnvalue::OK == checkPacket(rws::DeviceCommandId::GET_TM, replies.getHkDataReply())) {
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handleGetTelemetryReply(replies.getHkDataReply());
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}
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internalState = InternalState::DEFAULT;
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}
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if (internalState == InternalState::INIT_RW_CONTROLLER) {
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checkPacket(rws::DeviceCommandId::INIT_RW_CONTROLLER, replies.getInitRwControllerReply());
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internalState = InternalState::DEFAULT;
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}
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if (internalState == InternalState::RESET_MCU) {
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internalState = InternalState::DEFAULT;
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}
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return returnvalue::OK;
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}
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uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
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ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(rws::RW_SPEED, &rwSpeed);
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localDataPoolMap.emplace(rws::RAMP_TIME, &rampTime);
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localDataPoolMap.emplace(rws::TEMPERATURE_C, new PoolEntry<int32_t>({0}));
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localDataPoolMap.emplace(rws::CURR_SPEED, new PoolEntry<int32_t>({0}));
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localDataPoolMap.emplace(rws::REFERENCE_SPEED, new PoolEntry<int32_t>({0}));
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localDataPoolMap.emplace(rws::STATE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(rws::CLC_MODE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(rws::LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(rws::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(rws::TM_LAST_RESET_STATUS, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(rws::TM_MCU_TEMPERATURE, new PoolEntry<int32_t>({0}));
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localDataPoolMap.emplace(rws::PRESSURE_SENSOR_TEMPERATURE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(rws::PRESSURE, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(rws::TM_RW_STATE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(rws::TM_CLC_MODE, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(rws::TM_RW_CURR_SPEED, new PoolEntry<int32_t>({0}));
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localDataPoolMap.emplace(rws::TM_RW_REF_SPEED, new PoolEntry<int32_t>({0}));
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localDataPoolMap.emplace(rws::INVALID_CRC_PACKETS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::INVALID_LEN_PACKETS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::INVALID_CMD_PACKETS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::EXECUTED_REPLIES, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::COMMAND_REPLIES, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::UART_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::UART_BYTES_READ, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::UART_PARITY_ERRORS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::UART_NOISE_ERRORS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::UART_FRAME_ERRORS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::UART_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::UART_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::SPI_BYTES_WRITTEN, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
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localDataPoolMap.emplace(rws::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
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poolManager.subscribeForDiagPeriodicPacket(
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subdp::DiagnosticsHkPeriodicParams(statusSet.getSid(), false, 5.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(tmDataset.getSid(), false, 30.0));
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(lastResetStatusSet.getSid(), false, 30.0));
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return returnvalue::OK;
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}
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/*
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void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) {
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commandBuffer[0] = static_cast<uint8_t>(id);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
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commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
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commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
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rawPacket = commandBuffer;
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rawPacketLen = 3;
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}
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*/
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ReturnValue_t RwHandler::checkSpeedAndRampTime() {
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int32_t speed = 0;
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uint16_t rampTime = 0;
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rwSpeedActuationSet.getRwSpeed(speed, rampTime);
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if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
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sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
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return INVALID_SPEED;
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}
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if (rampTime < 10 || rampTime > 20000) {
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sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" << std::endl;
|
|
return INVALID_RAMP_TIME;
|
|
}
|
|
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
/*
|
|
ReturnValue_t RwHandler::prepareSetSpeedCmd() {
|
|
commandBuffer[0] = static_cast<uint8_t>(rws::SET_SPEED);
|
|
uint8_t* serPtr = commandBuffer + 1;
|
|
size_t serSize = 1;
|
|
rwSpeedActuationSet.setValidityBufferGeneration(false);
|
|
ReturnValue_t result = rwSpeedActuationSet.serialize(&serPtr, &serSize, sizeof(commandBuffer),
|
|
SerializeIF::Endianness::LITTLE);
|
|
rwSpeedActuationSet.setValidityBufferGeneration(true);
|
|
if (result != returnvalue::OK) {
|
|
return result;
|
|
}
|
|
|
|
uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
|
|
commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
|
|
commandBuffer[8] = static_cast<uint8_t>((crc >> 8) & 0xFF);
|
|
rawPacket = commandBuffer;
|
|
rawPacketLen = 9;
|
|
return result;
|
|
}
|
|
*/
|
|
|
|
void RwHandler::handleResetStatusReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&lastResetStatusSet);
|
|
uint8_t offset = 2;
|
|
uint8_t resetStatus = packet[offset];
|
|
if (resetStatus != 0) {
|
|
// internalState = InternalState::CLEAR_RESET_STATUS;
|
|
lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
|
|
triggerEvent(rws::RESET_OCCURED, resetStatus, 0);
|
|
}
|
|
lastResetStatusSet.currentResetStatus = resetStatus;
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
|
|
<< static_cast<unsigned int>(lastResetStatusSet.lastNonClearedResetStatus.value)
|
|
<< std::endl;
|
|
sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
|
|
<< static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
|
|
<< std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
|
|
PoolReadGuard rg0(&statusSet);
|
|
PoolReadGuard rg1(&tmDataset);
|
|
uint8_t offset = 2;
|
|
statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
tmDataset.rwCurrSpeed = statusSet.currSpeed;
|
|
tmDataset.rwCurrSpeed.setValid(true);
|
|
offset += 4;
|
|
statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
tmDataset.rwRefSpeed = statusSet.referenceSpeed;
|
|
tmDataset.rwRefSpeed.setValid(true);
|
|
offset += 4;
|
|
statusSet.state = *(packet + offset);
|
|
tmDataset.rwState = statusSet.state;
|
|
tmDataset.rwState.setValid(true);
|
|
offset += 1;
|
|
statusSet.clcMode = *(packet + offset);
|
|
tmDataset.rwClcMode = statusSet.clcMode;
|
|
tmDataset.rwClcMode.setValid(true);
|
|
|
|
statusSet.setValidity(true, true);
|
|
|
|
if (statusSet.state == rws::STATE_ERROR) {
|
|
// This requires the commanding of the init reaction wheel controller command to recover
|
|
// from error state which must be handled by the FDIR instance.
|
|
triggerEvent(rws::ERROR_STATE, statusSet.state.value, 0);
|
|
sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
|
|
}
|
|
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
|
|
<< " * 0.1 RPM" << std::endl;
|
|
sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: "
|
|
<< statusSet.referenceSpeed << " * 0.1 RPM" << std::endl;
|
|
sif::info << "RwHandler::handleGetRwStatusReply: State is: "
|
|
<< (unsigned int)statusSet.state.value << std::endl;
|
|
sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: "
|
|
<< (unsigned int)statusSet.clcMode.value << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void RwHandler::handleTemperatureReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&statusSet);
|
|
uint8_t offset = 2;
|
|
statusSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "RwHandler::handleTemperatureReply: Temperature: " << statusSet.temperatureCelcius
|
|
<< " °C" << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void RwHandler::handleGetTelemetryReply(const uint8_t* packet) {
|
|
PoolReadGuard rg(&tmDataset);
|
|
uint8_t offset = 2;
|
|
tmDataset.lastResetStatus = *(packet + offset);
|
|
offset += 1;
|
|
tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.pressureSensorTemperature = *(packet + offset + 3) << 24 |
|
|
*(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 |
|
|
*(packet + offset);
|
|
offset += 4;
|
|
tmDataset.pressure = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.rwState = *(packet + offset);
|
|
offset += 1;
|
|
tmDataset.rwClcMode = *(packet + offset);
|
|
offset += 1;
|
|
tmDataset.rwCurrSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.rwRefSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfInvalidCrcPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfInvalidLenPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfInvalidCmdPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfCmdExecutedReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.numOfCmdReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfParityErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfNoiseErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfFrameErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 |
|
|
*(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.uartTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 |
|
|
*(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
offset += 4;
|
|
tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
|
|
*(packet + offset + 1) << 8 | *(packet + offset);
|
|
if (debugMode) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Last reset status: "
|
|
<< static_cast<unsigned int>(tmDataset.lastResetStatus.value) << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: MCU temperature: " << tmDataset.mcuTemperature
|
|
<< std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Pressure sensor temperature: "
|
|
<< tmDataset.pressureSensorTemperature << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Pressure " << tmDataset.pressure << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: State: "
|
|
<< static_cast<unsigned int>(tmDataset.rwState.value) << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: CLC mode: "
|
|
<< static_cast<unsigned int>(tmDataset.rwClcMode.value) << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Current speed: " << tmDataset.rwCurrSpeed
|
|
<< std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Reference speed: " << tmDataset.rwRefSpeed
|
|
<< std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid CRC packets: "
|
|
<< tmDataset.numOfInvalidCrcPackets << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid length packets: "
|
|
<< tmDataset.numOfInvalidLenPackets << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of invalid command packets: "
|
|
<< tmDataset.numOfInvalidCmdPackets << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of command executed replies: "
|
|
<< tmDataset.numOfCmdExecutedReplies << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: Number of command replies: "
|
|
<< tmDataset.numOfCmdReplies << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes written: "
|
|
<< tmDataset.uartNumOfBytesWritten << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of bytes read: "
|
|
<< tmDataset.uartNumOfBytesRead << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of parity errors: "
|
|
<< tmDataset.uartNumOfParityErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of noise errors: "
|
|
<< tmDataset.uartNumOfNoiseErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of frame errors: "
|
|
<< tmDataset.uartNumOfFrameErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of register overrun errors: "
|
|
<< tmDataset.uartNumOfRegisterOverrunErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: UART number of total errors: "
|
|
<< tmDataset.uartTotalNumOfErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes written: "
|
|
<< tmDataset.spiNumOfBytesWritten << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of bytes read: "
|
|
<< tmDataset.spiNumOfBytesRead << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register overrun errors: "
|
|
<< tmDataset.spiNumOfRegisterOverrunErrors << std::endl;
|
|
sif::info << "RwHandler::handleGetTelemetryReply: SPI number of register total errors: "
|
|
<< tmDataset.spiTotalNumOfErrors << std::endl;
|
|
#endif
|
|
}
|
|
}
|
|
|
|
void RwHandler::setDebugMode(bool enable) { this->debugMode = enable; }
|