69 lines
2.2 KiB
C++
69 lines
2.2 KiB
C++
#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_
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#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_
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#include "fsfw/FSFW.h"
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#include "fsfw/devicehandlers/DeviceHandlerBase.h"
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#include "devicedefinitions/GPSDefinitions.h"
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#include "lwgps/lwgps.h"
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/**
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* @brief Device handler for the Hyperion HT-GPS200 device
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* @details
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* Flight manual:
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* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200
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*/
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class GPSHyperionHandler: public DeviceHandlerBase {
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public:
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GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF* comCookie, bool debugHyperionGps = false);
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virtual ~GPSHyperionHandler();
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using gpioResetFunction_t = ReturnValue_t (*) (void* args);
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void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
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ReturnValue_t initialize() override;
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protected:
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gpioResetFunction_t resetCallback = nullptr;
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void* resetCallbackArgs = nullptr;
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enum class InternalStates {
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NONE,
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WAIT_FIRST_MESSAGE,
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IDLE
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};
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InternalStates internalState = InternalStates::NONE;
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bool commandExecuted = false;
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/* DeviceHandlerBase overrides */
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ReturnValue_t buildTransitionDeviceCommand(
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DeviceCommandId_t *id) override;
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(
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DeviceCommandId_t *id) override;
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ReturnValue_t buildCommandFromCommand(
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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 len,
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DeviceCommandId_t *foundId, size_t *foundLen) override;
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ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) override;
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void fillCommandAndReplyMap() override;
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void modeChanged() override;
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uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
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virtual void debugInterface(uint8_t positionTracker = 0,
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object_id_t objectId = 0, uint32_t parameter = 0) override;
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private:
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lwgps_t gpsData = {};
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GpsPrimaryDataset gpsSet;
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bool debugHyperionGps = false;
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};
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#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
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