163 lines
6.6 KiB
C++
163 lines
6.6 KiB
C++
#ifndef MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
|
|
#define MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_
|
|
|
|
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
|
|
|
|
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
|
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
|
|
#include "returnvalues/classIds.h"
|
|
|
|
/**
|
|
* @brief This is the device handler class for all gomspace devices.
|
|
*
|
|
* @details
|
|
* All gomspace devices are similar with respect to commanding. Thusmost of the functionality to
|
|
* command a gomspace device can be accommodated in one class. For device specific functions, a new
|
|
* class could be created by inheriting from the GomspaceDeviceHandler.
|
|
*
|
|
* Flight manual:
|
|
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Gomspace_PCDU_P60_System
|
|
*/
|
|
class GomspaceDeviceHandler : public DeviceHandlerBase {
|
|
public:
|
|
static constexpr uint8_t CLASS_ID = CLASS_ID::GOM_SPACE_HANDLER;
|
|
static const ReturnValue_t PACKET_TOO_LONG = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
|
|
static const ReturnValue_t INVALID_TABLE_ID = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
|
|
static const ReturnValue_t INVALID_ADDRESS = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
|
|
static const ReturnValue_t INVALID_PARAM_SIZE = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
|
|
static const ReturnValue_t INVALID_PAYLOAD_SIZE = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
|
|
static const ReturnValue_t UNKNOWN_REPLY_ID = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 5);
|
|
|
|
/**
|
|
* @brief Constructor
|
|
*
|
|
* @param maxConfigTableAddress The maximum memory address of the configu-
|
|
* ration table of a gomspace device.
|
|
* @param maxHkTableAddress The maximum memory address of a value in the
|
|
* houskeeping (telemetry) table of a gomspace
|
|
* device.
|
|
*/
|
|
GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
|
|
uint16_t maxConfigTableAddress, uint16_t maxHkTableAddress,
|
|
uint16_t hkTableReplySize);
|
|
virtual ~GomspaceDeviceHandler();
|
|
|
|
/**
|
|
* @brief This function can be used to set a gomspace device to normal mode immediately after
|
|
* object creation.
|
|
*/
|
|
void setModeNormal();
|
|
|
|
protected:
|
|
static const uint8_t MAX_PACKET_LEN = 36;
|
|
static const uint8_t PARAM_SET_OK = 1;
|
|
static const uint8_t PING_REPLY_SIZE = 2;
|
|
static const uint8_t CONFIG_TABLE_ID = 1;
|
|
static const uint8_t HK_TABLE_ID = 4;
|
|
|
|
uint8_t rememberRequestedSize = 0;
|
|
uint8_t rememberCommandId = GOMSPACE::NONE;
|
|
uint8_t cspPacket[MAX_PACKET_LEN];
|
|
|
|
uint16_t maxConfigTableAddress;
|
|
uint16_t maxHkTableAddress;
|
|
|
|
/** The size of the reply following a full hk table request.*/
|
|
uint16_t hkTableReplySize;
|
|
|
|
LocalPoolDataSetBase *hkTableDataset = nullptr;
|
|
|
|
void doStartUp() override;
|
|
void doShutDown() override;
|
|
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
|
|
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
|
|
virtual void fillCommandAndReplyMap() override;
|
|
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
|
size_t commandDataLen) override;
|
|
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
|
|
size_t *foundLen) override;
|
|
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
|
void setNormalDatapoolEntriesInvalid() override;
|
|
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
|
/**
|
|
* @brief The command to generate a request to receive the full housekeeping table is device
|
|
* specific. Thus the child has to build this command.
|
|
*/
|
|
virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
|
|
|
|
/**
|
|
* This command handles printing the HK table to the console. This is useful for debugging
|
|
* purposes
|
|
* @return
|
|
*/
|
|
virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
|
|
|
|
/**
|
|
* @brief Because housekeeping tables are device specific the handling of the reply is
|
|
* given to the child class.
|
|
* @param id The id of the command which initiates the full table request.
|
|
* @param packet Pointer to the reply containing the hk table.
|
|
*/
|
|
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) = 0;
|
|
|
|
virtual LocalPoolDataSetBase *getDataSetHandle(sid_t sid) = 0;
|
|
|
|
/**
|
|
* @brief Can be overriden by child classes to implement device specific commands.
|
|
* @return Return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED to let this handler handle
|
|
* the command or RETURN_OK if the child handles the command
|
|
*/
|
|
virtual ReturnValue_t childCommandHook(DeviceCommandId_t cmd, const uint8_t *commandData,
|
|
size_t commandDataLen);
|
|
|
|
ReturnValue_t parsePduHkTable(PDU::PduCoreHk &coreHk, PDU::PduAuxHk &auxHk,
|
|
const uint8_t *packet);
|
|
ReturnValue_t initializePduPool(localpool::DataPool &localDataPoolMap,
|
|
LocalDataPoolManager &poolManager,
|
|
std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb);
|
|
|
|
private:
|
|
SetParamMessageUnpacker setParamCacher;
|
|
/**
|
|
* @brief Function to generate the command to set a parameter. Command
|
|
* will be sent to the ComIF over the rawPacket buffer.
|
|
*/
|
|
ReturnValue_t generateSetParamCommand(const uint8_t *commandData, size_t commandDataLen);
|
|
|
|
/**
|
|
* Callback is called on a parameter set command. It is called before executing it and after
|
|
* after successful execution
|
|
* @param unpacker Passed before
|
|
* @param beforeSet False for callback before execution, true if called after successful
|
|
* execution
|
|
* @return
|
|
*/
|
|
virtual ReturnValue_t setParamCallback(SetParamMessageUnpacker &unpacker, bool afterExecution);
|
|
|
|
/**
|
|
* @brief Function to generate the command to get a parameter from a
|
|
* gomspace device. Command will be sent to the ComIF over the
|
|
* rawPacket buffer.
|
|
*/
|
|
ReturnValue_t generateGetParamCommand(const uint8_t *commandData, size_t commandDataLen);
|
|
|
|
/**
|
|
* @brief Function to generate the ping command for the ComIF.
|
|
*/
|
|
ReturnValue_t generatePingCommand(const uint8_t *commandData, size_t commandDataLen);
|
|
|
|
/**
|
|
* @brief Function to generate the command to reboot a gomspace device
|
|
* via the ComIF.
|
|
*/
|
|
void generateRebootCommand();
|
|
|
|
/**
|
|
* @brief Function to generate the command to force a ground watchdog
|
|
* reset in a gomspace device.
|
|
*/
|
|
ReturnValue_t generateResetWatchdogCmd();
|
|
};
|
|
|
|
#endif /* MISSION_DEVICES_GOMSPACEDEVICEHANDLER_H_ */
|