Robin Mueller
e9514b1c97
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128 lines
4.5 KiB
C++
128 lines
4.5 KiB
C++
#include <mission/devices/MgmRm3100CustomHandler.h>
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
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#include "fsfw/globalfunctions/bitutility.h"
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#include "fsfw/objectmanager/SystemObjectIF.h"
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#include "fsfw/returnvalues/returnvalue.h"
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MgmRm3100CustomHandler::MgmRm3100CustomHandler(object_id_t objectId,
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object_id_t deviceCommunication, CookieIF *comCookie,
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uint32_t transitionDelay)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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primaryDataset(this),
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transitionDelay(transitionDelay) {}
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MgmRm3100CustomHandler::~MgmRm3100CustomHandler() = default;
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void MgmRm3100CustomHandler::doStartUp() {
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if (internalState != InternalState::STARTUP) {
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commandExecuted = false;
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updatePeriodicReply(true, REPLY);
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internalState = InternalState::STARTUP;
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}
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if (internalState == InternalState::STARTUP) {
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if (commandExecuted) {
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commandExecuted = false;
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internalState = InternalState::NONE;
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setMode(MODE_NORMAL);
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}
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}
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}
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void MgmRm3100CustomHandler::doShutDown() {
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if (internalState != InternalState::SHUTDOWN) {
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commandExecuted = false;
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internalState = InternalState::SHUTDOWN;
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}
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if (internalState == InternalState::SHUTDOWN and commandExecuted) {
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updatePeriodicReply(false, REPLY);
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setMode(_MODE_POWER_DOWN);
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commandExecuted = false;
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}
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}
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ReturnValue_t MgmRm3100CustomHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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if (internalState == InternalState::STARTUP) {
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*id = REQUEST;
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return prepareRequest(acs::SimpleSensorMode::NORMAL);
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} else if (internalState == InternalState::SHUTDOWN) {
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*id = REQUEST;
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return prepareRequest(acs::SimpleSensorMode::OFF);
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}
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return NOTHING_TO_SEND;
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}
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ReturnValue_t MgmRm3100CustomHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,
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size_t commandDataLen) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t MgmRm3100CustomHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = REQUEST;
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return prepareRequest(acs::SimpleSensorMode::NORMAL);
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}
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ReturnValue_t MgmRm3100CustomHandler::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
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return IGNORE_FULL_PACKET;
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}
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if (len != sizeof(acs::MgmRm3100Reply)) {
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*foundLen = len;
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return returnvalue::FAILED;
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}
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*foundId = REPLY;
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*foundLen = len;
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return returnvalue::OK;
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}
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ReturnValue_t MgmRm3100CustomHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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const auto *reply = reinterpret_cast<const acs::MgmRm3100Reply *>(packet);
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if (reply->dataWasRead) {
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if (internalState == InternalState::STARTUP) {
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commandExecuted = true;
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}
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PoolReadGuard pg(&primaryDataset);
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for (uint8_t idx = 0; idx < 3; idx++) {
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primaryDataset.fieldStrengths[idx] = reply->mgmValuesRaw[idx] * reply->scaleFactors[idx];
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}
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}
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return returnvalue::OK;
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}
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void MgmRm3100CustomHandler::fillCommandAndReplyMap() {
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insertInCommandMap(REQUEST);
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insertInReplyMap(REPLY, 5, nullptr, 0, true);
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}
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void MgmRm3100CustomHandler::modeChanged() { internalState = InternalState::NONE; }
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ReturnValue_t MgmRm3100CustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
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poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
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return returnvalue::OK;
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}
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uint32_t MgmRm3100CustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
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return this->transitionDelay;
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}
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void MgmRm3100CustomHandler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
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void MgmRm3100CustomHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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ReturnValue_t MgmRm3100CustomHandler::prepareRequest(acs::SimpleSensorMode mode) {
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request.mode = mode;
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rawPacket = reinterpret_cast<uint8_t *>(&request);
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rawPacketLen = sizeof(acs::MgmRm3100Request);
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return returnvalue::OK;
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}
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