419 lines
16 KiB
C++
419 lines
16 KiB
C++
#include "IMTQHandler.h"
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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfw/globalfunctions/CRC.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfwconfig/OBSWConfig.h>
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IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
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DeviceHandlerBase(objectId, comIF, comCookie), engHkDataset(this), calMtmMeasurementSet(
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this), rawMtmMeasurementSet(this) {
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if (comCookie == NULL) {
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sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
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}
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}
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IMTQHandler::~IMTQHandler() {
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}
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void IMTQHandler::doStartUp(){
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if(mode == _MODE_START_UP){
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//TODO: Set to MODE_ON again
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setMode(MODE_NORMAL);
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communicationStep = CommunicationStep::SELF_TEST;
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}
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}
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void IMTQHandler::doShutDown(){
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}
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ReturnValue_t IMTQHandler::buildNormalDeviceCommand(
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DeviceCommandId_t * id) {
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switch (communicationStep) {
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case CommunicationStep::SELF_TEST:
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// *id = IMTQ::SELF_TEST;
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//TODO: Implementing self test command. On-hold because of issue with humidity in clean
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// room
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communicationStep = CommunicationStep::GET_ENG_HK_DATA;
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break;
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case CommunicationStep::GET_ENG_HK_DATA:
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*id = IMTQ::GET_ENG_HK_DATA;
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communicationStep = CommunicationStep::START_MTM_MEASUREMENT;
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break;
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case CommunicationStep::START_MTM_MEASUREMENT:
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*id = IMTQ::START_MTM_MEASUREMENT;
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communicationStep = CommunicationStep::GET_CAL_MTM_MEASUREMENT;
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break;
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case CommunicationStep::GET_CAL_MTM_MEASUREMENT:
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*id = IMTQ::GET_CAL_MTM_MEASUREMENT;
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communicationStep = CommunicationStep::GET_RAW_MTM_MEASUREMENT;
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break;
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case CommunicationStep::GET_RAW_MTM_MEASUREMENT:
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*id = IMTQ::GET_RAW_MTM_MEASUREMENT;
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communicationStep = CommunicationStep::GET_ENG_HK_DATA;
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break;
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default:
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sif::debug << "IMTQHandler::buildNormalDeviceCommand: Invalid communication step"
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<< 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 IMTQHandler::buildTransitionDeviceCommand(
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DeviceCommandId_t * id){
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t IMTQHandler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t * commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(IMTQ::START_ACTUATION_DIPOLE): {
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/* IMTQ expects low byte first */
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commandBuffer[0] = IMTQ::CC::START_ACTUATION_DIPOLE;
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commandBuffer[1] = *(commandData + 1);
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commandBuffer[2] = *(commandData);
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commandBuffer[3] = *(commandData + 3);
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commandBuffer[4] = *(commandData + 2);
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commandBuffer[5] = *(commandData + 5);
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commandBuffer[6] = *(commandData + 4);
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commandBuffer[7] = *(commandData + 7);
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commandBuffer[8] = *(commandData + 6);
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rawPacket = commandBuffer;
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rawPacketLen = 9;
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return RETURN_OK;
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}
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case(IMTQ::GET_ENG_HK_DATA): {
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commandBuffer[0] = IMTQ::CC::GET_ENG_HK_DATA;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return RETURN_OK;
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}
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case(IMTQ::GET_COMMANDED_DIPOLE): {
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commandBuffer[0] = IMTQ::CC::GET_COMMANDED_DIPOLE;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return RETURN_OK;
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}
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case(IMTQ::START_MTM_MEASUREMENT): {
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commandBuffer[0] = IMTQ::CC::START_MTM_MEASUREMENT;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return RETURN_OK;
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}
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case(IMTQ::GET_CAL_MTM_MEASUREMENT): {
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commandBuffer[0] = IMTQ::CC::GET_CAL_MTM_MEASUREMENT;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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return RETURN_OK;
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}
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case(IMTQ::GET_RAW_MTM_MEASUREMENT): {
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commandBuffer[0] = IMTQ::CC::GET_RAW_MTM_MEASUREMENT;
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rawPacket = commandBuffer;
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rawPacketLen = 1;
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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 IMTQHandler::fillCommandAndReplyMap() {
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this->insertInCommandAndReplyMap(IMTQ::START_ACTUATION_DIPOLE, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::GET_ENG_HK_DATA, 1, &engHkDataset,
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IMTQ::SIZE_ENG_HK_DATA_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::GET_COMMANDED_DIPOLE, 1, nullptr,
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IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::START_MTM_MEASUREMENT, 1, nullptr,
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IMTQ::SIZE_STATUS_REPLY);
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this->insertInCommandAndReplyMap(IMTQ::GET_CAL_MTM_MEASUREMENT, 1, &calMtmMeasurementSet,
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IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT);
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this->insertInCommandAndReplyMap(IMTQ::GET_RAW_MTM_MEASUREMENT, 1, &rawMtmMeasurementSet,
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IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
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}
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ReturnValue_t IMTQHandler::scanForReply(const uint8_t *start,
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size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
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ReturnValue_t result = RETURN_OK;
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switch(*start) {
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case(IMTQ::CC::START_ACTUATION_DIPOLE):
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*foundLen = IMTQ::SIZE_STATUS_REPLY;
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*foundId = IMTQ::START_ACTUATION_DIPOLE;
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break;
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case(IMTQ::CC::START_MTM_MEASUREMENT):
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*foundLen = IMTQ::SIZE_STATUS_REPLY;
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*foundId = IMTQ::START_MTM_MEASUREMENT;
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break;
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case(IMTQ::CC::GET_ENG_HK_DATA):
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*foundLen = IMTQ::SIZE_ENG_HK_DATA_REPLY;
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*foundId = IMTQ::GET_ENG_HK_DATA;
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break;
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case(IMTQ::CC::GET_COMMANDED_DIPOLE):
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*foundLen = IMTQ::SIZE_GET_COMMANDED_DIPOLE_REPLY;
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*foundId = IMTQ::GET_COMMANDED_DIPOLE;
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break;
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case(IMTQ::CC::GET_CAL_MTM_MEASUREMENT):
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*foundLen = IMTQ::SIZE_GET_CAL_MTM_MEASUREMENT;
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*foundId = IMTQ::GET_CAL_MTM_MEASUREMENT;
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break;
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case(IMTQ::CC::GET_RAW_MTM_MEASUREMENT):
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*foundLen = IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT;
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*foundId = IMTQ::GET_RAW_MTM_MEASUREMENT;
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break;
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default:
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sif::debug << "IMTQHandler::scanForReply: Reply contains invalid command code" << 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 IMTQHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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ReturnValue_t result = RETURN_OK;
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result = parseStatusByte(packet);
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if (result != RETURN_OK) {
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return result;
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}
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switch (id) {
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case (IMTQ::START_ACTUATION_DIPOLE):
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case (IMTQ::START_MTM_MEASUREMENT):
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/* Replies only the status byte which is already handled with parseStatusByte */
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break;
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case (IMTQ::GET_ENG_HK_DATA):
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fillEngHkDataset(packet);
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break;
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case (IMTQ::GET_COMMANDED_DIPOLE):
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handleGetCommandedDipoleReply(packet);
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break;
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case (IMTQ::GET_CAL_MTM_MEASUREMENT):
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fillCalibratedMtmDataset(packet);
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break;
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case (IMTQ::GET_RAW_MTM_MEASUREMENT):
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fillRawMtmDataset(packet);
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break;
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default: {
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sif::debug << "IMTQHandler::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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void IMTQHandler::setNormalDatapoolEntriesInvalid(){
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}
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uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
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return 500;
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}
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ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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/** Entries of engineering housekeeping dataset */
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localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::DIGITAL_CURRENT, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ANALOG_CURRENT, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_X_CURRENT, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Y_CURRENT, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Z_CURRENT, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_X_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Y_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::COIL_Z_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::MCU_TEMPERATURE, new PoolEntry<uint16_t>( { 0 }));
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/** Entries of calibrated MTM measurement dataset */
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localDataPoolMap.emplace(IMTQ::MTM_CAL_X, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::MTM_CAL_Y, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::MTM_CAL_Z, new PoolEntry<uint32_t>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ACTUATION_CAL_STATUS, new PoolEntry<uint8_t>( { 0 }));
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/** Entries of raw MTM measurement dataset */
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localDataPoolMap.emplace(IMTQ::MTM_RAW_X, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::MTM_RAW_Y, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::MTM_RAW_Z, new PoolEntry<float>( { 0 }));
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localDataPoolMap.emplace(IMTQ::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>( { 0 }));
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
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uint8_t cmdErrorField = *(packet + 1) & 0xF;
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switch (cmdErrorField) {
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case 0:
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return RETURN_OK;
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case 1:
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sif::error << "IMTQHandler::parseStatusByte: Command rejected without reason" << std::endl;
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return REJECTED_WITHOUT_REASON;
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case 2:
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sif::error << "IMTQHandler::parseStatusByte: Command has invalid command code" << std::endl;
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return INVALID_COMMAND_CODE;
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case 3:
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sif::error << "IMTQHandler::parseStatusByte: Command has missing parameter" << std::endl;
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return PARAMETER_MISSING;
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case 4:
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sif::error << "IMTQHandler::parseStatusByte: Command has invalid parameter" << std::endl;
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return PARAMETER_INVALID;
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case 5:
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sif::error << "IMTQHandler::parseStatusByte: CC unavailable" << std::endl;
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return CC_UNAVAILABLE;
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case 7:
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sif::error << "IMTQHandler::parseStatusByte: IMQT replied internal processing error"
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<< std::endl;
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return INTERNAL_PROCESSING_ERROR;
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default:
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sif::error << "IMTQHandler::parseStatusByte: CMD Error field contains unknown error code "
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<< cmdErrorField << std::endl;
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return CMD_ERR_UNKNOWN;
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}
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}
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void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
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uint8_t offset = 2;
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engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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engHkDataset.analogVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 2;
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engHkDataset.digitalCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
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offset += 2;
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engHkDataset.analogCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
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offset += 2;
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engHkDataset.coilXCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
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offset += 2;
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engHkDataset.coilYCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
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offset += 2;
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engHkDataset.coilZCurrentmA = (*(packet + offset + 1) << 8 | *(packet + offset)) * 0.1;
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offset += 2;
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engHkDataset.coilXTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
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offset += 2;
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engHkDataset.coilYTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
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offset += 2;
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engHkDataset.coilZTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
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offset += 2;
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engHkDataset.mcuTemperature = (*(packet + offset + 1) << 8 | *(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
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sif::info << "IMTQ digital voltage: " << engHkDataset.digitalVoltageMv << " mV" << std::endl;
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sif::info << "IMTQ analog voltage: " << engHkDataset.analogVoltageMv << " mV" << std::endl;
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sif::info << "IMTQ digital current: " << engHkDataset.digitalCurrentmA << " mA" << std::endl;
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sif::info << "IMTQ analog current: " << engHkDataset.analogCurrentmA << " mA" << std::endl;
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sif::info << "IMTQ coil X current: " << engHkDataset.coilXCurrentmA << " mA" << std::endl;
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sif::info << "IMTQ coil Y current: " << engHkDataset.coilYCurrentmA << " mA" << std::endl;
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sif::info << "IMTQ coil Z current: " << engHkDataset.coilZCurrentmA << " mA" << std::endl;
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sif::info << "IMTQ coil X temperature: " << engHkDataset.coilXTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil Y temperature: " << engHkDataset.coilYTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil Z temperature: " << engHkDataset.coilZTemperature << " °C"
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<< std::endl;
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sif::info << "IMTQ coil MCU temperature: " << engHkDataset.mcuTemperature << " °C"
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<< std::endl;
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#endif
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}
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void IMTQHandler::setModeNormal() {
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mode = MODE_NORMAL;
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}
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void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
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if (wiretappingMode == RAW) {
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/* Data already sent in doGetRead() */
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return;
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}
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DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
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if (iter == deviceReplyMap.end()) {
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sif::debug << "IMTQHandler::handleDeviceTM: Unknown reply id" << std::endl;
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return;
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}
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MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;
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if (queueId == NO_COMMANDER) {
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return;
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}
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ReturnValue_t result = actionHelper.reportData(queueId, replyId, data, dataSize);
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if (result != RETURN_OK) {
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sif::debug << "IMTQHandler::handleDeviceTM: Failed to report data" << std::endl;
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return;
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}
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}
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void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
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uint8_t tmData[6];
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/* Switching endianess of received dipole values */
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tmData[0] = *(packet + 3);
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tmData[1] = *(packet + 2);
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tmData[2] = *(packet + 5);
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tmData[3] = *(packet + 4);
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tmData[4] = *(packet + 7);
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tmData[5] = *(packet + 6);
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handleDeviceTM(tmData, sizeof(tmData), IMTQ::GET_COMMANDED_DIPOLE);
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}
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void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
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int8_t offset = 2;
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calMtmMeasurementSet.mtmXnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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calMtmMeasurementSet.mtmYnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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calMtmMeasurementSet.mtmZnT = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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calMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
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| (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
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#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
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sif::info << "IMTQ calibrated MTM measurement X: " << calMtmMeasurementSet.mtmXnT << " nT"
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<< std::endl;
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sif::info << "IMTQ calibrated MTM measurement Y: " << calMtmMeasurementSet.mtmYnT << " nT"
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<< std::endl;
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sif::info << "IMTQ calibrated MTM measurement Z: " << calMtmMeasurementSet.mtmZnT << " nT"
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<< std::endl;
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sif::info << "IMTQ coil actuation status during MTM measurement: "
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<< (unsigned int) calMtmMeasurementSet.coilActuationStatus.value << std::endl;
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#endif
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}
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void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
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int8_t offset = 2;
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rawMtmMeasurementSet.mtmXnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
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offset += 4;
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rawMtmMeasurementSet.mtmYnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
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offset += 4;
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rawMtmMeasurementSet.mtmZnT = (*(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 8 | *(packet + offset)) * 7.5;
|
|
offset += 4;
|
|
rawMtmMeasurementSet.coilActuationStatus = (*(packet + offset + 3) << 24)
|
|
| (*(packet + offset + 2) << 16) | (*(packet + offset + 1) << 8) | (*(packet + offset));
|
|
#if OBSW_VERBOSE_LEVEL >= 1 && IMQT_DEBUG == 1
|
|
sif::info << "IMTQ raw MTM measurement X: " << rawMtmMeasurementSet.mtmXnT << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ raw MTM measurement Y: " << rawMtmMeasurementSet.mtmYnT << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ raw MTM measurement Z: " << rawMtmMeasurementSet.mtmZnT << " nT"
|
|
<< std::endl;
|
|
sif::info << "IMTQ coil actuation status during MTM measurement: "
|
|
<< (unsigned int) rawMtmMeasurementSet.coilActuationStatus.value << std::endl;
|
|
#endif
|
|
}
|