111 lines
4.4 KiB
ReStructuredText
111 lines
4.4 KiB
ReStructuredText
.. _dhb-prim-doc:
|
|
|
|
Device Handlers
|
|
==================
|
|
|
|
Device handler components represent, control and monitor equipment, for example sensors or actuators
|
|
of a spacecraft or the payload.
|
|
|
|
Most device handlers have the same common functionality or
|
|
requirements, which are fulfilled by implementing certain interfaces:
|
|
|
|
- The handler/device needs to be commandable: :cpp:class:`HasActionsIF`
|
|
- The handler needs to communicate with the physical device via a dedicated
|
|
communication bus, for example SpaceWire, UART or SPI: :cpp:class:`DeviceCommunicationIF`
|
|
- The handler has housekeeping data which has to be exposed to the operator and/or other software
|
|
components: :cpp:class:`HasLocalDataPoolIF`
|
|
- The handler has configurable parameters: :cpp:class:`ReceivesParameterMessagesIF` which
|
|
also implements :cpp:class:`HasParametersIF`
|
|
- The handler has health states, for example to indicate a broken device:
|
|
:cpp:class:`HasHealthIF`
|
|
- The handler has modes. For example there are the core modes `MODE_ON`, `MODE_OFF`
|
|
and `MODE_NORMAL` provided by the FSFW. `MODE_ON` means that a device is physically powered
|
|
but that it is not periodically polling data from the
|
|
physical device, `MODE_NORMAL` means that it is able to do that: :cpp:class:`HasModesIF`
|
|
|
|
The device handler base therefore provides abstractions for a lot of common
|
|
functionality, which can potentially avoid high amounts or logic and code duplication.
|
|
|
|
Template Device Handler Base File
|
|
----------------------------------
|
|
|
|
This is an example template device handler header file with all necessary
|
|
functions implemented:
|
|
|
|
.. code-block:: cpp
|
|
|
|
#ifndef __TESTDEVICEHANDLER_H_
|
|
#define __TESTDEVICEHANDLER_H_
|
|
|
|
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
|
|
|
class TestDeviceHandler: DeviceHandlerBase {
|
|
public:
|
|
TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie);
|
|
private:
|
|
void doStartUp() override;
|
|
void doShutDown() override;
|
|
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
|
|
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
|
|
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;
|
|
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
|
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) override;
|
|
|
|
};
|
|
|
|
#endif /* __TESTDEVICEHANDLER_H_ */
|
|
|
|
and the respective source file with sensible default return values:
|
|
|
|
.. code-block:: cpp
|
|
|
|
#include "TestDeviceHandler.h"
|
|
|
|
TestDeviceHandler::TestDeviceHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie)
|
|
: DeviceHandlerBase(objectId, comIF, cookie) {}
|
|
|
|
void TestDeviceHandler::doStartUp() {}
|
|
|
|
void TestDeviceHandler::doShutDown() {}
|
|
|
|
ReturnValue_t TestDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t TestDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
void TestDeviceHandler::fillCommandAndReplyMap() {}
|
|
|
|
ReturnValue_t TestDeviceHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
|
const uint8_t* commandData,
|
|
size_t commandDataLen) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t TestDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
|
|
DeviceCommandId_t* foundId, size_t* foundLen) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t TestDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
|
|
const uint8_t* packet) {
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
uint32_t TestDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
|
|
return 10000;
|
|
}
|
|
|
|
ReturnValue_t TestDeviceHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
|
LocalDataPoolManager& poolManager) {
|
|
return returnvalue::OK;
|
|
}
|