testArduino/mission/DeviceHandler/ArduinoDeviceHandler.h

/*
 * DeviceHandler.h
 *
 * Last Modify: 20/09/2021
 * Author: Marco Modè
 *
 */

#ifndef MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_
#define MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_

#include <vector>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw/timemanager/Countdown.h>

/**
 * @brief 	Basic device handler to manage the communication with the Arduino sensor board.
 * 	 		The data are sent to the serial port of the computer from the Arduino board.
 * 	 		The device handler read and manages these data exploiting the ComIF and the
 * 	 		DeviceHandlerBase functions.
 * @details The ArduinoDH object is instantiated in the generic factory.
 * @author	Marco Modè
 * @ingroup mission/DeviceHandler
 */
class ArduinoDH: public DeviceHandlerBase {
public:
	/**
	 * Build the test device in the factory.
	 * @param objectId This ID will be assigned to the test device handler.
	 * @param comIF The ID of the Communication IF used by test device handler.
	 * @param cookie Cookie object used by the test device handler. This is
	 * also used and passed to the comIF object.
	 * @param onImmediately This will start a transition to MODE_ON immediately
	 * so the device handler jumps into #doStartUp. Should only be used
	 * in development to reduce need of commanding while debugging.
	 */
	ArduinoDH(object_id_t objectId, object_id_t comIF, CookieIF *cookie);
	virtual ~ ArduinoDH();

	/* Definiton of data structure for SPC communication. Three different structures are defined for measurements of:
	 * - Temperature data,
	 * - Environmental data,
	 * - Orientation data.
	 */
	struct Temperature {
		char start_string[8];
		uint8_t Typ;
		uint8_t SPCChNumber;
		uint8_t Value_Cnt;
		float temperature;
		unsigned int Timestamp;
		char end_string[8];
		Temperature() = default;
		Temperature(const char *_start_string, uint8_t _Typ,
				uint8_t _SPCChNumber, uint8_t _Value_Cnt, float _temperature,
				unsigned int _Timestamp, const char *_end_string) :
				Typ(_Typ), SPCChNumber(_SPCChNumber), Value_Cnt(_Value_Cnt), temperature(
						_temperature), Timestamp(_Timestamp) {
			strncpy(start_string, _start_string, sizeof(start_string) - 1);
			strncpy(end_string, _end_string, sizeof(end_string) - 1);
		}
	};
	struct Environmental {
		char start_string[8];
		uint8_t Typ;
		uint8_t SPCChNumber;
		uint8_t Value_Cnt;
		float Value;
		unsigned int Timestamp;
		char end_string[8];
		Environmental() = default;
		Environmental(const char *_start_string, uint8_t _Typ,
				uint8_t _SPCChNumber, uint8_t _Value_Cnt, float _Value,
				unsigned int _Timestamp, const char *_end_string) :
				Typ(_Typ), SPCChNumber(_SPCChNumber), Value_Cnt(_Value_Cnt), Value(
						_Value), Timestamp(_Timestamp) {
			strncpy(start_string, _start_string, sizeof(start_string) - 1);
			strncpy(end_string, _end_string, sizeof(end_string) - 1);
		}
	};
	struct Orientation {
		char start_string[8];
		uint8_t Typ;
		uint8_t SPCChNumber;
		uint8_t Value_Cnt;
		float Value[9]; //max buffer
		unsigned int Timestamp[9]; //max buffer
		char end_string[8];
		Orientation() = default;
		Orientation(const char *_start_string, uint8_t _Typ,
				uint8_t _SPCChNumber, uint8_t _Value_Cnt, const float *_Value,
				const unsigned int *_Timestamp, const char *_end_string) :
				Typ(_Typ), SPCChNumber(_SPCChNumber), Value_Cnt(_Value_Cnt) {
			strncpy(start_string, _start_string, sizeof(start_string) - 1);
			memcpy(&Value, _Value, sizeof(Value) - 1);
			memcpy(&Timestamp, _Timestamp, sizeof(Timestamp) - 1);
			strncpy(end_string, _end_string, sizeof(end_string) - 1);
		}
	};

	// Three vectors are defined to store the three type of classes sequentially
	// during the phase of reading copying data from the buffers
	std::vector<Temperature> vecTemp;
	std::vector<Environmental> vecEnv;
	std::vector<Orientation> vecOrnt;

	// Three dummy child structures are defined. They are used to store the three
	// different types of data during the measurement loop and then the data are
	// copied in the vectors above.
	// Then, they are overwritten by the data of next iteration and the process is
	// repeated ,until all the data from the buffer are copied to the three vectors
	// using the three different structures.
	Temperature Temp_ch;
	Environmental Env_ch;
	Orientation Ornt_ch;

protected:

	//#define BUFFER_ID(id, value, msg);

	// DeviceHandlerBase inherited functions.
	virtual void doStartUp() override;
	virtual void doShutDown() override;
	virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id)
			override;
	virtual ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id)
			override;
	virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
	virtual ReturnValue_t buildCommandFromCommand(
			DeviceCommandId_t deviceCommand, const uint8_t *commandData,
			size_t commandDataLen) override;
	virtual void fillCommandAndReplyMap() override;
	virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
			DeviceCommandId_t *foundId, size_t *foundLen) override;
	virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
			const uint8_t *packet) override;
	virtual void setNormalDatapoolEntriesInvalid() override;

};

#endif /* MISSION_DEVICEHANDLER_ARDUINODEVICEHANDLER_H_ */