290 lines
9.9 KiB
C++
290 lines
9.9 KiB
C++
/*
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* DeviceHandler.cpp
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*
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* Created on: 02/06/2021
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* Author: Marco Modè
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*
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*/
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#include <mission/DeviceHandler/ArduinoDeviceHandler.h>
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#include <OBSWConfig.h>
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#include <fsfw/datapool/DataSet.h>
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#include <fsfw/datapool/PoolVector.h>
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#include <bsp_linux/fsfwconfig/datapool/dataPoolInit.h>
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#include <cstdlib>
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ArduinoDH::ArduinoDH(object_id_t objectId, object_id_t comIF, CookieIF *cookie) :
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DeviceHandlerBase(objectId, comIF, cookie) {
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mode = _MODE_START_UP;
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}
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ArduinoDH::~ArduinoDH() {}
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void ArduinoDH::doStartUp() {
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std::cout<<"Arduino device -> Switching-ON"<<std::endl;
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setMode(_MODE_TO_ON);
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return;
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}
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void ArduinoDH::doShutDown() {
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std::cout<<"Arduino device -> Switching-OFF"<<std::endl;
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setMode(_MODE_SHUT_DOWN);
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return;
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}
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ReturnValue_t ArduinoDH::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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}
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ReturnValue_t ArduinoDH::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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return NOTHING_TO_SEND;
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}
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void ArduinoDH::doTransition(Mode_t modeFrom, Submode_t submodeFrom) {
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if (mode == _MODE_TO_NORMAL) {
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std::cout<<"Arduino device is in Normal mode"<<std::endl;
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} else {
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setMode(_MODE_TO_NORMAL);
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}
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}
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ReturnValue_t ArduinoDH::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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return HasActionsIF::EXECUTION_FINISHED;
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}
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void ArduinoDH::fillCommandAndReplyMap() {}
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ReturnValue_t ArduinoDH::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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//Unless a command was sent explicitely, we don't expect any replies and ignore
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//the packet. On a real device, there might be replies which are sent without a previous
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//command.
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*foundLen = 2580;
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// check validity
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if (len == *foundLen){
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// start character: '['
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if (*start == 91 ){
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return APERIODIC_REPLY;
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} else{
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return DeviceHandlerIF::LENGTH_MISSMATCH;
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}
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} else {
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return IGNORE_REPLY_DATA;
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}
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/*if (len == *foundLen){
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// start character: '['
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if (*start == 91 ){
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if (*start + 9 == 49) {
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return APERIODIC_REPLY;
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}
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} else{
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return DeviceHandlerIF::LENGTH_MISSMATCH;
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}
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} else {
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return IGNORE_REPLY_DATA;
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}*/
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}
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ReturnValue_t ArduinoDH::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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//sif::debug<<"DEBUG_DH: interprete for reply"<<std::endl;
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// The data stored in the read buffer are here copied in the variables with the SPC format.
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// After copying, the data of temperature, environment and accelerometer are stored in three separated vectors.
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for (int i = 0; i < 36; i++) {
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memcpy(&Temp_ch.start_string, &packet[27 * i + 0], 8);
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memcpy(&Temp_ch.Typ, &packet[27 * i + 8], 1);
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memcpy(&Temp_ch.SPCChNumber, &packet[27 * i + 9], 1);
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memcpy(&Temp_ch.Value_Cnt, &packet[27 * i + 10], 1);
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memcpy(&Temp_ch.temperature, &packet[27 * i + 11], 4);
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memcpy(&Temp_ch.Timestamp, &packet[27 * i + 15], 4);
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memcpy(&Temp_ch.end_string, &packet[27 * i + 19], 8);
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vecTemp.emplace_back(Temp_ch);
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}
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for (int j = 0; j < 9; j++) {
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memcpy(&Env_ch.start_string, &packet[27 * (36 + j) + 0], 8);
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memcpy(&Env_ch.Typ, &packet[27 * (36 + j) + 8], 1);
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memcpy(&Env_ch.SPCChNumber, &packet[27 * (36 + j) + 9], 1);
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memcpy(&Env_ch.Value_Cnt, &packet[27 * (36 + j) + 10], 1);
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memcpy(&Env_ch.Value, &packet[27 * (36 + j) + 11], 4);
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memcpy(&Env_ch.Timestamp, &packet[27 * (36 + j) + 15], 4);
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memcpy(&Env_ch.end_string, &packet[27 * (36 + j) + 19], 8);
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vecEnv.emplace_back(Env_ch);
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}
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for (int k = 0; k < 15; k++) {
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memcpy(&Acc_ch.start_string, &packet[27 * (36 + 9) + 91 * k + 0], 8);
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memcpy(&Acc_ch.Typ, &packet[27 * (36 + 9) + 91 * k + 8], 1);
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memcpy(&Acc_ch.SPCChNumber, &packet[27 * (36 + 9) + 91 * k + 9], 1);
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memcpy(&Acc_ch.Value_Cnt, &packet[27 * (36 + 9) + 91 * k + 10], 1);
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memcpy(&Acc_ch.Value, &packet[27 * (36 + 9) + 91 * k + 11], 36);
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memcpy(&Acc_ch.Timestamp, &packet[27 * (36 + 9) + 91 * k + 47], 36);
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memcpy(&Acc_ch.end_string, &packet[27 * (36 + 9) + 91 * k + 83], 8);
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vecAcc.emplace_back(Acc_ch);
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}
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// All data are here printed to monitor from the three vectors of data measurements.
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/*printf(
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"\n***********************************************************************************************\n");
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printf("TEMPERATURE parameters are: ");
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for (int i = 0; i < 36; i++) {
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printf("\n\nStart: %7s", vecTemp[i].start_string);
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printf("\nTyp: %u", vecTemp[i].Typ);
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printf("\nSPCChNumber: %u", vecTemp[i].SPCChNumber);
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printf("\nValue_Cnt: %u", vecTemp[i].Value_Cnt);
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printf("\nTemperature: %f", vecTemp[i].temperature);
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printf("\nTimestamp: %u", vecTemp[i].Timestamp);
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printf("\nEnd: %7s", vecTemp[i].end_string);
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}
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printf(
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"\n\n***********************************************************************************************\n");
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printf("ENVIRONMENTAL parameters are: ");
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for (int j = 0; j < 3; j++) {
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printf("\n\nHUMIDITY: ");
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printf("\nStart: %7s", vecEnv[3 * j].start_string);
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printf("\nTyp: %u", vecEnv[3 * j].Typ);
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printf("\nSPCChNumber: %u", vecEnv[3 * j].SPCChNumber);
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printf("\nValue_Cnt: %u", vecEnv[3 * j].Value_Cnt);
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printf("\nValue: %f", vecEnv[3 * j].Value);
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printf("\nTimestamp: %u", vecEnv[3 * j].Timestamp);
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printf("\nEnd: %7s", vecEnv[3 * j].end_string);
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printf("\n\nPRESSURE: ");
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printf("\nStart: %7s", vecEnv[3 * j + 1].start_string);
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printf("\nTyp: %u", vecEnv[3 * j + 1].Typ);
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printf("\nSPCChNumber: %u", vecEnv[3 * j + 1].SPCChNumber);
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printf("\nValue_Cnt: %u", vecEnv[3 * j + 1].Value_Cnt);
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printf("\nValue: %f", vecEnv[3 * j + 1].Value);
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printf("\nTimestamp: %u", vecEnv[3 * j + 1].Timestamp);
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printf("\nEnd: %7s", vecEnv[3 * j + 1].end_string);
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printf("\n\nTEMPERATURE: ");
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printf("\nStart: %7s", vecEnv[3 * j + 2].start_string);
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printf("\nTyp: %u", vecEnv[3 * j + 2].Typ);
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printf("\nSPCChNumber: %u", vecEnv[3 * j + 2].SPCChNumber);
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printf("\nValue_Cnt: %u", vecEnv[3 * j + 2].Value_Cnt);
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printf("\nValue: %f", vecEnv[3 * j + 2].Value);
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printf("\nTimestamp: %u", vecEnv[3 * j + 2].Timestamp);
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printf("\nEnd: %7s", vecEnv[3 * j + 2].end_string);
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}
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printf(
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"\n\n***********************************************************************************************\n");
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printf("ACCELEROMETER parameters are: ");
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for (int k = 0; k < 5; k++) {
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switch (k) {
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case 0:
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printf("\n\nACCELERATION: ");
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break;
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case 1:
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printf("\n\nGYROSCOPE: ");
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break;
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case 2:
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printf("\n\nMAGNETOMETER: ");
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break;
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case 3:
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printf("\n\nLINEAR ACCELERATION: ");
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break;
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case 4:
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printf("\n\nEULER ANGLES: ");
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break;
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}
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printf("\n\nX ==> ");
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printf("\nStart: %7s", vecAcc[3 * k].start_string);
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printf("\nTyp: %u", vecAcc[3 * k].Typ);
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printf("\nSPCChNumber: %u", vecAcc[3 * k].SPCChNumber);
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printf("\nValue_Cnt: %u", vecAcc[3 * k].Value_Cnt);
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for (int i = 0; i < 9; i++) {
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printf("\nMeasurement number: %d", i);
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printf("\nValue: %f", vecAcc[3 * k].Value[i]);
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printf("\nTimestamp: %u", vecAcc[3 * k].Timestamp[i]);
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}
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printf("\nEnd: %7s", vecAcc[3 * k].end_string);
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printf("\n\nY ==> ");
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printf("\nStart: %7s", vecAcc[3 * k + 1].start_string);
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printf("\nTyp: %u", vecAcc[3 * k + 1].Typ);
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printf("\nSPCChNumber: %u", vecAcc[3 * k + 1].SPCChNumber);
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printf("\nValue_Cnt: %u", vecAcc[3 * k + 1].Value_Cnt);
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for (int i = 0; i < 9; i++) {
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printf("\nMeasurement number: %d", i);
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printf("\nValue: %f", vecAcc[3 * k + 1].Value[i]);
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printf("\nTimestamp: %u", vecAcc[3 * k + 1].Timestamp[i]);
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}
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printf("\nEnd: %7s", vecAcc[3 * k + 1].end_string);
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printf("\n\nZ ==> ");
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printf("\nStart: %7s", vecAcc[3 * k + 2].start_string);
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printf("\nTyp: %u", vecAcc[3 * k + 2].Typ);
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printf("\nSPCChNumber: %u", vecAcc[3 * k + 2].SPCChNumber);
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printf("\nValue_Cnt: %u", vecAcc[3 * k + 2].Value_Cnt);
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for (int i = 0; i < 9; i++) {
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printf("\nMeasurement number: %d", i);
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printf("\nValue: %f", vecAcc[3 * k + 2].Value[i]);
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printf("\nTimestamp: %u", vecAcc[3 * k + 2].Timestamp[i]);
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}
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printf("\nEnd: %7s", vecAcc[3 * k + 2].end_string);
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}*/
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std::cout << "\n\nEnd reading data.\n" << std::endl;
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// The data are here written to the data pool where they would be available to be used for other objects
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DataSet ArduinoDataSet;
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PoolVector <float, 36> TempValueVec(datapool::Temperature_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
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for (int i = 0; i < 36; i++) {
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memcpy(&TempValueVec[i], &vecTemp[i].temperature, 4);
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}
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ArduinoDataSet.commit(PoolVariableIF::VALID);
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/*PoolVector <unsigned int, 36> TempTimeVec(datapool::Temperature_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
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for (int i = 0; i < 36; i++) {
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memcpy(&TempTimeVec[i], &vecTemp[i].Timestamp, 4);
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}
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ArduinoDataSet.commit(PoolVariableIF::VALID);
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sif::debug<<"\nDEBUG_DHi: End of copy to datapool"<<std::endl;
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PoolVector <float, 9> EnvValueVec(datapool::Environmental_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
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for (int j = 0; j < 9; j++) {
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memcpy(&EnvValueVec[j], &vecEnv[j].Value, 4);
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}
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ArduinoDataSet.commit(PoolVariableIF::VALID);
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PoolVector <unsigned int, 9> EnvTimeVec(datapool::Environmental_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
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for (int j = 0; j < 9; j++) {
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memcpy(&EnvTimeVec[j], &vecEnv[j].Timestamp, 4);
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}
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ArduinoDataSet.commit(PoolVariableIF::VALID);
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sif::debug<<"\nDEBUG_DHj: End of copy to datapool"<<std::endl;
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PoolVector <float, 15> AccValueVec(datapool::Accelerometer_value, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
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for (int k = 0; k < 15; k++) {
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memcpy(&AccValueVec[k], &vecAcc[k].Value, 36);
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}
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ArduinoDataSet.commit(PoolVariableIF::VALID);
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sif::debug<<"\nDEBUG_DHk1: End of copy to datapool"<<std::endl;
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PoolVector <unsigned int, 15> AccTimeVec(datapool::Accelerometer_Timestamp, &ArduinoDataSet, PoolVariableIF::VAR_WRITE);
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for (int k = 0; k < 15; k++) {
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memcpy(&AccTimeVec[k], &vecAcc[k].Timestamp, 36);
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}
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ArduinoDataSet.commit(PoolVariableIF::VALID);
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sif::debug<<"\nDEBUG_DHk2: End of copy to datapool"<<std::endl;*/
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sif::debug<<"DEBUG_DH: End of copy to datapool"<<std::endl;
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return RETURN_OK;
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}
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void ArduinoDH::setNormalDatapoolEntriesInvalid() {}
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