eive-obsw/mission/controller/AcsController.cpp

#include "AcsController.h"

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/timemanager/Clock.h>

AcsController::AcsController(object_id_t objectId)
    : ExtendedControllerBase(objectId, objects::NO_OBJECT),
      mgmData(this),
      susData(this),
      sensorProcessing(&acsParameters),
      detumbleCounter{0} {}

ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
  return returnvalue::OK;
}

void AcsController::performControlOperation() {
  switch (internalState) {
    case InternalState::STARTUP: {
      initialCountdown.resetTimer();
      internalState = InternalState::INITIAL_DELAY;
      return;
    }
    case InternalState::INITIAL_DELAY: {
      if (initialCountdown.hasTimedOut()) {
        internalState = InternalState::READY;
      }
      return;
    }
    case InternalState::READY: {
      break;
    }
    default:
      break;
  }

  /*{
    PoolReadGuard pg(&mgmData);
    if (pg.getReadResult() == returnvalue::OK) {
      copyMgmData();
    }
  }
  {
    PoolReadGuard pg(&susData);
    if (pg.getReadResult() == returnvalue::OK) {
      copySusData();
    }
  }*/
}

void AcsController::performDetumble() {
  ACS::SensorValues sensorValues;
  ACS::OutputValues outputValues;

  // sensorValues.read();
  // outputValues.read();

  timeval now;  // = {0,0};
  Clock::getClock_timeval(&now);

  sensorProcessing.process(now, &sensorValues, &outputValues, &acsParameters);
  ReturnValue_t validMekf;
  navigation.useMekf(&sensorValues, &outputValues, &validMekf);
  double magMomMtq[3] = {0, 0, 0};
  detumble.bDotLaw(outputValues.magneticFieldVectorDerivative,
                   &outputValues.magneticFieldVectorDerivativeValid, outputValues.magFieldEst,
                   &outputValues.magFieldEstValid, magMomMtq);
  double dipolCmdUnits[3] = {0, 0, 0};
  actuatorCmd.cmdDipolMtq(magMomMtq, dipolCmdUnits);

  if (outputValues.satRateMekfValid && VectorOperations<double>::norm(outputValues.satRateMekf, 3) <
                                           acsParameters.detumbleParameter.omegaDetumbleEnd) {
    detumbleCounter++;
  }

  else if (outputValues.satRateEstValid &&
           VectorOperations<double>::norm(outputValues.satRateEst, 3) <
               acsParameters.detumbleParameter.omegaDetumbleEnd) {
    detumbleCounter++;
  }

  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
    submode = SUBMODE_SAFE;
    detumbleCounter = 0;
  }
}

ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                     LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0PoolVec);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1PoolVec);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2PoolVec);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
  localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
  poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), false, 5.0});
  return returnvalue::OK;
}

LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
  if (sid == mgmData.getSid()) {
    return &mgmData;
  } else if (sid == susData.getSid()) {
    return &susData;
  }
  return nullptr;
}

ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
                                              uint32_t *msToReachTheMode) {
  if (mode == MODE_OFF) {
    if (submode == SUBMODE_NONE) {
      return returnvalue::OK;
    } else {
      return INVALID_SUBMODE;
    }
  } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
    if ((submode > 5) || (submode < 2)) {
      return INVALID_SUBMODE;
    } else {
      return returnvalue::OK;
    }
  }
  return INVALID_MODE;
}

void AcsController::copyMgmData() {
  {
    PoolReadGuard pg(&mgm0Lis3Set);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(mgmData.mgm0Lis3.value, mgm0Lis3Set.fieldStrengths.value, 3 * sizeof(float));
    }
  }
  {
    PoolReadGuard pg(&mgm1Rm3100Set);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(mgmData.mgm1Rm3100.value, mgm1Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
    }
  }
  {
    PoolReadGuard pg(&mgm2Lis3Set);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(mgmData.mgm2Lis3.value, mgm2Lis3Set.fieldStrengths.value, 3 * sizeof(float));
    }
  }
  {
    PoolReadGuard pg(&mgm3Rm3100Set);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(mgmData.mgm3Rm3100.value, mgm3Rm3100Set.fieldStrengths.value, 3 * sizeof(float));
    }
  }
  {
    PoolReadGuard pg(&imtqMgmSet);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(mgmData.imtqRaw.value, imtqMgmSet.mtmRawNt.value, 3 * sizeof(float));
      mgmData.actuationCalStatus.value = imtqMgmSet.coilActuationStatus.value;
    }
  }
}

void AcsController::copySusData() {
  {
    PoolReadGuard pg(&susSets[0]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus0.value, susSets[0].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[1]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus1.value, susSets[1].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[2]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus2.value, susSets[2].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[3]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus3.value, susSets[3].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[4]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus4.value, susSets[4].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[5]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus5.value, susSets[5].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[6]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus6.value, susSets[6].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[7]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus7.value, susSets[7].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[8]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus8.value, susSets[8].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[9]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus9.value, susSets[9].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[10]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus10.value, susSets[10].channels.value, 6 * sizeof(uint16_t));
    }
  }
  {
    PoolReadGuard pg(&susSets[11]);
    if (pg.getReadResult() == returnvalue::OK) {
      std::memcpy(susData.sus11.value, susSets[11].channels.value, 6 * sizeof(uint16_t));
    }
  }
}