Merge pull request 'IMTQ Dummy HK sets' (#648) from imtq-enable-hk-sets into v2.1.0-dev
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Reviewed-on: #648
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04f5011e0f
@ -55,6 +55,7 @@ will consitute of a breaking change warranting a new major release:
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- Add the remaining system modes.
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- PLOC MPSoC flash read command working.
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- BPX battery handler is added for EM by default.
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- IMTQ HK sets
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## Fixed
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@ -62,6 +62,10 @@ void ObjectFactory::produce(void* args) {
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StorageManagerIF* tmStore;
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StorageManagerIF* ipcStore;
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PersistentTmStores persistentStores;
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bool enableHkSets = false;
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#if OBSW_ENABLE_PERIODIC_HK == 1
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enableHkSets = true;
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#endif
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auto sdcMan = new DummySdCardManager("/tmp");
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ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
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&tmStore, persistentStores, 120);
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@ -101,7 +105,7 @@ void ObjectFactory::produce(void* args) {
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#endif
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dummy::DummyCfg cfg;
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dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
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dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);
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HeaterHandler* heaterHandler = nullptr;
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// new ThermalController(objects::THERMAL_CONTROLLER);
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@ -79,7 +79,7 @@ void ObjectFactory::produce(void* args) {
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#endif
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satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);
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dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
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dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);
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new CoreController(objects::CORE_CONTROLLER, enableHkSets);
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@ -2,8 +2,12 @@
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#include <mission/acs/imtqHelpers.h>
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ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
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: DeviceHandlerBase(objectId, comif, comCookie) {}
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ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
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bool enableHkSets)
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: DeviceHandlerBase(objectId, comif, comCookie),
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setNoTorque(this),
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setWithTorque(this),
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enableHkSets(enableHkSets) {}
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ImtqDummy::~ImtqDummy() = default;
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@ -45,5 +49,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
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localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
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localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
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localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
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// ENG HK No Torque
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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_CURRENTS, &coilCurrentsMilliampsNoTorque);
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localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
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localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
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// ENG HK With Torque
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localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
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localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
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localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
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localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
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localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
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poolManager.subscribeForDiagPeriodicPacket(
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subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0));
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poolManager.subscribeForDiagPeriodicPacket(
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subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0));
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return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
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}
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LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
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if (sid == setNoTorque.getSid()) {
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return &setNoTorque;
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} else if (sid == setWithTorque.getSid()) {
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return &setWithTorque;
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}
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return nullptr;
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}
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@ -3,6 +3,8 @@
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include "mission/acs/imtqHelpers.h"
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class ImtqDummy : public DeviceHandlerBase {
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public:
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static const DeviceCommandId_t SIMPLE_COMMAND = 1;
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@ -11,10 +13,31 @@ class ImtqDummy : public DeviceHandlerBase {
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static const uint8_t SIMPLE_COMMAND_DATA = 1;
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static const uint8_t PERIODIC_REPLY_DATA = 2;
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ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
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ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
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~ImtqDummy() override;
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protected:
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imtq::HkDatasetNoTorque setNoTorque;
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imtq::HkDatasetWithTorque setWithTorque;
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bool enableHkSets;
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PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
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PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
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PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
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PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
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PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
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PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
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PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
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PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
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PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
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PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
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PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
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PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
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PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
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PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
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PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
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void doStartUp() override;
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void doShutDown() override;
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ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
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@ -28,6 +51,7 @@ class ImtqDummy : public DeviceHandlerBase {
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uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
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ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) override;
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LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
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};
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#endif /* DUMMIES_IMTQDUMMY_H_ */
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@ -42,7 +42,8 @@
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#include "mission/system/tree/payloadModeTree.h"
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#include "mission/tcs/defs.h"
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void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
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void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF,
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bool enableHkSets) {
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new ComIFDummy(objects::DUMMY_COM_IF);
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auto* comCookieDummy = new ComCookieDummy();
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if (cfg.addBpxBattDummy) {
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@ -74,7 +75,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
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}
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auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
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imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
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auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
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auto* imtqDummy =
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new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
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imtqDummy->enableThermalModule(ThermalStateCfg());
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imtqDummy->connectModeTreeParent(*imtqAssy);
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if (cfg.addOnlyAcuDummy) {
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@ -22,6 +22,6 @@ struct DummyCfg {
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bool addCamSwitcherDummy = true;
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};
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void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
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void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);
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} // namespace dummy
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