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finished most of sus handler
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This commit is contained in:
Robin Müller
2022-03-03 20:11:12 +01:00
parent a7c1dafce5
commit 0595e29100
4 changed files with 161 additions and 37 deletions
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77
mission/system/AcsBoardAssembly.cpp
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@ -86,22 +86,13 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
return HasReturnvaluesIF::RETURN_OK;
}
void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
modeTable.insert(entry);
entry.setObject(id);
entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE);
entry.setInheritSubmode(false);
}
ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
Mode_t tgtMode = DeviceHandlerIF::MODE_NORMAL;
auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) {
if (tgtMode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, mode)) {
if (helper.gyro0SideAMode != MODE_OFF) {
modeTable[tableIdx].setMode(tgtMode);
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
if (mode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, devMode)) {
if (mode != MODE_OFF) {
modeTable[tableIdx].setMode(devMode);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
} else {
result = NEED_SECOND_STEP;
@ -109,8 +100,8 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
}
} else if (tgtMode == MODE_ON) {
if (isUseable(objectId, mode)) {
} else if (devMode == MODE_ON) {
if (isUseable(objectId, devMode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
@ -118,11 +109,11 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
};
switch (submode) {
case (A_SIDE): {
cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
@ -134,11 +125,11 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
return result;
}
case (B_SIDE): {
cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
@ -150,15 +141,15 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
return result;
}
case (DUAL_MODE): {
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
return result;
}
default: {
@ -318,6 +309,14 @@ void AcsBoardAssembly::handleModeReached() {
state = States::IDLE;
}
void AcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
// Some ACS board components are required for Safe-Mode. It would be good if the software
// transitions from A side to B side and from B side to dual mode autonomously
// to ensure that that enough sensors are available witout an operators intervention.
// Therefore, the failure handler is overriden to perform these steps.
// TODO: Implement transitions mentioned above
}
void AcsBoardAssembly::refreshHelperModes() {
helper.gyro0SideAMode = childrenMap[helper.gyro0AdisIdSideA].mode;
helper.gyro1SideAMode = childrenMap[helper.gyro1L3gIdSideA].mode;
@ -328,3 +327,11 @@ void AcsBoardAssembly::refreshHelperModes() {
helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode;
helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode;
}
void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
entry.setObject(id);
entry.setMode(MODE_OFF);
entry.setSubmode(SUBMODE_NONE);
entry.setInheritSubmode(false);
modeTable.insert(entry);
}