diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index dea4a675..8113539d 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -518,9 +518,10 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps); gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS); - new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS); - new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS); - ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF); + auto* healthDevGps0 = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS); + auto* healthDevGps1 = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS); + ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, *healthDevGps0, *healthDevGps1, + gpsCtrl, gpioComIF); #endif /* OBSW_ADD_ACS_HANDLERS == 1 */ } diff --git a/dummies/helperFactory.cpp b/dummies/helperFactory.cpp index 703683f4..70e80e87 100644 --- a/dummies/helperFactory.cpp +++ b/dummies/helperFactory.cpp @@ -99,10 +99,11 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); assemblyDhbs[7] = new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); - new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS); - new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS); + auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS); + auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS); auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER); - ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF); + ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, *gps0HealthDev, *gps1HealthDev, + gpsCtrl, gpioIF); } if (cfg.addSusDummies) { diff --git a/fsfw b/fsfw index e2e87b14..1e3c89b6 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit e2e87b149d91c51196c76d6b84243fce1c77a28a +Subproject commit 1e3c89b672e17700a9b50a312d9df29c54977685 diff --git a/mission/genericFactory.cpp b/mission/genericFactory.cpp index ca05a309..2bef9a41 100644 --- a/mission/genericFactory.cpp +++ b/mission/genericFactory.cpp @@ -343,6 +343,7 @@ void ObjectFactory::createSusAssy(PowerSwitchIF& pwrSwitcher, void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array assemblyDhbs, + HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev, ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF) { AcsBoardHelper acsBoardHelper = AcsBoardHelper( objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER, @@ -359,6 +360,8 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, } } gpsCtrl->connectModeTreeParent(*acsAss); + gps0HealthDev.setParentQueue(acsAss->getCommandQueue()); + gps1HealthDev.setParentQueue(acsAss->getCommandQueue()); acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM); } diff --git a/mission/genericFactory.h b/mission/genericFactory.h index 58edfc02..5b602d36 100644 --- a/mission/genericFactory.h +++ b/mission/genericFactory.h @@ -2,6 +2,7 @@ #define MISSION_CORE_GENERICFACTORY_H_ #include +#include #include #include #include @@ -53,6 +54,7 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch, std::array rws, std::array rwIds); void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array suses); void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array assemblyDhbs, + HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev, ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF); TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher); diff --git a/mission/system/acs/AcsBoardAssembly.cpp b/mission/system/acs/AcsBoardAssembly.cpp index 1868185e..48621336 100644 --- a/mission/system/acs/AcsBoardAssembly.cpp +++ b/mission/system/acs/AcsBoardAssembly.cpp @@ -78,7 +78,7 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_ if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or (helper.gpsMode != MODE_ON) or - (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY)) { + gps0HealthDevFaulty()) { return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE; } return returnvalue::OK; @@ -86,7 +86,7 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_ if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or (helper.gpsMode != MODE_ON) or - (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY)) { + gps1HealthDevFaulty()) { return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE; } return returnvalue::OK; @@ -296,15 +296,13 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) { // Special handling to account for GPS devices being faulty. If the GPS device on the other // side is marked faulty, directly to to dual side. if (submode == Submodes::A_SIDE) { - if (healthHelper.healthTable->getHealth(helper.healthDevGps1) == FAULTY or - healthHelper.healthTable->getHealth(helper.healthDevGps1) == PERMANENT_FAULTY) { + if (gps0HealthDevFaulty()) { triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0); startTransition(mode, Submodes::DUAL_MODE); return; } } else if (submode == Submodes::B_SIDE) { - if (healthHelper.healthTable->getHealth(helper.healthDevGps0) == FAULTY or - healthHelper.healthTable->getHealth(helper.healthDevGps0) == PERMANENT_FAULTY) { + if (gps1HealthDevFaulty()) { triggerEvent(DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY, submode, 0); startTransition(mode, Submodes::DUAL_MODE); return; @@ -312,3 +310,19 @@ void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) { } DualLaneAssemblyBase::handleChildrenLostMode(result); } + +bool AcsBoardAssembly::gps0HealthDevFaulty() const { + auto health = healthHelper.healthTable->getHealth(helper.healthDevGps0); + if (health == FAULTY or health == PERMANENT_FAULTY) { + return true; + } + return false; +} + +bool AcsBoardAssembly::gps1HealthDevFaulty() const { + auto health = healthHelper.healthTable->getHealth(helper.healthDevGps1); + if (health == FAULTY or health == PERMANENT_FAULTY) { + return true; + } + return false; +} diff --git a/mission/system/acs/AcsBoardAssembly.h b/mission/system/acs/AcsBoardAssembly.h index 6619dadb..0afe9052 100644 --- a/mission/system/acs/AcsBoardAssembly.h +++ b/mission/system/acs/AcsBoardAssembly.h @@ -133,6 +133,8 @@ class AcsBoardAssembly : public DualLaneAssemblyBase { ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode); ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode); void refreshHelperModes(); + bool gps0HealthDevFaulty() const; + bool gps1HealthDevFaulty() const; }; #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */ diff --git a/tmtc b/tmtc index b72dad49..f899d169 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit b72dad49a9c05a37c094a22d5fdaa15643b5ca7f +Subproject commit f899d169b2a6f7454b2f425dfa2713acf029e016