eive/eive-obsw
eive/eive-obsw
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start replacing chained locks
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This commit is contained in:
Robin Müller 2023-02-08 15:30:14 +01:00
parent e1e6ce5d34
commit 2e11f067e2
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GPG Key ID: 11D4952C8CCEF814
3 changed files with 30 additions and 18 deletions
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4
mission/controller/AcsController.cpp
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@ -107,8 +107,6 @@ void AcsController::performControlOperation() {
} }
void AcsController::performSafe() { void AcsController::performSafe() {
ACS::SensorValues sensorValues;
timeval now; timeval now;
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);
@ -197,8 +195,6 @@ void AcsController::performSafe() {
} }
void AcsController::performDetumble() { void AcsController::performDetumble() {
ACS::SensorValues sensorValues;
timeval now; timeval now;
Clock::getClock_timeval(&now); Clock::getClock_timeval(&now);

2
mission/controller/AcsController.h
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@ -38,6 +38,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
private: private:
AcsParameters acsParameters; AcsParameters acsParameters;
ACS::SensorValues sensorValues;
SensorProcessing sensorProcessing; SensorProcessing sensorProcessing;
Navigation navigation; Navigation navigation;
ActuatorCmd actuatorCmd; ActuatorCmd actuatorCmd;
@ -70,7 +71,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
void announceMode(bool recursive); void announceMode(bool recursive);
/* ACS Datasets */ /* ACS Datasets */
ACS::SensorValues sensorValues;
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER); IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
// MGMs // MGMs
acsctrl::MgmDataRaw mgmDataRaw; acsctrl::MgmDataRaw mgmDataRaw;

42
mission/controller/acs/SensorValues.cpp
View File

@ -20,13 +20,34 @@ SensorValues::SensorValues() {}
SensorValues::~SensorValues() {} SensorValues::~SensorValues() {}
ReturnValue_t SensorValues::updateMgm() { ReturnValue_t SensorValues::updateMgm() {
ReturnValue_t result; std::vector<ReturnValue_t> results;
PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() || {
pgMgm3.getReadResult() || pgImtq.getReadResult()); PoolReadGuard pgMgm0(&mgm0Lis3Set);
return result; results.push_back(pgMgm0.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm1Rm3100Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm2Lis3Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&mgm3Rm3100Set);
results.push_back(pgMgm.getReadResult());
}
{
PoolReadGuard pgMgm(&imtqMgmSet);
results.push_back(pgMgm.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result;
}
}
return returnvalue::OK;
} }
ReturnValue_t SensorValues::updateSus() { ReturnValue_t SensorValues::updateSus() {
@ -53,19 +74,14 @@ ReturnValue_t SensorValues::updateGyr() {
} }
ReturnValue_t SensorValues::updateStr() { ReturnValue_t SensorValues::updateStr() {
ReturnValue_t result;
PoolReadGuard pgStr(&strSet); PoolReadGuard pgStr(&strSet);
result = pgStr.getReadResult(); return pgStr.getReadResult();
return result;
} }
ReturnValue_t SensorValues::updateGps() { ReturnValue_t SensorValues::updateGps() {
ReturnValue_t result;
PoolReadGuard pgGps(&gpsSet); PoolReadGuard pgGps(&gpsSet);
return pgGps.getReadResult();
result = pgGps.getReadResult();
return result;
} }
ReturnValue_t SensorValues::updateRw() { ReturnValue_t SensorValues::updateRw() {