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Merge remote-tracking branch 'origin/develop' into mueller/acs-ss-init
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This commit is contained in:
Robin Müller
2022-08-29 15:53:57 +02:00
parent 4649c97205 04fb2b1261
commit 3ad7a35f0e
331 changed files with 5495 additions and 19776 deletions
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44
mission/system/objects/AcsBoardAssembly.cpp
View File

@ -35,7 +35,7 @@ AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
using namespace duallane;
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
refreshHelperModes();
// Initialize the mode table to ensure all devices are in a defined state
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
@ -75,14 +75,14 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
helper.gpsMode != MODE_ON) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
return returnvalue::OK;
} else if (wantedSubmode == B_SIDE) {
if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
(helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
helper.gpsMode != MODE_ON) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
return returnvalue::OK;
} else if (wantedSubmode == DUAL_MODE) {
if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
@ -94,16 +94,16 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
triggerEvent(NOT_ENOUGH_DEVICES_DUAL_MODE, 0, 0);
dualModeErrorSwitch = false;
}
return RETURN_OK;
return returnvalue::OK;
}
return RETURN_OK;
return returnvalue::OK;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
using namespace duallane;
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
bool needsSecondStep = false;
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
if (mode == devMode) {
@ -190,7 +190,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
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);
ReturnValue_t status = RETURN_OK;
ReturnValue_t status = returnvalue::OK;
if (gpsUsable) {
gpioHandler(gpioIds::GNSS_0_NRESET, true,
"AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull nReset pin"
@ -203,7 +203,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
} else {
status = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
}
if (status != HasReturnvaluesIF::RETURN_OK) {
if (status != returnvalue::OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select to"
"default side for dual mode"
@ -232,13 +232,13 @@ void AcsBoardAssembly::selectGpsInDualMode(duallane::Submodes side) {
if (submode != Submodes::DUAL_MODE) {
return;
}
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
if (side == Submodes::A_SIDE) {
result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
} else {
result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << "AcsBoardAssembly::switchGpsInDualMode: Switching GPS failed" << std::endl;
#endif
@ -246,13 +246,13 @@ void AcsBoardAssembly::selectGpsInDualMode(duallane::Submodes side) {
}
void AcsBoardAssembly::gpioHandler(gpioId_t gpio, bool high, std::string error) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
if (high) {
result = gpioIF->pullHigh(gpio);
} else {
result = gpioIF->pullLow(gpio);
}
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::error << error << std::endl;
#endif
@ -277,39 +277,39 @@ void AcsBoardAssembly::refreshHelperModes() {
ReturnValue_t AcsBoardAssembly::initialize() {
ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro1L3gIdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro2AdisIdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gyro3L3gIdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm0Lis3IdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm1Rm3100IdSideA);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm2Lis3IdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.mgm3Rm3100IdSideB);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
result = registerChild(helper.gpsId);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
return AssemblyBase::initialize();

10
mission/system/objects/DualLaneAssemblyBase.cpp
View File

@ -68,7 +68,7 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
OpCodes opCode = pwrStateMachine.fsm();
if (customRecoveryStates == RecoveryCustomStates::IDLE) {
if (opCode == OpCodes::NONE) {
return RETURN_OK;
return returnvalue::OK;
} else if (opCode == OpCodes::TO_OFF_DONE) {
// Will be called for transitions to MODE_OFF, where everything is done after power switching
finishModeOp();
@ -85,17 +85,17 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
sif::warning << "Timeout occured in power state machine" << std::endl;
#endif
triggerEvent(pwrTimeoutEvent, 0, 0);
return RETURN_FAILED;
return returnvalue::FAILED;
}
}
}
return RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_t submode) {
using namespace duallane;
if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
return HasReturnvaluesIF::RETURN_FAILED;
return returnvalue::FAILED;
}
if (sideSwitchTransition(mode, submode)) {
// I could implement this but this would increase the already high complexity. This is not
@ -104,7 +104,7 @@ ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_
triggerEvent(SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID, 0, 0);
return TRANS_NOT_ALLOWED;
}
return HasReturnvaluesIF::RETURN_OK;
return returnvalue::OK;
}
void DualLaneAssemblyBase::handleModeReached() {

4
mission/system/objects/DualLanePowerStateMachine.cpp
View File

@ -11,8 +11,8 @@ DualLanePowerStateMachine::DualLanePowerStateMachine(power::Switch_t switchA,
power::OpCodes DualLanePowerStateMachine::fsm() {
using namespace duallane;
ReturnValue_t switchStateA = RETURN_OK;
ReturnValue_t switchStateB = RETURN_OK;
ReturnValue_t switchStateA = returnvalue::OK;
ReturnValue_t switchStateB = returnvalue::OK;
if (state == power::States::IDLE or state == power::States::MODE_COMMANDING) {
return opResult;
}

2
mission/system/objects/PowerStateMachineBase.h
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@ -7,7 +7,7 @@
#include "definitions.h"
class PowerStateMachineBase : public HasReturnvaluesIF {
class PowerStateMachineBase {
public:
PowerStateMachineBase(PowerSwitchIF* pwrSwitcher, dur_millis_t checkTimeout);

12
mission/system/objects/RwAssembly.cpp
View File

@ -31,7 +31,7 @@ void RwAssembly::performChildOperation() {
}
ReturnValue_t RwAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
modeTransitionFailedSwitch = true;
// Initialize the mode table to ensure all devices are in a defined state
for (uint8_t idx = 0; idx < NUMBER_RWS; idx++) {
@ -67,12 +67,12 @@ ReturnValue_t RwAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t want
}
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
return RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t RwAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
return RETURN_OK;
return returnvalue::OK;
}
return HasModesIF::INVALID_MODE;
}
@ -112,7 +112,7 @@ void RwAssembly::handleChildrenLostMode(ReturnValue_t result) {
}
ReturnValue_t RwAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
bool needsSecondStep = false;
Mode_t devMode = 0;
object_id_t objId = 0;
@ -168,10 +168,10 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
}
ReturnValue_t RwAssembly::initialize() {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
for (const auto& obj : helper.rwIds) {
result = registerChild(obj);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
}

16
mission/system/objects/SusAssembly.cpp
View File

@ -18,7 +18,7 @@ SusAssembly::SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitch
}
ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
refreshHelperModes();
// Initialize the mode table to ensure all devices are in a defined state
for (uint8_t idx = 0; idx < NUMBER_SUN_SENSORS; idx++) {
@ -38,7 +38,7 @@ ReturnValue_t SusAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
using namespace duallane;
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
bool needsSecondStep = false;
auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) {
if (mode == devMode) {
@ -104,28 +104,28 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
}
return RETURN_OK;
return returnvalue::OK;
} else if (wantedSubmode == B_SIDE) {
for (uint8_t idx = NUMBER_SUN_SENSORS_ONE_SIDE; idx < NUMBER_SUN_SENSORS; idx++) {
if (helper.susModes[idx] != wantedMode) {
return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
}
}
return RETURN_OK;
return returnvalue::OK;
} else {
// Trigger event if devices are faulty? This is the last fallback mode, returning
// a failure here would trigger a transition to MODE_OFF unless handleModeTransitionFailed
// is overriden
return RETURN_OK;
return returnvalue::OK;
}
return RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t SusAssembly::initialize() {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
for (const auto& id : helper.susIds) {
result = registerChild(id);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
}

12
mission/system/objects/TcsBoardAssembly.cpp
View File

@ -36,7 +36,7 @@ void TcsBoardAssembly::performChildOperation() {
}
ReturnValue_t TcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
// Initialize the mode table to ensure all devices are in a defined state
for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
modeTable[idx].setMode(MODE_OFF);
@ -80,21 +80,21 @@ ReturnValue_t TcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
warningSwitch = false;
}
}
return RETURN_OK;
return returnvalue::OK;
}
ReturnValue_t TcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
if (mode == MODE_ON or mode == MODE_OFF or mode == DeviceHandlerIF::MODE_NORMAL) {
return RETURN_OK;
return returnvalue::OK;
}
return HasModesIF::INVALID_MODE;
}
ReturnValue_t TcsBoardAssembly::initialize() {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
for (const auto& obj : helper.rtdInfos) {
result = registerChild(obj.first);
if (result != HasReturnvaluesIF::RETURN_OK) {
if (result != returnvalue::OK) {
return result;
}
}
@ -119,7 +119,7 @@ void TcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
}
ReturnValue_t TcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
ReturnValue_t result = returnvalue::OK;
bool needsSecondStep = false;
Mode_t devMode = 0;
object_id_t objId = 0;