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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
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@ -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();