From 3dbc01bd8ad47cb6e7ba8bb9983ecf06c4c56a5b Mon Sep 17 00:00:00 2001 From: meggert Date: Thu, 15 Jun 2023 18:16:24 +0200 Subject: [PATCH] cleanup --- mission/controller/acs/SensorProcessing.cpp | 55 ++++++++++----------- mission/controller/acs/SensorProcessing.h | 3 ++ 2 files changed, 29 insertions(+), 29 deletions(-) diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp index 04cbf2d8..c4fd8165 100644 --- a/mission/controller/acs/SensorProcessing.cpp +++ b/mission/controller/acs/SensorProcessing.cpp @@ -45,14 +45,13 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const { PoolReadGuard pg(mgmDataProcessed); if (pg.getReadResult() == returnvalue::OK) { - float zeroVec[3] = {0.0, 0.0, 0.0}; - std::memcpy(mgmDataProcessed->mgm0vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(mgmDataProcessed->mgm1vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(mgmDataProcessed->mgm2vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(mgmDataProcessed->mgm3vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(mgmDataProcessed->mgm4vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(mgmDataProcessed->mgmVecTot.value, zeroVec, 3 * sizeof(float)); - std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, zeroVec, 3 * sizeof(float)); + std::memcpy(mgmDataProcessed->mgm0vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(mgmDataProcessed->mgm1vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(mgmDataProcessed->mgm2vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(mgmDataProcessed->mgm3vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(mgmDataProcessed->mgm4vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(mgmDataProcessed->mgmVecTot.value, ZERO_VEC_D, 3 * sizeof(float)); + std::memcpy(mgmDataProcessed->mgmVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(float)); mgmDataProcessed->setValidity(false, true); std::memcpy(mgmDataProcessed->magIgrfModel.value, magIgrfModel, 3 * sizeof(double)); mgmDataProcessed->magIgrfModel.setValid(gpsValid); @@ -252,21 +251,20 @@ void SensorProcessing::processSus( { PoolReadGuard pg(susDataProcessed); if (pg.getReadResult() == returnvalue::OK) { - float zeroVec[3] = {0.0, 0.0, 0.0}; - std::memcpy(susDataProcessed->sus0vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus1vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus2vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus3vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus4vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus5vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus6vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus7vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus8vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus9vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus10vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->sus11vec.value, zeroVec, 3 * sizeof(float)); - std::memcpy(susDataProcessed->susVecTot.value, zeroVec, 3 * sizeof(double)); - std::memcpy(susDataProcessed->susVecTotDerivative.value, zeroVec, 3 * sizeof(double)); + std::memcpy(susDataProcessed->sus0vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus1vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus2vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus3vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus4vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus5vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus6vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus7vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus8vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus9vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus10vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->sus11vec.value, ZERO_VEC_F, 3 * sizeof(float)); + std::memcpy(susDataProcessed->susVecTot.value, ZERO_VEC_D, 3 * sizeof(double)); + std::memcpy(susDataProcessed->susVecTotDerivative.value, ZERO_VEC_D, 3 * sizeof(double)); susDataProcessed->setValidity(false, true); std::memcpy(susDataProcessed->sunIjkModel.value, sunIjkModel, 3 * sizeof(double)); susDataProcessed->sunIjkModel.setValid(true); @@ -458,12 +456,11 @@ void SensorProcessing::processGyr( { PoolReadGuard pg(gyrDataProcessed); if (pg.getReadResult() == returnvalue::OK) { - double zeroVector[3] = {0.0, 0.0, 0.0}; - std::memcpy(gyrDataProcessed->gyr0vec.value, zeroVector, 3 * sizeof(double)); - std::memcpy(gyrDataProcessed->gyr1vec.value, zeroVector, 3 * sizeof(double)); - std::memcpy(gyrDataProcessed->gyr2vec.value, zeroVector, 3 * sizeof(double)); - std::memcpy(gyrDataProcessed->gyr3vec.value, zeroVector, 3 * sizeof(double)); - std::memcpy(gyrDataProcessed->gyrVecTot.value, zeroVector, 3 * sizeof(double)); + std::memcpy(gyrDataProcessed->gyr0vec.value, ZERO_VEC_D, 3 * sizeof(double)); + std::memcpy(gyrDataProcessed->gyr1vec.value, ZERO_VEC_D, 3 * sizeof(double)); + std::memcpy(gyrDataProcessed->gyr2vec.value, ZERO_VEC_D, 3 * sizeof(double)); + std::memcpy(gyrDataProcessed->gyr3vec.value, ZERO_VEC_D, 3 * sizeof(double)); + std::memcpy(gyrDataProcessed->gyrVecTot.value, ZERO_VEC_D, 3 * sizeof(double)); gyrDataProcessed->setValidity(false, true); } } diff --git a/mission/controller/acs/SensorProcessing.h b/mission/controller/acs/SensorProcessing.h index 47449a75..1a59291f 100644 --- a/mission/controller/acs/SensorProcessing.h +++ b/mission/controller/acs/SensorProcessing.h @@ -23,6 +23,9 @@ class SensorProcessing { acsctrl::GpsDataProcessed *gpsDataProcessed, const AcsParameters *acsParameters); // Will call protected functions private: + static constexpr float ZERO_VEC_F[3] = {0, 0, 0}; + static constexpr float ZERO_VEC_D[3] = {0, 0, 0}; + protected: // short description needed for every function void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,