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finished ACS board ASS
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This commit is contained in:
Robin Müller
2022-03-03 10:12:59 +01:00
parent 5873371d36
commit 5255e7d2ed
4 changed files with 101 additions and 55 deletions
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136
mission/system/AcsBoardAssembly.cpp
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@ -38,11 +38,32 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode;
helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode;
helper.gpsMode = childrenMap[helper.gpsId].mode;
if (mode == DeviceHandlerIF::MODE_NORMAL) {
handleNormalModeCmd(submode);
} else if (mode == MODE_ON) {
} else {
if (state == States::MODE_COMMANDING) {
if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
powerStateMachine(submode);
handleNormalOrOnModeCmd(mode, submode);
} else {
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
}
}
HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
executeTable(tableIter);
return result;
@ -116,12 +137,11 @@ bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
return false;
}
ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
ReturnValue_t result = RETURN_OK;
Mode_t tgtMode = DeviceHandlerIF::MODE_NORMAL;
powerStateMachine(submode);
if (state == States::MODE_COMMANDING) {
auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) {
auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) {
if(tgtMode == DeviceHandlerIF::MODE_NORMAL) {
if (isUseable(objectId, mode)) {
if (helper.gyro0SideAMode != MODE_OFF) {
modeTable[tableIdx].setMode(tgtMode);
@ -132,53 +152,61 @@ ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
}
};
switch (submode) {
case (A_SIDE): {
cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
return result;
}
case (B_SIDE): {
cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
return result;
}
case (DUAL_MODE): {
cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
return result;
}
default: {
sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
} else if(tgtMode == MODE_ON) {
if (isUseable(objectId, mode)) {
modeTable[tableIdx].setMode(MODE_ON);
modeTable[tableIdx].setSubmode(SUBMODE_NONE);
}
}
};
switch (submode) {
case (A_SIDE): {
cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
return result;
}
case (B_SIDE): {
cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
return result;
}
case (DUAL_MODE): {
cmdSeq(helper.gpsId, ModeTableIdx::GPS);
cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
return result;
}
default: {
sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
}
}
return result;
}
@ -244,6 +272,6 @@ void AcsBoardAssembly::powerStateMachine(Submode_t submode) {
state = States::SWITCHING_POWER;
}
if (state == States::SWITCHING_POWER) {
// TODO: Could check for a timeout (temporal or cycles) here and resent command
// TODO: Could check for a timeout (temporal or cycles) here and resend command
}
}