added returnvalue handling

common/config/eive/resultClassIds.h

@@ -35,14 +35,13 @@ enum commonClassIds : uint8_t {
   SA_DEPL_HANDLER,          // SADPL
   MPSOC_RETURN_VALUES_IF,   // MPSOCRTVIF
   SUPV_RETURN_VALUES_IF,    // SPVRTVIF
-  ACS_KALMAN,               // ACSKAL
+  ACS_CTRL,                 // ACSCTRL
+  ACS_MEKF,                 // ACSMEKF
   ACS_SAFE,                 // ACSSAF
   ACS_PTG,                  // ACSPTG
   ACS_DETUMBLE,             // ACSDTB
-  ACS_MEKF,                 // ACSMEK
   COMMON_CLASS_ID_END       // [EXPORT] : [END]
 };
-
 }
 
 #endif /* COMMON_CONFIG_COMMONCLASSIDS_H_ */

mission/controller/AcsController.cpp

@@ -49,7 +49,10 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
                                            const uint8_t *data, size_t size) {
   switch (actionId) {
     case SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL: {
-      guidance.solarArrayDeploymentComplete();
+      ReturnValue_t result = guidance.solarArrayDeploymentComplete();
+      if (result == returnvalue::FAILED) {
+        return FILE_DELETION_FAILED;
+      }
       return HasActionsIF::EXECUTION_FINISHED;
     }
     case RESET_MEKF: {
@@ -140,8 +143,8 @@ void AcsController::performSafe() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -155,7 +158,7 @@ void AcsController::performSafe() {
   // if MEKF is working
   double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
   bool magMomMtqValid = false;
-  if (result == MultiplicativeKalmanFilter::KALMAN_RUNNING) {
+  if (result == MultiplicativeKalmanFilter::MEKF_RUNNING) {
     safeCtrl.safeMekf(now, mekfData.quatMekf.value, mekfData.quatMekf.isValid(),
                       mgmDataProcessed.magIgrfModel.value, mgmDataProcessed.magIgrfModel.isValid(),
                       susDataProcessed.sunIjkModel.value, susDataProcessed.isValid(),
@@ -205,8 +208,8 @@ void AcsController::performDetumble() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -252,8 +255,8 @@ void AcsController::performPointingCtrl() {
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                                             &susDataProcessed, &mekfData);
-  if (result != MultiplicativeKalmanFilter::KALMAN_RUNNING &&
-      result != MultiplicativeKalmanFilter::KALMAN_INITIALIZED) {
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;

mission/controller/AcsController.h

@@ -70,6 +70,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
   static const DeviceCommandId_t RESET_MEKF = 0x1;
 
+  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
+  static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
+
   ReturnValue_t initialize() override;
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;
   void performControlOperation() override;

mission/controller/acs/MultiplicativeKalmanFilter.h

@@ -74,15 +74,15 @@ class MultiplicativeKalmanFilter {
   };
 
   // resetting Mekf
-  static constexpr uint8_t IF_KAL_ID = CLASS_ID::ACS_KALMAN;
-  static constexpr ReturnValue_t KALMAN_UNINITIALIZED = returnvalue::makeCode(IF_KAL_ID, 2);
-  static constexpr ReturnValue_t KALMAN_NO_GYR_DATA = returnvalue::makeCode(IF_KAL_ID, 3);
-  static constexpr ReturnValue_t KALMAN_NO_MODEL_VECTORS = returnvalue::makeCode(IF_KAL_ID, 4);
-  static constexpr ReturnValue_t KALMAN_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_KAL_ID, 5);
-  static constexpr ReturnValue_t KALMAN_COVARIANCE_INVERSION_FAILED =
-      returnvalue::makeCode(IF_KAL_ID, 6);
-  static constexpr ReturnValue_t KALMAN_INITIALIZED = returnvalue::makeCode(IF_KAL_ID, 7);
-  static constexpr ReturnValue_t KALMAN_RUNNING = returnvalue::makeCode(IF_KAL_ID, 8);
+  static constexpr uint8_t IF_MEKF_ID = CLASS_ID::ACS_MEKF;
+  static constexpr ReturnValue_t MEKF_UNINITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 2);
+  static constexpr ReturnValue_t MEKF_NO_GYR_DATA = returnvalue::makeCode(IF_MEKF_ID, 3);
+  static constexpr ReturnValue_t MEKF_NO_MODEL_VECTORS = returnvalue::makeCode(IF_MEKF_ID, 4);
+  static constexpr ReturnValue_t MEKF_NO_SUS_MGM_STR_DATA = returnvalue::makeCode(IF_MEKF_ID, 5);
+  static constexpr ReturnValue_t MEKF_COVARIANCE_INVERSION_FAILED =
+      returnvalue::makeCode(IF_MEKF_ID, 6);
+  static constexpr ReturnValue_t MEKF_INITIALIZED = returnvalue::makeCode(IF_MEKF_ID, 7);
+  static constexpr ReturnValue_t MEKF_RUNNING = returnvalue::makeCode(IF_MEKF_ID, 8);
 
  private:
   /*Parameters*/

mission/controller/acs/Navigation.cpp

@@ -25,7 +25,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
                      sensorValues->strSet.caliQy.isValid() &&
                      sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
 
-  if (mekfStatus == MultiplicativeKalmanFilter::KALMAN_UNINITIALIZED) {
+  if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
     mekfStatus = multiplicativeKalmanFilter.init(
         mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
         susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),