eive/eive-obsw
eive/eive-obsw
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replaced all chained locks
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This commit is contained in:
Marius Eggert 2023-02-08 17:02:59 +01:00
parent 1d12d5f144
commit 5f9a52977b
1 changed files with 61 additions and 26 deletions
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81
mission/controller/acs/SensorValues.cpp
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@ -23,8 +23,8 @@ ReturnValue_t SensorValues::updateMgm() {
std::vector<ReturnValue_t> results; std::vector<ReturnValue_t> results;
{ {
PoolReadGuard pgMgm0(&mgm0Lis3Set); PoolReadGuard pgMgm(&mgm0Lis3Set);
results.push_back(pgMgm0.getReadResult()); results.push_back(pgMgm.getReadResult());
} }
{ {
PoolReadGuard pgMgm(&mgm1Rm3100Set); PoolReadGuard pgMgm(&mgm1Rm3100Set);
@ -51,31 +51,49 @@ ReturnValue_t SensorValues::updateMgm() {
} }
ReturnValue_t SensorValues::updateSus() { ReturnValue_t SensorValues::updateSus() {
ReturnValue_t result; std::vector<ReturnValue_t> results;
PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]), for (auto& susSet : susSets) {
pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]), {
pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]); PoolReadGuard pgSus(&susSet);
results.push_back(pgSus.getReadResult());
result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() || }
pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() || }
pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() || for (const auto& result : results) {
pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult()); if (result != returnvalue::OK) {
return result; return result;
}
}
return returnvalue::OK;
} }
ReturnValue_t SensorValues::updateGyr() { ReturnValue_t SensorValues::updateGyr() {
ReturnValue_t result; std::vector<ReturnValue_t> results;
PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet), {
pgGyr3(&gyr3L3gSet); PoolReadGuard pgGyr(&gyr0AdisSet);
results.push_back(pgGyr.getReadResult());
result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() || }
pgGyr3.getReadResult()); {
PoolReadGuard pgGyr(&gyr1L3gSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr2AdisSet);
results.push_back(pgGyr.getReadResult());
}
{
PoolReadGuard pgGyr(&gyr3L3gSet);
results.push_back(pgGyr.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result; return result;
}
}
return returnvalue::OK;
} }
ReturnValue_t SensorValues::updateStr() { ReturnValue_t SensorValues::updateStr() {
PoolReadGuard pgStr(&strSet); PoolReadGuard pgStr(&strSet);
return pgStr.getReadResult(); return pgStr.getReadResult();
} }
@ -85,12 +103,29 @@ ReturnValue_t SensorValues::updateGps() {
} }
ReturnValue_t SensorValues::updateRw() { ReturnValue_t SensorValues::updateRw() {
ReturnValue_t result; std::vector<ReturnValue_t> results;
PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set); {
PoolReadGuard pgRw(&rw1Set);
result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() || results.push_back(pgRw.getReadResult());
pgRw4.getReadResult()); }
{
PoolReadGuard pgRw(&rw2Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw3Set);
results.push_back(pgRw.getReadResult());
}
{
PoolReadGuard pgRw(&rw4Set);
results.push_back(pgRw.getReadResult());
}
for (const auto& result : results) {
if (result != returnvalue::OK) {
return result; return result;
}
}
return returnvalue::OK;
} }
ReturnValue_t SensorValues::update() { ReturnValue_t SensorValues::update() {