Merge pull request 'Store TLE presistent' (#789) from persistent-tle-store into dev-7.5.0
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Reviewed-on: #789 Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
commit
64069aa5c1
@ -19,6 +19,11 @@ will consitute of a breaking change warranting a new major release:
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## Changed
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- ACS-Board default side changed to B-Side
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- The TLE uploaded now gets stored in a file on the filesystem. It will always be stored on
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the current active SD Card. After a reboot, the TLE will be read from the filesystem.
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A filesystem change via `prefSD` on bootup, can lead to the TLE not being read, even
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though it is there.
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- Added action cmd to read the currently stored TLE.
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# [v7.4.0] 2023-11-30
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@ -175,7 +175,7 @@ void ObjectFactory::produce(void* args) {
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createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
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power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
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#endif
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createAcsController(true, enableHkSets);
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createAcsController(true, enableHkSets, *SdCardManager::instance());
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HeaterHandler* heaterHandler;
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createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
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createThermalController(*heaterHandler, true);
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@ -130,6 +130,6 @@ void ObjectFactory::produce(void* args) {
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createMiscComponents();
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createThermalController(*heaterHandler, false);
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createAcsController(true, enableHkSets);
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createAcsController(true, enableHkSets, *SdCardManager::instance());
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satsystem::init(false);
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}
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2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit b28174db249cb33b541f665270fd6af14c382351
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Subproject commit 7187f2b5cdfe163bf7ed1a8fab48900d69f4c8bf
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@ -335,8 +335,9 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
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scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
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}
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AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets) {
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auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets);
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AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets,
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SdCardMountedIF& mountedIF) {
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auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets, mountedIF);
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if (connectSubsystem) {
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acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
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}
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@ -31,7 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,
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void gpioChecker(ReturnValue_t result, std::string output);
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AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
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AcsController* createAcsController(bool connectSubsystem, bool enableHkSets,
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SdCardMountedIF& mountedIF);
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PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);
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} // namespace ObjectFactory
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@ -73,6 +73,8 @@ static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIG
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static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
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//! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old.
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static constexpr Event TLE_TOO_OLD = MAKE_EVENT(8, severity::INFO);
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//! [EXPORT] : [COMMENT] The TLE could not be read from the filesystem.
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static constexpr Event TLE_FILE_READ_FAILED = MAKE_EVENT(9, severity::LOW);
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extern const char* getModeStr(AcsMode mode);
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@ -1,12 +1,9 @@
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#include "AcsController.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <mission/acs/defs.h>
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#include <mission/config/torquer.h>
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AcsController::AcsController(object_id_t objectId, bool enableHkSets)
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AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF &sdcMan)
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: ExtendedControllerBase(objectId),
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enableHkSets(enableHkSets),
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sdcMan(sdcMan),
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fusedRotationEstimation(&acsParameters),
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guidance(&acsParameters),
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safeCtrl(&acsParameters),
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@ -22,8 +19,7 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
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mekfData(this),
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ctrlValData(this),
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actuatorCmdData(this),
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fusedRotRateData(this),
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tleData(this) {}
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fusedRotRateData(this) {}
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ReturnValue_t AcsController::initialize() {
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ReturnValue_t result = parameterHelper.initialize();
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@ -67,22 +63,27 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
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if (size != 69 * 2) {
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return INVALID_PARAMETERS;
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}
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ReturnValue_t result = navigation.updateTle(data, data + 69);
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ReturnValue_t result = updateTle(data, data + 69, false);
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if (result != returnvalue::OK) {
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PoolReadGuard pg(&tleData);
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navigation.updateTle(tleData.line1.value, tleData.line2.value);
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return result;
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}
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{
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PoolReadGuard pg(&tleData);
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if (pg.getReadResult() == returnvalue::OK) {
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std::memcpy(tleData.line1.value, data, 69);
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std::memcpy(tleData.line2.value, data + 69, 69);
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tleData.setValidity(true, true);
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}
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result = writeTleToFs(data);
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if (result != returnvalue::OK) {
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return result;
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}
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return HasActionsIF::EXECUTION_FINISHED;
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}
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case (READ_TLE): {
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uint8_t tle[69 * 2] = {};
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uint8_t line2[69] = {};
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ReturnValue_t result = readTleFromFs(tle, line2);
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if (result != returnvalue::OK) {
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return result;
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}
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std::memcpy(tle + 69, line2, 69);
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actionHelper.reportData(commandedBy, actionId, tle, 69 * 2);
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return EXECUTION_FINISHED;
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}
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default: {
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return HasActionsIF::INVALID_ACTION_ID;
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}
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@ -130,6 +131,10 @@ void AcsController::performControlOperation() {
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}
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case InternalState::INITIAL_DELAY: {
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if (initialCountdown.hasTimedOut()) {
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uint8_t line1[69] = {};
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uint8_t line2[69] = {};
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readTleFromFs(line1, line2);
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updateTle(line1, line2, true);
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internalState = InternalState::READY;
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}
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return;
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@ -801,9 +806,6 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
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localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
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localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
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poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
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// TLE Data
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localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1);
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localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2);
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return returnvalue::OK;
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}
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@ -1031,6 +1033,67 @@ void AcsController::copySusData() {
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}
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}
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ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line2, bool fromFile) {
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ReturnValue_t result = navigation.updateTle(line1, line2);
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if (result != returnvalue::OK) {
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if (not fromFile) {
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uint8_t fileLine1[69] = {};
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uint8_t fileLine2[69] = {};
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readTleFromFs(fileLine1, fileLine2);
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navigation.updateTle(fileLine1, fileLine2);
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}
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return result;
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}
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return returnvalue::OK;
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}
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ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
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auto mntPrefix = sdcMan.getCurrentMountPrefix();
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if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
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return returnvalue::FAILED;
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}
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std::string path = mntPrefix + TLE_FILE;
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// Clear existing TLE from file
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std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc);
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if (tleFile.is_open()) {
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tleFile.write(reinterpret_cast<const char *>(tle), 69);
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tleFile << "\n";
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tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
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} else {
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return WRITE_FILE_FAILED;
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}
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tleFile.close();
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return returnvalue::OK;
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}
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ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
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auto mntPrefix = sdcMan.getCurrentMountPrefix();
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if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
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return returnvalue::FAILED;
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}
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std::string path = mntPrefix + TLE_FILE;
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std::error_code e;
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if (std::filesystem::exists(path, e)) {
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// Read existing TLE from file
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std::fstream tleFile = std::fstream(path.c_str(), std::fstream::in);
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if (tleFile.is_open()) {
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std::string tleLine1, tleLine2;
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getline(tleFile, tleLine1);
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std::memcpy(line1, tleLine1.c_str(), 69);
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getline(tleFile, tleLine2);
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std::memcpy(line2, tleLine2.c_str(), 69);
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} else {
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triggerEvent(acs::TLE_FILE_READ_FAILED);
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return READ_FILE_FAILED;
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}
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tleFile.close();
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} else {
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triggerEvent(acs::TLE_FILE_READ_FAILED);
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return READ_FILE_FAILED;
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}
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return returnvalue::OK;
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}
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void AcsController::copyGyrData() {
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{
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PoolReadGuard pg(&sensorValues.gyr0AdisSet);
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@ -4,15 +4,18 @@
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#include <eive/objects.h>
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#include <fsfw/controller/ExtendedControllerBase.h>
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#include <fsfw/coordinates/Sgp4Propagator.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include <fsfw/globalfunctions/math/VectorOperations.h>
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#include <fsfw/health/HealthTable.h>
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#include <fsfw/parameters/ParameterHelper.h>
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#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
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#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
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#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
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#include <mission/acs/defs.h>
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#include <mission/acs/imtqHelpers.h>
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#include <mission/acs/rwHelpers.h>
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#include <mission/acs/susMax1227Helpers.h>
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#include <mission/config/torquer.h>
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#include <mission/controller/acs/ActuatorCmd.h>
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#include <mission/controller/acs/FusedRotationEstimation.h>
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#include <mission/controller/acs/Guidance.h>
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@ -23,13 +26,18 @@
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#include <mission/controller/acs/control/PtgCtrl.h>
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#include <mission/controller/acs/control/SafeCtrl.h>
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#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
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#include <mission/memory/SdCardMountedIF.h>
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#include <mission/utility/trace.h>
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#include <filesystem>
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#include <fstream>
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#include <optional>
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class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
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public:
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static constexpr dur_millis_t INIT_DELAY = 500;
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AcsController(object_id_t objectId, bool enableHkSets);
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AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);
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MessageQueueId_t getCommandQueue() const;
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ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
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@ -49,6 +57,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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bool enableHkSets = false;
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SdCardMountedIF& sdcMan;
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AcsParameters acsParameters;
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SensorProcessing sensorProcessing;
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FusedRotationEstimation fusedRotationEstimation;
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@ -87,10 +97,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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static const DeviceCommandId_t RESET_MEKF = 0x1;
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static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
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static const DeviceCommandId_t UPDATE_TLE = 0x3;
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static const DeviceCommandId_t READ_TLE = 0x4;
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static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
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//! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
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static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
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//! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
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static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
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//! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
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static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2);
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ReturnValue_t initialize() override;
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ReturnValue_t handleCommandMessage(CommandMessage* message) override;
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@ -125,6 +140,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
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const double* tgtRotRate);
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ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
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ReturnValue_t writeTleToFs(const uint8_t* tle);
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ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);
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const std::string TLE_FILE = "/conf/tle.txt";
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/* ACS Sensor Values */
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ACS::SensorValues sensorValues;
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@ -238,11 +259,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
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PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
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PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
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// TLE Dataset
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acsctrl::TleData tleData;
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PoolEntry<uint8_t> line1 = PoolEntry<uint8_t>(69);
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PoolEntry<uint8_t> line2 = PoolEntry<uint8_t>(69);
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// Initial delay to make sure all pool variables have been initialized their owners
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Countdown initialCountdown = Countdown(INIT_DELAY);
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};
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@ -110,9 +110,6 @@ enum PoolIds : lp_id_t {
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ROT_RATE_ORTHOGONAL,
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ROT_RATE_PARALLEL,
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ROT_RATE_TOTAL,
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// TLE
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TLE_LINE_1,
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TLE_LINE_2,
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};
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static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
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@ -126,7 +123,6 @@ static constexpr uint8_t MEKF_SET_ENTRIES = 3;
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static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
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static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
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static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
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static constexpr uint8_t TLE_SET_ENTRIES = 2;
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/**
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* @brief Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
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@ -299,16 +295,6 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
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private:
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};
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class TleData : public StaticLocalDataSet<TLE_SET_ENTRIES> {
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public:
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TleData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, TLE_SET) {}
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lp_vec_t<uint8_t, 69> line1 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
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lp_vec_t<uint8_t, 69> line2 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
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private:
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};
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} // namespace acsctrl
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#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCTRLDEFINITIONS_H_ */
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