Merge branch 'develop' into eggert/acs
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This commit is contained in:
commit
6567fd1023
49
CHANGELOG.md
49
CHANGELOG.md
|
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@ -17,10 +17,59 @@ change warranting a new major release:
|
|||
|
||||
# [unreleased]
|
||||
|
||||
# [v1.25.0] 2023-02-06
|
||||
|
||||
eive-tmtc version: v2.12.0
|
||||
|
||||
## Changed
|
||||
|
||||
- Updated Subsystem mode IDs to avoid clashes with regular device handler modes.
|
||||
|
||||
## Fixed
|
||||
|
||||
- `GpsHyperionLinuxController`: Fix `gpsd` polling by continuously calling `gps_read` in one cycle
|
||||
until it does not have any data left anymore. Also, the data is now polled in a permanent loop,
|
||||
where controller handling is done on 0.2 second timeouts.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/368
|
||||
|
||||
# [v1.24.0] 2023-02-03
|
||||
|
||||
- eive-tmtc v2.10.0
|
||||
- `AcsSubsystem`: OFF, SAFE and DETUMBLE mode were tested. Auto-transitions SAFE <-> DETUMBLE tested
|
||||
as well. Other modes still need to be tested.
|
||||
|
||||
## Fixed
|
||||
|
||||
- `AcsController`: Parameter fix in `DetumbleParameter`.
|
||||
- Set GPS set entries to invalid on MODE_OFF command.
|
||||
- Bump FSFW for bugfix in `setNormalDatapoolEntriesInvalid` where the validity was not set to false
|
||||
properly
|
||||
- Fixed usage of uint instead of int for commanding MTQ. Also fixed the range in which the ACS Ctrl
|
||||
commands the MTQ to match the actual commanding range.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/363
|
||||
- Regression: Revert swap of SUS0 and SUS6. Those devices are on separate power lines. In a
|
||||
future fix, the calibration matrices of SUS0 and SUS6 will be swapped.
|
||||
|
||||
## Changed
|
||||
|
||||
- `ACS::SensorValues` is now an ACS controller member to reduce the risk of stack overflow.
|
||||
- ACS Subsystem Sequence Mode IDs updated.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
|
||||
TMTC PR: https://egit.irs.uni-stuttgart.de/eive/eive-tmtc/pulls/130
|
||||
- Update and tweak ACS subsystem to represent the actual ACS design
|
||||
- Event handling in the ACS subsystem for events triggered by the ACS controller.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365
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|
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# [v1.23.1] 2023-02-02
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|
||||
TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3
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||||
|
||||
## Fixed
|
||||
|
||||
- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00)
|
||||
instead of unsegmented (0b11).
|
||||
- Bugfix in FSFW where the MGM RM3100 value Z axis data was parse incorrectly.
|
||||
PR: https://egit.irs.uni-stuttgart.de/eive/fsfw/pulls/123
|
||||
|
||||
# [v1.23.0] 2023-02-01
|
||||
|
||||
|
|
|
|||
|
|
@ -10,7 +10,7 @@
|
|||
cmake_minimum_required(VERSION 3.13)
|
||||
|
||||
set(OBSW_VERSION_MAJOR_IF_GIT_FAILS 1)
|
||||
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 23)
|
||||
set(OBSW_VERSION_MINOR_IF_GIT_FAILS 25)
|
||||
set(OBSW_VERSION_REVISION_IF_GIT_FAILS 0)
|
||||
|
||||
# set(CMAKE_VERBOSE TRUE)
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@
|
|||
#include "linux/boardtest/UartTestClass.h"
|
||||
#include "linux/callbacks/gpioCallbacks.h"
|
||||
#include "linux/csp/CspComIF.h"
|
||||
#include "linux/devices/GPSHyperionLinuxController.h"
|
||||
#include "linux/devices/GpsHyperionLinuxController.h"
|
||||
#include "linux/devices/ScexUartReader.h"
|
||||
#include "linux/devices/devicedefinitions/PlocMPSoCDefinitions.h"
|
||||
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
|
||||
|
|
@ -474,7 +474,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
|
|||
RESET_ARGS_GNSS.gpioComIF = gpioComIF;
|
||||
RESET_ARGS_GNSS.waitPeriodMs = 100;
|
||||
auto gpsCtrl =
|
||||
new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
|
||||
new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
|
||||
gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
|
||||
|
||||
AcsBoardHelper acsBoardHelper = AcsBoardHelper(
|
||||
|
|
|
|||
|
|
@ -173,54 +173,25 @@ void scheduling::initTasks() {
|
|||
}
|
||||
#endif
|
||||
|
||||
PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
|
||||
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
#if OBSW_ADD_GPS_CTRL == 1
|
||||
result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
|
||||
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
|
||||
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
|
||||
}
|
||||
#endif /* OBSW_ADD_GPS_CTRL */
|
||||
|
||||
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
|
||||
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
static_cast<void>(acsSysTask);
|
||||
// To be removed soon because it will be part of the ACS PST.
|
||||
#if OBSW_ADD_ACS_CTRL == 1
|
||||
acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
|
||||
acsSysTask->addComponent(objects::ACS_CONTROLLER);
|
||||
if (result != returnvalue::OK) {
|
||||
scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
|
||||
}
|
||||
#endif
|
||||
#if OBSW_Q7S_EM == 1
|
||||
acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
|
||||
acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
|
||||
acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
|
||||
acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
|
||||
acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
|
||||
acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
|
||||
acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
|
||||
acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
|
||||
acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
|
||||
acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
|
||||
acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
|
||||
acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
|
||||
acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
|
||||
acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
|
||||
acsCtrlTask->addComponent(objects::STAR_TRACKER);
|
||||
acsCtrlTask->addComponent(objects::RW1);
|
||||
acsCtrlTask->addComponent(objects::RW2);
|
||||
acsCtrlTask->addComponent(objects::RW3);
|
||||
acsCtrlTask->addComponent(objects::RW4);
|
||||
#endif
|
||||
|
||||
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
|
||||
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
|
||||
static_cast<void>(acsSysTask);
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
|
||||
if (result != returnvalue::OK) {
|
||||
|
|
@ -244,6 +215,35 @@ void scheduling::initTasks() {
|
|||
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
|
||||
}
|
||||
|
||||
#if OBSW_Q7S_EM == 1
|
||||
acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
|
||||
acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
|
||||
acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
|
||||
acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
|
||||
acsSysTask->addComponent(objects::IMTQ_HANDLER);
|
||||
acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
|
||||
acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
|
||||
acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
|
||||
acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
|
||||
acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
|
||||
acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
|
||||
acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
|
||||
acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
|
||||
acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
|
||||
acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
|
||||
acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
|
||||
acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
|
||||
acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
|
||||
acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
|
||||
acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
|
||||
acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
|
||||
acsSysTask->addComponent(objects::GPS_CONTROLLER);
|
||||
acsSysTask->addComponent(objects::STAR_TRACKER);
|
||||
acsSysTask->addComponent(objects::RW1);
|
||||
acsSysTask->addComponent(objects::RW2);
|
||||
acsSysTask->addComponent(objects::RW3);
|
||||
acsSysTask->addComponent(objects::RW4);
|
||||
#endif
|
||||
#if OBSW_ADD_RTD_DEVICES == 1
|
||||
PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
|
||||
"TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
|
||||
|
|
@ -414,7 +414,9 @@ void scheduling::initTasks() {
|
|||
strHelperTask->startTask();
|
||||
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
|
||||
|
||||
acsCtrlTask->startTask();
|
||||
#if OBSW_ADD_GPS_CTRL == 1
|
||||
gpsTask->startTask();
|
||||
#endif
|
||||
acsSysTask->startTask();
|
||||
#if OBSW_ADD_RTD_DEVICES == 1
|
||||
tcsPollingTask->startTask();
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@
|
|||
|
||||
namespace addresses {
|
||||
/* Logical addresses have uint32_t datatype */
|
||||
enum logicalAddresses : address_t {
|
||||
enum LogicAddress : address_t {
|
||||
PCDU,
|
||||
|
||||
MGM_0_LIS3 = objects::MGM_0_LIS3_HANDLER,
|
||||
|
|
|
|||
|
|
@ -50,7 +50,8 @@ enum commonObjects : uint32_t {
|
|||
TMP1075_HANDLER_PLPCDU_0 = 0x44420006,
|
||||
TMP1075_HANDLER_PLPCDU_1 = 0x44420007,
|
||||
TMP1075_HANDLER_IF_BOARD = 0x44420008,
|
||||
TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
|
||||
// Does not exist anymore
|
||||
// TMP1075_HANDLER_OBC_IF_BOARD = 0x44420009,
|
||||
PCDU_HANDLER = 0x442000A1,
|
||||
P60DOCK_HANDLER = 0x44250000,
|
||||
PDU1_HANDLER = 0x44250001,
|
||||
|
|
|
|||
2
fsfw
2
fsfw
|
|
@ -1 +1 @@
|
|||
Subproject commit 01cc619e67b84cef514b045377771ff1e11caf80
|
||||
Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17
|
||||
|
|
@ -84,7 +84,8 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
|
|||
10800;0x2a30;STORE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
|
||||
10801;0x2a31;MSG_QUEUE_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
|
||||
10802;0x2a32;SERIALIZATION_ERROR;LOW;;fsfw/src/fsfw/cfdp/handler/defs.h
|
||||
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/controller/AcsController.h
|
||||
11200;0x2bc0;SAFE_RATE_VIOLATION;MEDIUM;;mission/acsDefs.h
|
||||
11201;0x2bc1;SAFE_RATE_RECOVERY;MEDIUM;;mission/acsDefs.h
|
||||
11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;;mission/devices/devicedefinitions/powerDefinitions.h
|
||||
|
|
|
|||
|
|
|
@ -1,7 +1,7 @@
|
|||
/**
|
||||
* @brief Auto-generated event translation file. Contains 244 translations.
|
||||
* @brief Auto-generated event translation file. Contains 245 translations.
|
||||
* @details
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
|
|
@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
|
|||
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
|
||||
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
|
||||
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
|
||||
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
|
||||
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
|
||||
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
|
||||
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
|
||||
|
|
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
|
|||
return SERIALIZATION_ERROR_STRING;
|
||||
case (11200):
|
||||
return SAFE_RATE_VIOLATION_STRING;
|
||||
case (11201):
|
||||
return SAFE_RATE_RECOVERY_STRING;
|
||||
case (11300):
|
||||
return SWITCH_CMD_SENT_STRING;
|
||||
case (11301):
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 152 translations.
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -79,11 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
|
|||
#if OBSW_ADD_SUN_SENSORS == 1
|
||||
SusFdir* fdir = nullptr;
|
||||
std::array<SusHandler*, 12> susHandlers = {};
|
||||
gpioId_t gpioId = gpioIds::CS_SUS_0;
|
||||
if (swap0And6) {
|
||||
gpioId = gpioIds::CS_SUS_6;
|
||||
}
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
|
||||
SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[0] =
|
||||
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
|
|
@ -125,12 +121,8 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
|
|||
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
|
||||
susHandlers[5]->setCustomFdir(fdir);
|
||||
|
||||
gpioId = gpioIds::CS_SUS_6;
|
||||
if (swap0And6) {
|
||||
gpioId = gpioIds::CS_SUS_0;
|
||||
}
|
||||
spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
|
||||
spi::SUS_MAX1227_SPI_FREQ);
|
||||
spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
|
||||
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
|
||||
susHandlers[6] =
|
||||
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
|
||||
fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
if(EIVE_BUILD_GPSD_GPS_HANDLER)
|
||||
target_sources(${OBSW_NAME} PRIVATE GPSHyperionLinuxController.cpp)
|
||||
target_sources(${OBSW_NAME} PRIVATE GpsHyperionLinuxController.cpp)
|
||||
endif()
|
||||
|
||||
target_sources(
|
||||
|
|
|
|||
|
|
@ -1,5 +1,6 @@
|
|||
#include "GPSHyperionLinuxController.h"
|
||||
#include "GpsHyperionLinuxController.h"
|
||||
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <fsfw/timemanager/Stopwatch.h>
|
||||
|
||||
#include "OBSWConfig.h"
|
||||
|
|
@ -16,26 +17,20 @@
|
|||
#include <cmath>
|
||||
#include <ctime>
|
||||
|
||||
GPSHyperionLinuxController::GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
|
||||
GpsHyperionLinuxController::GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
|
||||
bool debugHyperionGps)
|
||||
: ExtendedControllerBase(objectId), gpsSet(this), debugHyperionGps(debugHyperionGps) {
|
||||
timeUpdateCd.resetTimer();
|
||||
}
|
||||
|
||||
GPSHyperionLinuxController::~GPSHyperionLinuxController() {
|
||||
GpsHyperionLinuxController::~GpsHyperionLinuxController() {
|
||||
gps_stream(&gps, WATCH_DISABLE, nullptr);
|
||||
gps_close(&gps);
|
||||
}
|
||||
|
||||
void GPSHyperionLinuxController::performControlOperation() {
|
||||
#ifdef FSFW_OSAL_LINUX
|
||||
readGpsDataFromGpsd();
|
||||
#endif
|
||||
}
|
||||
LocalPoolDataSetBase *GpsHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
|
||||
|
||||
LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) { return &gpsSet; }
|
||||
|
||||
ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
ReturnValue_t GpsHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t *msToReachTheMode) {
|
||||
if (not modeCommanded) {
|
||||
if (mode == MODE_ON or mode == MODE_OFF) {
|
||||
|
|
@ -48,10 +43,13 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_
|
|||
return HasModesIF::INVALID_MODE;
|
||||
}
|
||||
}
|
||||
if (mode == MODE_OFF) {
|
||||
gpsSet.setValidity(false, true);
|
||||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
|
||||
ReturnValue_t GpsHyperionLinuxController::executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy,
|
||||
const uint8_t *data, size_t size) {
|
||||
switch (actionId) {
|
||||
|
|
@ -69,7 +67,7 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
|
|||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
|
||||
ReturnValue_t GpsHyperionLinuxController::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry<double>({0.0}));
|
||||
localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry<double>({0.0}));
|
||||
|
|
@ -89,13 +87,27 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
|
|||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
void GPSHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
|
||||
void GpsHyperionLinuxController::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
|
||||
void *args) {
|
||||
this->resetCallback = resetCallback;
|
||||
resetCallbackArgs = args;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHyperionLinuxController::initialize() {
|
||||
ReturnValue_t GpsHyperionLinuxController::performOperation(uint8_t opCode) {
|
||||
handleQueue();
|
||||
poolManager.performHkOperation();
|
||||
while (true) {
|
||||
bool callAgainImmediately = readGpsDataFromGpsd();
|
||||
if (not callAgainImmediately) {
|
||||
handleQueue();
|
||||
poolManager.performHkOperation();
|
||||
}
|
||||
}
|
||||
// Should never be reached.
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GpsHyperionLinuxController::initialize() {
|
||||
ReturnValue_t result = ExtendedControllerBase::initialize();
|
||||
if (result != returnvalue::OK) {
|
||||
return result;
|
||||
|
|
@ -115,6 +127,7 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
|
|||
if (retval != 0) {
|
||||
openError("Socket", retval);
|
||||
}
|
||||
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
|
||||
} else if (readMode == ReadModes::SHM) {
|
||||
int retval = gps_open(GPSD_SHARED_MEMORY, "", &gps);
|
||||
if (retval != 0) {
|
||||
|
|
@ -124,57 +137,58 @@ ReturnValue_t GPSHyperionLinuxController::initialize() {
|
|||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
|
||||
ReturnValue_t GpsHyperionLinuxController::handleCommandMessage(CommandMessage *message) {
|
||||
return ExtendedControllerBase::handleCommandMessage(message);
|
||||
}
|
||||
|
||||
#ifdef FSFW_OSAL_LINUX
|
||||
void GpsHyperionLinuxController::performControlOperation() {}
|
||||
|
||||
void GPSHyperionLinuxController::readGpsDataFromGpsd() {
|
||||
auto readError = [&](int error) {
|
||||
bool GpsHyperionLinuxController::readGpsDataFromGpsd() {
|
||||
auto readError = [&]() {
|
||||
if (gpsReadFailedSwitch) {
|
||||
gpsReadFailedSwitch = false;
|
||||
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: Reading GPS data failed | "
|
||||
"Error "
|
||||
<< error << " | " << gps_errstr(error) << std::endl;
|
||||
<< errno << " | " << gps_errstr(errno) << std::endl;
|
||||
}
|
||||
};
|
||||
currentClientBuf = gps_data(&gps);
|
||||
if (readMode == ReadModes::SOCKET) {
|
||||
gps_stream(&gps, WATCH_ENABLE | WATCH_JSON, nullptr);
|
||||
// Exit if no data is seen in 2 seconds (should not happen)
|
||||
if (not gps_waiting(&gps, 2000000)) {
|
||||
return;
|
||||
}
|
||||
int result = gps_read(&gps);
|
||||
if (result == -1) {
|
||||
readError(result);
|
||||
return;
|
||||
}
|
||||
if (MODE_SET != (MODE_SET & gps.set)) {
|
||||
if (noModeSetCntr >= 0) {
|
||||
noModeSetCntr++;
|
||||
// Perform other necessary handling if not data seen for 0.2 seconds.
|
||||
if (gps_waiting(&gps, 200000)) {
|
||||
if (-1 == gps_read(&gps)) {
|
||||
readError();
|
||||
return false;
|
||||
}
|
||||
if (noModeSetCntr == 10) {
|
||||
// TODO: Trigger event here
|
||||
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
|
||||
"read for 10 consecutive reads"
|
||||
<< std::endl;
|
||||
noModeSetCntr = -1;
|
||||
if (MODE_SET != (MODE_SET & gps.set)) {
|
||||
if (mode == MODE_ON) {
|
||||
if (noModeSetCntr >= 0) {
|
||||
noModeSetCntr++;
|
||||
}
|
||||
if (noModeSetCntr == 10) {
|
||||
// TODO: Trigger event here
|
||||
sif::warning << "GPSHyperionHandler::readGpsDataFromGpsd: No mode could be "
|
||||
"read for 10 consecutive reads"
|
||||
<< std::endl;
|
||||
noModeSetCntr = -1;
|
||||
}
|
||||
// did not event get mode, nothing to see.
|
||||
return false;
|
||||
}
|
||||
}
|
||||
noModeSetCntr = 0;
|
||||
} else {
|
||||
return false;
|
||||
}
|
||||
noModeSetCntr = 0;
|
||||
} else if (readMode == ReadModes::SHM) {
|
||||
int result = gps_read(&gps);
|
||||
if (result == -1) {
|
||||
readError(result);
|
||||
return;
|
||||
}
|
||||
sif::error << "GpsHyperionLinuxController::readGpsDataFromGpsdPermanentLoop: "
|
||||
"SHM read not implemented"
|
||||
<< std::endl;
|
||||
}
|
||||
handleGpsRead();
|
||||
handleGpsReadData();
|
||||
return true;
|
||||
}
|
||||
|
||||
ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
|
||||
ReturnValue_t GpsHyperionLinuxController::handleGpsReadData() {
|
||||
PoolReadGuard pg(&gpsSet);
|
||||
if (pg.getReadResult() != returnvalue::OK) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
|
|
@ -311,5 +325,3 @@ ReturnValue_t GPSHyperionLinuxController::handleGpsRead() {
|
|||
}
|
||||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -20,18 +20,19 @@
|
|||
* This device handler can only be used on Linux system where the gpsd daemon with shared memory
|
||||
* export is running.
|
||||
*/
|
||||
class GPSHyperionLinuxController : public ExtendedControllerBase {
|
||||
class GpsHyperionLinuxController : public ExtendedControllerBase {
|
||||
public:
|
||||
static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 60 * 60 * 5;
|
||||
|
||||
enum ReadModes { SHM = 0, SOCKET = 1 };
|
||||
|
||||
GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
|
||||
GpsHyperionLinuxController(object_id_t objectId, object_id_t parentId,
|
||||
bool debugHyperionGps = false);
|
||||
virtual ~GPSHyperionLinuxController();
|
||||
virtual ~GpsHyperionLinuxController();
|
||||
|
||||
using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
|
||||
|
||||
ReturnValue_t performOperation(uint8_t opCode) override;
|
||||
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
|
||||
ReturnValue_t handleCommandMessage(CommandMessage* message) override;
|
||||
void performControlOperation() override;
|
||||
|
|
@ -49,7 +50,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
|
|||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
|
||||
ReturnValue_t handleGpsRead();
|
||||
ReturnValue_t handleGpsReadData();
|
||||
|
||||
private:
|
||||
GpsPrimaryDataset gpsSet;
|
||||
|
|
@ -66,7 +67,9 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
|
|||
uint32_t timeIsConstantCounter = 0;
|
||||
Countdown timeUpdateCd = Countdown(60);
|
||||
|
||||
void readGpsDataFromGpsd();
|
||||
// Returns true if the function should be called again or false if other
|
||||
// controller handling can be done.
|
||||
bool readGpsDataFromGpsd();
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
/**
|
||||
* @brief Auto-generated event translation file. Contains 244 translations.
|
||||
* @brief Auto-generated event translation file. Contains 245 translations.
|
||||
* @details
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateEvents.h"
|
||||
|
||||
|
|
@ -91,6 +91,7 @@ const char *STORE_ERROR_STRING = "STORE_ERROR";
|
|||
const char *MSG_QUEUE_ERROR_STRING = "MSG_QUEUE_ERROR";
|
||||
const char *SERIALIZATION_ERROR_STRING = "SERIALIZATION_ERROR";
|
||||
const char *SAFE_RATE_VIOLATION_STRING = "SAFE_RATE_VIOLATION";
|
||||
const char *SAFE_RATE_RECOVERY_STRING = "SAFE_RATE_RECOVERY";
|
||||
const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
|
||||
const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
|
||||
const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
|
||||
|
|
@ -419,6 +420,8 @@ const char *translateEvents(Event event) {
|
|||
return SERIALIZATION_ERROR_STRING;
|
||||
case (11200):
|
||||
return SAFE_RATE_VIOLATION_STRING;
|
||||
case (11201):
|
||||
return SAFE_RATE_RECOVERY_STRING;
|
||||
case (11300):
|
||||
return SWITCH_CMD_SENT_STRING;
|
||||
case (11301):
|
||||
|
|
|
|||
|
|
@ -2,7 +2,7 @@
|
|||
* @brief Auto-generated object translation file.
|
||||
* @details
|
||||
* Contains 152 translations.
|
||||
* Generated on: 2023-02-01 19:42:11
|
||||
* Generated on: 2023-02-03 10:52:53
|
||||
*/
|
||||
#include "translateObjects.h"
|
||||
|
||||
|
|
|
|||
28
mission/acsDefs.h
Normal file
28
mission/acsDefs.h
Normal file
|
|
@ -0,0 +1,28 @@
|
|||
#ifndef MISSION_ACSDEFS_H_
|
||||
#define MISSION_ACSDEFS_H_
|
||||
|
||||
#include <eive/eventSubsystemIds.h>
|
||||
#include <fsfw/modes/HasModesIF.h>
|
||||
|
||||
namespace acs {
|
||||
|
||||
enum CtrlSubmode {
|
||||
OFF = HasModesIF::MODE_OFF,
|
||||
SAFE = 10,
|
||||
DETUMBLE = 11,
|
||||
IDLE = 12,
|
||||
PTG_TARGET_NADIR = 13,
|
||||
PTG_TARGET = 14,
|
||||
PTG_TARGET_GS = 15,
|
||||
PTG_TARGET_INERTIAL = 16,
|
||||
};
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
|
||||
//!< The limits for the rotation in safe mode were violated.
|
||||
static const Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
|
||||
//!< The system has recovered from a safe rate rotation violation.
|
||||
static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
|
||||
|
||||
} // namespace acs
|
||||
|
||||
#endif /* MISSION_ACSDEFS_H_ */
|
||||
|
|
@ -10,11 +10,11 @@ enum class Datarate : uint8_t {
|
|||
};
|
||||
|
||||
enum Submode : uint8_t {
|
||||
RX_ONLY,
|
||||
RX_AND_TX_DEFAULT_DATARATE,
|
||||
RX_AND_TX_LOW_DATARATE,
|
||||
RX_AND_TX_HIGH_DATARATE,
|
||||
RX_AND_TX_CW,
|
||||
RX_ONLY = 10,
|
||||
RX_AND_TX_DEFAULT_DATARATE = 11,
|
||||
RX_AND_TX_LOW_DATARATE = 12,
|
||||
RX_AND_TX_HIGH_DATARATE = 13,
|
||||
RX_AND_TX_CW = 14,
|
||||
NUM_SUBMODES
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -2,6 +2,7 @@
|
|||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
|
||||
#include "mission/acsDefs.h"
|
||||
#include "mission/config/torquer.h"
|
||||
|
||||
AcsController::AcsController(object_id_t objectId)
|
||||
|
|
@ -64,17 +65,17 @@ void AcsController::performControlOperation() {
|
|||
case InternalState::READY: {
|
||||
if (mode != MODE_OFF) {
|
||||
switch (submode) {
|
||||
case SUBMODE_SAFE:
|
||||
case acs::SAFE:
|
||||
performSafe();
|
||||
break;
|
||||
case SUBMODE_DETUMBLE:
|
||||
case acs::DETUMBLE:
|
||||
performDetumble();
|
||||
break;
|
||||
case SUBMODE_IDLE:
|
||||
case SUBMODE_PTG_TARGET:
|
||||
case SUBMODE_PTG_TARGET_GS:
|
||||
case SUBMODE_PTG_NADIR:
|
||||
case SUBMODE_PTG_INERTIAL:
|
||||
case acs::IDLE:
|
||||
case acs::PTG_TARGET:
|
||||
case acs::PTG_TARGET_GS:
|
||||
case acs::PTG_TARGET_NADIR:
|
||||
case acs::PTG_TARGET_INERTIAL:
|
||||
performPointingCtrl();
|
||||
break;
|
||||
}
|
||||
|
|
@ -168,17 +169,18 @@ void AcsController::performSafe() {
|
|||
detumbleCounter = 0;
|
||||
}
|
||||
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
|
||||
submode = SUBMODE_DETUMBLE;
|
||||
detumbleCounter = 0;
|
||||
triggerEvent(SAFE_RATE_VIOLATION);
|
||||
// Triggers detubmle mode transition in subsystem
|
||||
triggerEvent(acs::SAFE_RATE_VIOLATION);
|
||||
}
|
||||
|
||||
{
|
||||
PoolReadGuard pg(&actuatorCmdData);
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(int32_t));
|
||||
int32_t zeroVec[4] = {0, 0, 0, 0};
|
||||
std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
|
||||
actuatorCmdData.rwTargetTorque.setValid(false);
|
||||
std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
|
||||
std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
|
||||
actuatorCmdData.rwTargetSpeed.setValid(false);
|
||||
std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
|
||||
actuatorCmdData.mtqTargetDipole.setValid(true);
|
||||
|
|
@ -225,8 +227,9 @@ void AcsController::performDetumble() {
|
|||
detumbleCounter = 0;
|
||||
}
|
||||
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
|
||||
submode = SUBMODE_SAFE;
|
||||
detumbleCounter = 0;
|
||||
// Triggers safe mode transition in subsystem
|
||||
triggerEvent(acs::SAFE_RATE_RECOVERY);
|
||||
}
|
||||
|
||||
int16_t cmdDipolUnitsInt[3] = {0, 0, 0};
|
||||
|
|
@ -436,8 +439,8 @@ void AcsController::performPointingCtrl() {
|
|||
// }
|
||||
}
|
||||
|
||||
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) {
|
||||
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
// MGM Raw
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0VecRaw);
|
||||
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1VecRaw);
|
||||
|
|
@ -523,7 +526,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool& localD
|
|||
return returnvalue::OK;
|
||||
}
|
||||
|
||||
LocalPoolDataSetBase* AcsController::getDataSetHandle(sid_t sid) {
|
||||
LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
|
||||
switch (sid.ownerSetId) {
|
||||
case acsctrl::MGM_SENSOR_DATA:
|
||||
return &mgmDataRaw;
|
||||
|
|
@ -552,7 +555,7 @@ LocalPoolDataSetBase* AcsController::getDataSetHandle(sid_t sid) {
|
|||
}
|
||||
|
||||
ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t* msToReachTheMode) {
|
||||
uint32_t *msToReachTheMode) {
|
||||
if (mode == MODE_OFF) {
|
||||
if (submode == SUBMODE_NONE) {
|
||||
return returnvalue::OK;
|
||||
|
|
@ -569,6 +572,10 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
|
|||
return INVALID_MODE;
|
||||
}
|
||||
|
||||
void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
|
||||
|
||||
void AcsController::announceMode(bool recursive) {}
|
||||
|
||||
void AcsController::copyMgmData() {
|
||||
ACS::SensorValues sensorValues;
|
||||
{
|
||||
|
|
@ -616,7 +623,6 @@ void AcsController::copyMgmData() {
|
|||
}
|
||||
|
||||
void AcsController::copySusData() {
|
||||
ACS::SensorValues sensorValues;
|
||||
{
|
||||
PoolReadGuard pg(&sensorValues.susSets[0]);
|
||||
if (pg.getReadResult() == returnvalue::OK) {
|
||||
|
|
|
|||
|
|
@ -26,24 +26,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
|
|||
|
||||
AcsController(object_id_t objectId);
|
||||
|
||||
static const Submode_t SUBMODE_SAFE = 2;
|
||||
static const Submode_t SUBMODE_DETUMBLE = 3;
|
||||
static const Submode_t SUBMODE_IDLE = 4;
|
||||
static const Submode_t SUBMODE_PTG_NADIR = 5;
|
||||
static const Submode_t SUBMODE_PTG_TARGET = 6;
|
||||
static const Submode_t SUBMODE_PTG_TARGET_GS = 7;
|
||||
static const Submode_t SUBMODE_PTG_INERTIAL = 8;
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
|
||||
static const Event SAFE_RATE_VIOLATION =
|
||||
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated.
|
||||
|
||||
MessageQueueId_t getCommandQueue() const;
|
||||
|
||||
ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
|
||||
ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
|
||||
uint16_t startAtIndex) override;
|
||||
|
||||
protected:
|
||||
void performSafe();
|
||||
void performDetumble();
|
||||
|
|
@ -78,8 +60,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
|
|||
// Mode abstract functions
|
||||
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
|
||||
uint32_t* msToReachTheMode) override;
|
||||
void modeChanged(Mode_t mode, Submode_t submode);
|
||||
void announceMode(bool recursive);
|
||||
|
||||
/* ACS Datasets */
|
||||
ACS::SensorValues sensorValues;
|
||||
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
|
||||
// MGMs
|
||||
acsctrl::MgmDataRaw mgmDataRaw;
|
||||
|
|
|
|||
|
|
@ -915,8 +915,8 @@ class AcsParameters : public HasParametersIF {
|
|||
|
||||
struct DetumbleParameter {
|
||||
uint8_t detumblecounter = 75; // 30 s
|
||||
double omegaDetumbleStart = 2 * M_PI / 180;
|
||||
double omegaDetumbleEnd = 0.4 * M_PI / 180;
|
||||
double omegaDetumbleStart = 2;
|
||||
double omegaDetumbleEnd = 0.4;
|
||||
double gainD = pow(10.0, -3.3);
|
||||
} detumbleParameter;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -55,21 +55,22 @@ void ActuatorCmd::cmdSpeedToRws(const int32_t *speedRw0, const int32_t *speedRw1
|
|||
VectorOperations<double>::add(speedRws, deltaSpeed, rwCmdSpeed, 4);
|
||||
}
|
||||
|
||||
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits) {
|
||||
// Convert to Unit frame
|
||||
void ActuatorCmd::cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator) {
|
||||
// Convert to actuator frame
|
||||
MatrixOperations<double>::multiply(*acsParameters.magnetorquesParameter.inverseAlignment,
|
||||
dipolMoment, dipolMomentUnits, 3, 3, 1);
|
||||
// Scaling along largest element if dipol exceeds maximum
|
||||
dipolMoment, dipolMomentActuator, 3, 3, 1);
|
||||
// Scaling along largest element if dipol exceeds maximum
|
||||
double maxDipol = acsParameters.magnetorquesParameter.DipolMax;
|
||||
double maxValue = 0;
|
||||
for (int i = 0; i < 3; i++) {
|
||||
if (abs(dipolMomentUnits[i]) > maxDipol) {
|
||||
maxValue = abs(dipolMomentUnits[i]);
|
||||
if (abs(dipolMomentActuator[i]) > maxDipol) {
|
||||
maxValue = abs(dipolMomentActuator[i]);
|
||||
}
|
||||
}
|
||||
|
||||
if (maxValue > maxDipol) {
|
||||
double scalingFactor = maxDipol / maxValue;
|
||||
VectorOperations<double>::mulScalar(dipolMomentUnits, scalingFactor, dipolMomentUnits, 3);
|
||||
VectorOperations<double>::mulScalar(dipolMomentActuator, scalingFactor, dipolMomentActuator, 3);
|
||||
}
|
||||
// scale dipole from 1 Am^2 to 1e^-4 Am^2
|
||||
VectorOperations<double>::mulScalar(dipolMomentActuator, 1e4, dipolMomentActuator, 3);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -35,9 +35,9 @@ class ActuatorCmd {
|
|||
* @brief: cmdDipolMtq() gives the commanded dipol moment for the magnetorques
|
||||
*
|
||||
* @param: dipolMoment given dipol moment in spacecraft frame
|
||||
* dipolMomentUnits resulting dipol moment for every unit
|
||||
* dipolMomentActuator resulting dipol moment in actuator reference frame
|
||||
*/
|
||||
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentUnits);
|
||||
void cmdDipolMtq(const double *dipolMoment, double *dipolMomentActuator);
|
||||
|
||||
protected:
|
||||
private:
|
||||
|
|
|
|||
|
|
@ -1,14 +0,0 @@
|
|||
#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
|
||||
#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_
|
||||
|
||||
#include <fsfw/modes/HasModesIF.h>
|
||||
|
||||
namespace acs {
|
||||
|
||||
enum CtrlModes { OFF = HasModesIF::MODE_OFF, SAFE = 1, DETUMBLE = 2, IDLE = 3, TARGET_PT = 4 };
|
||||
|
||||
static constexpr Submode_t IDLE_CHARGE = 1;
|
||||
|
||||
} // namespace acs
|
||||
|
||||
#endif /* MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ */
|
||||
|
|
@ -162,7 +162,8 @@ void ObjectFactory::produceGenericObjects(HealthTableIF** healthTable_, PusTmFun
|
|||
pus::PUS_SERVICE_20);
|
||||
new CService200ModeCommanding(objects::PUS_SERVICE_200_MODE_MGMT, config::EIVE_PUS_APID,
|
||||
pus::PUS_SERVICE_200, 8);
|
||||
HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable, 20);
|
||||
HealthServiceCfg healthCfg(objects::PUS_SERVICE_201_HEALTH, config::EIVE_PUS_APID, *healthTable,
|
||||
20);
|
||||
new CServiceHealthCommanding(healthCfg);
|
||||
|
||||
#if OBSW_ADD_CFDP_COMPONENTS == 1
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ class GpsPrimaryDataset : public StaticLocalDataSet<18> {
|
|||
lp_var_t<uint32_t>(sid.objectId, GpsHyperion::UNIX_SECONDS, this);
|
||||
|
||||
private:
|
||||
friend class GPSHyperionLinuxController;
|
||||
friend class GpsHyperionLinuxController;
|
||||
GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner)
|
||||
: StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {}
|
||||
};
|
||||
|
|
|
|||
|
|
@ -489,7 +489,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
|
|||
// Refresh torque command without changing any of the set dipoles.
|
||||
void refreshTorqueing(uint16_t durationMs_) { currentTorqueDurationMs = durationMs_; }
|
||||
|
||||
void setDipoles(uint16_t xDipole_, uint16_t yDipole_, uint16_t zDipole_,
|
||||
void setDipoles(int16_t xDipole_, int16_t yDipole_, int16_t zDipole_,
|
||||
uint16_t currentTorqueDurationMs_) {
|
||||
if (xDipole.value != xDipole_) {
|
||||
}
|
||||
|
|
@ -503,7 +503,7 @@ class DipoleActuationSet : public StaticLocalDataSet<4> {
|
|||
currentTorqueDurationMs = currentTorqueDurationMs_;
|
||||
}
|
||||
|
||||
void getDipoles(uint16_t& xDipole_, uint16_t& yDipole_, uint16_t& zDipole_) {
|
||||
void getDipoles(int16_t& xDipole_, int16_t& yDipole_, int16_t& zDipole_) {
|
||||
xDipole_ = xDipole.value;
|
||||
yDipole_ = yDipole.value;
|
||||
zDipole_ = zDipole.value;
|
||||
|
|
|
|||
|
|
@ -1,5 +1,83 @@
|
|||
#include "AcsSubsystem.h"
|
||||
|
||||
#include <fsfw/events/EventManagerIF.h>
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
|
||||
#include "fsfw/modes/ModeMessage.h"
|
||||
#include "mission/acsDefs.h"
|
||||
|
||||
AcsSubsystem::AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences,
|
||||
uint32_t maxNumberOfTables)
|
||||
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {}
|
||||
: Subsystem(setObjectId, maxNumberOfSequences, maxNumberOfTables) {
|
||||
auto mqArgs = MqArgs(getObjectId(), static_cast<void*>(this));
|
||||
eventQueue =
|
||||
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
|
||||
}
|
||||
|
||||
ReturnValue_t AcsSubsystem::initialize() {
|
||||
EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
|
||||
if (manager == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "AcsSubsystem::initialize: Invalid event manager" << std::endl;
|
||||
#endif
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
ReturnValue_t result = manager->registerListener(eventQueue->getId());
|
||||
if (result != returnvalue::OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "AcsSubsystem::registerListener: Failed to register as "
|
||||
"listener"
|
||||
<< std::endl;
|
||||
#endif
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
;
|
||||
}
|
||||
result =
|
||||
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_VIOLATION));
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_VIOLATION failed" << std::endl;
|
||||
}
|
||||
result =
|
||||
manager->subscribeToEvent(eventQueue->getId(), event::getEventId(acs::SAFE_RATE_RECOVERY));
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: Subscribing for acs::SAFE_RATE_RECOVERY failed" << std::endl;
|
||||
}
|
||||
return Subsystem::initialize();
|
||||
}
|
||||
|
||||
void AcsSubsystem::performChildOperation() {
|
||||
handleEventMessages();
|
||||
return Subsystem::performChildOperation();
|
||||
}
|
||||
|
||||
void AcsSubsystem::handleEventMessages() {
|
||||
EventMessage event;
|
||||
for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
|
||||
result = eventQueue->receiveMessage(&event)) {
|
||||
switch (event.getMessageId()) {
|
||||
case EventMessage::EVENT_MESSAGE:
|
||||
if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::DETUMBLE, 0);
|
||||
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
|
||||
}
|
||||
}
|
||||
if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
|
||||
CommandMessage msg;
|
||||
ModeMessage::setCmdModeModeMessage(msg, acs::CtrlSubmode::SAFE, 0);
|
||||
ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
|
||||
if (result != returnvalue::OK) {
|
||||
sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sif::debug << "AcsSubsystem::performChildOperation: Did not subscribe "
|
||||
"to this event message"
|
||||
<< std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -8,6 +8,12 @@ class AcsSubsystem : public Subsystem {
|
|||
AcsSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables);
|
||||
|
||||
private:
|
||||
ReturnValue_t initialize() override;
|
||||
void performChildOperation() override;
|
||||
|
||||
void handleEventMessages();
|
||||
|
||||
MessageQueueIF* eventQueue = nullptr;
|
||||
};
|
||||
|
||||
#endif /* MISSION_SYSTEM_ACSSUBSYSTEM_H_ */
|
||||
|
|
|
|||
|
|
@ -18,7 +18,14 @@ enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
|
|||
|
||||
namespace payload {
|
||||
|
||||
enum Mode { OFF = 0, SUPV_ONLY = 1, MPSOC_STREAM = 2, CAM_STREAM = 3, EARTH_OBSV = 4, SCEX = 5 };
|
||||
enum Mode {
|
||||
OFF = 0,
|
||||
SUPV_ONLY = 10,
|
||||
MPSOC_STREAM = 11,
|
||||
CAM_STREAM = 12,
|
||||
EARTH_OBSV = 13,
|
||||
SCEX = 14
|
||||
};
|
||||
|
||||
namespace ploc {
|
||||
|
||||
|
|
|
|||
|
|
@ -7,10 +7,10 @@
|
|||
#include <fsfw/subsystem/modes/ModeDefinitions.h>
|
||||
|
||||
#include "eive/objects.h"
|
||||
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
|
||||
#include "mission/acsDefs.h"
|
||||
#include "util.h"
|
||||
|
||||
Subsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
|
||||
AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
|
||||
|
||||
namespace {
|
||||
// Alias for checker function
|
||||
|
|
@ -20,74 +20,109 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
|
|||
void buildDetumbleSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
|
||||
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
|
||||
|
||||
} // namespace
|
||||
|
||||
static const auto OFF = HasModesIF::MODE_OFF;
|
||||
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
|
||||
|
||||
auto ACS_SEQUENCE_OFF =
|
||||
std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
|
||||
auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_OFF_TGT =
|
||||
std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS =
|
||||
std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_0 =
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_OFF_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
|
||||
|
||||
auto ACS_SEQUENCE_DETUMBLE =
|
||||
std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_DETUMBLE_TGT =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_DETUMBLE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_DETUMBLE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_SAFE =
|
||||
std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_SAFE_TGT =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_SAFE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_SAFE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_IDLE =
|
||||
std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_IDLE_TGT =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_IDLE_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
|
||||
FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_TABLE_PTG_TRANS_0 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
|
||||
auto ACS_SEQUENCE_TARGET_PT =
|
||||
std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_TARGET_PT_TGT =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_TARGET_PT_TRANS_0 =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
|
||||
auto ACS_TABLE_TARGET_PT_TRANS_1 =
|
||||
std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
auto ACS_SEQUENCE_PTG_TARGET =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_TGT =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_GS =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TGT =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
|
||||
std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_NADIR =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1,
|
||||
FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
|
||||
std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
|
||||
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
|
||||
(acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
void satsystem::acs::init() {
|
||||
ModeListEntry entry;
|
||||
const char* ctxc = "satsystem::acs::init: generic target";
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
|
||||
entry.setObject(obj);
|
||||
entry.setMode(mode);
|
||||
entry.setSubmode(submode);
|
||||
check(table.insert(entry), "satsystem::acs::init: generic target");
|
||||
};
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
|
||||
check(ACS_SUBSYSTEM.addTable(
|
||||
TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
|
||||
ctxc);
|
||||
|
||||
buildOffSequence(ACS_SUBSYSTEM, entry);
|
||||
buildSafeSequence(ACS_SUBSYSTEM, entry);
|
||||
buildDetumbleSequence(ACS_SUBSYSTEM, entry);
|
||||
buildIdleSequence(ACS_SUBSYSTEM, entry);
|
||||
buildIdleChargeSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtSequence(ACS_SUBSYSTEM, entry);
|
||||
ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
|
||||
buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
|
||||
buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
|
||||
ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE);
|
||||
}
|
||||
|
||||
namespace {
|
||||
|
|
@ -112,20 +147,24 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
};
|
||||
|
||||
// OFF Target table is empty
|
||||
check(ss.addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), ctxc);
|
||||
|
||||
// Build OFF transition
|
||||
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
|
||||
check(ss.addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
|
||||
// Build OFF transition 0
|
||||
iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);
|
||||
|
||||
// Build OFF transition 1
|
||||
iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);
|
||||
|
||||
// Build OFF sequence
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_0.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
|
||||
false, true),
|
||||
ctxc);
|
||||
|
|
@ -151,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build SAFE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
|
||||
|
|
@ -167,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
ctxc);
|
||||
|
||||
// Build SAFE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
|
||||
ctxc);
|
||||
|
||||
|
|
@ -200,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build DETUMBLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
|
||||
|
|
@ -218,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
ctxc);
|
||||
|
||||
// Build DETUMBLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
|
@ -252,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build IDLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
|
||||
|
|
@ -264,75 +303,21 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
|
||||
ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
|
||||
|
||||
// Build IDLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
|
||||
ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, false);
|
||||
ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
|
||||
ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
|
||||
true);
|
||||
}
|
||||
|
||||
void buildIdleChargeSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildIdleChargeSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Insert Helper Sequence
|
||||
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
|
||||
bool checkSuccess) {
|
||||
eh.setTableId(tableId);
|
||||
eh.setWaitSeconds(waitSeconds);
|
||||
eh.setCheckSuccess(checkSuccess);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Build IDLE target
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
|
||||
ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
|
||||
ACS_TABLE_IDLE_CHRG_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
|
||||
ACS_SEQUENCE_SAFE.first, false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtSequence";
|
||||
auto ctxc = context.c_str();
|
||||
|
|
@ -354,38 +339,180 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
|
|||
};
|
||||
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Build TARGET PT transition 0
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
|
||||
true),
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
|
||||
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
|
||||
ACS_TABLE_PTG_TARGET_TRANS_1.second);
|
||||
check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
|
||||
true),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
|
||||
check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
|
||||
ACS_SEQUENCE_IDLE.first, false, true),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtNadirSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Insert Helper Sequence
|
||||
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
|
||||
bool checkSuccess) {
|
||||
eh.setTableId(tableId);
|
||||
eh.setWaitSeconds(waitSeconds);
|
||||
eh.setCheckSuccess(checkSuccess);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET,
|
||||
ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
|
||||
&ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_NADIR,
|
||||
ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
|
||||
check(
|
||||
ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
|
||||
&ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtGsSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Insert Helper Sequence
|
||||
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
|
||||
bool checkSuccess) {
|
||||
eh.setTableId(tableId);
|
||||
eh.setWaitSeconds(waitSeconds);
|
||||
eh.setCheckSuccess(checkSuccess);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
|
||||
ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
|
||||
check(ss.addTable(
|
||||
TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS,
|
||||
ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
|
||||
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
|
||||
&ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
|
||||
std::string context = "satsystem::acs::buildTargetPtInertialSequence";
|
||||
auto ctxc = context.c_str();
|
||||
// Insert Helper Table
|
||||
auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
|
||||
ArrayList<ModeListEntry>& sequence) {
|
||||
eh.setObject(obj);
|
||||
eh.setMode(mode);
|
||||
eh.setSubmode(submode);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
// Insert Helper Sequence
|
||||
auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
|
||||
bool checkSuccess) {
|
||||
eh.setTableId(tableId);
|
||||
eh.setWaitSeconds(waitSeconds);
|
||||
eh.setCheckSuccess(checkSuccess);
|
||||
check(sequence.insert(eh), ctxc);
|
||||
};
|
||||
|
||||
// Build TARGET PT table
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
|
||||
&ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
|
||||
ctxc);
|
||||
|
||||
// Transition 0 already built
|
||||
// Build TARGET PT transition 1
|
||||
iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_INERTIAL,
|
||||
ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
|
||||
check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
|
||||
&ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
|
||||
ctxc);
|
||||
|
||||
// Build IDLE sequence
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
|
||||
ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
|
||||
true);
|
||||
check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
|
||||
&ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
|
||||
ACS_SEQUENCE_IDLE.first)),
|
||||
ctxc);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
|
|
|||
|
|
@ -1,11 +1,9 @@
|
|||
#include <fsfw/subsystem/modes/ModeDefinitions.h>
|
||||
|
||||
class Subsystem;
|
||||
#include <mission/system/objects/AcsSubsystem.h>
|
||||
|
||||
namespace satsystem {
|
||||
namespace acs {
|
||||
|
||||
extern Subsystem ACS_SUBSYSTEM;
|
||||
extern AcsSubsystem ACS_SUBSYSTEM;
|
||||
void init();
|
||||
|
||||
} // namespace acs
|
||||
|
|
|
|||
|
|
@ -27,7 +27,7 @@ static const auto OFF = HasModesIF::MODE_OFF;
|
|||
static const auto ON = HasModesIF::MODE_ON;
|
||||
static const auto NML = DeviceHandlerIF::MODE_NORMAL;
|
||||
|
||||
auto PL_SEQUENCE_OFF = std::make_pair(payload::Mode::OFF << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_SEQUENCE_OFF = std::make_pair(payload::Mode::OFF, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_OFF_TGT =
|
||||
std::make_pair((payload::Mode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto PL_TABLE_OFF_TRANS_0 =
|
||||
|
|
@ -36,7 +36,7 @@ auto PL_TABLE_OFF_TRANS_1 =
|
|||
std::make_pair((payload::Mode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 1>());
|
||||
|
||||
auto PL_SEQUENCE_MPSOC_STREAM =
|
||||
std::make_pair(payload::Mode::MPSOC_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::MPSOC_STREAM, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_MPSOC_STREAM_TGT =
|
||||
std::make_pair((payload::Mode::MPSOC_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
auto PL_TABLE_MPSOC_STREAM_TRANS_0 =
|
||||
|
|
@ -45,7 +45,7 @@ auto PL_TABLE_MPSOC_STREAM_TRANS_1 =
|
|||
std::make_pair((payload::Mode::MPSOC_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto PL_SEQUENCE_CAM_STREAM =
|
||||
std::make_pair(payload::Mode::CAM_STREAM << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::CAM_STREAM, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_CAM_STREAM_TGT =
|
||||
std::make_pair((payload::Mode::CAM_STREAM << 24) | 1, FixedArrayList<ModeListEntry, 2>());
|
||||
auto PL_TABLE_CAM_STREAM_TRANS_0 =
|
||||
|
|
@ -54,7 +54,7 @@ auto PL_TABLE_CAM_STREAM_TRANS_1 =
|
|||
std::make_pair((payload::Mode::CAM_STREAM << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto PL_SEQUENCE_SUPV_ONLY =
|
||||
std::make_pair(payload::Mode::SUPV_ONLY << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::SUPV_ONLY, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_SUPV_ONLY_TGT =
|
||||
std::make_pair((payload::Mode::SUPV_ONLY << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
auto PL_TABLE_SUPV_ONLY_TRANS_0 =
|
||||
|
|
@ -63,7 +63,7 @@ auto PL_TABLE_SUPV_ONLY_TRANS_1 =
|
|||
std::make_pair((payload::Mode::SUPV_ONLY << 24) | 3, FixedArrayList<ModeListEntry, 5>());
|
||||
|
||||
auto PL_SEQUENCE_EARTH_OBSV =
|
||||
std::make_pair(payload::Mode::EARTH_OBSV << 24, FixedArrayList<ModeListEntry, 3>());
|
||||
std::make_pair(payload::Mode::EARTH_OBSV, FixedArrayList<ModeListEntry, 3>());
|
||||
auto PL_TABLE_EARTH_OBSV_TGT =
|
||||
std::make_pair((payload::Mode::EARTH_OBSV << 24) | 1, FixedArrayList<ModeListEntry, 5>());
|
||||
auto PL_TABLE_EARTH_OBSV_TRANS_0 =
|
||||
|
|
@ -71,8 +71,7 @@ auto PL_TABLE_EARTH_OBSV_TRANS_0 =
|
|||
auto PL_TABLE_EARTH_OBSV_TRANS_1 =
|
||||
std::make_pair((payload::Mode::EARTH_OBSV << 24) | 3, FixedArrayList<ModeListEntry, 2>());
|
||||
|
||||
auto PL_SEQUENCE_SCEX =
|
||||
std::make_pair(payload::Mode::SCEX << 24, FixedArrayList<ModeListEntry, 2>());
|
||||
auto PL_SEQUENCE_SCEX = std::make_pair(payload::Mode::SCEX, FixedArrayList<ModeListEntry, 2>());
|
||||
auto PL_TABLE_SCEX_TGT =
|
||||
std::make_pair((payload::Mode::SCEX << 24) | 1, FixedArrayList<ModeListEntry, 1>());
|
||||
auto PL_TABLE_SCEX_TRANS_0 =
|
||||
|
|
|
|||
|
|
@ -361,7 +361,7 @@ void CcsdsIpCoreHandler::checkTxTimer() {
|
|||
}
|
||||
if (transmitterCountdown.hasTimedOut()) {
|
||||
disableTransmit();
|
||||
//TODO: set mode to off (move timer to subsystem)
|
||||
// TODO: set mode to off (move timer to subsystem)
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
2
tmtc
2
tmtc
|
|
@ -1 +1 @@
|
|||
Subproject commit c633893df43030bb26b8422604b569bf8419d454
|
||||
Subproject commit d6445d38a8eb644a5e1bd27f0fc56d29e93c030d
|
||||
Loading…
Reference in New Issue
Block a user