From 2b00d3a56595f8f19f20d042a84fc9c565fa752b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 16:27:50 +0100 Subject: [PATCH 01/14] ACS updates - Adapt ACS subsystem to handle events from ACS CTRL - Some fixes and updates for ACS subsystem --- CHANGELOG.md | 1 + fsfw | 2 +- linux/devices/GPSHyperionLinuxController.cpp | 3 + mission/acsDefs.h | 26 +++ mission/controller/AcsController.cpp | 19 +- mission/controller/AcsController.h | 10 - .../AcsControllerDefinitions.h | 14 -- mission/core/GenericFactory.cpp | 3 +- mission/system/objects/AcsSubsystem.cpp | 78 +++++++- mission/system/objects/AcsSubsystem.h | 6 + mission/system/tree/acsModeTree.cpp | 174 ++++++------------ mission/tmtc/CcsdsIpCoreHandler.cpp | 2 +- 12 files changed, 187 insertions(+), 151 deletions(-) create mode 100644 mission/acsDefs.h delete mode 100644 mission/controller/controllerdefinitions/AcsControllerDefinitions.h diff --git a/CHANGELOG.md b/CHANGELOG.md index b15c4f12..5cd9fc32 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -21,6 +21,7 @@ change warranting a new major release: - Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00) instead of unsegmented (0b11). +- Set GPS set entries to invalid on MODE_OFF command. # [v1.23.0] 2023-02-01 diff --git a/fsfw b/fsfw index 01cc619e..f2461cd7 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 01cc619e67b84cef514b045377771ff1e11caf80 +Subproject commit f2461cd7e9df449e9ea4a842ca820d5002ef6494 diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp index 1799ef4a..d112d507 100644 --- a/linux/devices/GPSHyperionLinuxController.cpp +++ b/linux/devices/GPSHyperionLinuxController.cpp @@ -48,6 +48,9 @@ ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_ return HasModesIF::INVALID_MODE; } } + if (mode == MODE_OFF) { + gpsSet.setValidity(false, true); + } return returnvalue::OK; } diff --git a/mission/acsDefs.h b/mission/acsDefs.h new file mode 100644 index 00000000..ab182112 --- /dev/null +++ b/mission/acsDefs.h @@ -0,0 +1,26 @@ +#ifndef MISSION_ACSDEFS_H_ +#define MISSION_ACSDEFS_H_ + +#include + +namespace acs { + +enum CtrlSubmode { + OFF = HasModesIF::MODE_OFF, + SAFE = 2, + DETUMBLE = 3, + IDLE = 4, + PTG_NADIR = 5, + PTG_TARGET = 6, + PTG_TARGET_GS = 7, + 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. +static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM); + +} // namespace acs + +#endif /* MISSION_ACSDEFS_H_ */ diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index e684e4d4..2796bc8b 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -2,6 +2,7 @@ #include +#include "mission/acsDefs.h" #include "mission/config/torquer.h" AcsController::AcsController(object_id_t objectId) @@ -45,15 +46,15 @@ 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_PTG_TARGET: - case SUBMODE_PTG_NADIR: - case SUBMODE_PTG_INERTIAL: + case acs::PTG_TARGET: + case acs::PTG_NADIR: + case acs::PTG_INERTIAL: performPointingCtrl(); break; } @@ -151,9 +152,10 @@ void AcsController::performSafe() { detumbleCounter = 0; } if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { - submode = SUBMODE_DETUMBLE; + // TODO: Trigger mode transition in ACS subsystem? + submode = acs::CtrlSubmode::DETUMBLE; detumbleCounter = 0; - triggerEvent(SAFE_RATE_VIOLATION); + triggerEvent(acs::SAFE_RATE_VIOLATION); } { @@ -208,7 +210,8 @@ void AcsController::performDetumble() { detumbleCounter = 0; } if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { - submode = SUBMODE_SAFE; + // TODO: Trigger mode transition in subsystem instead + submode = acs::CtrlSubmode::DETUMBLE; detumbleCounter = 0; } diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h index 1c4996b3..bc23fdaf 100644 --- a/mission/controller/AcsController.h +++ b/mission/controller/AcsController.h @@ -24,16 +24,6 @@ class AcsController : public ExtendedControllerBase { AcsController(object_id_t objectId); - static const Submode_t SUBMODE_SAFE = 2; - static const Submode_t SUBMODE_DETUMBLE = 3; - static const Submode_t SUBMODE_PTG_TARGET = 4; - static const Submode_t SUBMODE_PTG_NADIR = 5; - static const Submode_t SUBMODE_PTG_INERTIAL = 6; - - 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. - protected: void performSafe(); void performDetumble(); diff --git a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h b/mission/controller/controllerdefinitions/AcsControllerDefinitions.h deleted file mode 100644 index 8122178d..00000000 --- a/mission/controller/controllerdefinitions/AcsControllerDefinitions.h +++ /dev/null @@ -1,14 +0,0 @@ -#ifndef MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ -#define MISSION_CONTROLLER_CONTROLLERDEFINITIONS_ACSCONTROLLERDEFINITIONS_H_ - -#include - -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_ */ diff --git a/mission/core/GenericFactory.cpp b/mission/core/GenericFactory.cpp index 9c08726c..a5acd734 100644 --- a/mission/core/GenericFactory.cpp +++ b/mission/core/GenericFactory.cpp @@ -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 diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp index 96735ae9..5ae387ac 100644 --- a/mission/system/objects/AcsSubsystem.cpp +++ b/mission/system/objects/AcsSubsystem.cpp @@ -1,5 +1,81 @@ #include "AcsSubsystem.h" +#include +#include + +#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(this)); + eventQueue = + QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs); +} + +ReturnValue_t AcsSubsystem::initialize() { + EventManagerIF* manager = ObjectManager::instance()->get(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; + } + } +} diff --git a/mission/system/objects/AcsSubsystem.h b/mission/system/objects/AcsSubsystem.h index 8673395a..df5bbbf3 100644 --- a/mission/system/objects/AcsSubsystem.h +++ b/mission/system/objects/AcsSubsystem.h @@ -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_ */ diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 8eaf36d9..f5a1df23 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -7,7 +7,7 @@ #include #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); @@ -20,64 +20,62 @@ 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 buildTargetPtSequence(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()); +auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList()); auto ACS_TABLE_OFF_TGT = - std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList()); auto ACS_TABLE_OFF_TRANS = - std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList()); auto ACS_SEQUENCE_DETUMBLE = - std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList()); + std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TGT = - std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_0 = - std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_DETUMBLE_TRANS_1 = - std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::DETUMBLE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_SAFE = - std::make_pair(acs::CtrlModes::SAFE << 24, FixedArrayList()); +auto ACS_SEQUENCE_SAFE = std::make_pair(acs::CtrlSubmode::SAFE, FixedArrayList()); auto ACS_TABLE_SAFE_TGT = - std::make_pair((acs::CtrlModes::SAFE << 24) | 1, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::SAFE << 24) | 1, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_0 = - std::make_pair((acs::CtrlModes::SAFE << 24) | 2, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::SAFE << 24) | 2, FixedArrayList()); auto ACS_TABLE_SAFE_TRANS_1 = - std::make_pair((acs::CtrlModes::SAFE << 24) | 3, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::SAFE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_IDLE = - std::make_pair(acs::CtrlModes::IDLE << 24, FixedArrayList()); +auto ACS_SEQUENCE_IDLE = std::make_pair(acs::CtrlSubmode::IDLE, FixedArrayList()); auto ACS_TABLE_IDLE_TGT = - std::make_pair((acs::CtrlModes::IDLE << 24) | 1, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::IDLE << 24) | 1, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_0 = - std::make_pair((acs::CtrlModes::IDLE << 24) | 2, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::IDLE << 24) | 2, FixedArrayList()); auto ACS_TABLE_IDLE_TRANS_1 = - std::make_pair((acs::CtrlModes::IDLE << 24) | 3, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8), - FixedArrayList()); -auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair( - (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList()); -auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair( - (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList()); -auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair( - (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList()); +auto ACS_SEQUENCE_PTG_TARGET = + std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_TGT = + std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_TRANS_0 = + std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_TRANS_1 = + std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList()); -auto ACS_SEQUENCE_TARGET_PT = - std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList()); +/* +auto ACS_SEQUENCE_PTG_TARGET = + std::make_pair(acs::CtrlSubmode::TARGET_PT, FixedArrayList()); auto ACS_TABLE_TARGET_PT_TGT = - std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 1, FixedArrayList()); auto ACS_TABLE_TARGET_PT_TRANS_0 = - std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 2, FixedArrayList()); auto ACS_TABLE_TARGET_PT_TRANS_1 = - std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList()); + std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 3, FixedArrayList()); +*/ void satsystem::acs::init() { ModeListEntry entry; @@ -85,9 +83,8 @@ void satsystem::acs::init() { 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); + ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE); } namespace { @@ -151,7 +148,7 @@ 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, acs::CtrlSubmode::SAFE, 0, 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 +164,7 @@ 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, acs::CtrlSubmode::SAFE, 0, 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 +197,7 @@ 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, acs::CtrlSubmode::DETUMBLE, 0, 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 +215,7 @@ 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, acs::CtrlSubmode::DETUMBLE, 0, 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 +249,7 @@ 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, acs::CtrlSubmode::IDLE, 0, 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); @@ -264,11 +261,11 @@ 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, acs::CtrlSubmode::IDLE, 0, 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 @@ -279,60 +276,6 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { 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& sequence) { - eh.setObject(obj); - eh.setMode(mode); - eh.setSubmode(submode); - check(sequence.insert(eh), ctxc); - }; - // Insert Helper Sequence - auto ihs = [&](ArrayList& 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(); @@ -354,36 +297,37 @@ 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), + iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0, 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); // 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, + iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); + iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); + iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); + iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); + iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); + check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_0.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, false, true), ctxc); // 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, acs::CtrlSubmode::PTG_TARGET, 0, + 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_TARGET_TRANS_0.first, 0, true); + ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, false); + check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first, ACS_SEQUENCE_IDLE.first, false, true), ctxc); } diff --git a/mission/tmtc/CcsdsIpCoreHandler.cpp b/mission/tmtc/CcsdsIpCoreHandler.cpp index 85d1143b..02089da8 100644 --- a/mission/tmtc/CcsdsIpCoreHandler.cpp +++ b/mission/tmtc/CcsdsIpCoreHandler.cpp @@ -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) } } From a5997c773f388338c5cf97f4ef4f65ea0a4ecbc7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 17:12:22 +0100 Subject: [PATCH 02/14] host compiles --- mission/acsDefs.h | 1 + 1 file changed, 1 insertion(+) diff --git a/mission/acsDefs.h b/mission/acsDefs.h index ab182112..d17351a6 100644 --- a/mission/acsDefs.h +++ b/mission/acsDefs.h @@ -1,6 +1,7 @@ #ifndef MISSION_ACSDEFS_H_ #define MISSION_ACSDEFS_H_ +#include #include namespace acs { From aaac3b24b2ede8760b687751d70d0d98f1cc20f9 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Thu, 2 Feb 2023 17:14:48 +0100 Subject: [PATCH 03/14] update changelog --- CHANGELOG.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 5cd9fc32..fe417267 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -23,6 +23,12 @@ change warranting a new major release: instead of unsegmented (0b11). - Set GPS set entries to invalid on MODE_OFF command. +## Changed + +- 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 + # [v1.23.0] 2023-02-01 TMTC version: v2.9.0 From daa7c6652dd09c9247a4791154faec3bdab337bb Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 10:21:17 +0100 Subject: [PATCH 04/14] update changelog --- CHANGELOG.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index b40eaa46..666fb053 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -29,6 +29,8 @@ TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 ## Changed +- ACS Subsystem Sequence Mode IDs updated. + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/365 - 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 From 4615b2fe169ccde83e22ad050abbe95d358fca75 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 10:51:08 +0100 Subject: [PATCH 05/14] bumpchangelog --- CHANGELOG.md | 1 + tmtc | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 666fb053..2f36f965 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -31,6 +31,7 @@ TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 - 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 diff --git a/tmtc b/tmtc index 28c367c6..b9f58e06 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 28c367c6fb959b180fa5ead858e508178454891e +Subproject commit b9f58e061275392a867701f67a13d0c718d652be From c2100cc7821a2dbff366a4ace595a8838193ac55 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 10:51:56 +0100 Subject: [PATCH 06/14] overhead comment --- mission/acsDefs.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mission/acsDefs.h b/mission/acsDefs.h index d17351a6..3c589f5c 100644 --- a/mission/acsDefs.h +++ b/mission/acsDefs.h @@ -18,9 +18,9 @@ enum CtrlSubmode { }; 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 limits for the rotation in safe mode were violated. -static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM); + MAKE_EVENT(0, severity::MEDIUM); static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM); } // namespace acs From ef0a78dedb781ff10fc10f31dccafc2be28b59c8 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 10:52:39 +0100 Subject: [PATCH 07/14] afmt --- mission/acsDefs.h | 5 +++-- mission/system/objects/AcsSubsystem.cpp | 18 ++++++++++-------- 2 files changed, 13 insertions(+), 10 deletions(-) diff --git a/mission/acsDefs.h b/mission/acsDefs.h index 3c589f5c..34d29ebf 100644 --- a/mission/acsDefs.h +++ b/mission/acsDefs.h @@ -19,8 +19,9 @@ enum CtrlSubmode { 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); static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM); +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 diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp index 5ae387ac..f5b8a0ce 100644 --- a/mission/system/objects/AcsSubsystem.cpp +++ b/mission/system/objects/AcsSubsystem.cpp @@ -32,20 +32,22 @@ ReturnValue_t AcsSubsystem::initialize() { 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_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; + 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(); + handleEventMessages(); + return Subsystem::performChildOperation(); } void AcsSubsystem::handleEventMessages() { From b3a5c94f02800a9c14ea7eba688f3f3df3cfb534 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 10:53:16 +0100 Subject: [PATCH 08/14] update events --- generators/bsp_q7s_events.csv | 3 ++- generators/events/translateEvents.cpp | 7 +++++-- generators/objects/translateObjects.cpp | 2 +- linux/fsfwconfig/events/translateEvents.cpp | 7 +++++-- linux/fsfwconfig/objects/translateObjects.cpp | 2 +- tmtc | 2 +- 6 files changed, 15 insertions(+), 8 deletions(-) diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv index 666710e8..2e39b641 100644 --- a/generators/bsp_q7s_events.csv +++ b/generators/bsp_q7s_events.csv @@ -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 diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 65f118b2..e810f4d1 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -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): diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index fdc28d47..9707189d 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -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" diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 65f118b2..e810f4d1 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -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): diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index fdc28d47..9707189d 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -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" diff --git a/tmtc b/tmtc index b9f58e06..a39e9427 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit b9f58e061275392a867701f67a13d0c718d652be +Subproject commit a39e94279b0d77b9d21a996d87090d69fd4b3222 From 2c2c73b23fa9b29d80c27f577e30193252129525 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 11:25:03 +0100 Subject: [PATCH 09/14] fixes and updates for ACS mode tree --- mission/acsDefs.h | 4 +- mission/controller/AcsController.cpp | 4 +- mission/system/tree/acsModeTree.cpp | 172 ++++++++++++++++++++------- 3 files changed, 134 insertions(+), 46 deletions(-) diff --git a/mission/acsDefs.h b/mission/acsDefs.h index 34d29ebf..2bb536f2 100644 --- a/mission/acsDefs.h +++ b/mission/acsDefs.h @@ -11,10 +11,10 @@ enum CtrlSubmode { SAFE = 2, DETUMBLE = 3, IDLE = 4, - PTG_NADIR = 5, + PTG_TARGET_NADIR = 5, PTG_TARGET = 6, PTG_TARGET_GS = 7, - PTG_INERTIAL = 8, + PTG_TARGET_INERTIAL = 8, }; static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM; diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 2796bc8b..a2ff9edf 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -53,8 +53,8 @@ void AcsController::performControlOperation() { performDetumble(); break; case acs::PTG_TARGET: - case acs::PTG_NADIR: - case acs::PTG_INERTIAL: + case acs::PTG_TARGET_NADIR: + case acs::PTG_TARGET_INERTIAL: performPointingCtrl(); break; } diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index f5a1df23..6c27b160 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -20,7 +20,11 @@ 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 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; @@ -29,8 +33,10 @@ static const auto NML = DeviceHandlerIF::MODE_NORMAL; auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList()); auto ACS_TABLE_OFF_TGT = std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList()); -auto ACS_TABLE_OFF_TRANS = - std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList()); +auto ACS_TABLE_OFF_TRANS_0 = + std::make_pair((acs::CtrlSubmode::OFF << 24) | 2, FixedArrayList()); +auto ACS_TABLE_OFF_TRANS_1 = + std::make_pair((acs::CtrlSubmode::OFF << 24) | 3, FixedArrayList()); auto ACS_SEQUENCE_DETUMBLE = std::make_pair(acs::CtrlSubmode::DETUMBLE, FixedArrayList()); @@ -57,28 +63,59 @@ auto ACS_TABLE_IDLE_TRANS_0 = auto ACS_TABLE_IDLE_TRANS_1 = std::make_pair((acs::CtrlSubmode::IDLE << 24) | 3, FixedArrayList()); +auto ACS_TABLE_PTG_TRANS_0 = + std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList()); + auto ACS_SEQUENCE_PTG_TARGET = std::make_pair(acs::CtrlSubmode::PTG_TARGET, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 1, FixedArrayList()); -auto ACS_TABLE_PTG_TARGET_TRANS_0 = - std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 2, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_TRANS_1 = std::make_pair((acs::CtrlSubmode::PTG_TARGET << 24) | 3, FixedArrayList()); -/* -auto ACS_SEQUENCE_PTG_TARGET = - std::make_pair(acs::CtrlSubmode::TARGET_PT, FixedArrayList()); -auto ACS_TABLE_TARGET_PT_TGT = - std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 1, FixedArrayList()); -auto ACS_TABLE_TARGET_PT_TRANS_0 = - std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 2, FixedArrayList()); -auto ACS_TABLE_TARGET_PT_TRANS_1 = - std::make_pair((acs::CtrlSubmode::TARGET_PT << 24) | 3, FixedArrayList()); -*/ +auto ACS_SEQUENCE_PTG_TARGET_GS = + std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_GS_TGT = + std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_GS_TRANS_0 = + std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 2, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 = + std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList()); + +auto ACS_SEQUENCE_PTG_TARGET_NADIR = + std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1, + FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_0 = std::make_pair( + (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 2, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair( + (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList()); + +auto ACS_SEQUENCE_PTG_TARGET_INERTIAL = + std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair( + (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_0 = std::make_pair( + (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 2, FixedArrayList()); +auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair( + (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList()); void satsystem::acs::init() { ModeListEntry entry; + // Insert Helper Table + auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList& 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); + buildOffSequence(ACS_SUBSYSTEM, entry); buildSafeSequence(ACS_SUBSYSTEM, entry); buildDetumbleSequence(ACS_SUBSYSTEM, entry); @@ -109,20 +146,24 @@ 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); @@ -148,7 +189,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build SAFE target - iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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); @@ -164,7 +205,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build SAFE transition 1 - iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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); @@ -197,7 +238,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build DETUMBLE target - iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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); @@ -215,7 +256,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) { ctxc); // Build DETUMBLE transition 1 - iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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); @@ -249,7 +290,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { check(sequence.insert(eh), ctxc); }; // Build IDLE target - iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::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); @@ -265,7 +306,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { 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::CtrlSubmode::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 @@ -297,7 +338,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { }; // Build TARGET PT table - iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second); + 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); @@ -306,18 +347,10 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), ctxc); - // Build TARGET PT transition 0 - iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); - iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); - iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); - iht(objects::RW_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); - iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TRANS_0.second); - check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_0.second, ACS_TABLE_PTG_TARGET_TRANS_0.first, false, - true), - ctxc); + check(ss.addTable(&ACS_TABLE_PTG_TRANS_0.second, ACS_TABLE_PTG_TRANS_0.first, false, true), ctxc); // Build TARGET PT transition 1 - iht(objects::ACS_CONTROLLER, acs::CtrlSubmode::PTG_TARGET, 0, + 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), @@ -325,11 +358,66 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true); - ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_0.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, false); 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& sequence) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(sequence.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& 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); + + check(ss.addTable(TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), ctxc); + + // 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_TARGET_NADIR_TRANS_0.first, 0, true); + ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, false); + 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& entryHelper) {} + +void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper) {} + } // namespace From 76d18a67bcb1c58e68e6b08dd3cc288a9d8d5a98 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 11:33:18 +0100 Subject: [PATCH 10/14] almost done --- mission/system/tree/acsModeTree.cpp | 59 +++++++++++++++++++++++++++-- 1 file changed, 55 insertions(+), 4 deletions(-) diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 6c27b160..94c4a5c9 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -121,6 +121,9 @@ void satsystem::acs::init() { buildDetumbleSequence(ACS_SUBSYSTEM, entry); buildIdleSequence(ACS_SUBSYSTEM, entry); buildTargetPtSequence(ACS_SUBSYSTEM, entry); + buildTargetPtGsSequence(ACS_SUBSYSTEM, entry); + buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry); + buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry); ACS_SUBSYSTEM.setInitialMode(::acs::CtrlSubmode::SAFE); } @@ -312,7 +315,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) { // 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); } @@ -359,7 +362,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { // Build IDLE sequence 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, false); + 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); @@ -409,14 +412,62 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { // 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_TARGET_NADIR_TRANS_0.first, 0, true); - ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, false); + 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& entryHelper) {} +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& sequence) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(sequence.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& 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_NADIR_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); + + check(ss.addTable(TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)), ctxc); + + // 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_TARGET_GS_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& entryHelper) {} From 4ed1e2411a4e79559780d294d6b658d1005ee31b Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 14:21:36 +0100 Subject: [PATCH 11/14] works --- CHANGELOG.md | 7 +++ mission/controller/AcsController.cpp | 7 +-- mission/controller/acs/AcsParameters.h | 4 +- mission/system/tree/acsModeTree.cpp | 80 ++++++++++++++++++++------ mission/system/tree/acsModeTree.h | 5 +- tmtc | 2 +- 6 files changed, 77 insertions(+), 28 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 2f36f965..c7d8bbd6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -17,6 +17,13 @@ change warranting a new major release: # [unreleased] +- `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`. + # [v1.23.1] 2023-02-02 TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index a2ff9edf..8ed396c5 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -152,9 +152,8 @@ void AcsController::performSafe() { detumbleCounter = 0; } if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { - // TODO: Trigger mode transition in ACS subsystem? - submode = acs::CtrlSubmode::DETUMBLE; detumbleCounter = 0; + // Triggers detubmle mode transition in subsystem triggerEvent(acs::SAFE_RATE_VIOLATION); } @@ -210,9 +209,9 @@ void AcsController::performDetumble() { detumbleCounter = 0; } if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) { - // TODO: Trigger mode transition in subsystem instead - submode = acs::CtrlSubmode::DETUMBLE; detumbleCounter = 0; + // Triggers safe mode transition in subsystem + triggerEvent(acs::SAFE_RATE_RECOVERY); } int16_t cmdDipolUnitsInt[3] = {0, 0, 0}; diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h index 816e4c71..5d40f752 100644 --- a/mission/controller/acs/AcsParameters.h +++ b/mission/controller/acs/AcsParameters.h @@ -899,8 +899,8 @@ 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; }; diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 94c4a5c9..849959f9 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -10,7 +10,7 @@ #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 @@ -30,7 +30,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper); static const auto OFF = HasModesIF::MODE_OFF; static const auto NML = DeviceHandlerIF::MODE_NORMAL; -auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList()); +auto ACS_SEQUENCE_OFF = std::make_pair(acs::CtrlSubmode::OFF, FixedArrayList()); auto ACS_TABLE_OFF_TGT = std::make_pair((acs::CtrlSubmode::OFF << 24) | 1, FixedArrayList()); auto ACS_TABLE_OFF_TRANS_0 = @@ -77,8 +77,6 @@ auto ACS_SEQUENCE_PTG_TARGET_GS = std::make_pair(acs::CtrlSubmode::PTG_TARGET_GS, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 1, FixedArrayList()); -auto ACS_TABLE_PTG_TARGET_GS_TRANS_0 = - std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 2, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 = std::make_pair((acs::CtrlSubmode::PTG_TARGET_GS << 24) | 3, FixedArrayList()); @@ -86,8 +84,6 @@ auto ACS_SEQUENCE_PTG_TARGET_NADIR = std::make_pair(acs::CtrlSubmode::PTG_TARGET_NADIR, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 1, FixedArrayList()); -auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_0 = std::make_pair( - (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 2, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair( (acs::CtrlSubmode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList()); @@ -95,13 +91,12 @@ auto ACS_SEQUENCE_PTG_TARGET_INERTIAL = std::make_pair(acs::CtrlSubmode::PTG_TARGET_INERTIAL, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair( (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList()); -auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_0 = std::make_pair( - (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 2, FixedArrayList()); auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair( (acs::CtrlSubmode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList()); 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& table) { entry.setObject(obj); @@ -115,6 +110,9 @@ void satsystem::acs::init() { 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); @@ -350,8 +348,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) { check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true), ctxc); - check(ss.addTable(&ACS_TABLE_PTG_TRANS_0.second, ACS_TABLE_PTG_TRANS_0.first, false, true), ctxc); - + // Transition 0 already built // Build TARGET PT transition 1 iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second); @@ -400,8 +397,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)), ctxc); - check(ss.addTable(TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.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); @@ -411,7 +407,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) { // 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_TARGET_NADIR_TRANS_0.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, @@ -441,7 +437,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { // Build TARGET PT table iht(objects::ACS_CONTROLLER, NML, acs::CtrlSubmode::PTG_TARGET_GS, - ACS_TABLE_PTG_TARGET_NADIR_TGT.second); + 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); @@ -451,8 +447,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)), ctxc); - check(ss.addTable(TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.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); @@ -462,13 +457,62 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) { // 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_TARGET_GS_TRANS_0.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& entryHelper) {} +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& sequence) { + eh.setObject(obj); + eh.setMode(mode); + eh.setSubmode(submode); + check(sequence.insert(eh), ctxc); + }; + // Insert Helper Sequence + auto ihs = [&](ArrayList& 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 diff --git a/mission/system/tree/acsModeTree.h b/mission/system/tree/acsModeTree.h index 210f8dcd..c814ca3a 100644 --- a/mission/system/tree/acsModeTree.h +++ b/mission/system/tree/acsModeTree.h @@ -1,11 +1,10 @@ -#include +#include -class Subsystem; namespace satsystem { namespace acs { -extern Subsystem ACS_SUBSYSTEM; +extern AcsSubsystem ACS_SUBSYSTEM; void init(); } // namespace acs diff --git a/tmtc b/tmtc index a39e9427..c3c58b95 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit a39e94279b0d77b9d21a996d87090d69fd4b3222 +Subproject commit c3c58b95ada024e53a019c34b91f0552bfd487a7 From 825365263f95a3962d237ea26709293eb5c84565 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 14:23:39 +0100 Subject: [PATCH 12/14] update changelog --- CHANGELOG.md | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c7d8bbd6..661d5391 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -23,15 +23,6 @@ change warranting a new major release: ## Fixed - `AcsController`: Parameter fix in `DetumbleParameter`. - -# [v1.23.1] 2023-02-02 - -TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 - -## Fixed - -- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00) - instead of unsegmented (0b11). - Set GPS set entries to invalid on MODE_OFF command. ## Changed @@ -42,6 +33,18 @@ TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 - 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 + +# [v1.23.1] 2023-02-02 + +TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 + +## Fixed + +- Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00) + instead of unsegmented (0b11). + +## Changed + - 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 From 777d67346571757a2985c8e479e890401360bab7 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 14:24:27 +0100 Subject: [PATCH 13/14] small fix --- CHANGELOG.md | 3 --- 1 file changed, 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 661d5391..2f0e4447 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -42,9 +42,6 @@ TMTC rev: 15adb9bf2ec68304a4f87b8dd418c1a8353283a3 - Bugfix in FSFW where the sequence flags of the PUS packets were set to continuation segment (0b00) instead of unsegmented (0b11). - -## Changed - - 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 From d9514e418443c69809434925b23642d2175810d6 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Fri, 3 Feb 2023 16:08:34 +0100 Subject: [PATCH 14/14] a lot of bugfixes --- CHANGELOG.md | 5 +++++ common/config/devices/addresses.h | 2 +- fsfw | 2 +- linux/ObjectFactory.cpp | 12 ++---------- mission/controller/AcsController.cpp | 2 +- mission/controller/AcsController.h | 1 + mission/system/tree/acsModeTree.h | 1 - 7 files changed, 11 insertions(+), 14 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 2f0e4447..0ab1a83d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -24,9 +24,14 @@ change warranting a new major release: - `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 +- 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 diff --git a/common/config/devices/addresses.h b/common/config/devices/addresses.h index d7056307..c1e65314 100644 --- a/common/config/devices/addresses.h +++ b/common/config/devices/addresses.h @@ -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, diff --git a/fsfw b/fsfw index 3250bbf2..38789e05 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 3250bbf269b3326683222bb87ce7faecae63ad97 +Subproject commit 38789e053b65cfa14604fc625e7bcc8ca03a3f17 diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index a147af26..cf27972f 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -79,11 +79,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo #if OBSW_ADD_SUN_SENSORS == 1 SusFdir* fdir = nullptr; std::array 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); @@ -125,11 +121,7 @@ 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, + 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); diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp index 8ed396c5..8a58eb90 100644 --- a/mission/controller/AcsController.cpp +++ b/mission/controller/AcsController.cpp @@ -486,9 +486,9 @@ void AcsController::copyMgmData() { } void AcsController::copySusData() { - ACS::SensorValues sensorValues; { PoolReadGuard pg(&sensorValues.susSets[0]); + if (pg.getReadResult() == returnvalue::OK) { std::memcpy(susDataRaw.sus0.value, sensorValues.susSets[0].channels.value, 6 * sizeof(uint16_t)); diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h index bc23fdaf..308700e4 100644 --- a/mission/controller/AcsController.h +++ b/mission/controller/AcsController.h @@ -60,6 +60,7 @@ class AcsController : public ExtendedControllerBase { void announceMode(bool recursive); /* ACS Datasets */ + ACS::SensorValues sensorValues; IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER); // MGMs acsctrl::MgmDataRaw mgmDataRaw; diff --git a/mission/system/tree/acsModeTree.h b/mission/system/tree/acsModeTree.h index c814ca3a..134a86a7 100644 --- a/mission/system/tree/acsModeTree.h +++ b/mission/system/tree/acsModeTree.h @@ -1,6 +1,5 @@ #include - namespace satsystem { namespace acs {