eive/eive-obsw
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Merge branch 'develop' into acs-bug-bash

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This commit is contained in:
Marius Eggert
2023-03-10 17:38:29 +01:00
parent 342ff62837 afd704650f
commit 7b3393c5b2
26 changed files with 217 additions and 277 deletions
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43
mission/controller/AcsController.cpp
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@ -108,12 +108,16 @@ void AcsController::performControlOperation() {
}
case InternalState::READY: {
if (mode != MODE_OFF) {
switch (submode) {
switch (mode) {
case acs::SAFE:
performSafe();
break;
case acs::DETUMBLE:
performDetumble();
switch (submode) {
case SUBMODE_NONE:
performSafe();
break;
case acs::DETUMBLE:
performDetumble();
break;
}
break;
case acs::PTG_IDLE:
case acs::PTG_TARGET:
@ -192,6 +196,7 @@ void AcsController::performSafe() {
detumbleCounter = 0;
// Triggers detumble mode transition in subsystem
triggerEvent(acs::SAFE_RATE_VIOLATION);
startTransition(mode, acs::SafeSubmode::DETUMBLE);
}
updateCtrlValData(errAng);
@ -242,6 +247,7 @@ void AcsController::performDetumble() {
detumbleCounter = 0;
// Triggers safe mode transition in subsystem
triggerEvent(acs::SAFE_RATE_RECOVERY);
startTransition(mode, acs::SafeSubmode::DEFAULT);
}
disableCtrlValData();
@ -643,8 +649,14 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
} else {
return INVALID_SUBMODE;
}
} else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_INERTIAL)) {
} else if (not((mode < acs::AcsMode::SAFE) or (mode > acs::AcsMode::PTG_INERTIAL))) {
if (mode == acs::AcsMode::SAFE) {
if (not((submode == SUBMODE_NONE) or (submode == acs::SafeSubmode::DETUMBLE))) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;
}
} else if (not(submode == SUBMODE_NONE)) {
return INVALID_SUBMODE;
} else {
return returnvalue::OK;
@ -661,12 +673,19 @@ void AcsController::announceMode(bool recursive) {
const char *modeStr = "UNKNOWN";
if (mode == HasModesIF::MODE_OFF) {
modeStr = "OFF";
} else if (mode == HasModesIF::MODE_ON) {
modeStr = "ON";
} else if (mode == DeviceHandlerIF::MODE_NORMAL) {
modeStr = "NORMAL";
} else {
modeStr = acs::getModeStr(static_cast<acs::AcsMode>(mode));
}
const char *submodeStr = "UNKNOWN";
if (submode == HasModesIF::SUBMODE_NONE) {
submodeStr = "NONE";
}
if (mode == acs::AcsMode::SAFE) {
acs::SafeSubmode safeSubmode = static_cast<acs::SafeSubmode>(this->submode);
if (safeSubmode == acs::SafeSubmode::DETUMBLE) {
submodeStr = "DETUMBLE";
}
}
const char *submodeStr = acs::getModeStr(static_cast<acs::AcsMode>(submode));
sif::info << "ACS controller is now in " << modeStr << " mode with " << submodeStr << " submode"
<< std::endl;
return ExtendedControllerBase::announceMode(recursive);