diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index 8113539d..8da0e6ec 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -518,10 +518,7 @@ void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* new GpsHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps); gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS); - auto* healthDevGps0 = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS); - auto* healthDevGps1 = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS); - ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, *healthDevGps0, *healthDevGps1, - gpsCtrl, gpioComIF); + ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyChildren, gpsCtrl, gpioComIF); #endif /* OBSW_ADD_ACS_HANDLERS == 1 */ } diff --git a/dummies/helperFactory.cpp b/dummies/helperFactory.cpp index 70e80e87..404b640c 100644 --- a/dummies/helperFactory.cpp +++ b/dummies/helperFactory.cpp @@ -99,11 +99,8 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); assemblyDhbs[7] = new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy); - auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, objects::ACS_BOARD_ASS); - auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, objects::ACS_BOARD_ASS); auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER); - ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, *gps0HealthDev, *gps1HealthDev, - gpsCtrl, gpioIF); + ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF); } if (cfg.addSusDummies) { diff --git a/fsfw b/fsfw index 1e3c89b6..7a392dc3 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 1e3c89b672e17700a9b50a312d9df29c54977685 +Subproject commit 7a392dc33a7e406986fa3684e114a41b0e91de9a diff --git a/mission/genericFactory.cpp b/mission/genericFactory.cpp index 2bef9a41..ce338097 100644 --- a/mission/genericFactory.cpp +++ b/mission/genericFactory.cpp @@ -343,7 +343,6 @@ void ObjectFactory::createSusAssy(PowerSwitchIF& pwrSwitcher, void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array assemblyDhbs, - HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev, ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF) { AcsBoardHelper acsBoardHelper = AcsBoardHelper( objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER, @@ -360,8 +359,10 @@ void ObjectFactory::createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, } } gpsCtrl->connectModeTreeParent(*acsAss); - gps0HealthDev.setParentQueue(acsAss->getCommandQueue()); - gps1HealthDev.setParentQueue(acsAss->getCommandQueue()); + auto* gps0HealthDev = new HealthDevice(objects::GPS_0_HEALTH_DEV, acsAss->getCommandQueue()); + auto* gps1HealthDev = new HealthDevice(objects::GPS_1_HEALTH_DEV, acsAss->getCommandQueue()); + acsAss->registerChild(objects::GPS_0_HEALTH_DEV, gps0HealthDev->getCommandQueue()); + acsAss->registerChild(objects::GPS_1_HEALTH_DEV, gps1HealthDev->getCommandQueue()); acsAss->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM); } diff --git a/mission/genericFactory.h b/mission/genericFactory.h index 5b602d36..496c516b 100644 --- a/mission/genericFactory.h +++ b/mission/genericFactory.h @@ -54,7 +54,6 @@ void createRwAssy(PowerSwitchIF& pwrSwitcher, power::Switch_t theSwitch, std::array rws, std::array rwIds); void createSusAssy(PowerSwitchIF& pwrSwitcher, std::array suses); void createAcsBoardAssy(PowerSwitchIF& pwrSwitcher, std::array assemblyDhbs, - HealthDevice& gps0HealthDev, HealthDevice& gps1HealthDev, ExtendedControllerBase* gpsCtrl, GpioIF* gpioComIF); TcsBoardAssembly* createTcsBoardAssy(PowerSwitchIF& pwrSwitcher); diff --git a/mission/system/acs/AcsBoardAssembly.cpp b/mission/system/acs/AcsBoardAssembly.cpp index 48621336..9d4238ef 100644 --- a/mission/system/acs/AcsBoardAssembly.cpp +++ b/mission/system/acs/AcsBoardAssembly.cpp @@ -77,16 +77,14 @@ ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_ if (wantedSubmode == A_SIDE) { if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or - (helper.gpsMode != MODE_ON) or - gps0HealthDevFaulty()) { + (helper.gpsMode != MODE_ON) or gps0HealthDevFaulty()) { return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE; } return returnvalue::OK; } else if (wantedSubmode == B_SIDE) { if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or - (helper.gpsMode != MODE_ON) or - gps1HealthDevFaulty()) { + (helper.gpsMode != MODE_ON) or gps1HealthDevFaulty()) { return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE; } return returnvalue::OK; @@ -121,7 +119,8 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s modeTable[tableIdx].setSubmode(SUBMODE_NONE); } }; - bool gpsUsable = isModeCommandable(helper.gpsId, helper.gpsMode); + + bool gpsUsable = isGpsUsable(submode); auto gpsCmd = [&](bool gnss0NReset, bool gnss1NReset, uint8_t gnssSelect) { if (gpsUsable) { if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) { @@ -326,3 +325,22 @@ bool AcsBoardAssembly::gps1HealthDevFaulty() const { } return false; } + +bool AcsBoardAssembly::isGpsUsable(uint8_t targetSubmode) const { + if (targetSubmode == duallane::A_SIDE and + healthHelper.healthTable->isFaulty(helper.healthDevGps0)) { + // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side. + return false; + } + if (targetSubmode == duallane::B_SIDE and + healthHelper.healthTable->isFaulty(helper.healthDevGps1)) { + // Causes a OFF command to be sent, which triggers a side switch or a switch to dual side. + return false; + } + auto gpsIter = childrenMap.find(helper.gpsId); + // Check if device is already in target mode + if (gpsIter != childrenMap.end() and gpsIter->second.mode == mode) { + return true; + } + return false; +} diff --git a/mission/system/acs/AcsBoardAssembly.h b/mission/system/acs/AcsBoardAssembly.h index 0afe9052..7e2a46d7 100644 --- a/mission/system/acs/AcsBoardAssembly.h +++ b/mission/system/acs/AcsBoardAssembly.h @@ -135,6 +135,7 @@ class AcsBoardAssembly : public DualLaneAssemblyBase { void refreshHelperModes(); bool gps0HealthDevFaulty() const; bool gps1HealthDevFaulty() const; + bool isGpsUsable(uint8_t targetSubmode) const; }; #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */ diff --git a/tmtc b/tmtc index f899d169..5f870924 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit f899d169b2a6f7454b2f425dfa2713acf029e016 +Subproject commit 5f87092465b3d298b9f66410d333e8069e78df95