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added ReceiversParameterMessagesIF and ParameterHelper to ACS Ctrl
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This commit is contained in:
Marius Eggert 2023-01-10 09:06:09 +01:00
parent 4e74dc7bee
commit 887d193526
2 changed files with 579 additions and 548 deletions
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1113
mission/controller/AcsController.cpp
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14
mission/controller/AcsController.h
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@ -3,6 +3,8 @@
#include <fsfw/controller/ExtendedControllerBase.h> #include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h> #include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include "acs/ActuatorCmd.h" #include "acs/ActuatorCmd.h"
#include "acs/Guidance.h" #include "acs/Guidance.h"
@ -18,7 +20,7 @@
#include "mission/devices/devicedefinitions/SusDefinitions.h" #include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h" #include "mission/devices/devicedefinitions/imtqHandlerDefinitions.h"
class AcsController : public ExtendedControllerBase { class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
public: public:
static constexpr dur_millis_t INIT_DELAY = 500; static constexpr dur_millis_t INIT_DELAY = 500;
@ -36,6 +38,12 @@ class AcsController : public ExtendedControllerBase {
static const Event SAFE_RATE_VIOLATION = static const Event SAFE_RATE_VIOLATION =
MAKE_EVENT(0, severity::MEDIUM); //!< The limits for the rotation in safe mode were violated. 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: protected:
void performSafe(); void performSafe();
void performDetumble(); void performDetumble();
@ -54,6 +62,8 @@ class AcsController : public ExtendedControllerBase {
uint8_t detumbleCounter; uint8_t detumbleCounter;
ParameterHelper parameterHelper;
enum class InternalState { STARTUP, INITIAL_DELAY, READY }; enum class InternalState { STARTUP, INITIAL_DELAY, READY };
InternalState internalState = InternalState::STARTUP; InternalState internalState = InternalState::STARTUP;
@ -68,8 +78,6 @@ class AcsController : public ExtendedControllerBase {
// Mode abstract functions // Mode abstract functions
ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override; uint32_t* msToReachTheMode) override;
void modeChanged(Mode_t mode, Submode_t submode);
void announceMode(bool recursive);
/* ACS Datasets */ /* ACS Datasets */
IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER); IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);