From 8cc368b131cc0d300353f2ef3ab49b84d74eb6c4 Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Tue, 8 Nov 2022 10:56:12 +0100
Subject: [PATCH] fixed types for actuatorCmdData

---
 mission/controller/AcsController.cpp | 27 +++++++++++++--------------
 mission/controller/AcsController.h   |  4 ++--
 2 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 0c2b58a9..d00bb816 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -164,22 +164,21 @@ void AcsController::performSafe() {
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
-      double zeroVec[4] = {0, 0, 0, 0};
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(double));
+      int32_t zeroVec[4] = {0, 0, 0, 0};
+      std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetTorque.setValid(false);
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(double));
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(double));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
       actuatorCmdData.mtqTargetDipole.setValid(true);
       actuatorCmdData.setValidity(true, false);
     }
   }
   //  {
-  //	  PoolReadGuard pg(&dipoleSet);
-  //	  MutexGuard mg(torquer::lazyLock());
-  //	  torquer::NEW_ACTUATION_FLAG = true;
-  //	  dipoleSet.setDipoles(cmdDipolUnitsInt[0], cmdDipolUnitsInt[1], cmdDipolUnitsInt[2],
-  // torqueDuration);
+  //    PoolReadGuard pg(&dipoleSet);
+  //    MutexGuard mg(torquer::lazyLock());
+  //    torquer::NEW_ACTUATION_FLAG = true;
+  //    dipoleSet.setDipoles(cmdDipolUnits[0], cmdDipolUnits[1], cmdDipolUnits[2], torqueDuration);
   //  }
 }
 
@@ -225,12 +224,12 @@ void AcsController::performDetumble() {
   {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
-      double zeroVec[4] = {0, 0, 0, 0};
+      int32_t zeroVec[4] = {0, 0, 0, 0};
       std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(double));
       actuatorCmdData.rwTargetTorque.setValid(false);
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(double));
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
       actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(double));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
       actuatorCmdData.mtqTargetDipole.setValid(true);
       actuatorCmdData.setValidity(true, false);
     }
@@ -295,8 +294,8 @@ void AcsController::performPointingCtrl() {
     PoolReadGuard pg(&actuatorCmdData);
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(double));
+      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdRwSpeedInt, 4 * sizeof(int32_t));
+      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolUnitsInt, 3 * sizeof(int16_t));
       actuatorCmdData.setValidity(true, true);
     }
   }
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index cfcc200d..ed896d8e 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -158,8 +158,8 @@ IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HAND
   // Actuator CMD
   acsctrl::ActuatorCmdData actuatorCmdData;
   PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
-  PoolEntry<double> rwTargetSpeed = PoolEntry<double>(4);
-  PoolEntry<double> mtqTargetDipole = PoolEntry<double>(3);
+  PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
+  PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);
 
   // Initial delay to make sure all pool variables have been initialized their owners
   Countdown initialCountdown = Countdown(INIT_DELAY);