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some thermal controller code to test TM chain
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This commit is contained in:
Ulrich Mohr
2022-05-19 00:40:42 +02:00
parent ee99c3312e
commit 90a92feee1
8 changed files with 153 additions and 32 deletions
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71
mission/controller/ThermalController.cpp
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@ -5,7 +5,11 @@ ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
sensorTemperatures(this),
componentTemperatures(this) {}
ReturnValue_t ThermalController::initialize() { return ControllerBase::initialize(); }
ReturnValue_t ThermalController::initialize() {
auto result = ExtendedControllerBase::initialize();
return result;
}
ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
return RETURN_FAILED;
@ -20,7 +24,28 @@ void ThermalController::performControlOperation() {
return;
}
componentTemperatures.rw = (sensorTemperatures.rw.value + sensorTemperatures.gps.value) / 2;
sensorTemperatures.sensor_ploc_heatspreader =
((int)sensorTemperatures.sensor_ploc_heatspreader.value + 1) % 100;
sensorTemperatures.sensor_ploc_missionboard =
((int)sensorTemperatures.sensor_ploc_missionboard.value + 2) % 100;
sensorTemperatures.sensor_4k_camera = ((int)sensorTemperatures.sensor_4k_camera.value + 3) % 100;
sensorTemperatures.sensor_dac_heatspreader =
((int)sensorTemperatures.sensor_dac_heatspreader.value + 4) % 100;
sensorTemperatures.sensor_startracker =
((int)sensorTemperatures.sensor_startracker.value + 10) % 100;
sensorTemperatures.sensor_rw1 = ((int)sensorTemperatures.sensor_rw1.value + 10) % 100;
sensorTemperatures.sensor_dro = ((int)sensorTemperatures.sensor_dro.value + 10) % 100;
sensorTemperatures.sensor_scex = ((int)sensorTemperatures.sensor_scex.value + 10) % 100;
sensorTemperatures.sensor_x8 = ((int)sensorTemperatures.sensor_x8.value + 10) % 100;
sensorTemperatures.sensor_hpa = ((int)sensorTemperatures.sensor_hpa.value + 10) % 100;
sensorTemperatures.sensor_tx_modul = ((int)sensorTemperatures.sensor_tx_modul.value + 10) % 100;
sensorTemperatures.sensor_mpa = ((int)sensorTemperatures.sensor_mpa.value + 10) % 100;
sensorTemperatures.sensor_acu = ((int)sensorTemperatures.sensor_acu.value + 10) % 100;
sensorTemperatures.sensor_plpcdu_heatspreader =
((int)sensorTemperatures.sensor_plpcdu_heatspreader.value + 10) % 100;
sensorTemperatures.sensor_tcs_board = ((int)sensorTemperatures.sensor_tcs_board.value + 10) % 100;
sensorTemperatures.sensor_magnettorquer =
((int)sensorTemperatures.sensor_magnettorquer.value + 10) % 100;
sensorTemperatures.commit();
componentTemperatures.commit();
@ -28,13 +53,49 @@ void ThermalController::performControlOperation() {
ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_GPS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_HEATSPREADER,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_MISSIONBOARD,
new PoolEntry<float>({1.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_4K_CAMERA,
new PoolEntry<float>({2.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DAC_HEATSPREADER,
new PoolEntry<float>({3.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_STARTRACKER,
new PoolEntry<float>({4.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW1, new PoolEntry<float>({5.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DRO, new PoolEntry<float>({6.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_SCEX, new PoolEntry<float>({7.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_X8, new PoolEntry<float>({8.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_HPA, new PoolEntry<float>({9.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TX_MODUL,
new PoolEntry<float>({10.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MPA, new PoolEntry<float>({11.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_ACU, new PoolEntry<float>({12.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLPCDU_HEATSPREADER,
new PoolEntry<float>({13.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TCS_BOARD,
new PoolEntry<float>({14.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
new PoolEntry<float>({15.0}));
localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));
poolManager.subscribeForPeriodicPacket(sensorTemperatures.getSid(), true, 1.0, false);
return RETURN_OK;
}
LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) { return nullptr; }
LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
switch (sid.ownerSetId) {
case thermalControllerDefinitions::SENSOR_TEMPERATURES:
return &sensorTemperatures;
case thermalControllerDefinitions::COMPONENT_TEMPERATURES:
return &componentTemperatures;
default:
return nullptr;
}
}
ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) {

2
mission/controller/ThermalController.h
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@ -21,7 +21,7 @@ class ThermalController : public ExtendedControllerBase {
virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
uint32_t* msToReachTheMode) override;
private:
private:
thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
thermalControllerDefinitions::ComponentTemperatures componentTemperatures;
};

44
mission/controller/controllerdefinitions/ThermalControllerDefinitions.h
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@ -8,20 +8,52 @@ namespace thermalControllerDefinitions {
enum SetIds : uint32_t { SENSOR_TEMPERATURES, COMPONENT_TEMPERATURES };
enum PoolIds : lp_id_t { SENSOR_RW, SENSOR_GPS, COMPONENT_RW };
enum PoolIds : lp_id_t {
SENSOR_PLOC_HEATSPREADER,
SENSOR_PLOC_MISSIONBOARD,
SENSOR_4K_CAMERA,
SENSOR_DAC_HEATSPREADER,
SENSOR_STARTRACKER,
SENSOR_RW1,
SENSOR_DRO,
SENSOR_SCEX,
SENSOR_X8,
SENSOR_HPA,
SENSOR_TX_MODUL,
SENSOR_MPA,
SENSOR_ACU,
SENSOR_PLPCDU_HEATSPREADER,
SENSOR_TCS_BOARD,
SENSOR_MAGNETTORQUER,
COMPONENT_RW
};
/**
* @brief This dataset can be used to store the collected temperatures of all temperature sensors
*/
class SensorTemperatures : public StaticLocalDataSet<2> {
class SensorTemperatures : public StaticLocalDataSet<16> {
public:
SensorTemperatures(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
SensorTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW, this);
lp_var_t<float> gps = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_GPS, this);
lp_var_t<float> sensor_ploc_heatspreader = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_HEATSPREADER, this);
lp_var_t<float> sensor_ploc_missionboard = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLOC_MISSIONBOARD, this);
lp_var_t<float> sensor_4k_camera = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_4K_CAMERA, this);
lp_var_t<float> sensor_dac_heatspreader = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DAC_HEATSPREADER, this);
lp_var_t<float> sensor_startracker = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_STARTRACKER, this);
lp_var_t<float> sensor_rw1 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_RW1, this);
lp_var_t<float> sensor_dro = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_DRO, this);
lp_var_t<float> sensor_scex = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_SCEX, this);
lp_var_t<float> sensor_x8 = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_X8, this);
lp_var_t<float> sensor_hpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_HPA, this);
lp_var_t<float> sensor_tx_modul = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TX_MODUL, this);
lp_var_t<float> sensor_mpa = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MPA, this);
lp_var_t<float> sensor_acu = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_ACU, this);
lp_var_t<float> sensor_plpcdu_heatspreader = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_PLPCDU_HEATSPREADER, this);
lp_var_t<float> sensor_tcs_board = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_TCS_BOARD, this);
lp_var_t<float> sensor_magnettorquer = lp_var_t<float>(sid.objectId, PoolIds::SENSOR_MAGNETTORQUER, this);
};
/**
@ -30,10 +62,10 @@ class SensorTemperatures : public StaticLocalDataSet<2> {
class ComponentTemperatures : public StaticLocalDataSet<2> {
public:
ComponentTemperatures(HasLocalDataPoolIF* owner)
: StaticLocalDataSet(owner, SENSOR_TEMPERATURES) {}
: StaticLocalDataSet(owner, COMPONENT_TEMPERATURES) {}
ComponentTemperatures(object_id_t objectId)
: StaticLocalDataSet(sid_t(objectId, SENSOR_TEMPERATURES)) {}
: StaticLocalDataSet(sid_t(objectId, COMPONENT_TEMPERATURES)) {}
lp_var_t<float> rw = lp_var_t<float>(sid.objectId, PoolIds::COMPONENT_RW, this);
};