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fixed dummies, scheduled dummies as part of acsTask
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This commit is contained in:
Marius Eggert
2022-10-04 13:45:13 +02:00
parent abe5f43ae9
commit 9d0e10eb1e
8 changed files with 92 additions and 21 deletions
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61
mission/controller/AcsController.cpp
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@ -1,14 +1,17 @@
#include "AcsController.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/timemanager/Clock.h>
//#include <fsfw/timemanager/Clock.h>
AcsController::AcsController(object_id_t objectId)
: ExtendedControllerBase(objectId, objects::NO_OBJECT),
/*sensorProcessing(&acsParameters),
navigation(&acsParameters),
actuatorCmd(&acsParameters),
detumble(&acsParameters),
detumbleCounter{0},*/
mgmData(this),
susData(this),
sensorProcessing(&acsParameters),
detumbleCounter{0} {}
susData(this) {}
ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
return returnvalue::OK;
@ -28,13 +31,28 @@ void AcsController::performControlOperation() {
return;
}
case InternalState::READY: {
if (mode != MODE_OFF) {
switch (submode) {
case SUBMODE_SAFE:
// performSafe();
break;
case SUBMODE_DETUMBLE:
// performDetumble();
break;
case SUBMODE_PTG_GS:
// performPointingCtrl();
break;
}
}
break;
}
default:
break;
}
/*{
{
PoolReadGuard pg(&mgmData);
if (pg.getReadResult() == returnvalue::OK) {
copyMgmData();
@ -45,11 +63,15 @@ void AcsController::performControlOperation() {
if (pg.getReadResult() == returnvalue::OK) {
copySusData();
}
}*/
}
}
void AcsController::performSafe(){
}
void AcsController::performDetumble() {
ACS::SensorValues sensorValues;
/*ACS::SensorValues sensorValues;
ACS::OutputValues outputValues;
// sensorValues.read();
@ -82,17 +104,36 @@ void AcsController::performDetumble() {
if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
submode = SUBMODE_SAFE;
detumbleCounter = 0;
}
}*/
}
void AcsController::performPointingCtrl(){
}
ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
// MGM
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_0_LIS3_UT, &mgm0PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_1_RM3100_UT, &mgm1PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_2_LIS3_UT, &mgm2PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_3_RM3100_UT, &mgm3PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_NT, &imtqMgmPoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::MGM_IMTQ_CAL_ACT_STATUS, &imtqCalActStatus);
// SUS
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_0_N_LOC_XFYFZM_PT_XF, &sus0PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_1_N_LOC_XBYFZM_PT_XB, &sus1PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_2_N_LOC_XFYBZB_PT_YB, &sus2PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_3_N_LOC_XFYBZF_PT_YF, &sus3PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_4_N_LOC_XMYFZF_PT_ZF, &sus4PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_5_N_LOC_XFYMZB_PT_ZB, &sus5PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_6_R_LOC_XFYBZM_PT_XF, &sus6PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_7_R_LOC_XBYBZM_PT_XB, &sus7PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_8_R_LOC_XBYBZB_PT_YB, &sus8PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_9_R_LOC_XBYBZB_PT_YF, &sus9PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_10_N_LOC_XMYBZF_PT_ZF, &sus10PoolVec);
localDataPoolMap.emplace(acsctrl::PoolIds::SUS_11_R_LOC_XBYMZB_PT_ZB, &sus11PoolVec);
poolManager.subscribeForRegularPeriodicPacket({mgmData.getSid(), false, 5.0});
return returnvalue::OK;
}
@ -124,6 +165,10 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
return INVALID_MODE;
}
void AcsController::modeChanged(Mode_t mode, Submode_t submode) {}
void AcsController::announceMode(bool recursive) {}
void AcsController::copyMgmData() {
{
PoolReadGuard pg(&mgm0Lis3Set);